New XL430-W250 (Released on 2018 3rd quarter)

Old XL430-W250 (This type has been discontinued)

Specifications
Item Specifications

MCU ARM CORTEX-M3 (72 [MHz], 32Bit)

Contactless absolute encoder (12Bit, 360 [°])

Position Sensor
Maker : ams(www.ams.com), Part No : AS5601

Motor Cored

Baud Rate 9,600 [bps] ~ 4.5 [Mbps]

Control Algorithm PID control

Resolution 4096 [pulse/rev]

Velcoity Control Mode

Position Control Mode (0 ~ 360 [°])
Operating Modes
Extended Position Control Mode (Multi-turn)
PWM Control Mode (Voltage Control Mode)

Weight 57.2 [g]

Dimensions (W x H x D) 28.5 x 46.5 x 34 [mm]

Gear Ratio 258.5 : 1

1.0 [N.m] (at 9.0 [V], 1.0 [A])

Stall Torque 1.4 [N.m] (at 11.1 [V], 1.3 [A])
1.5 [N.m] (at 12.0 [V], 1.4 [A])
 Item Specifications

47 [rev/min] (at 9.0 [V])

No Load Speed 57 [rev/min] (at 11.1 [V])
61 [rev/min] (at 12.0 [V])

Operating Temperature -5 ~ +72 [°C]

Input Voltage 6.5 ~ 12.0 [V] (Recommended : 11.1 [V])

Command Signal Digital Packet

TTL Half Duplex Asynchronous Serial Communication

Protocol Type
(8bit, 1stop, No Parity)

Physical Connection TTL Multidrop Bus (5V Logic)

ID 253 ID (0 ~ 252)

Feedback Position, Velocity, Load, Realtime tick, Trajectory, Temperature, Input Voltage, etc

Part Material Engineering Plastic

Standby Current 52 [mA]

DANGER
(May cause serious injury or death)
Never place items containing water, flammables, and solvents near product.
Never place fingers, arms, toes, and other body parts near product during operation.
Cut power off if product emits strange odors or smoke.
Keep product out of reach of children.
Check the power’s polarity before wiring.

CAUTION
(May cause injury or damage to product)
Do not operate the product at a temperature exceeding -5 ~ +72 [°C] range.
Do not insert sharp blades nor pins during product operation.

ATTENTION
(May cause injury or damage to product)
Do not disassemble or modify product.
Do not drop or apply strong shock to product.

Performance Graph
 NOTE : The Max Torque and the Stall Torque of Performance Graph are different in measurement
methods. Stall torque is a measured value of the momentary torque that it can reach. This is
generally how RC servos are measured. The Performance graph is also called as N-T curves,
which is measured with the gradually increasing load. The actual motor operation environment is
closer to the performance graph, not stall torque method. For this reason, the performance graph is
broadly used in the industrial field. Generally, Max Torque of the Performance Graph is less than the
Stall Torque.

CAUTION : When supplying power

It is recommended using ROBOTIS controller or SMPS2DYNAMIXEL.
Do not connect or disconnect DYNAMIXEL when power is being supplied.

Control Table
The Control Table is a structure of data implemented in the device. Users can read a specific
Data to get status of the device with Read Instruction Packets, and modify Data as well to
control the device with WRITE Instruction Packets.

Control Table, Data, Address

The Control Table is a structure that consists of multiple Data fields to store status or to
control the device. Users can check current status of the device by reading a specific Data
from the Control Table with Read Instruction Packets. WRITE Instruction Packets enable
users to control the device by changing specific Data in the Control Table. The Address is a
unique value when accessing a specific Data in the Control Table with Instruction Packets. In
order to read or write data, users must designate a specific Address in the Instruction Packet.
Please refer to Protocol 2.0 for more details about Instruction Packets.

NOTE : Two’s complement is applied for the negative value. For more information, please refer
to Two’s complement from Wikipedia.

Area (EEPROM, RAM)

 The Control Table is divided into 2 Areas. Data in the RAM Area is reset to initial values
when the power is reset(Volatile). On the other hand, data in the EEPROM Area is
maintained even when the device is powered off(Non-Volatile).

Data in the EEPROM Area can only be written to if Torque Enable(64) is cleared to
‘0’(Torque OFF).

Size
The Size of data varies from 1 ~ 4 bytes depend on their usage. Please check the size of
data when updating the data with an Instruction Packet. For data larger than 2 bytes will
be saved according to Little Endian.

Access
The Control Table has two different access properties. ‘RW’ property stands for read and
write access permission while ‘R’ stands for read only access permission. Data with the
read only property cannot be changed by the WRITE Instruction. Read only property(‘R’) is
generally used for measuring and monitoring purpose, and read write property(‘RW’) is
used for controlling device.

Initial Value
Each data in the Control Table is restored to initial values when the device is turned on.
Default values in the EEPROM area are initial values of the device (factory default
settings). If any values in the EEPROM area are modified by a user, modified values will
be restored as initial values when the device is turned on. Initial Values in the RAM area
are restored when the device is turned on.

Control Table of EEPROM Area

Default
Address Size(Byte) Data Name Access Range Unit
Value

0 2 Model Number R 1,060 - -

2 4 Model Information R - - -

6 1 Firmware Version R - - -

7 1 ID RW 1 0 ~ 252 -

8 1 Baud Rate RW 1 0~7 -

9 1 Return Delay Time RW 250 0 ~ 254 2 [μsec]

10 1 Drive Mode RW 0 0~5 -

11 1 Operating Mode RW 3 0 ~ 16 -

12 1 Secondary(Shadow) ID RW 255 0 ~ 252 -

13 1 Protocol Type RW 2 1~2 -

-1,044,479 ~
20 4 Homing Offset RW 0 1 [pulse]
1,044,479

24 4 Moving Threshold RW 10 0 ~ 1,023 0.229 [rev/min]

31 1 Temperature Limit RW 72 0 ~ 100 1 [°C]

32 2 Max Voltage Limit RW 140 60 ~ 140 0.1 [V]

34 2 Min Voltage Limit RW 60 60 ~ 140 0.1 [V]

 Default
Address Size(Byte) Data Name Access Range Unit
Value

36 2 PWM Limit RW 885 0 ~ 885 0.113 [%]

44 4 Velocity Limit RW 265 0 ~ 1,023 0.229 [rev/min]

48 4 Max Position Limit RW 4,095 0 ~ 4,095 1 [pulse]

52 4 Min Position Limit RW 0 0 ~ 4,095 1 [pulse]

63 1 Shutdown RW 52 - -

Control Table of RAM Area

Default
Address Size(Byte) Data Name Access Range Unit
Value

64 1 Torque Enable RW 0 0~1 -

65 1 LED RW 0 0~1 -

68 1 Status Return Level RW 2 0~2 -

69 1 Registered Instruction R 0 0~1 -

Hardware Error
70 1 R 0 - -
Status

76 2 Velocity I Gain RW 1,000 0 ~ 16,383 -

78 2 Velocity P Gain RW 100 0 ~ 16,383 -

80 2 Position D Gain RW 4,000 0 ~ 16,383 -

82 2 Position I Gain RW 0 0 ~ 16,383 -

84 2 Position P Gain RW 640 0 ~ 16,383 -

Feedforward 2nd
88 2 RW 0 0 ~ 16,383 -
Gain

90 2 Feedforward 1st Gain RW 0 0 ~ 16,383 -

98 1 Bus Watchdog RW 0 1 ~ 127 20 [msec]

-PWM Limit(36) ~
100 2 Goal PWM RW - 0.113 [%]
PWM Limit(36)

-Velocity Limit(44) ~
104 4 Goal Velocity RW - 0.229 [rev/min]
Velocity Limit(44)

108 4 Profile Acceleration RW 0

0 ~ 32,767 214.577 [rev/min2]
0 ~ 32,737 1 [ms]

112 4 Profile Velocity RW 0 0 ~ 32,767 0.229 [rev/min]

Min Position Limit(52)

116 4 Goal Position RW - ~ 1 [pulse]
Max Position Limit(48)

120 2 Realtime Tick R - 0 ~ 32,767 1 [msec]

122 1 Moving R 0 0~1 -

123 1 Moving Status R 0 - -

124 2 Present PWM R - - -

126 2 Present Load R - -1,000 ~ 1,000 0.1 [%]

 Default
Address Size(Byte) Data Name Access Range Unit
Value

128 4 Present Velocity R - - 0.229 [rev/min]

132 4 Present Position R - - 1 [pulse]

136 4 Velocity Trajectory R - - 0.229 [rev/min]

140 4 Position Trajectory R - - 1 [pulse]

144 2 Present Input Voltage R - - 0.1 [V]

146 1 Present Temperature R - - 1 [°C]

168 2 Indirect Address 1 RW 224 64 ~ 661 -

170 2 Indirect Address 2 RW 225 64 ~ 661 -

172 2 Indirect Address 3 RW 226 64 ~ 661 -

… … … … … - -

218 2 Indirect Address 26 RW 249 64 ~ 661 -

220 2 Indirect Address 27 RW 250 64 ~ 661 -

222 2 Indirect Address 28 RW 251 64 ~ 661 -

224 1 Indirect Data 1 RW 0 0 ~ 255 -

225 1 Indirect Data 2 RW 0 0 ~ 255 -

226 1 Indirect Data 3 RW 0 0 ~ 255 -

… … … … … - -

249 1 Indirect Data 26 RW 0 0 ~ 255 -

250 1 Indirect Data 27 RW 0 0 ~ 255 -

251 1 Indirect Data 28 RW 0 0 ~ 255 -

578 2 Indirect Address 29 RW 634 64 ~ 661 -

580 2 Indirect Address 30 RW 635 64 ~ 661 -

582 2 Indirect Address 31 RW 636 64 ~ 661 -

… … … … … - -

628 2 Indirect Address 54 RW 659 64 ~ 661 -

630 2 Indirect Address 55 RW 660 64 ~ 661 -

632 2 Indirect Address 56 RW 661 64 ~ 661 -

634 1 Indirect Data 29 RW 0 0 ~ 255 -

635 1 Indirect Data 30 RW 0 0 ~ 255 -

636 1 Indirect Data 31 RW 0 0 ~ 255 -

… … … … … - -

659 1 Indirect Data 54 RW 0 0 ~ 255 -

660 1 Indirect Data 55 RW 0 0 ~ 255 -

661 1 Indirect Data 56 RW 0 0 ~ 255 -

 CAUTION : Protocol 1.0 does not support addresses greater than 256. Therefore, Indirect Address
29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed with Protocol 2.0.

Control Table Description

CAUTION : Data in the EEPROM Area can only be written when the value of Torque Enable(64) is
cleared to ‘0’.

Model Number(0)
This address stores model number of DYNAMIXEL.

Firmware Version(6)
This address stores firmware version of DYNAMIXEL.

ID(7)
The ID is a unique value in the network to identify each DYNAMIXEL with an Instruction
Packet. 0~252 (0xFC) values can be used as an ID, and 254(0xFE) is occupied as a
broadcast ID. The Broadcast ID(254, 0xFE) can send an Instruction Packet to all
connected DYNAMIXEL simultaneously.

NOTE : Please avoid using an identical ID for multiple DYNAMIXEL. You may face
communication failure or may not be able to detect DYNAMIXEL with an identical ID.

NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packets will not be
returned for READ or WRITE Instructions regardless of the set value of Stuatus Return Level
(68). For more details, please refer to the Status Packet section for Protocol 1.0 or Protocol
2.0.

Baud Rate(8)
The Baud Rate(8) determines serial communication speed between a controller and
DYNAMIXEL.
Value Baud Rate Margin of Error

7 4.5M [bps] 0.000 [%]

6 4M [bps] 0.000 [%]

5 3M [bps] 0.000 [%]

4 2M [bps] 0.000 [%]

3 1M [bps] 0.000 [%]

2 115,200 [bps] 0.000 [%]

1(Default) 57,600 [bps] 0.000 [%]

0 9,600 [bps] 0.000 [%]

NOTE : Less than 3% of the baud rate error margin will not affect to UART communication.
 NOTE : For the stable communication with higher Baudrate using U2D2, configure USB Latency
value to the lower.
USB Latency Setting

Return Delay Time(9)

If the DYNAMIXEL receives an Instruction Packet, it will return the Status Packet after the
time of the set Return Delay Time(9).
Note that the range of values is 0 to 254 (0XFE) and its unit is 2 [μsec]. For instance, if the
Return Delay Time(9) is set to ‘10’, the Status Packet will be returned after 20[μsec] when
the Instruction Packet is received.
Unit Value Range Description

Default value ‘250’(500[μsec])

2[μsec] 0 ~ 254
Maximum value: ‘508’[μsec]

Drive Mode(10)
The Drive Mode(10) configures Drive Mode of DYNAMIXEL.
Bit Item Description

Bit 7(0x80) - Unused, always ‘0’

Bit 6(0x40) - Unused, always ‘0’

Bit 5(0x20) - Unused, always ‘0’

Bit 4(0x10) - Unused, always ‘0’

Bit 3(0x08) - Unused, always ‘0’

[0] Velocity-based Profile: Create a Profile based on Velocity

Bit 2(0x04) Profile Configuration [1] Time-based Profile: Create Profile based on time
※ See What is the Profile

Bit 1(0x02) - Unused, always ‘0’

[0] Normal Mode: CCW(Positive), CW(Negative)

Bit 0(0x01) Normal/Reverse Mode
[1] Reverse Mode: CCW(Negative), CW(Positive)

NOTE : Time-based Profile is available from firmware V42.

NOTE : If the value of Bit 0(Normal/Reverse Mode) of the Drive Mode(10) is set to 1 ,
rotational direction is inverted.
Thus, Goal Position, Present Position will have a inverted direction.
This feature can be very useful when configuring symmetrical joint or wheel system.

Operating Mode(11)
Operating
Value Description
Mode

Velocity This mode controls velocity and ideal for wheel operation.
1 Control Mode This mode is identical to the Wheel Mode(endless) from existing
(0° ~ 360°) DYNAMIXEL.
 Operating
Value Description
Mode

This mode controls position and identical to the Joint Mode.

Operating position range is limited by Max Position Limit(48) and Min
Position
3(Default) Position Limit(52).
Control Mode
This mode is ideal for articulated robots that each joint rotates less than
360°.

Extended
This mode controls position and identical to Multi-turn Mode.
Position
4 512 turns are supported(-256[rev] ~ 256[rev]) and ideal for multi-turn wrists
Control Mode
or conveyer systems or a system that requires an additional reduction gear.
(Multi-turn)

PWM Control
Mode
16 This mode directly controls PWM output (Voltage Control Mode)
(Voltage
Control Mode)

NOTE : Switching Operating Mode will reset gains(PID, Feedfoward) properly to the
selected Operating Mode. The profile generator and limits will also be reset.
1. Profile Velocity(112), Profile Acceleration(108) : Reset to ‘0’
2. Goal PWM(100) : Reset to PWM Limit(36)

NOTE : PWM is the abbreviation for Pulse Width Modulation that modulates PWM Duty
to control motors.
It changes pulse width to control average supply voltage to the motor and this technique
is widely used in the motor control field.
1. PWM Control Mode is similar to the Wheel Mode of DYNAMIXEL AXand RX series.
2. Use Goal PWM(100) on PWM Control Mode in order to control supply voltage for
DYNAMIXEL.

NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648

to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full
rotation in following cases. Note that Present Position(132)value that is reset to an
absolute value can differ by the set Homing Offset(20) value.:
1. When Operating Mode(11) switches to Position Control Mode, Present
Position(132) will be reset to an absolute position value within a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be
reset to an absolute position value within one full rotation.
3. Turning on the power supply or using Reboot Instruction.

Secondary(Shadow) ID(12)
The Secondary(Shadow) ID(12) assigns a secondary ID to the DYNAMIXEL.
The Secondary ID(12) can be shared to group between DYNAMIXELs and to synchronize
their movement, unlike ID(7) which must be unique and not be overlapped to use. Be
aware of differences between the Secondary ID(12) and ID(7) by reading the following.
Under the same Secondary ID(12), multiple DYNAMIXELs can be grouped.
The ID(7) has a greater priority than the Secondary ID(12). If the data of Secondary
ID(12) and ID(7) are set as same, the ID(7) will be applied at the top priority.
The EEPROM area of the Control Table cannot be modified using Secondary ID(12).
The RAM area can be modified using the Secondary ID(12).
If Instruction Packet ID is the same as the Secondary ID(12), the Status Packet will not
be returned.
 If the value of the Secondary ID(12) is 253 or higher, the Secondary ID function will be
deactivated.
Values Description

0 ~ 252 Activate Secondary ID function

253 ~ 255 Deactivate Secondary ID function, Default value ‘255’

Secondary ID(12) Example

As mentioned, the Secondary ID(12) can be assigned with the same values unlike the
ID(7). See the following Secondary ID(12) example to understand the address properly.
Note that The assigned ID(7) on each DYNAMIXELs is ‘1’, ‘2’, ‘3’, ‘4’ or ‘5’ and they are
not overlapped to be assigned.
1. Set Secondary ID of five DYNAMIXELs (Assigned ID(7) of each is ‘1’,’2’,’3’,’4’ or ‘5’,
not overlapped) to ‘5’.
2. Send Write Instruction Packet(ID(7) = 1, LED(65) = 1).
3. The DYNAMIXEL with ID ‘1’ turns on its LED by the Instruction Packet, and Status
Packet will be returned.
4. Send Write Instruction Packet(ID(7) = 5, LED(65) = 1).
5. All DYNAMIXELs turns on their LED, but Status Packet of ID ‘5’ will be returned
only.
6. Set the Secondary ID of all DYNAMIXELs to ‘100’.
7. Send Write Instruction Packet(ID(7) = 100, LED(65) = 0).
8. All DYNAMIXELs turns off their LED. As no DYNAMIXEL uses ID 100, but uses the
same Secondary ID, the Status Packet will not be returned.

Protocol Type(13)
DYNAMIXEL protocol type (either DYNAMIXEL Protocol 1.0 or 2.0) can be selected using
Protocol Type(13).
It is recommended to use an identical protocol type for multiple DYNAMIXEL.
Value Description Compatible DYNAMIXEL

DYNAMIXEL Protocol AX Series, DX Series, RX Series, EX Series, MX Series with Firmware

1
1.0 below v39

DYNAMIXEL Protocol
2(default) MX-28/64/106 with Firmware v39 or above, X Series, PRO Series
2.0

WARNING : To modify the data of Protocol Type(13), use the DYNAMIXEL Wizard 2.0 as R+
Manager 2.0 is not compatible with the Protocol 1.0 products.

NOTE : The protocol 2.0 is more stable and safety for use than Protocol 1.0. Accessing some of
the Control Table area might be denied if protocol 1.0 is selected. This manual complies with
protocol 2.0. Please refer to the Protocol 1.0 and Protocol 2.0 of e-Manual for more details about
the protocol.

NOTE : Please refer to the Protocol Compatibility table for product.

Homing Offset(20)
The Home Offset(20) adjusts the home position. The offest value is added to the Present
Position(132).
Present Position(132) = Actual Position + Homing Offset(20)
 Unit Value Range

-1,044,479 ~ 1,044,479
about 0.088 [°]
(-255 ~ 255[rev])

NOTE : In case of the Position Control Mode(Joint Mode) that rotates less than 360 degrees, any
invalid Homing Offset(20) values will be ignored(valid range : -1,024 ~ 1,024).

WARNING : Even if Drive Mode(10) is set to the Reverse Mode, the sign of Homing Offset(20)
value is not reversed.

Moving Threshold(24)
The Moving Threshold(24) determines whether the DYNAMIXEL is in motion or not.
When the absolute value of Present Velocity(128) is greater than the Moving
Threshold(24), Moving(122) is set to ‘1’. Otherwise it is cleared to ‘0’.
Unit Range Description

about 0.229 rpm 0 ~ 1,023 All velocity related Data uses the same unit

Temperature Limit(31)
The Temperature Limit(31) limits operating temperature of the DYNAMIXEL.
When the Present Temperature(146) is greater than the Temperature Limit(31),
the Overheating Error Bit(0x04) and Alert Bit(0x80) in the Hardware Error
Status(70) will be set. If Overheating Error Bit(0x04) is configured in
the Shutdown(63), Torque Enable(64) will be set to ‘0’ (Torque OFF). See
the Shutdown(63) for more detailed information.
Unit Value Range Description

About 1° 0 ~ 100 0 ~ 100°

CAUTION : Do not set this value higher than its default. In case that DYNAMIXEL encounters
temperature warning alarm (Overheating Error Bit(0x04)), let it cool for 20 minutes or more.
Otherwise, it may cause severe damage in operating.

Min/Max Voltage Limit(32, 34)

The Min Voltage Limit(32) and Max Voltage Limit(34) determine the maximum and
minimum operating voltages.
When the Present Input Voltage(144) indicating the present input voltage to the device
exceeds the range of Max Voltage Limit(32) and Min Voltage Limit(34), the Input Voltage
error Bit(0x10) in the Hardware Error Status(70) will be set, and the Status Packet will
send Alert Bit(0x80) via the Error field.
If Input Voltage Error Bit(0x10) in the Shutdown(63) is set, Torque Enable(64) will be set to
‘0’(Torque OFF).
For more details, please refer to the Shutdown(63) section.
Unit Value Range Description

About 0.1V 60 ~ 140 6.0 ~ 14.0V

PWM Limit(36)
The PWM Limit(36) indicates maximum PWM output. Goal PWM(100)can’t be configured
with any values exceeding PWM Limit(36). PWM Limit(36) is commonly used in all
 operating mode as an output limit, therefore decreasing PWM output will result in
decreasing torque and velocity. For more details, please refer to the Gain section of each
operating modes.
Unit Range

about 0.113 [%] 0(0 [%]) ~ 885(100 [%] )

Velocity Limit(44)
Velocity Limit(44) indicates the maximum value of Goal Velocity(104). For more details,
see Goal Velocity(104).
Unit Value Range

0.229rpm 0 ~ 1,023

NOTE: The default value of Velocity Limit(44) has been decreased since Firmware V42.

Min/Max Position Limit(48, 52)

These values limit maximum and minimum target positions for Position Control Mode(Joint
Mode) within the range of 1 rotation(0 ~ 4,095). Therefore, Goal Position(116) should be
configured within the position limit range. These values are not used in Extended Position
Control Mode.
Unit Value Range

0.088° 0 ~ 4,095(1 rotation)

NOTE : Max Position Limit(48) and Min Position Limit(52) are only used in Position Control
Mode with a single turn.

Shutdown(63)
The DYNAMIXEL can protect itself by detecting dangerous situations that could occur
during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be
generated.
For instance, when ‘0x05’ (binary : 00000101) is defined inShutdown(63), DYNAMIXEL
can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary :
00000100).
If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor output
becomes 0 [%].
REBOOT is the only method to reset Torque Enable(64) to ‘1’(Torque ON) after the
shutdown.
Check Alert Bit(0x80) in a error field of Status Packet or a present status via Hardware
Error Status(70) . The followings are detectable situations.
Bit Item Description

Bit
- Unused, Always ‘0’
7

Bit
- Unused, Always ‘0’
6

Bit
Overload Error(default) Detects that persistent load that exceeds maximum output
5

Bit Electrical Shock Detects electric shock on the circuit or insufficient power to operate the
4 Error(default) motor
 Bit Item Description

Bit
Motor Encoder Error Detects malfunction of the motor encoder
3

Bit Detects that internal temperature exceeds the configured operating

Overheating Error(default)
2 temperature

Bit
- Unused, Always ‘0’
1

Bit
Input Voltage Error Detects that input voltage exceeds the configured operating voltage
0

NOTE :
1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above)
2. If Shutdown occurs, reboot the device.
H/W REBOOT : Turn off and turn on the power again
S/W REBOOT : Transmit REBOOT Instruction (For more details, refer to
the Reboot section of e-Manual.)

Torque Enable(64)
Torque Enable(64) determines Torque ON/OFF. Writing ‘1’ to Toque Enable’s address will
turn on the Torque and all Data in the EEPROM area will be locked.
Value Description

0(Default) Turn off the torque

1 Turn on the torque and lock EEPROM area

NOTE : Present Position(132) can be reset when Operating Mode(11) and Torque
Enable(64) are updated. For more details, please refer to the Homing Offset(20) and Present
Position(132).

LED(65)
The LED(65) determines LED On or Off.
Bit Description

0(Default) Turn OFF the LED

1 Turn ON the LED

NOTE : Check the status of DYNAMIXEL by the counts of flickering LED.

Status LED Representation

Booting LED flickers once

Factory Reset LED flickers 4 times

Alarm LED flickers

Boot Mode LED On

Status Return Level(68)

 The Status Return Level(68) decides how to return Status Packet when DYNAMIXEL
receives an Instruction Packet.
Value Responding Instructions Description

0 PING Instruction Returns the Status Packet for PING Instruction only

PING Instruction
1 Returns the Status Packet for PING and READ Instruction
READ Instruction

2 All Instructions Returns the Status Packet for all Instructions

NOTE : If the Instruction Packet ID is set to the Broadcast ID(0xFE), Status Packet will not be
returned for READ or WRITE Instructions regardless of Status Return Level(68). For more
details, please refer to the Status Packet section for Protocol 1.0 or Protocol 2.0.

1 Packet ID is the field that indicates an ID of the device that should receive the
Instruction Packet and process it.

Registered Instruction(69)
Value Description

0 No instruction registered by REG_WRITE.

1 Instruction registered by REG_WRITE exsists.

NOTE : If ACTION instruction is executed, the Registered Instruction (69) will be changed to 0.

Hardware Error Status(70)

The Hardware Error Status(70) indicates hardware error status.
The DYNAMIXEL can protect itself by detecting dangerous situations that could occur
during the operation.
Each Bit is inclusively processed with the ‘OR’ logic, therefore, multiple options can be
generated.
For instance, when ‘0x05’ (binary : 00000101) is defined inShutdown(63), DYNAMIXEL
can detect both Input Voltage Error(binary : 00000001) and Overheating Error(binary :
00000100).
If those errors are detected, Torque Enable(64) is cleared to ‘0’ and the motor output
becomes 0 [%].
REBOOT is the only method to reset Torque Enable(64) to ‘1’(Torque ON) after the
shutdown.
Check Alert Bit(0x80) in a error field of Status Packet or a present status via Hardware
Error Status(70) . The followings are detectable situations.
Bit Item Description

Bit
- Unused, Always ‘0’
7

Bit
- Unused, Always ‘0’
6

Bit
Overload Error(default) Detects that persistent load that exceeds maximum output
5

Bit Electrical Shock Detects electric shock on the circuit or insufficient power to operate the
4 Error(default) motor

Bit
Motor Encoder Error Detects malfunction of the motor encoder
3
 Bit Item Description

Bit Detects that internal temperature exceeds the configured operating

Overheating Error(default)
2 temperature

Bit
- Unused, Always ‘0’
1

Bit
Input Voltage Error Detects that input voltage exceeds the configured operating voltage
0

NOTE :
1. If Shutdown occurs, LED will flicker every second. (Firmware v41 or above)
2. If Shutdown occurs, reboot the device.
H/W REBOOT : Turn off and turn on the power again
S/W REBOOT : Transmit REBOOT Instruction (For more details, refer to
the Reboot section of e-Manual.)

Velocity PI Gain(76, 78)

The Velocity PI Gains(76, 78) indicate gains of Velocity Control Mode.
Velocity P Gain of DYNAMIXEL’s internal controller is abbreviated to KVP and that of the
Control Table is abbreviated to KVP(TBL).
Controller Gain Conversion Equations Range Description

Velocity I Gain(76) KVI KVI = KVI(TBL) / 65,536 0 ~ 16,383 I Gain

Velocity P Gain(78) KVP KVP = KVP(TBL) / 128 0 ~ 16,383 P Gain

Below figure is a block diagram describing the velocity controller in Velocity Control Mode.
When the instruction transmitted from the user is received by DYNAMIXEL, it takes
following steps until driving the horn.
1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered
to Goal Velocity(104).
2. Goal Velocity(104) is converted to desired velocity trajectory by Profile
Acceleration(108).
3. The desired velocity trajectory is stored at Velocity Trajectory(136).
4. PI controller calculates PWM output for the motor based on the desired velocity
trajectory.
5. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM
value.
6. The final PWM value is applied to the motor through an Inverter, and the horn of
DYNAMIXEL is driven.
7. Results are stored at Present Position(132), Present Velocity(128), Present
PWM(124) and Present Load(126).
 NOTE : Ka stands for Anti-windup Gain and β is a conversion coefficient of position and velocity
that cannot be modified by users. For more details about the PID controller, please refer to
the PID Controller at wikipedia.

Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90)

These Gains are used in Position Control Mode and Extended Position Control Mode.
Position P Gain of DYNAMIXEL’s internal controller is abbreviated to KPP and that of the
Control Table is abbreviated to KPP(TBL).
Controller Conversion
Range Description
Gain Equations

KPD KPD = KPD(TBL)/ 16 0~

Position D Gain(80) D Gain
16,383

KPI = KPI(TBL) / 0~
Position I Gain(82) KPI I Gain
65,536 16,383

KPP KPP = KPP(TBL)/ 128 0~

Position P Gain(84) P Gain
16,383

Feedforward 2nd KFF2nd KFF2nd(TBL) / 4 0~ Feedforward Acceleration

Gain(88) 16,383 Gain

Feedforward 1st KFF1st KFF1st(TBL) / 4 0~

Feedforward Velocity Gain
Gain(90) 16,383

Below figure is a block diagram describing the position controller in Position Control Mode
and Extended Position Control Mode. When the instruction from the user is received by
DYNAMIXEL, it takes following steps until driving the horn.
1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered
to Goal Position(116).
2. Goal Position(116) is converted to desired position trajectory and desired velocity
trajectory by Profile Velocity(112) and Profile Acceleration(108).
3. The desired position trajectory and desired velocity trajectory is stored at Position
Trajectory(140) and Velocity Trajectory(136)respectively.
4. Feedforward and PID controller calculate PWM output for the motor based on desired
trajectories.
5. Goal PWM(100) sets a limit on the calculated PWM output and decides the final PWM
value.
6. The final PWM value is applied to the motor through an Inverter, and the horn of
DYNAMIXEL is driven.
7. Results are stored at Present Position(132), Present Velocity(128), Present
PWM(124) and Present Load(126).
 NOTE:
In case of PWM Control Mode, both PID controller and Feedforward controller are
deactivated while Goal PWM(100) value is directly controlling the motor through an inverter.
In this manner, users can directly control the supplying voltage to the motor.
Ka is an Anti-windup Gain that cannot be modified by users.
For more details about the PID controller and Feedforward controller, please refer to the PID
Controller and Feed Forward.

Bus Watchdog(98)
The Bus Watchdog(98) is a safety device (Fail-safe) to stops the DYNAMIXEL if the
communication between the controller and DYNAMIXEL communication (RS485, TTL) is
disconnected due to an unspecified error. The communication is defined as all the
Instruction Packet in the DYNAMIXEL Protocol.
Values Description

Range 0 Deactivate Bus Watchdog Function, Clear Bus Watchdog Error

Range 1 ~ 127 Activate Bus Watchdog (Unit: 20 [msec])

Range -1 Bus Watchdog Error Status

The Bus Watchdog function monitors the communication interval (time) between the
controller and DYNAMIXEL when Torque Enable(64) is ‘1’(Torque ON).
If the measured communication interval (time) is larger than the set value of Bus
Watchdog(98), the DYNAMIXEL will stop. Bus Watchdog(98) will be changed to ‘-1’ (Bus
Watchdog Error). If the Bus Watchdog Error screen appears, the Goal Value (Goal
PWM(100), Goal Velocity(104), Goal Position(116)) will be changed to read-only-access.
Therefore, if a new value is written to the Goal Value, the Status Packet will send the Data
Range Error via its Error field. If the value of Bus Watchdog(98) is changed to ‘0’, Bus
Watchdog Error will be cleared.

NOTE : For details of the Data Range Error, please refer to the Protocol 2.0

NOTE: Bus Watchdog (98) is available from firmware v38.

Bus Watchdog (98) Example

The following is the example of the operation of the Bus Watchdog function.
1. After setting the Operating Mode(11) to speed control mode, change the Torque
Enable(64) to ‘1’.
2. If ‘50’ is written in the Goal Velocity(104), the DYNAMIXEL will rotate in CCW
direction.
3. Change the value of Bus Watchdog(98) to ‘100’ (2,000 [ms]). (Activate Bus
Watchdog Function)
4. If no instruction packet is received for 2,000 [ms], the DYNAMIXEL will stop. When it
stops, the Profile Acceleration(108) and Profile Velocity(112) are applied as ‘0’.
5. The value of Bus Watchdog(98) changes to ‘-1’ (Bus Watchdog Error). At this time,
the access to the Goal Value will be changed to read-only.
6. If ‘150’ is written to the Goal Velocity(104), the Data Range Error will be returned via
Status Packet.
7. If the value of Bus Watchdog(98) is changed to ‘0’, Bus Watchdog Error will be
cleared.
8. If “150” is written in the Goal Velocity(104), the DYNAMIXEL will rotate in CCW
direction.
Goal PWM(100)
When the Operating Mode(11) is PWM Control Mode, both the PID and Feedforward
controllers will be deactivated as the Goal PWM(100) value directly controls a motor via an
inverter. But on the other Operating Mode(11), the Goal PWM(100) limits PWM value only.
Read Position PID Gain(80, 82, 84), Feedforward 1st/2nd Gains(88, 90) or Velocity PI
Gain(76, 78) for how Goal PWM (100) works with the gains.
Unit Range

about 0.113 [%] -PWM Limit(36) ~ PWM Limit(36)

NOTE: Goal PWM(100) can not exceed PWM Limit(36).

Goal Velocity(104)
Use the Goal Velocity(104) to set a desired velocity when the Operating
Mode(11) is Velocity Control Mode.
Note that the Goal Velocity(104) is not used to limit moving velocity.
Unit Value Range

0.229 rpm -Velocity Limit(44) ~ Velocity Limit(44)

NOTE: Goal Velocity(104) can not exceed Velocity Limit(44).

NOTE : The maximum velocity and maximum torque of DYNAMIXEL is affected by supplying
voltage.
Therefore, if supplying voltage changes, so does the maximum velocity. This manual complies
with recommended supply voltage(12[V]).

NOTE : If Profile Acceleration(108) and Goal Velocity(104) are modified simultaneously,

modified Profile Acceleration(108) will be used to process Goal Velocity(104).

Profile Acceleration(108)
When the Drive Mode(10) is Velocity-based Profile, Profile Acceleration(108) sets
acceleration of the Profile.
When the Drive Mode(10) is Time-based Profile, Profile Acceleration(108) sets
acceleration time of the Profile.
Be aware that the Profile Acceleration(108) is to be applied in all control mode
except Current Control Mode or PWM Control Mode on the Operating Mode(11).
For more detailed information, see What is the Profile
Velocity-based Profile Values Description

Unit 214.577 [rev/min2] Sets acceleration of the Profile

Range 0 ~ 32767 ‘0’ represents an infinite acceleration

Time-
based Values Description
Profile

1
Unit Sets accelerating time of the Profile
[msec]
 Time-
based Values Description
Profile

‘0’ represents an infinite acceleration time(‘0 [msec]’).

0~
Range Profile Acceleration(108, Acceleration time) will not exceed 50% of Profile Velocity
32737
(112, the time span to reach the velocity of the Profile) value.

NOTE : Time-based Profile is available from the firmware version 42.

Profile Velocity(112)
When the Drive Mode(10) is Velocity-based Profile, Profile Velocity(112) sets the
maximum velocity of the Profile.
When the Drive Mode(10) is Time-based Profile, Profile Velocity(112) sets the time span
to reach the velocity (the total time) of the Profile.
Be aware that the Profile Velocity(112) is to be only applied to Position Control
Mode or Extended Position Control Mode on the Operating Mode(11).
For more detailed information, see What is the Profile.

NOTE: Velocity Control Mode only uses Profile Acceleration(108) without the Profile
Velocity(112).

Velocity-based Profile Values Description

Unit 0.229 [rev/min] Sets velocity of the Profile

Range 0 ~ 32767 ‘0’ represents an infinite velocity

Time-
based Values Description
Profile

1
Unit Sets the time span for the Profile
[msec]

‘0’ represents an infinite velocity.

0~
Range Profile Acceleration(108, Acceleration time) will not exceed 50% of Profile Velocity
32737
(112, the time span to reach the velocity of the Profile) value.

NOTE : Time-based Profile is available from the firmware V42.

Goal Position(116)
The Goal Position(116) sets desired position. From the front view of DYNAMIXEL, CCW is
an increasing direction, whereas CW is a decreasing direction. The way of reaching the
Goal Position(116) can differ by the Profile provided by DYNAMIXEL. See the What is the
Profile for more details.
 Mode Values Description

Position Control Mode Min Position Limit(52) ~ Max Position Limit(48) Initial Value : 0 ~ 4,095

Extended Position Control Mode -1,048,575 ~ 1,048,575 -256[rev] ~ 256[rev]

Unit Description

0.088 [deg/pulse] 1[rev] : 0 ~ 4,095

NOTE : The Profile Velocity(112) and the Profile Acceleration(108) are applied in below
cases.
When the Operating Mode(11) is Position Control Mode, the Profile Velocity(112) and
the Profile Acceleration(108) are used to create a new profile if the Goal Position(116) is
updated.
When the Operating Mode(11) is Velocity Control Mode, the Profile Acceleration(108) is
used to create a new profile if Goal Velocity(104) is updated.

NOTE : When turning off the power supply or changing Operation Mode on Extended Position
Control Mode, the value of Present Position is reset to the absolute position value of single turn .

NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648

to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full
rotation in following cases. Note that Present Position(132)value that is reset to an
absolute value can differ by the set Homing Offset(20) value.:
1. When Operating Mode(11) switches to Position Control Mode, Present
Position(132) will be reset to an absolute position value within a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be
reset to an absolute position value within one full rotation.
3. Turning on the power supply or using Reboot Instruction.

Realtime Tick(120)
The Realtime Tick(120) indicates DYNAMIXEL’s time.
Unit Value Range Description

1 ms 0 ~ 32,767 The value resets to ‘0’ when it exceeds 32,767

Moving(122)
The Moving(122) indicates whether DYNAMIXEL is in motion or not.
If absolute value of Present Velocity(128) is greater than Moving Threshold(24),
 Moving(122) is set to ‘1’.
Otherwise, it will be cleared to ‘0’.
However,the Moving(122) will always be set to ‘1’ regardless of Present
Velocity(128) while Profile is in progress with Goal Position(116)instruction.
Value Description

0 Movement is not detected

1 Movement is detected, or Profile is in progress(Goal Position(116) instruction is being processed)

Moving Status(123)
The Moving Status(123), one byte data, provides additional information about the
movement.
Following Error(0x08) and In-Position(0x01) are available under Position Control
Mode, Extended Position Control Mode.
For more details about the mode, see the Operating Mode(11).
Bit Value Information Description

Bit 7 X - Reserved

Bit 6 X - Reserved

11 11 : Trapezoidal Profile
Bit 4 10 10 : Triangular Profile
Velocity Profile
Bit 5 01 01 : Rectangular Profile
00 00 : Profile not used(Step)

DYNAMIXEL is following the desired position trajectory

Bit 3 0 or 1 Following Error 0 : Following
1 : Not following

Bit 2 X - Reserved

Profile is in progress with Goal Position(116)instruction

Bit 1 0 or 1 Profile Ongoing 0 : Profile completed
1 : Profile in progress

DYNAMIXEL has arrived to the desired position

Bit 0 0 or 1 In-Position 0 : Not arrived
1 : Arrived

NOTE : The Triangular velocity profile is configured when Rectangular velocity profile cannot
reach to the Profile Velocity(112).

NOTE : In-Position bit will be set when the positional deviation is smaller than a predefined value
under Position related control modes.

Present PWM(124)
This value indicates present PWM. For more details, please refer to the Goal PWM(100).

Present Load(126)
It means currently applied load. For example, the value is 500, it means the load is
detected in the direction of CCW about 50% of the maximum torque.
Unit Value Range Description

0.1% -1,000 ~ 1,000 Positive(CCW Load), Negative(CW Load)

 NOTE : The Present load is an inferred value based on the internal output value; not a measured
value using torque sensor, etc. Therefore, it may be inaccurate for measuring weight or torque. It
is recommended to use it for predicting the direction and size of the force being applied to the
joint.

Present Velocity(128)
This value indicates present Velocity. For more details, please refer to the Goal
Velocity(104).

Present Position(132)
The Present Position(132) indicates present Position. For more details, see the Goal
Position(116).

NOTE : Present Position(132) represents 4 byte continuous range from -2,147,483,648

to 2,147,483,647 when Torque is turned off regardless of Operating Mode(11).
However, Present Position(132) will be reset to an absolute position value within one full
rotation in following cases. Note that Present Position(132)value that is reset to an
absolute value can differ by the set Homing Offset(20) value.:
1. When Operating Mode(11) switches to Position Control Mode, Present
Position(132) will be reset to an absolute position value within a full rotation.
2. When torque is turned on in Position Control Mode, Present Position(132) will be
reset to an absolute position value within one full rotation.
3. Turning on the power supply or using Reboot Instruction.

Velocity Trajectory(136)
This is a target velocity trajectory created by Profile. Operating method can be changed
based on control mode. For more details, please refer to the Profile Velocity(112).
1. Velocity Control Mode : When Profile reaches to the endpoint, Velocity
Trajectory(136) becomes equal to Goal Velocity(104).
2. Position Control Mode, Extended Position Control Mode : Velocity Trajectory is
used to create Position Trajectory(140). When Profile reaches to an endpoint, Velocity
Trajectory(136) is cleared to ‘0’.

Position Trajectory(140)
The Position Trajectory(140) is a desired position trajectory created by the Profile.
The Position Trajectory(140) is used only when the Operating Mode(11)is the Position
Control Mode, Extended Position Control Mode.
For more details, see What is the Profile.

Present Input Voltage(144)

The Present Input Voltage(144) indicates present voltage that is being supplied. For more
details, see the Max/Min Voltage Limit(32, 34).

Present Temperature(146)
The Present Temperature(146) indicates internal temperature of DYNAMIXEL. For more
details, see the Temperature Limit(31).

Indirect Address, Indirect Data

 Indirect Address and Indirect Data are useful when accessing two remote addresses in the
Control Table as sequential addresses. - Sequential addresses increase Instruction Packet
efficiency. Addresses that can be defined as Indirect Address is limited to RAM
area(Address 64 ~ 661).
If specific address is allocated to Indirect Address, Indirect Address inherits features
and properties of the Data from the specific Address.
Property includes Size(Byte length), value range, and Access property(Read Only,
Read/Write).
For instance, allocating 65(Address of LED) to Indirect Address 1(168), Indirect Data
1(224) can perform exactly same as LED(65).
Indirect Address Range Description

64 ~ 661 EEPROM address can’t be assigned to Indirect Address

Indirect Address and Indirect Data Examples

Example 1 Allocating Size 1 byte LED(65) to Indirect Data 1(224).
1. Indirect Address 1(168) : change the value to ‘65’ which is the address of LED.
2. Set Indirect Data 1(224) to ‘1’ : LED(65) also becomes ‘1’ and LED is turned on.
3. Set Indirect Data 1(224) to ‘0’ : LED(65) also becomes ‘0’ and LED is turned off.
Example 2 Allocating Size 4 byte Goal Position(116) to Indirect Data 2(225), 4
sequential bytes have to be allocated.
1. Indirect Address 2(170) : change the value to ‘116’ which is the first address of Goal
Position.
2. Indirect Address 3(172) : change the value to ‘117’ which is the second address of
Goal Position.
3. Indirect Address 4(174) : change the value to ‘118’ which is the third address of Goal
Position.
4. Indirect Address 5(176) : change the value to ‘119’ which is the fourth address of
Goal Position.
5. Set 4 byte value ‘1,024’ to Indirect Data 2 : Goal Position(116)also becomes ‘1024’
and DYNAMIXEL moves.

NOTE : In order to allocate Data in the Control Table longer than 2[byte] to Indirect Address,
all address must be allocated to Indirect Address like the above Example 2.

NOTE : Indirect Address 29 ~ 56 and Indirect Data 29 ~ 56 can only be accessed

with Protocol 2.0.

How to Assemble

Wiring through Back Case

New XL430-W250 (Released on 2018 3rd quarter)
Old XL430-W250 (This type has been discontinued)
 CAUTION : DYNAMIXEL-X series cable assembly through hollow case
Organize the entangled cable before assembling the back case.
Do not assemble the back case with entangled cable. The entangled cable can be squashed by
the case and cause communication error.
Do not assemble both cables through the hollow case.

Option Frame Assembly

New XL430-W250
Old XL430-W250
Reference

NOTE Compatibility Guide Harness Compatibility

What is the Profile

The Profile is an acceleration/deceleration control method to reduce vibration, noise and load
of the motor by controlling dramatically changing velocity and acceleration.
It is also called Velocity Profile as it controls acceleration and deceleration based on velocity.
DYNAMIXEL provides 3 different types of Profile. The following explains 3 Profiles.
Profiles are usually selected by the combination of Profile Velocity(112) and Profile
Acceleration(108).

When given Goal Position(116), DYNAMIXEL’s profile creates desired velocity trajectory
based on present velocity(initial velocity of the Profile).
When DYNAMIXEL receives updated desired position from a new Goal Position(116) while it
is moving toward the previous Goal Position(116), velocity smoothly varies for the new
desired velocity trajectory.
Maintaining velocity continuity while updating desired velocity trajectory is called Velocity
Override.
For a simple calculation, let’s assume that the initial velocity of the Profile is ‘0’.
The following explains how Profile processes Goal Position(116) instruction in Position
Control mode, Extended Position Control Mode.
1. An Instruction from the user is transmitted via DYNAMIXEL bus, then registered to Goal
Position(116) (If Velocity-based Profile is selected).
2. Acceleration time(t1) is calculated from Profile Velocity(112) and Profile Acceleration(108).
3. Types of Profile is decided based on Profile Velocity(112), Profile Acceleration(108) and
total travel distance(ΔPos, the distance difference between desired position and present
 position).
4. Selected Profile type is stored at Moving Status(123).
5. DYNAMIXEL is driven by the calculated desired trajectory from Profile.
6. desired velocity trajectory and desired position trajectory from Profile are stored
at Velocity Trajectory(136) and Position Trajectory(140)respectively.
Condition Types of Profile

VPRFL(112) = 0 Profile not used

(Step Instruction)

(VPRFL(112) ≠ 0) & (APRF(108) = 0) Rectangular Profile

(VPRFL(112) ≠ 0) & (APRF(108) ≠ 0) Trapezoidal Profile

NOTE : Velocity Control Mode only uses Profile Acceleration(108). Step and Trapezoidal
Profiles are supported. Velocity Override are supported as well. Acceleration time(t1) can be
calculated as below equation.
Velocity-based Profile : t1 = 64 * {Profile Velocity(112) / Profile Acceleration(108)}
Time-based Profile : t1 = Profile Acceleration(108)
 NOTE : If Time-based Profile is selected, Profile Velocity(112) is used to set the time span of
the Profile(t3), while Profile Acceleration(108) sets accelerating time(t1) in
millisecond[ms]. Profile Acceleration(108) will not exceed 50% of Profile Velocity(112) value.

Certifications
Please inquire us for information regarding unlisted certifications.

FCC

Note: This equipment has been tested and found to comply with the limits for a Class B
digital device, pursuant to part 15 of the FCC Rules. These limits are designed to
provide reasonable protection against harmful interference in a residential installation.
This equipment generates, uses and can radiate radio frequency energy and, if not
installed and used in accordance with the instructions, may cause harmful interference
to radio communications. However, there is no guarantee that interference will not occur
in a particular installation. If this equipment does cause harmful interference to radio or
television reception, which can be determined by turning the equipment off and on, the
user is encouraged to try to correct the interference by one more of the following
measures:
Reorient or relocate the receiving antenna.
Increase the separation between the equipment and receiver.
Connect the equipment into an outlet on a circuit different from that to which the receiver is
connected.
Consult the dealer or an experienced radio/TV technician for help.

WARNING
Any changes or modifications not expressly approved by the manufacturer could void the user’s
authority to operate the equipment.

Quick Start

Prerequisites
Power supply to DYNAMIXEL(12V SMPS / Controllers, compatible with DYNAMIXEL)
See Compatibility Table
PC with Windows, Linux or MacOS.
Connection between PC and DYNAMIXEL (U2D2, USB2Dynamixel)
Compatible Software with DYNAMIXEL

WARNING:
USB2Dynamixel has been discontinued.
Some software may not support OS which you use. Be sure to read e-Manual of software
you use to check the supported OS for right use of software.

NOTE:
U2D2 is a small size USB communication converter that enables to control and operate
DYNAMIXEL with PC.
U2D2 Power Hub which combines with U2D2 supplies a variety external power source with
a stable power supply to DYNAMIXEL.
Compatible Software with DYNAMIXEL
You can use exclusive software for DYNAMIXEL. See the software compatibility on the
next table and choose a desired software for your project.
AX DX RX EX MX PRO P
Model X-Series
Series Series Series Series Series Series Series

R+ Manager 2.0 X X X X O O O O

DYNAMIXEL X (XL320 can be

O X X O O O X
Wizard used)

DYNAMIXEL
O O O O O O O O
Wizard 2.0

DYNAMIXEL SDK O O O O O O O O

DYNAMIXEL
O O O O O O O O
Workbench

NOTE: You can also use more variety of software. For more information, see the
following to check software provided by ROBOTIS.
DYNAMIXEL to software Compatibility Table
Controller to software Compatibility Table

R+ Manager
R+ Manager is used to handle devices used by a robot. Major functions of this program
are as follows.
Manage controller firmware. (Update and Restore)
Inspect the status of the controller and peripheral devices. (Test)
Set the required modes. (Settings)

NOTE: R+ Manager 2.0 or DYNAMIXEL Wizard 2.0 provides diverse features compared to R+
Manager.

R+ Manager 2.0
The R+ Manager 2.0 manages a controller and DYNAMIXEL devices that comprise the
robot. By connecting the product, you can update the product to the latest version and
test Control Table. The functions that were previously provided in RoboPlus Manager
1.0 and Wizard 1.0 have been combined in RoboPlus Manager 2.0.

WARNING: R+ Manager 2.0 is not compatible with DYNAMIXEL using protocol

1.0.
DYNAMIXEL Wizard 2.0 supports all DYNAMIXEL for Firmware Recovery,
Firmware Update, and change data of Control Table of DYNAMIXEL.

DYNAMIXEL Wizard 2.0

DYNAMIXEL Wizard 2.0 is an optimized tool for managing DYNAMIXEL’s from various
operating systems.
The following features are provided with DYNAMIXEL Wizard 2.0.
DYNAMIXEL Firmware Update
DYNAMIXEL Diagnosis
DYNAMIXEL Configuration and Test
 DYNAMIXEL Data Plotting in Real-Time
Generate & Monitor DYNAMIXEL Packets

DYNAMIXEL SDK
DYNAMIXEL SDK is a software development kit that provides DYNAMIXEL control
functions using packet communication. The API of DYNAMIXEL SDK is designed for
DYNAMIXEL actuators and DYNAMIXEL-based platforms. You need to be familiar with
C/C++ programming language for right use of the software. This e-Manual provides
comprehensive information on ROBOTIS products and applications.
Supported Programming Laguanges and Features:
C, C++, C#, Python, Java, MATLAB, LabVIEW
Windows, Mac, Linux.
ROS
Arduino

DYNAMIXEL Workbench
DYNAMIXEL Workbench, based on DYNAMIXEL SDK, is library which provides simple
and easier method to use DYNAMIXEL.
Supported Programming Laguanges and Features:
C++
Linux, MacOS
ROS
Arduino

NOTE: DYNAMIXEL Workbench may provide lack of contents or features compared to

DYNAMIXEL SDK. In order to use DYNAMIXEL with sufficient contents, use DYNAMIXEL
SDK.

Connector Information
Item TTL

1 GND
Pinout 2 VDD
3 DATA

Diagram

Housing

JST EHR-03

PCB Header

JST B3B-EH-A

Crimp Terminal JST SEH-001T-P0.6

 Item TTL

Wire Gauge for DYNAMIXEL 21 AWG

Communication Circuit
To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals
to the half duplex type. The recommended circuit diagram for this is shown below.

TTL Communication

Drawings

New XL430-W250
Download XL430_new(pdf).pdf
Download XL430_new(dwg).dwg
Download XL430_new(stp).stp

Old XL430-W250
Download XL430.pdf
Download XL430.dwg
Download XL430.stp
Please also checkout ROBOTIS Download Center for software applications, 3D/2D CAD, and
other useful resources!