18. Appendix #DYNAMIXEL

18.1. Overview

DYNAMIXEL X-Series is a new line-up of high performance networked actuator module, which has been widely used for building various types of robots with reliability and expandability. Two different types of DYNAMIXEL is adopted in TurtleBot3 Burger and Waffle as they have different requirements. DYNAMIXEL X-Series shares its design, therefore, users can replace actuators depend on applications.

Basic Feature

  • Improved Torque with Compact Size
  • Enhanced Durability and Expandability
  • Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • Direct Screw Assembly to the Case (without Nut Insert)
  • Improved Heat Sink Featuring Aluminum Case

Various Control Functions

  • 6 Operating Modes
  • Current-Based Torque Control (4096 steps, 2.69mA/step)
  • Profile Control for Smooth Motion Planning
  • Trajectory Data and Moving Status (In-Position, Following Error, etc.)
  • Energy Saving (Reduced Current from 100mA to 40mA)


Control Functions may vary by models.


18.2. Specifications

Items XL430-W250 (for Burger) XM430-W210 (for Waffle)
Microcontroller ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit)
Position Sensor Contactless Absolute Encoder (12bit, 360°)
Motor Cored Motor Coreless Motor
Baud Rate 9600 bps ~ 4.5 Mbps
Control Modes Velocity, Position, Extended Position, PWM (+Current, Current-base Position : XM430-W210 only)
Gear Ratio 258.5 : 1 212.6 : 1
Stall Torque 1.0 N.m (@ 9V, 1A) 2.7 N.m (@ 11.1V, 2.1A)
1.4 N.m (@ 11.1V, 1.3A) 3.0 N.m (@ 12V, 2.3A)
1.5 N.m (@ 12V, 1.4A) 3.7 N.m (@ 14.8V, 2.7A)
No Load Speed 47rpm (@ 9V) 70rpm (@ 11.1V)
57rpm (@ 11.1V) 77rpm (@ 12V)
61rpm (@ 12V) 95rpm (@ 14.8V)
Communication TTL Level Multi Drop Bus TTL Level / RS485 Multi Drop Bus
Material Engineering Plastic Full Metal Gear, Metal Body, Engineering Plastic
Standby Current 52mA 40mA

More information for actuators can be found at below ROBOTIS e-Manual links.