Cored-motor, 258.5:1 plastic-geared servo with 12-bit absolute encoder, TTL multidrop bus and DYNAMIXEL Protocol 2.0 control table
Motion & Actuation · Networked smart servo actuator
XL430-W250-T
The exact TurtleBot3 Burger actuator identity with voltage-conditioned stall and no-load-speed claims. The official manual explicitly warns that stall torque is not continuous output or real-world performance.
ROBOTIS DYNAMIXEL XL430-W250-T · Also: DYNAMIXEL XL430-W250-T, XL430-W250
What this record can support today.
Coverage is computed from published, non-unknown fields. It measures the record—not product quality—and makes missing procurement evidence explicit.
Engineering field coverage73%
8 of 11 selected fields published
- Official product sourcepublished
- Lifecycle statepublished
- Mechanical dimensions / mass / mountingpublished
- Environmental operating limitspublished
- Continuous or rated outputunknown
- Peak / momentary outputmissing
- Speed boundarypublished
- Transmission ratio / errorpublished
- Electrical input / consumptionpublished
- Control and communication interfacemissing
- Position / torque feedbackpublished
Procurement field coverage15%
2 of 13 selected fields published
- Official product / sales routepublished
- Lifecycle statepublished
- Exact orderable SKU / part numbermissing
- Price with region, currency and quantitymissing
- Lead time with check datemissing
- Commercial availability / stock statemissing
- Minimum order quantitymissing
- Authorized distributor / sales channelmissing
- CAD / STEP / interface drawingmissing
- Certification with identifiermissing
- MTBF / failure / reliability datamissing
- Warranty termsmissing
- PCN / EOL / replacement noticemissing
Coverage measures whether a selected public field is present with non-U evidence. It is not a product score, compatibility result, certification, availability confirmation or procurement recommendation. Download the complete readiness coverage JSON →
Exact-model responsibility-party BOM crosswalk.
This edge requires a pinned robot BOM identity and an exact RCI component record. It remains separate from as-built inspection, compatibility and performance evidence.
Robot BOM → exact component
TurtleBot3 Burger
The pinned TurtleBot3 Burger responsibility-party parts list publishes “DYNAMIXEL XL430-W250-T” in the Burger column with quantity 2. The RCI component catalog independently represents the exact official model XL430-W250-T from the ROBOTIS e-Manual.
Published quantity: 2. Two units are published for the selected Burger configuration; the shared source row gives zero for Waffle Pi. RCI did not inspect a serialised Burger, multiply the value across kits or infer an as-shipped actuator revision.
Boundary: This crosswalk proves that one pinned responsibility-party BOM row and one exact RCI component record refer to XL430-W250-T. It does not prove installed serials, current supply, compatibility, continuous torque, allowable stall operation, endorsement or an RCI hardware test.
Robot BOM → exact component
DYNAMIXEL LeKiwi mobile manipulator
The pinned DYNAMIXEL LeKiwi responsibility-party BOM names DYNAMIXEL XL430-W250-T, links the ROBOTIS product and publishes quantity 3 in the Mobile Base Electronics section. The RCI component catalog independently represents the exact official model XL430-W250-T.
Published quantity: 3. Three units are published for the selected mobile-base-electronics configuration boundary. This row is kept separate from the two-unit follower-arm row and is not generalized to other LeKiwi variants.
Boundary: This crosswalk proves one pinned responsibility-party BOM row and one RCI component record refer to XL430-W250-T. It does not prove installed serials, current supply, compatibility, continuous torque, allowable stall operation, endorsement or an RCI hardware test.
Robot BOM → exact component
DYNAMIXEL LeKiwi mobile manipulator
The pinned DYNAMIXEL LeKiwi responsibility-party BOM names Dynamixel XL430-W250-T, links the ROBOTIS product and publishes quantity 2 in the Follower Arm section. The RCI component catalog independently represents the exact official model XL430-W250-T.
Published quantity: 2. Two units are published for the selected follower-arm configuration boundary. This row is kept separate from the three-unit mobile-base row; quantities are not silently collapsed across assemblies or variants.
Boundary: This crosswalk proves one pinned responsibility-party BOM row and one RCI component record refer to XL430-W250-T. It does not prove installed serials, current supply, compatibility, continuous torque, allowable stall operation, endorsement or an RCI hardware test.
1 bounded physical-evidence record.
Publisher independence, identity precision and measurement scope vary by row. Results remain bounded by the disclosed specimen, setup, workload and metric; an inconclusive mapping is evidence associated with the catalog model, not verification of a manufacturer claim.
| Measured result | Conditions | Claim mapping | Source |
|---|---|---|---|
| Independent real-robot teleoperation experimentindependent_real_robot_experiment | Two XL430-W250-T wheel actuators operated in the physical TurtleBot3 experimentsReal TurtleBot3 Burger, obstacle course and VR-assisted teleoperation trials; actuator output was not isolated on a dynamometer. | supportedThe peer-reviewed real-robot trials establish operation of exact XL430-W250-T actuators in a named physical platform, without claiming dynamometer-level torque validation. | Virtual Reality-Based Interface for Advanced Assisted Mobile Robot Teleoperation ↗Section 3 physical platform and real experiments Checked 2026-08-26 |
Reported values, conditions attached.
Evidence state describes the claim—not the prestige of the company or document.
| Claim | Reported value | Condition / boundary | State | Source |
|---|---|---|---|---|
| Microcontrollermcu | 32-bit ARM Cortex-M3 at 72 MHz | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Position sensorencoder | AS5601 contactless absolute encoder, 12-bit over 360° | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Baud-rate rangebaud_rate | 9,600 bps–4.5 Mbps | TTL half-duplex asynchronous serial link. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Position resolutionresolution | 4096 pulse/rev | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Operating modesoperating_modes | Velocity; position; extended-position; PWM | The position mode is 0–360°; extended position is multi-turn. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Massmass | 57.2 g | Actuator specification; external brackets and cables are not included. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Dimensionsdimensions | 28.5 × 46.5 × 34 mm | Width × height × depth. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Gear ratiogear_ratio | 258.5:1 | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Stall-torque referencesheadline_torque | 1.0 N·m at 9.0 V / 1.0 A; 1.4 N·m at 11.1 V / 1.3 A; 1.5 N·m at 12.0 V / 1.4 A | Momentary stall references only. The official note says stall torque differs from continuous output and expected real-world performance. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| No-load-speed referencesspeed | 47 rpm at 9.0 V; 57 rpm at 11.1 V; 61 rpm at 12.0 V | No-load values; they are not loaded operating points. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Operating temperatureoperating_temperature | −5 to +72 °C | Published device range; no duty-cycle envelope is implied. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Input voltageinput_voltage | 6.5–12.0; 11.1 recommended V | The manual associates the recommended value with a three-cell lithium-ion battery. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Physical communicationcommunications | 5 V TTL multidrop; half-duplex asynchronous serial; 8 data bits, 1 stop bit, no parity | Digital-packet command interface; protocol/register compatibility remains software-version dependent. | M · Manufacturer claimed | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Continuous or thermally rated output torquecontinuous_torque | Not published in cited public evidence | RCI checked the cited official product documentation on the verification date.The cited manual publishes stall and performance-graph references but no continuous/thermally rated torque envelope or duty-cycle limit. | U · Unknown | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
| Independent exact-actuator robot validationindependent_robot_validation | Not published in cited public evidence | RCI checked the cited official product documentation on the verification date.The TurtleBot3 BOM identity is a responsibility-party publication, not an RCI bench test or independent serialised-unit validation. | U · Unknown | ROBOTIS XL430-W250-T e-Manual ↗Specifications, performance graph note, control table and connector reference · Live e-Manual observed 2026-08-13; new XL430-W250 identified as released in 2018 Checked 2026-08-13 |
Known limits
What this record does not prove.
- The 1.0–1.5 N·m values are stall references, not continuous ratings or allowable stall operating points.
- The public record does not provide a thermally conditioned continuous-torque envelope or duty-cycle limit.
- The exact TurtleBot3 crosswalk proves a source identity and quantity boundary, not installation in every unit, compatibility, current supply or RCI hardware validation.