Coreless motor, 212.6:1 full-metal gearing, absolute encoder, current sensing and embedded controller with TTL half-duplex multidrop communication
Motion & Actuation · TTL networked smart servo actuator
XM430-W210-T
This record freezes the TTL “T” communication suffix used by the TurtleBot3 Waffle Pi BOM. The official page combines T/R mechanical performance, so RCI carries only the explicitly suffix-specific TTL interface into this exact T record and keeps stall torque separate from continuous output.
ROBOTIS DYNAMIXEL XM430-W210-T · Also: XM430-W210-T/R family — TTL T variant, DYNAMIXEL XM430-W210-T
11 known suppliers in this product family.
Motor, reduction, feedback and drive electronics sold as an integrated or near-integrated robot-joint product. The list is bounded to the current RCI manufacturer-directory universe and separates exact-model audited suppliers from confirmed product-line suppliers.
EXACT-MODEL AUDITED
8 suppliers
HEBI Robotics · ROBOTIS · CubeMars · MYACTUATOR · Unitree Robotics · mjbots · FEETECH · Damiao
PRODUCT-LINE CONFIRMED
3 suppliers
INNFOS · MAB Robotics · Synapticon
This is a bounded discovery set, not a claim to enumerate every company worldwide. Open the full supplier landscape and official routes →
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 coverage82%
9 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 interfacepublished
- 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 Waffle Pi
The pinned TurtleBot3 Waffle Pi responsibility-party parts list publishes “DYNAMIXEL XM430-W210-T” in the Waffle Pi column with quantity 2 and zero in the Burger column. The RCI component catalog independently represents the exact TTL T-suffix model from the ROBOTIS e-Manual.
Published quantity: 2. Two units are published for the selected Waffle Pi configuration. RCI did not inspect a serialised Waffle Pi, actuator serials, firmware, IDs, cable routing or an as-shipped kit revision.
Boundary: This crosswalk proves that one pinned responsibility-party BOM row and one exact RCI component record refer to XM430-W210-T. It does not prove installed serials, current supply, continuous torque, allowable stall operation, system compatibility, 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 direct-component measurementindependent_physical_evidence | Physical response tests were used to identify and compare actuator modelsThree-axis gimbal development; manufacturer inputs combined with experimental step/response data. | inconclusiveThe record establishes bounded physical evidence for the named model, but the experiment does not reproduce the catalogued claim metric and conditions; the claim remains inconclusive. | Modelagem de um servomotor para acionamento de um sistema de guimbais ↗Experimental identification and model-comparison sections 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 |
|---|---|---|---|---|
| Exact model and communication suffixmodel_interface_suffix | XM430-W210-T; TTL half-duplex multidrop | The T suffix is selected; the R suffix is the separate RS-485 interface variant. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Microcontrollermcu | 32-bit ARM Cortex-M3 at 72 MHz | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Position sensorencoder | AS5045 contactless absolute encoder, 12-bit over 360° | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Position resolutionresolution | 4096 pulse/rev | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Backlashbacklash | 15 arcmin | Manufacturer also expresses this as 0.25°; no RCI measurement. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Massmass | 82 g | Actuator only; external brackets and cables are not included. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Dimensionsdimensions | 28.5 × 46.5 × 34 mm | Width × height × depth. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Gear ratiogear_ratio | 212.6:1 | Manufacturer specification. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Stall-torque referencesheadline_torque | 2.7 N·m at 11.1 V / 2.1 A; 3.0 N·m at 12.0 V / 2.3 A; 3.7 N·m at 14.8 V / 2.7 A | Momentary stall references only. ROBOTIS explicitly warns that stall torque differs from continuous output and expected real-world performance. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| No-load-speed referencesspeed | 70 rpm at 11.1 V; 77 rpm at 12.0 V; 95 rpm at 14.8 V | No-load endpoints; they are not loaded operating points and cannot be combined with stall torque. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Input voltageinput_voltage | 10.0–14.8; 12.0 recommended V | Manufacturer electrical range and recommended value. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Physical communicationcommunications | TTL half-duplex asynchronous serial; 8 data bits, 1 stop bit, no parity; 9,600 bps–4.5 Mbps | Exact T-suffix interface boundary; packet protocol, baud setting, bus topology and firmware still must be fixed for one robot. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Operating temperatureoperating_temperature | −5 to +80 °C | Published device range; not a thermal duty envelope. | M · Manufacturer claimed | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Continuous or thermally rated output torquecontinuous_torque | Not published in cited public evidence | RCI checked the cited official public evidence on the verification date.The cited official evidence publishes stall and performance-graph references but no continuous or thermally rated torque envelope, duty-cycle limit, cooling condition or allowable stall duration. | U · Unknown | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
| Independent exact-actuator robot validationindependent_robot_validation | Not published in cited public evidence | RCI checked the cited official public evidence on the verification date.RCI has not received, serialised, loaded, thermally instrumented or endurance-tested an XM430-W210-T or a TurtleBot3 Waffle Pi. | U · Unknown | ROBOTIS DYNAMIXEL XM430-W210-T/R e-Manual ↗XM430-W210 specifications, T/R interface boundary, performance-reference warning and control-table surface · Live official e-Manual observed 2026-08-13 Checked 2026-08-13 |
Known limits
What this record does not prove.
- The T and R suffixes share mechanical specifications but use different physical communication interfaces; this record selects TTL T only.
- Stall torque and no-load speed are opposite endpoints and must not be presented as a simultaneous or continuous operating point.
- No continuous-duty envelope, serialised specimen, RCI torque test, thermal test or Waffle Pi physical rebuild exists.