22.1.2. 規格

Items	XL430-W250 (for Burger)	XM430-W210 (for Waffle and Waffle Pi)
Microcontroller	ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit)	ST CORTEX-M3 (STM32F103C8 @ 72Mhz, 32bit)
Position Sensor	Contactless Absolute Encoder (12bit, 360°)	Contactless Absolute Encoder (12bit, 360°)
Motor	Cored Motor	**Coreless Motor **
Baud Rate	9600 bps ~ 4.5 Mbps	9600 bps ~ 4.5 Mbps
Control Modes	Velocity, Position, Extended Position, PWM	Velocity, Position, Extended Position, PWM, Current, Current-base Position
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

• 更多智能馬達的資訊，可以在 ROBOTIS e-Manual 網站找到

  • XL430-W250 for TurtleBot3 Burger

  • XM430-W210 for TurtleBot3 Waffle and Waffle Pi