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
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