# ROBOTIS DYNAMIXEL XH430-W210-T

> ROBOTIS DYNAMIXEL XH430-W210-T smart servo: coreless DC motor + 212.6:1 metal gearbox + ARM Cortex-M3 72 MHz controller + 12-bit AS5045 absolute encoder, 2.5 N·m stall / 50 rpm no-load at 12.0 V; Maxon coreless motor, 10.0–14.8 V (12.0 V recommended), TTL bus, 28.5 × 46.5 × 34 mm, 82 g. Current, velocity, position, multi-turn, current-based position and PWM modes.

- Manufacturer: ROBOTIS
- Part number: XH430-W210-T
- Category: Actuators
- Canonical page: https://www.xirkit.io/products/robotis-dynamixel-xh430-w210-t-c77b
- Pinout: https://www.xirkit.io/products/robotis-dynamixel-xh430-w210-t-c77b/pinout
- Structured JSON: https://www.xirkit.io/products/robotis-dynamixel-xh430-w210-t-c77b/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Actuator type | smart_servo |
| Gearbox | 212.6:1 |
| Peak torque | 2.5 N·m |
| No-load speed | 50 rpm |
| Rated voltage | 14.8 V |
| Torque constant Kt | 1.923 N·m/A |
| Backlash | 0.25° |
| Encoder | contactless absolute magnetic, 12-bit (4096 pulse/rev), ams AS5045 |
| Control interface | TTL |
| Control modes | current, velocity, position, extended position (multi-turn), current-based position, PWM |
| Dimensions | 34 × 28.5 × 46.5 mm |
| Operating temperature | -5 to 80 °C |

## Pinout (3 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| GND | JST B3B-EH-A · EH-1 | ground | — | ground | — | — | — | — | — | — | — |
| VDD | JST B3B-EH-A · EH-2 | power in | — | power_in | — | — | — | — | — | — | — |
| DATA | JST B3B-EH-A · EH-3 | signal | — | data | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| robotis.us | 413.89 USD | in_stock | 2026-10-01 | https://robotis.us/products/dynamixel-xh430-w210-t |

## FAQ

**What voltage powers the ROBOTIS DYNAMIXEL XH430-W210-T?**

Supply range 10–14.8 V.

**How much does the ROBOTIS DYNAMIXEL XH430-W210-T cost?**

From $413.89 at robotis.us. Prices are observed unit prices before tax and shipping.

**What are the ROBOTIS DYNAMIXEL XH430-W210-T dimensions?**

34 × 28.5 × 46.5 mm. A STEP model is available for enclosure fit checks.

**Where does this ROBOTIS DYNAMIXEL XH430-W210-T data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [ROBOTIS DYNAMIXEL XH430-W210-T datasheet](https://emanual.robotis.com/docs/en/dxl/x/xh430-w210/)
- [robotis.us listing](https://robotis.us/products/dynamixel-xh430-w210-t)

## Part graph

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