Robotis - DYNAMIXEL-P+ H Series PH54-200-S500-R

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Robotis - DYNAMIXEL-P+ H Series PH54-200-S500-R


Dynamixel-P+ series is a self-developed high performance all-in-one actuator equipped with a cycloid reducer.

Torque control based on current sensing

Increased reliability and accuracy for position and speed control through PID control

High resolution with combination of Incremental Encoder and Contactless Absolute Encoder

Full metal housing for high durability

Can be used to make a full-size manipulator, pan tilt, humanoid, etc.

Dynamixel-P+ Upgrade Details

  • Improved design and JST connectors applied
  • Improved dirt inflow and leakage (54-Series)
  • Improved control table (Supports X-series functions)
  • Enhanced control performance such as responsiveness and resolution
  • Enhanced communication responsiveness
  • Improved heat, noise, and durability

Package Components

Robot Cable-X4P 600mm2
Wrench Bolt WB M3x820

Compatible Products

  • Controller : OpenCM 485 Expansion Board, OpenCR1.0
  • Interface : USB2Dynamixel, U2D2

Compatible Products

  • ID : 1
  • Baud Rate : 57600bps

(User can change various settings including ID and baud rate according to environment)


Model NameH54P-200-S500-R
MCUCortex-M4 (168 [Mhz], 32 [bit])
Input Voltage, recommended V24.0
Performance Characteristics, Voltage24.0
No Load Speed [rpm]33.1
No Load Current [A]1.65
Continuous Operation. Voltage [V]24
Continuous Operation Torque [N·m]44.7
Continuous Operation Speed [rpm]29.0
Continuous OperationCurrent [A]9.3
Resolution [deg/pulse]0.0004
Step [pulse]1,003,846
Angle [degree]360
Position Sensor Contactless absolute encoder, Incremental encoder
Operating Temperature Min. [°C]-5
Operating Temperature Max. [°C]55
MotorBLDC (Maxon)
Baud Rate Min. [bps]9,600
Baud Rate Max. [bps]10,500,000
Control AlgorithmPID
Gear TypeCycloid
Gear MaterialPrecious Metal
Case MaterialPrecious Metal
Dimensions (WⅹHⅹD) [mm]54.0 X 126.0 X 54.0
Dimensions (WⅹHⅹD) [inch]2.13 x 4.96 x 2.13
Weight [g]855.00
Weight [oz]30.16
Gear Ratio501.9 : 1
Command SignalDigital Packet
Protocol TypeHalf duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)RS485 Multi Drop Bus
ID0 ~ 252
FeedbackPosition, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol version2.0
Operating Mode / AngleTorque Control Mode, Velocity Control Mode, Position Control Mode, Extended Position Control Mode, PWM Control Mode
Output [W]200
Standby Current [mA]40


The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V). Depending on the number of units used, it is recommended to use a separate power supply. JST 4Pin connector is applied for communication.

The 54-series can NOT use the old hinge frames. NOT COMPATIBLE with FRP54-H110/120/210/220)

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