£470.70 £392.25
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DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module. The DYNAMIXEL XH / XM-Series offers a variety of control techniques based on high-performance current sensing algorithms. It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.

  • 6 Operating Modes Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
  • Profile Control for Smooth Motion Planning
  • Improved Heat Sink Featuring an Aluminum Case
  • Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • Direct Screw Assembly to the Case (without Nut Insert)
  • Energy Saving (Reduced Current from 100mA to 40mA)
  • 28.4% reduced volume compared to the MX-106
  • Support synchronous control mode
  • Support external I / O port support

Package Component

Teflon Washer (for Horn Assembly)1
Robot Cable-X3P 180mm1
Robot Cable-X3P(Convertible) 180mm1
Wrench Bolt WB M2.5x516
Wrench Bolt WB M2.5x410
Wrench Bolt WB M3x81
Spacer Ring8

Compatible Products

ControllerOpenCM 485 Expansion Board, OpenCR1.0
InterfaceUSB2Dynamixel, U2D2

Factory Default Settings

Baud Rate57600bps

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

Various Cabling Methods

Performance Comparison


DYNAMIXEL X-Series cable assembly through hollow case

Organize the entangled cable before assembling the back case. Do not assemble the back case with entangled cable. The entangled cable can be squashed by the case and cause communication error. If you use two cables through the hollow case, the cables will be damaged. Use only one cable through the hollow case.

The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication. The connector used for previous Dynamixel is Molex.

To control DYNAMIXEL X-Series actuators via OpenCM or USB2Dynamixel, please use the JST-Molex Convertible Cable enclosed in the package.

However, the Molex-JST convertible cable is NOT included in the XL430 model. Please purchase a convertible cable when using a controller and interface that supports the JST connector.

Controller Cable Details

Controller ModelController ConnectorCableDynamixelX ConnectorDynamixel Communication
OpenCM+485 Expansion BoardMolex (3P, 4P)Robot Cable-X3P 180mm (Convertible)JST-3PTTL
USB2DynamixelMolex (3P, 4P)Robot Cable-X3P 180mm (Convertible)JST-3PTTL
OpenCR1.0JST (3P, 4P)Robot Cable-X3P (by length)JST-3PTTL
U2D2JST (3P, 4P)Robot Cable-X3P (by length)JST-3PTTL
OpenCM+485 Expansion BoardMolex (3P, 4P)Robot Cable-X4P 180mm (Convertible)JST-4PRS-485
USB2DynamixelMolex (3P, 4P)Robot Cable-X4P 180mm (Convertible)JST-4PRS-485
OpenCR1.0JST (3P, 4P)Robot Cable-X4P (by length)JST-4PRS-485
U2D2JST (3P, 4P)Robot Cable-X4P (by length)JST-4PRS-485


Model NameXH540-W270-T
MCUCortex-M3 (72 [Mhz], 32 [bit])
Input VoltageMin. [V]10.0
"Recommended [V]12.0
"Max. [V]14.8
Performance CharacteristicsVoltage [V]12.0
"Stall Torque [N·m]9.90
"Stall Current [A]4.9
"No Load Speed [rpm]39
"No Load Current [A]0.07
ResolutionResolution [deg/pulse]0.0879
"Step [pulse]4,096
"Angle [degree]360
Position SensorContactless absolute encoder (12 [bit], 360 [deg]). Maker : ams(www.ams.com), Part No : AS5045
Operating TemperatureMin. [°C]-5
"Max. [°C]80
MotorCoreless (Maxon)
Baud RateMin. [bps]9,600
"Max. [bps]4,500,000
Control AlgorithmPID
Gear TypeSpur
Gear MaterialPrecious Metal
Case MaterialPrecious Metal(Front, Middle). Engineering Plastic(Back)
Dimensions (WⅹHⅹD) [mm]33.5 X 58.5 X 44
Dimensions (WⅹHⅹD) [inch]1.32 X 2.30 X 1.73
Weight [g]165.00
Weight [oz]5.82
Gear Ratio272.5 : 1
Command SignalDigital Packet
Protocol TypeHalf duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical)TTL Level Multi Drop Bus
ID0 ~ 252
FeedbackPosition, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol version 1.0 & 2.0(Default)
Operating Mode / Angle Current Control mode:Endless turn - Velocity Control mode:Endless turn - Position Control Mode:360 [deg] - Extended Position Control Mode:±256 [rev] - Current-based Position Control Mode:±256 [rev] - PWM Control Mode:Endless turn
Standby Current [mA]40

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