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The DYNAMIXEL X-Series is a new line-up of high performance networked actuators.

For more detailed information, please visit the DYNAMIXEL X-Series Product Information page.

■ Basic Features

  • Improved Torque, Compact Design
    •Enhanced Durability and Expandability
    • Hollow Back Case Minimizes Cable Stress (3-Way Wiring)
    • Frames Directly Screwed onto the Case (No Nuts Needed)
    • Improved Aluminum Case Heat Sink
  • 6 Operating Modes
    •Current-Based Torque Control (4096 steps, 2.69mA/step)
    • Profile Control for Smooth Motion Planning
    • Trajectory Data and Moving Status (In-Position, Following Error, etc.)
    • Energy Efficient (Standby Current Reduced from 100mA to 40mA)
  • 28.4% reduced volume compared to theMX-106

■ Various Cabling Methods



■   Package Contents

Description Quantity
HORN HN13-N101 1
WASHER Teflon Washer (for Horn Assembly) 1
CABLE Robot Cable-X4P 180mm 1
Robot Cable-X4P (Convertible) 180mm 1
3P Sync Cable 160MM 1
BOLT/NUT Wrench Bolt (WB M2.5*5) 16
Wrench Bolt (WB M2.5*4) 10
Wrench Bolt (WB M3*8) 1
ETC Spacer Ring 8

■ H/W Specifications

Model Name XM540-W270-R
Weight (g) 165
Dimensions (mm) 33.5 x 58.5 x 44
Gear Ratio 272.5 : 1
Operation Voltage (V) 11.1 12.0 14.8
Stall Torque (N.m) 10.0 10.6 12.9
Stall Current (A) 4.2 4.4 5.5
No Load Speed (RPM) 28 30 37
Position Sensor Contactless absolute encoder (12BIT,360°) by AMS
Motor Coreless
Resolution 0.088° x 4,096 steps
Operating Range Current Control Mode : Endless turn
Velocity Control Mode : Endless turn
Position Control Mode : 360[deg]
Extended Control Mode : ±256[rev]
Current-based Position Control Mode : ±256[rev]
PWM Control Mode : Endless turn
Input Voltage (V) 10~14.8V (Recommended voltage : 12V)
Operating Temperature -5°C ~ 80°C
Communication Signal Digital Packet
Protocol RS485 Asynchronous Serial Communication (8bit,1stop, No Parity
Link (physical) RS485 Multi Drop Bus
ID 253 ID (0~252)
Baud Rate 9600 bps ~ 4.5 Mbps
Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
Material Case : Metal Body(Front, Middle)

Engineering Plastic Body(Back)

Gear : Full Metal

Standby current (mA) 40

 ■    Default Settings

ID : 1

Baud Rate : 57600bps

*Please make necessary modifications to ID, baud rate, etc. after purchase.

 ■    Performance Comparison


     Model Numbering



 ■ Hyperlinks

Frame, Horn, Bearing Compatible Chart : Click Here

Controller Compatibility Chart : Click Here

Download Drawing : Click Here

Dynamixel SDK : Click Here

OpenCM IDE : Click Here

Software RoboPlus (R+) : Click Here

Link to e-Manual : Click Here


The DYNAMIXEL X-Series adopted a new gold-plated JST connector for secure and reliable communication.

For more information, please see the [DYNAMIXEL Connector Standard] page on the e-Manual.

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.

OpenCM+485 Expansion Board Molex (3P, 4P) Robot Cable-X3P 180mm (Convertible) JST-3P TTL
OpenCR1.0 JST (3P, 4P) Robot Cable -X3P (by length)
OpenCM+485 Expansion Board Molex (3P, 4P) Robot Cable -X3P 180mm (Convertible) JST-4P RS-485
OpenCR1.0 JST (3P, 4P) Robot Cable -X3P (by length)


Payment information
Payment description Original Price (HKD) Total Price(HKD) Services Fee(HKD)
Direct bank transferHK$3,450.00HK$3,450.00HK$0.00
Cheque paymentsHK$3,450.00HK$3,450.00HK$0.00
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