DYNAMIXEL PM54-060-S250-R-Useabot


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Product Description


  • DYNAMIXEL is a robot-exclusive smart actuator with a fully integrated DC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.
  • DYNAMIXEL-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.
  • Torque control based on current sensing
  • Position, Torque, and Speed-based command
  • High resolution with a 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 PRO -> P] Upgrade Details
  • Improved design and JST connectors applied
  • Improved dirt inflow and leakage
  • Improved control table (Supports X Series functions) 
  • Enhanced control performance such as responsiveness and resolution
  • Enhanced communication responsiveness
  • Improved heat, noise, and durability


Performance Comparison


  • 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.
  • A Molex 4Pin connector is used for communication.

Package Components

  • PM54-060-S250-R: 1 pcs
  • Robot Cable-X4P 300mm(Convertible): 1 pcs
  • Robot Cable-X4P 300mm: 1 pcs
  • Power Cable-2P 600mm: 1 pcs
  • Wrench Bolt WB M3x8: 20 pcs

Compatible Products

  • Controller : OpenCM 485 Expansion Board, OpenCR1.0
  • Interface : USB2Dynamixel, U2D2
  • ID: 1
  • Baud Rate: 57600bps

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



Model Name PM54-060-S250-R
MCU Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage Min. [V] -
Recommended [V] 24.0
Max. [V] -
Performance Characteristics Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 33.1
No Load Current [A] 1.25
Continuous Operation Voltage [V] 24.0
Torque [N·m] 10.1
Speed [rpm] 28.3
Current [A] 3.0
Resolution Resolution [deg/pulse] 0.0007
Step [pulse/rev] 502,834
Angle [degree] 360
Position Sensor Contactless absolute encoder Incremental encoder
Operating Temperature Min. [°C] -5
Max. [°C] 55
Motor BLDC (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Metal
Case Material 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 Ratio 251.4: 1
Command Signal Digital Packet
Protocol Type Half-duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multi-Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol Type Protocol 2.0 Modbus
Operating Mode / Angle Current Control mode: Endless turn
Velocity Control mode: Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode
PWM Control Mode: Endless turn
Output [W] 60
Standby Current [mA] 40