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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.
  • 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 new technology such as the hollow cable fastening structure for users’ convenience.

Item Quantity Description

  • XH540-W270-R 1 DYNAMIXEL
  • HN13-N101 1 Standard horn for X540 models
  • Thrust Washer (for Horn Assembly) 1 Preventing friction between horn and case
  • Robot Cable-X4P 180mm 1 RS485 4p Cable(JST-JST)
  • Robot Cable-X4P(Convertible) 180mm 1 RS485 4p Cable(MOLEX-JST)
  • Robot Cable-3P-Sync 160mm 1 Cable for Dual Joints
  • Wrench Bolt WB M2.5x5 16 For frame assembly(Side hole)
  • Wrench Bolt WB M2.5x4 10 For frame assembly
  • Wrench Bolt WB M3x8 1 For horn assembly
  • Spacer Ring 8 For frame assembly



1. 6 Operating Modes  

(Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control)

2. Profile Control for Smooth Motion Planning

3. Improved Heat Sink Featuring an Aluminum Case

4. Hollow Back Case Minimizes Cable Stress (3-way-routing)

5. Easy and Simple Assembly Structure

6. Energy Saving (Reduced Current from 100mA to 40mA)

7. 28.4% reduced volume compared to the MX-106

8. Support synchronous control mode

9. Support external I / O port support

Various Cabling Methods

Product Diagram (Drawing)

Compatible Products


  • DYNAMIXEL-X Series cable assembly through hollow case
  • Organize the entangled cable before assembling the back case.
  • Do not assemble the back case with an entangled cable. The entangled cable can be squashed by the case and cause communication errors.
  • 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 the 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.

Installation Example


Model Name XH540-W270-R
MCU Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage Min. [V] 10.0
Recommended [V] 12.0
Max. [V] 14.8
Performance Characteristics Voltage [V] 12.0
Stall Torque [N·m] 9.90
Stall Current [A] 4.9
No Load Speed [rpm] 39.0
No Load Current [A] 0.07
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.0879
Step [pulse/rev] 4
Angle [degree] 360
Position Sensor Contactless absolute encoder (12 [bit], 360 [deg])
Maker : ams(, Part No : AS5045
Operating Temperature Min. [°C] -5
Max. [°C] 80
Motor Coreless (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 4,500,000
Control Algorithm PID
Gear Type Spur
Gear Material Metal
Case Material 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 Ratio 272.5: 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, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol Type Protocol 1.0
Protocol 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
Output [W] -
Standby Current [mA] 40