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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.
  • XL-320 has high performance and precise control features compared to its compact size.
  • Uses TTL communication with daisy chain features to help build small robots easily.
  • High reliability and accuracy for position control with PID control.
  • Built-in clutch for reduction gear protection to improve durability and safety.
  • 3 color LEDs can be programmed by users for fancier displays when using the motor.


  • Supports TTL Communication, and DOES NOT support 3P cable used in AX-series. 
  • Has a similar shape and dimension as the Servo Motor (SM-10), but is NOT the same, so please check the drawings before purchase (Different size, voltage, connector).
  • XL-320 uses DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage.

Package Components

  • XL-320: 1 pcs
  • 3P Cable 130mm(XL320 exclusive): 1 pcs

Compatible Products

  • Controller: OpenCM9.04A, B, C
  • Frame: 6mm plates

*NOT compatible with CM-100 / 100A / CM-200.

Factory Default Settings

  • ID: 1
  • Baud Rate: 1Mbps

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



Model Name XL-320
Input Voltage Min. [V] 6.0
Recommended [V] 7.4
Max. [V] 8.4
Performance Characteristics Voltage [V] 7.4
Stall Torque [N·m] 0.39
Stall Current [A] 1.1
No Load Speed [rpm] 114.0
No Load Current [A] 0.18
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.2930
Step [pulse/rev] 1
Angle [degree] 300
Position Sensor Potentiometer
Operating Temperature Min. [°C] -5
Max. [°C] 65
Motor Cored
Baud Rate Min. [bps] 7,343
Max. [bps] 1,000,000
Control Algorithm PID
Gear Type Spur
Gear Material Engineering Plastic
Case Material Engineering Plastic
Dimensions (WⅹHⅹD) [mm] 24 X 36 X 27
Dimensions (WⅹHⅹD) [inch] 0.94 X 1.42 X 1.06
Weight [g] 17.00
Weight [oz] 0.59
Gear Ratio 238 : 1
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) TTL Level Multi Drop Bus
ID 0 ~ 252
Feedback Position, Temperature, Load, Input Voltage, etc.
Protocol Type Protocol 2.0
Operating Mode / Angle Wheel Mode: Endless turn
Joint Mode:300 [deg]
Output [W] -
Standby Current [mA] 15