The Dynamixel range is a sound choice for use in robotics. These servo motors are developed by the Korean company Robotis, and rank among the most powerful and efficient on the market.
Dynamixel servos are used in many research laboratories and universities the world over. They were developed especially for designing robots.
Why Dynamixel servo motors are so special
The Dynamixel servos by Robotis are built around a very high quality Maxon electric motor (XH, MX and Pro series), coupled with an ARM microcontroller.
They are ultra-precise and offer a wide range of features, which we have detailed for you below.
A very diverse range
There are many different types of Dynamixel servo motors, ranging from a small servo for use by a robotics club to a powerful industrial quality servo.
A wide variety of uses
Servos can serve many different purposes, for example in industry, aerospace, defence, medical equipment, education, to build robotic arms or mobile platforms, service robots, etc.
A simple, all-in-one system
These are all-in-one servos, so no additional elements are required to use them except for a power supply and communication interface.
Modular
These servos are modular, thanks in particular to the many structural components available.
Daisy-chain communication (cleaner assemblies)
There is a single BUS for controlling all your servo motors (daisy-chained), with RS-485 or TTL type communication. This greatly reduces the number of necessary cables, which is a definite advantage for embedded projects (some Georgia Tech robotics engineers have successfully chained over 250 servos).
Data feedback
Data feedback and control: position, speed, temperature, torque, etc.
Low energy consumption
These servos operate on a high voltage and low power consumption, meaning greater battery stability.
Compatible with many programming languages
Dynamixel is compatible with various programming environments, including:
- Roboplus, the visual software by Robotis dedicated to programming Dynamixel servo motors
- The SDK (access to source codes and libraries for Windows, Linux and smartphones)
- C/C++, JAVA, MATLAB, LABVIEW, ROS
PID control and corrections
Some series offer PID control and corrections – simply specify the values (P, I, D), and the motor will use the PID independently (MX, Pro and PRO PLUS series)
Servo status LEDs
Dynamixel servos include LEDs that indicate the status of the servo (overheating, servo motor ready, etc.).
Which Dynamixel servo for which project?
The Dynamixel range is divided into series, each with its own specific features.
We have detailed them below:
AX series
The
AX series
is a group of entry-level Dynamixel servos. They use the TTL protocol. They are a good choice for non-essential mechanical robot functions.
Uses: learning robotics, light prototypes, wheel motorisation. They are used in
Trossen robotic
arms.
AX-12A : one of the most popular in the entire Dynamixel range on account of its price. It is a little more powerful than the AX-12W, but much slower.
AX-12W : similar to the AX-12A but with a much higher rotational speed, designed to power the wheels of mobile robots.
AX-18A : an AX-12A with more torque, making it a more powerful and durable servo motor. It is the fastest and most powerful in the AX range (but also more expensive).
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| AX-12A | 9-12 | 1.50 | 1.5 | 59 | TTL | 32 X 50 X 40 | 54.60 |
| AX-12W | 9-12 | 0.21 | 1.4 | 470 | TTL | 32 X 50 X 40 | 52.90 |
| AX-18A | 9-12 | 1.80 | 2.2 | 97 | TTL | 32 X 50 X 40 | 55.90 |
MX series
A step up from the AX series, the
MX series
offers advanced features such as more precise position control, PID correction (less backlash), 360° position control and fast communication. They are more powerful and robust and offer better control of high speed and precision movements.
Uses: research robots, humanoid robots, more advanced prototypes. They are used in the
Poppy
(Humanoid and Torso versions) and ROBOTIS-OP humanoid robots.
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| MX-12W | 10-14.8 | – | – | 470 | TTL | 32 X 50 X 40 | 54.60 |
| MX-28T | 10-14.8 | 2.50 | 1.4 | 55 | TTL | 35.6 X 50.6 X 35.5 | 72 |
| MX-28R | 10-14.8 | 2.5 | 1.4 | 55 | RS485 | 35.6 X 50.6 X 35.5 | 72 |
| MX-28AT | 10-14.8 | 2.50 | 1.4 | 55 | TTL | 32 X 50 X 40 | 77 |
| MX-28AR | 10-14.8 | 2.50 | 1.4 | 55 | RS485 | 32 X 50 X 40 | 77 |
| MX-64T | 10-14.8 | 6 | 4.1 | 63 | TTL | 40.2 X 61.1 X 41 | 126 |
| MX-64R | 10-14.8 | 6 | 4.1 | 63 | RS485 | 40.2 X 61.1 X 41 | 126 |
| MX-64AT | 10-14.8 | 6 | 4.1 | 63 | TTL | 40.2 X 61.1 X 41 | 135 |
| MX-64AR | 10-14.8 | 6 | 4.1 | 63 | RS485 | 40.2 X 61.1 X 41 | 135 |
| MX-106T | 10-14.8 | 8.4 | 5.2 | 45 | TTL | 40.2 X 65.1 X 46.0 | 153 |
| MX-106R | 10-14.8 | 8.4 | 5.2 | 45 | RS485 | 40.2 X 65.1 X 46.0 | 153 |
XL series
The
XL series
is a group of small servo motors designed for rapid prototyping (including combined with 3D printing), small robots and for use in education.
The XL430-W250-T has the same mechanical structure as and is compatible with the XM430 and XH430. Dynamixel XL-320 servos are used in the Robotis Mini humanoid robot, in the Poppy Ergo Jr and in the Metabot.
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XL-320 | 6-8.4 | 0.39 | 1.1 | 114 | TTL | 24 X 36 X 27 | 16.70 |
| XL430-W250-T | 6.5-12 | 1.50 | 1.4 | 61 | TTL | 28.5 X 46.5 X 34 | 57.20 |
| XL330-M077-T | 3,7-6 | 0.22 | 1.5 | 363 | TTL | 20 x 34 x 26 mm | 18 |
| XL330-M288-T | 3,7-6 | 0.52 | 1.5 | 104 | TTL | 20 x 34 x 25 mm | 18 |
| 2XL430-W250-T | 6,5-12 | 1.4 | 1.3 | 57 | TTL | 36 x 46,5 x 36 mm | 98.20 |
XM and XH series
The
XM
and
XH
series offer significant advantages with torque, speed, position and even PWM control!
The XH series is of a slightly higher quality (Maxon motor). Although they have a lower maximum speed and torque than those in the XM series, the servos in the XH series are more durable and more energy efficient.
For more information on this series, we suggest that you read our
Dynamixel XM-430 servo test
.
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XH430-V210-R | 24 | 2.60 | 0.7 | 52 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XH430-V350-R | 24 | 3.30 | 0.7 | 31 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XH430-W210-R | 10-14.8 | 2.50 | 1.3 | 50 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XH430-W210-T | 10-14.8 | 2.50 | 1.3 | 50 | TTL | 28.5 X 46.5 X 34 | 82 |
| XH430-W350-R | 10-14.8 | 3.40 | 1.3 | 30 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XH430-W350-T | 10-14.8 | 3.40 | 1.3 | 30 | TTL | 28.5 X 46.5 X 34 | 82 |
| XH540-V150-R | 24 | 6.40 | 2.4 | 60 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XH540-V270-R | 24 | 9.20 | 2.4 | 34 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XH540-W150-R | 10-14.8 | 7.10 | 4.9 | 70 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XH540-W270-R | 10-14.8 | 9.90 | 4.9 | 39 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XH540-W270-T | 10-14.8 | 9.90 | 4.9 | 39 | TTL | 33.5 X 58.5 X 44 | 165 |
| XH540-W150-T | 10-14,8 | 7.10 | 4.9 | 70 | TTL | 33,5 x 58,5 x 44 mm | 165 |
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XM430-W210-R | 10-14.8 | 3 | 2.3 | 77 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XM430-W210-T | 10-14.8 | 3 | 2.3 | 77 | TTL | 28.5 X 46.5 X 34 | 82 |
| XM430-W350-R | 10-14.8 | 4.10 | 2.3 | 46 | RS485 | 28.5 X 46.5 X 34 | 82 |
| XM430-W350-T | 10-14.8 | 4.10 | 2.3 | 46 | TTL | 28.5 X 46.5 X 34 | 82 |
| XM540-W150-R | 10-14.8 | 7.30 | 4.4 | 53 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XM540-W150-T | 10-14.8 | 7.30 | 4.4 | 53 | TTL | 33.5 X 58.5 X 44 | 165 |
| XM540-W270-R | 10-14.8 | 10.60 | 4.4 | 30 | RS485 | 33.5 X 58.5 X 44 | 165 |
| XM540-W270-T | 10-14.8 | 10.60 | 4.4 | 30 | TTL | 33.5 X 58.5 X 44 | 165 |
XW Serie
ROBOTIS presents its Dynamixel XW series, a collection of servomotors specially designed to tackle the challenges of humid environments, offering superior water protection (IP68). Thanks to this exceptional range, these servomotors can be used outdoors, in high humidity conditions, and even underwater, thus opening up new possibilities for robotic applications in aquatic environments.
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XW430-T200-R | 10-14,8 | 2,3 | 1,3 | 53 | RS485 | 28,5 x 46,5 x 34 | 96 |
| XW430-T333-R | 10-14,8 | 3,1 | 1,3 | 31 | RS485 | 28,5 x 46,5 x 34 | 96 |
| XW540-T140-R | 10-14,8 | 6,9 | 4,9 | 72 | RS485 | 33,5 x 58,5 x 45,9 | 185 |
| XW540-T260-R | 10-14,8 | 9,5 | 4,9 | 40 | RS485 | 33,5 x 58,5 x 45,9 | 185 |
XC Serie
The Dynamixel X series offers the XC range, which falls between the entry-level XL range and the intermediate performance range XM. XC servomotors are distinguished by their relatively low torque but exceptionally high speed compared to other servomotors in the Dynamixel X series. These features make them an ideal choice for applications such as wheel motors for small mobile robots or pan-tilt turrets used with ultrasonic sensors.
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XC430-T150BB-T | 6,5-14,8 | 1,6 | 1,4 | 106 | TTL | 20 x 34 x 26 | 23 |
| XC430-T240BB-T | 6,5-14,8 | 1,9 | 1,4 | 70 | TTL | 28,5 x 46,5 x 34 | 65 |
| XC430-W150-T | 10-14,8 | 1,6 | 1,4 | 106 | TTL | 28,5 x 46,5 x 34 | 65 |
| 2XC430-W250-T | 6,5-14,8 | 1,9 | 1,3 | 64 | TTL | 36 x 46,5 x 36 | 102 |
| XC430-W240-T | 10-14,8 | 1,9 | 0,06 | 70 | TTL | 28,5 x 46,5 x 34 | 65 |
| XC330-M181-T | 3,7-6 | 0,6 | 1,8 A | 129 | TTL | 20 x 34 x 26 23 | 23 |
| XC330-M288-T | 3,7-6 | 0,93 | 1,8 A | 81 | TTL | 20 x 34 x 26 | 23 |
| XC330-T181-T | 6,5-12 | 0,76 | 0,80 A | 104 | TTL | 20 x 34 x 26 | 23 |
| XC330-T288-T | 6,5-12 | 0,92 | 0,80 A | 65 | TTL | 20 x 34 x 26 | 23 |
XD Serie
The XD series is an enhanced evolution of the XH series, offering a longer lifespan, up to two or three times longer. It represents one of the high-end ranges of the Dynamixel brand, characterized by exceptional performance. XD servomotors share the same footprint as the XH and XM series, making them easy to integrate into existing systems. By choosing the XD series, users benefit from increased reliability and extended durability while maintaining seamless compatibility with other Dynamixel products
| Servomotor | Input Voltage [V] | Stall Torque [N·m] | Stall Current [A] | No Load Speed [rpm] | Link (Physical) | Dimensions (lxHxP) [mm] | Weight [g] |
| XD430-T210-R | 10-14,8 V | 2,5 | 1,3 | 50 | RS485 | 28,5 x 46,5 x 34 | 85 |
| XD430-T350-R | 10-14,8 V | 3,4 | 1,3 | 30 | RS485 | 28,5 x 46,5 x 34 | 85 |
| XD540-T150-R | 10-14,8 V | 7,1 | 4,9 | 70 | RS485 | 33,5 x 58,5 x 44 | 170 |
| XD540-T270-R | 10-14,8 V | 9,9 | 4,9 | 39 | RS485 | 33,5 x 58,5 x 44 | 170 |
Dynamixel P
The
Dynamixel P
series (previously Dynamixel Pro) combines unparalleled quality and exceptional power and precision. Dynamixel Pro servos offer position, speed and torque control. They can be programmed in many languages, including C#, Java, Python, LabVIEW, MATLAB, etc.
They are ideal for advanced robotics and industrial applications and are used in a large majority of the robots created by laboratories the world over. They are a good choice for human-scale humanoid robots (e.g. THOR-OP), advanced mobile platforms and grippers.
They use the RS-485 protocol and benefit from PID correction.
PM Series
A high-precision servo motor with a resolution of 500,000 pulses per revolution and up to 60 W of output power and 10 Nm of torque.
PH Series
A ultra-high precision servo motor with a resolution of 1,000,000 pulses per revolution and up to 100 W of output power and 44 Nm of torque.
| Model | Continuous Torque [N.m] | No Load Speed [rpm] | Voltage | Dimension (mm) | Weight(g) | Data sheet |
| PH54-200-S500-R | 44,7 | 33,1 | 24 | 54 x 126 x 54 | 855 | See |
| PH54-100-S500-R | 25,3 | 33,3 | 24 | 54 x 108 x 54 | 740 | See |
| PM54-060-S250-R | 10,1 | 33,1 | 24 | 54 x 126 x 54 | 855 | See |
| PM54-040-S250-R | 3,9 | 28,4 | 24 | 54 x 108 x 54 | 710 | See |
| PH42-020-S300-R | 5,1 | 32,7 | 24 | 42 x 84 x 42 | 340 | See |
| PM42-010-S260-R | 1,7 | 28 | 24 | 42 x 72 x 42 | 270 | See |
Contact us to discuss your project or to ask for a quote
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