Dynamixel XM540-W270-R Servo
Dynamixel XM540-W270-R Servo

Dynamixel XM540-W270-R Servo

Robotis | A-000000-03054

This new Dynamixel servo in the X series is a great addition to the family with its compact design, extensive feedback, various wiring options, and improved heat sink!

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Size Chart
Size Chart

A 12V servo with a TTL interface

The XM540-W270-R actuator is the newest addition to the increasingly wider range of Dynamixel X servos. It has a reduction ratio of 272.5:1 and can generate a starting torque of 106 kg.com (10.6 N.m). It handles supply voltages between 11.1 and 14.8V and is equipped with an RS-485 multi-drop bus interface. (Please note that if you’re looking for a TTL-interfaced Dynamixel servo, you’ll want a model with a serial number ending with a T.)

Servomoteur Dynamixel XM540-W270-R

A worthy representative of the Dynamixel X series

Like with all the actuators in the Dynamixel X series previously released by Robotis, the XM540-W270-R servo includes a variety of valuable features for robotics enthusiasts and researchers or teachers:

  • Extensive feedback: position, speed, temperature, input voltage, and so on;
  • Many control options: torque, PWM, current-based torque, velocity, and so on;
  • Real energy savings compared with the previous versions;
  • An absolute contactless encoder offering a 360° control mode;
  • A more compact case in aluminium offering improved heat sink;
  • Various wiring options and a flap at the back of the case to minimise cable stress.
How to choose the right Dynamixel servomotor?

Technical specifications of the XM540-W270-R servo

  • Weight: 165 g
  • Dimensions: 33.5 x 58.5 x 44 mm
  • Reduction ratio: 272.5: 1
  • Starting torque: 10 N.m @ 11.1V; 10.6 N.m @ 12V; 12.9 N.m @ 14.8V
  • Starting current: 4.2A @ 11.1V; 4.4A @ 12V; 5.5A @ 14.8V
  • No-load speed: 28 rpm @ 11.1V; 30 rpm @ 12V; 37 rpm @ 14.8V
  • ST Cortex-M3 processor (STM32F103C8 @ 72 MHz, 32 bit)
  • Position sensor: absolute contactless encoder (12 bit, 360°) by AMS
  • Coreless motor
  • Min. rotation: ±0.088 x 4.096 steps
  • Operating range: from 0 to 360°, continuous turn servo
  • Input voltage: 10~14.8V (recommended: 12V)
  • Operating temperature: -5 to +80°C
  • Control signal: digital packets
  • Protocol: RS-485 asynchronous serial communication (8 bits, 1 stop, no parity)
  • Connection: RS-485 multi-drop bus
  • IDs: 253 (0~252)
  • Com speed: 9,600 bps~4.5 Mbps
  • Feedback: position, velocity, current, trajectory, temperature, input voltage, etc.
  • Metal and engineering plastic body, metal gears
  • Standby current: 40 mA


  • 1 Dynamixel XM540-W270-R servo
  • 1 HN13-N101 horn assembly
  • 1 Teflon washer (for horn assembly)
  • 1 x 180 mm X4P robotics cable
  • 1 x 180 mm X4P robotics cable (convertible)
  • 1 x 160 mm 3P cable
  • 16 WB M2.5*5 bolts
  • 10 WB M2.5*4 bolts
  • 1 WB M3*8 bolt
  • 8 spacer rings

Resources for the Robotis Dynamixel 902-0133-000

You’ll find all the documents you need to start your XM540-W270-R adventure below!

Data sheet

Tension de fonctionnement [V]
10 - 14.8 V
Couple de décrochage [N-m]
Courant de décrochage [A]
4 - 4.5 A
Vitesse à vide [rpm]
30 - 39
Protocole de communication


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