Dynamixel PRO PLUS PM54-040-S250-R Servo
Dynamixel PRO PLUS PM54-040-S250-R Servo

Dynamixel-P PM54-040-S250-R Servo

Robotis | A-000000-04210

Born out of the new Dynamixel-P series from Robotis, the Dynamixel M54P-040-S250-R servo motor offers performance comparable to the M54-040-S250-R model, with a degree of precision twice as high!

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Dynamixel-P M54P-040-S250-R Servo Motor: spectacular resolution

The Dynamixel -P series features all-in-one, fully programmable servo motors, offering many control modes (velocity, position, PWM, etc.). The Dynamixel-P M54P-040-S250-R servo motor combines all these exciting features and new ones:

  • Unrivalled precision in the Dynamixel-P range thanks to two absolute contactless and incremental encoders;
  • A high-quality BLDC Maxon motor;
  • Extremely reliable and durable gears and housing made of precious metal;
  • An improved design offering better heat sink and protecting the servo from dust and liquids;
  • A new JST connector for more stable communication.

Multiple uses for your high-precision Dynamixel servo

With a resolution of 0.0007°per revolution (versus 0.0014° compared to the equivalent model in the PRO series) and its improved response time, the Dynamixel M54P-040-S250-R servo motor can perform high-precision tasks in the fields of research, innovation or industry. The numerous features of this Dynamixel servo enable you to design your first industrial manipulator, a pan-and-tilt system for your surveillance camera, or a humanoid, autonomous mobile robot.

Your Dynamixel M54P-040-S250-R servo motor allows many configuration possibilities with the right frames. It has everything you’ll need to try your hand at the most sophisticated creations.

Technical specifications of the Dynamixel M54P-040-S250-R servo by Robotis

  • Cortex-M4 controller (168 Mhz, 32 bits)
  • Voltage rating: 24V
  • No-load speed: 28.4 RPM
  • No-load current: 1.32A
  • Torque: 3.9 Nm
  • Speed: 24.2 RPM
  • Current rating: 1.9A
  • Resolution:
    • 0.0007° per revolution
    • 502 834 pulses per revolution
    • Angle: 360°
  • Position sensor: absolute contactless encoder, incremental encoder
  • Operating temperature: -5 to 55°C
  • BLDC Maxon motor
  • Baud rate: 9,600 to 10,500,000 bds
  • PID control algorithm
  • Gear type: cycloid
  • Material (gear and case): precious metal
  • Dimensions: 54 x 108 x 54 mm
  • Weight: 710 g
  • Reduction ratio: 251.4:1
  • Control signal: digital packets
  • Protocol: half-duplex asynchronous serial communication (8 bits, 1 stop, no parity)
  • Connection: RS-485 multidrop bus
  • Addresses: 253 IDs (0~252), ID 1 selected by default
  • Protocol version: 2
  • Feedback: position, velocity, current, temperature, input voltage, external port, etc.
  • Control modes: torque, velocity, position, extended position, PWM, etc.
  • Output: 40W
  • Standby current: 40 mA

Resources for the M54P-040-S250-R servo

As always, you’ll find below all the documents and download links required to get started with your Dynamixel M54P-040-S250-R servo motor!


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