Dynamixel XW540-T140-R Waterproof Servo Motor

Robotis | A-000000-04609

The Dynamixel XW540-T140-R servo motor from Robotis expands an already large family of high-definition servo motors. What's special about this servo motor? Its water resistance which allows it to equip amphibious platforms and mobile bases 100% off-road.

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XW540-T140-R: Newcomer to the Dynamixel X Series

Amateur roboticians, researchers and industrial developers are well aware of the advantages of Dynamixel X-Series servo motors. The XW540-T140-R servo motor meets all requirements with its high resolution, high baud rate and multiple programming possibilities..

If you're looking for an ultra-precise robotic accessory that offers detailed feedback and numerous control modes, the X-Series reaches out to you. It brings together a growing number of models with varying degrees of speed or power, with TTL or, like this one, RS485 connections. The X-Waterproof series, a new addition to the manufacturer's already well-stocked range, opens new doors for roboticians looking for aquatic adventures.

Two waterproof models for two categories of torque and speed

Robotis sealed servo motors are available in two models: The XW540-T260-R has a speed of 40 rpm. It is a servo motor with a powerful torque, capable of operating on difficult terrain.

The Dynamixel XW540-T140-R servo motor, on the other hand, is almost twice as fast with less torque. If you want to build a fast exploration machine without a heavy load, you should select this servo motor.

Performance of the Dynamixel XW540-T140-R waterproof Servo Motor

These two servo motors obviously differ in their degree of protection. IP68 corresponds to the maximum protection in terms of dust penetration. Its watertightness level allows it to remain underwater up to 24 hours depending on the depth (between 1 and 3 meters).

How to wire the Dynamixel XW540-T140-R Servo Motor

XW540-T140-R Servo Technical Specifications

  • MCU: ARM CORTEX-M3 (72 [MHz], 32Bit)
  • Position Sensor: Contactless absolute encoder (12 bits, 360°)
  • Motor: Coreless (Maxon)
  • Baud Rate: 9600 bps to 4.5 Mbps
  • Control Algorithm: PID control
  • Resolution: 4096 [pulse/rev]
  • Backlash: 15 arcmin (0.25°)
  • Operating Modes: Operating Modes: Current Control Mode, Velocity Control Mode, Position Control Mode (0 ~ 360 [°]), Extended Position Control Mode (Multi-turn), Current-based Position Control Mode, PWM Control Mode (Voltage Control Mode)
  • Weight: 185 g
  • Dimensions: 33,5 x 58,5 x 45,9 mm
  • Gear Ratio: 145,6:1
  • Stall Torque: 6,9 N.m @ 12 V, 4,9 A
  • No Load Speed: 72 rev/min @ 12 V
  • Radial Load: 40 N
  • Axial Load: 20 N
  • Operating Temperature: -5 to 80°C
  • Ingress Protection rating: IP 68
  • Input Voltage: 10.0 ~ 14.8 [V] (Recommended : 12.0 [V])
  • Command Signal: Digital Packet
  • Protocole Type: RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
  • Physical Connection: RS485 Multidrop Bus
  • ID: 253 ID (0 ~ 252)
  • Feedback: Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc
  • Part Material: Full Metal Gear / Full Metal Case
  • Standby Current: 40 mA
Dynamixel XW540-T140-R Waterproof Servo Motor Cables

Resources for the Robotis Dynamixel XW540-T140-R Waterproof Servo Motor

Take advantage of these many free online resources to learn all about your Dynamixel XW540-T140-R Servo Motor.

Data sheet

Tension de fonctionnement [V]
10 - 14.8 V
Couple de décrochage [N-m]
5 - 6.9
Courant de décrochage [A]
Vitesse à vide [rpm]
70 - 79
Protocole de communication


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