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Item #: RO-902-0136-000
Availability: Special Order
Price: $349.90



    DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

    The DYNAMIXEL XH / XM-Series offers a variety of control techniques based on high-performance current sensing algorithms.

    It adopts the aluminum case and adopts the new technology such as the hollow cable fastening structure for users’ convenience.

    1. 6 Operating Modes

    Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control

    2. Profile Control for Smooth Motion Planning

    3. Improved Heat Sink Featuring an Aluminum Case

    4. Hollow Back Case Minimizes Cable Stress (3-way-routing)

    5. Direct Screw Assembly to the Case (without Nut Insert)

    6. Energy Saving (Reduced Current from 100mA to 40mA)

    7. 28.4% reduced volume compared to the MX-106

    8. Support synchronous control mode

    9. Support external I / O port support

    Package Components





    Teflon Washer (for Horn Assembly)


    Robot Cable-X3P 180mm


    Robot Cable-X3P (Convertible) 180mm


    3P Sync Cable 160mm


    Wrench Bolt WB M2.5x5


    Wrench Bolt WB M2.5x4


    Wrench Bolt WB M3x8


    Spacer Ring


    Compatible Products

    Controller : OpenCM 485 Expansion Board, OpenCR1.0

    Interface : USB2Dynamixel, U2D2

    Factory Default Settings

    ID : 1

    Baud Rate : 57600bps

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

    Model NameXM540-W150-T
    MCUCortex-M3 (72 [Mhz], 32 [bit])
    Input VoltageMin. [V]10.0
    Recommended [V]12.0
    Max. [V]14.8
    Performance CharacteristicsVoltage [V]12.0
    Stall Torque [N·m]7.30
    Stall Current [A]4.4
    No Load Speed [rpm]53.0
    No Load Current [A]0.07
    Continuous OperationVoltage [V]-
    Torque [N·m]-
    Speed [rpm]-
    Current [A]-
    ResolutionResolution [deg/pulse]0.0879
    Step [pulse]4,096
    Angle [degree]360
    Position SensorContactless absolute encoder (12 [bit], 360 [deg])
    Maker : ams(www.ams.com), Part No : AS5045
    Operating TemperatureMin. [°C]-5
    Max. [°C]80
    Baud RateMin. [bps]9,600
    Max. [bps]4,500,000
    Control AlgorithmPID
    Gear TypeSpur
    Gear MaterialPrecious Metal
    Case MaterialPrecious Metal(Front, Middle)
    Engineering Plastic(Back)
    Dimensions (WⅹHⅹD) [mm]33.5 X 58.5 X 44
    Dimensions (WⅹHⅹD) [inch]1.32 X 2.30 X 1.73
    Weight [g]165.00
    Weight [oz]5.82
    Gear Ratio152.3 : 1
    Command SignalDigital Packet
    Protocol TypeHalf duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
    Link (Physical)TTL Level Multi Drop Bus
    ID0 ~ 252
    FeedbackPosition, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
    Protocol version1.0
    Operating Mode / AngleCurrent Control mode:Endless turn
    Velocity Control mode:Endless turn
    Position Control Mode:360 [deg]
    Extended Position Control Mode:±256 [rev]
    Current-based Position Control Mode:±256 [rev]
    PWM Control Mode:Endless turn
    Output [W]-
    Standby Current [mA]40