Item #: IL-VXT-S
Availability: In Stock
Price: $1,199.95


    The ViperX XM540 Robot Turret is a fully programmable pan and tilt system designed around the DYNAMIXEL XM540-W270 servos from Robotis. The servos offer a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback as well as voltage levels, load and compliance settings are all user accessible as well. The ViperX XM540 Turret comes with the DYNAMIXEL U2D2 for ROS control and the CM9.04c for Serial Firmware control.

    Please note: The ViperX XM540 Turret will not hold position if power to the unit is lost, any equipment mounted may be damaged if not properly secured. Please use caution when mounting equipment that may be fragile or prone to damage if the turret loses power.

    Software Control

    ROS Serial Communication DYNAMIXEL SDK
    Overview Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos.
    The Interbotix Serial Firmware allows users to control the turret through the use of serial over USB. The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication.
    Operating System
    Operating System Linux Windows / MacOS / Linux Windows / MacOS / Linux
    Languages C++, Python, or any other ROS compatable languages Any language which can communicate via serial over USB C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS.
    Controller DYNAMIXEL U2D2 OpenCM9.04c DYNAMIXEL U2D2
    Demos Examples include:

    • MoveIt!
    • Rviz Gazebo Simulation
    • Physical Robot Control
    • Puppet Control
    • Diagnostics & Data Recording
    • PS3/PS4 Control
    A Windows Demo is provided allowing for control of any standard X-Series Turret. Tools are provided for users to become familiar with the Interbotix Serial Protocol Robotis provides sample code in many languages for users to get started


    ROS Support

    ROS Packages & Support

    ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the ViperX XM540 Turret. Packages include full meshes and URDFs (including accurate inertial models for the links), driver node that controls the physical robot and publishes joint states as well as gazebo and moveit support. Examples are also included to show users how the core packages work.

    Product Features:

    • XM540-W270-R Servos
    • Industrial Bearing Base
    • OpenCM9.04-C
    • 2 DOF


    • 2x XM540-W270 Actuators
    • 1x OpenCM9.04-C
    • 1x DYNAMIXEL U2D2
    • 1x 12v5a Power Supply
    • 1x USB2 Micro Cable
    ViperX XM540 Turret
    Protocol TTL
    Payload  6800g
    Resolution 4096



    The ViperX XM540 Turret features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the turret.

    DYNAMIXEL XM540-W270
    Model Number XM540-W270
    Weight (g) 165g
    Dimensions (mm) 33.5mm x 58.5mm x 44mm
    Gear Ratio 272.5 : 1
    Operation Voltage (V) 11.1 12 14.8
    Stall Torque (N.m) 10.0 10.6 12.9
    Stall Current (A) 4.2 4.4 5.5
    No Load Speed (RPM) 28 30 37
    MCU ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
    Position Sensor Contactless absolute encoder (12BIT,360°) by AMS
    Motor Coreless Motor
    Resolution 0.088° x 4,096
    Operating Range Position Control Mode : 360°
    Velocity Control Mode : Endless turn
    Input Voltage (V) 10~14.8V (Recommended voltage : 12V)
    Operating Temperature (°C) -5°C ~ 80°C
    Command Signal Digital Packet
    Protocol Type Half Duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
    Link (physical) TTL Level Multi Drop Bus
    ID 253 ID (0~252)
    Baud Rate 9600 bps ~ 4.5 Mbps
    Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
    Material Case : Metal (Front, Middle)
    Engineering Plastic (Back)
    Gear : Full Metal
    Standby current 40 mA

    Mounting Hardware

    Mounting Hardware

    The base comes with mounting thumb screws to secure the turret easily to most any surface, wood screws are also an option for a more permanent mounting solution.