About

About DYNAMIXEL X Series

DYNAMIXEL X modules combine a motor, gearbox, encoder, controller and network interface in one servo. XW, XD, XH, XM, XC and XL families provide different torque, speed, voltage and environmental configurations, while hollow rear housings and direct accessory mounting simplify cabling and mechanical integration.

Operating modes include position, extended position, velocity, PWM and model-specific current or current-based position control. Each actuator returns position, velocity, current, temperature and movement status through the DYNAMIXEL protocol, allowing many joints to share a daisy-chained bus. SDKs, configuration software and ROS tooling support arms, mobile robots, humanoids and educational platforms.

Family: DYNAMIXEL X Series
Communication: TTL and RS-485
Protocol: DYNAMIXEL Protocol 2.0
Resolution: 4096 pulse/rev
Control Mode: Current-based Position, Current, Velocity, Position, Extended Position, and PWM (Voltage) Control
Feedback: Real-time trajectory data and moving status feedback
Compute Model: ARM CORTEX-M3 at 72 MHz, 32-bit
Architecture: software stack: DYNAMIXEL SDK, DYNAMIXEL Workbench, DYNAMIXEL Wizard 2.0; operational role: Modular smart actuator family for robot joints in research, humanoids, manipulators, and commercial systems
Variant Summary: X Series includes XL, XC, XM, XH, XD, XW, and 2XL actuator families; model-level torque and speed are listed below.
XW540-T260 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xw540-t260/ - Sub Series: XW - Stall Torque: 11.2 N.m (at 14.8 V, 5.9 A) - No Load Speed: 48 rev/min (at 14.8 V)
XW540-T140 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xw540-t140/ - Sub Series: XW - Stall Torque: 8.3 N.m (at 14.8 V, 5.9 A) - No Load Speed: 88 rev/min (at 14.8 V)
XW430-T333 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xw430-t333/ - Sub Series: XW - Stall Torque: 3.6 N.m (at 14.8 V, 1.5 A) - No Load Speed: 39 rev/min (at 14.8 V)
XW430-T200 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xw430-t200/ - Sub Series: XW - Stall Torque: 8.3 N.m (at 14.8 V, 5.9 A) - No Load Speed: 66 rev/min (at 14.8 V)
XD540-T270 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xd540-t270/ - Sub Series: XD - Stall Torque: 11.7 N.m (at 14.8 V, 5.9 A) - No Load Speed: 46 rev/min (at 14.8 V)
XD540-T150 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xd540-t150/ - Sub Series: XD - Stall Torque: 8.5 N.m (at 14.8 V, 5.9 A) - No Load Speed: 86 rev/min (at 14.8 V)
XD430-T350 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xd430-t350/ - Sub Series: XD - Stall Torque: 4.2 N.m (at 14.8 V, 1.5 A) - No Load Speed: 37 rev/min (at 14.8 V)
XD430-T210 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xd430-t210/ - Sub Series: XD - Stall Torque: 3.1 N.m (at 14.8 V, 1.5 A) - No Load Speed: 62 rev/min (at 14.8 V)
XH540-V270 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh540-v270/ - Sub Series: XH - Stall Torque: 9.2 N.m (at 24 V, 2.4 A) - No Load Speed: 34 rev/min (at 24 V)
XH540-W270 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh540-w270/ - Sub Series: XH - Stall Torque: 11.7 N.m (at 14.8 V, 5.9 A) - No Load Speed: 46 rev/min (at 14.8 V)
XH540-V150 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh540-v150/ - Sub Series: XH - Stall Torque: 6.4 N.m (at 24 V, 2.4 A) - No Load Speed: 60 rev/min (at 24 V)
XH540-W150 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh540-w150/ - Sub Series: XH - Stall Torque: 8.5 N.m (at 14.8 V, 5.9 A) - No Load Speed: 86 rev/min (at 14.8 V)
XH430-V350 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh430-v350/ - Sub Series: XH - Stall Torque: 3.3 N.m (at 24 V, 0.7 A) - No Load Speed: 31 rev/min (at 24 V)
XH430-W350 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh430-w350/ - Sub Series: XH - Stall Torque: 4.2 N.m (at 14.8 V, 1.5 A) - No Load Speed: 37 rev/min (at 14.8 V)
XH430-V210 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh430-v210/ - Sub Series: XH - Stall Torque: 2.6 N.m (at 24 V, 0.7 A) - No Load Speed: 52 rev/min (at 24 V)
XH430-W210 - Motor: Coreless (Maxon) - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xh430-w210/ - Sub Series: XH - Stall Torque: 3.1 N.m (at 14.8 V, 1.5 A) - No Load Speed: 62 rev/min (at 14.8 V)
XM540-W270 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xm540-w270/ - Sub Series: XM - Stall Torque: 12.9 N.m (at 14.8 V, 5.5 A) - No Load Speed: 37 rev/min (at 14.8 V)
XM540-W150 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xm540-w150/ - Sub Series: XM - Stall Torque: 8.9 N.m (at 14.8 V, 5.5 A) - No Load Speed: 66 rev/min (at 14.8 V)
XM430-W350 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ - Sub Series: XM - Stall Torque: 4.8 N.m (at 14.8 V, 2.7 A) - No Load Speed: 57 rev/min (at 14.8 V)
XM430-W210 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xm430-w210/ - Sub Series: XM - Stall Torque: 3.7 N.m (at 14.8 V, 2.7 A) - No Load Speed: 95 rev/min (at 14.8 V)
XM335-T323 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xm335-t323/ - Sub Series: XM - Stall Torque: 1.12 N.m (at 12.0 V, 0.88 A) - No Load Speed: 57 rev/min (at 12.0 V)
2XC430-W250 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/2xc430-w250/ - Sub Series: XC - Stall Torque: 1.8 N.m (at 12.0 V, 1.4 A) - No Load Speed: 64 rev/min (at 12.0 V)
XC430-W240 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc430-w240/ - Sub Series: XC - Stall Torque: 1.9 N.m (at 12.0 V, 1.4 A) - No Load Speed: 70 rev/min (at 12.0 V)
XC430-W150 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc430-w150/ - Sub Series: XC - Stall Torque: 1.6 N.m (at 12.0 V, 1.4 A) - No Load Speed: 106 rev/min (at 12.0 V)
XC430-T240BB - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc430-t240bb/ - Sub Series: XC - Stall Torque: 1.9 N.m (at 12.0 V, 1.4 A) - No Load Speed: 70 rev/min (at 12.0 V)
XC430-T150BB - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc430-t150bb/ - Sub Series: XC - Stall Torque: 1.6 N.m (at 12.0 V, 1.4 A) - No Load Speed: 106 rev/min (at 12.0 V)
XC330-T288 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc330-t288/ - Sub Series: XC - Stall Torque: 1.00 N.m (at 12.0 V, 0.88 A) - No Load Speed: 71 rev/min (at 12.0 V)
XC330-T181 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc330-t181/ - Sub Series: XC - Stall Torque: 0.80 N.m (at 12.0 V, 0.88 A) - No Load Speed: 113 rev/min (at 12.0 V)
XC330-M288 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc330-m288/ - Sub Series: XC - Stall Torque: 1.10 N.m (at 6.0 V, 2.15 A) - No Load Speed: 97 rev/min (at 6.0 V)
XC330-M181 - Motor: Coreless - Source Url: https://emanual.robotis.com/docs/en/dxl/x/xc330-m181/ - Sub Series: XC - Stall Torque: 0.66 N.m (at 6.0 V, 2.15 A) - No Load Speed: 155 rev/min (at 6.0 V)

Observed use

Exact-product configurations are shown without inferring supply, purchase, customer status, standard fit, deployment or partnership.

LeKiwi DYNAMIXEL Edition
2026-04-23 - Reference Design - Embedded - Physical - The UIUC SIG Robotics LeKiwi DYNAMIXEL Edition uses XL430 actuators in its mobile base and XL330/XL430 units in its manipulator.
Source
Koch v1.1 follower arm
2026-04-23 - Reference Design - Embedded - Physical - The Tau Robotics-derived Koch v1.1 follower arm uses DYNAMIXEL XL430 and XL330 servos in the ROBOTIS kit configuration.
Source
Stanford ToddlerBot
2025-10-06 - Research Experiment - Embedded - Physical - Stanford ToddlerBot uses a documented mix of ROBOTIS DYNAMIXEL XC330, XC430, XL430 and XM430 actuators.
Source

Supply

Supply / Components

DYNAMIXEL X Series / XH540-W270
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XH540-W270 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XD430-T210
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XD430-T210 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XW540-T260
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XW540-T260 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XH540-V150
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XH540-V150 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XH430-V350
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XH430-V350 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XD540-T150
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XD540-T150 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XH540-W150
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XH540-W150 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XD540-T270
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XD540-T270 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XW540-T140
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XW540-T140 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XH540-V270
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XH540-V270 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XW430-T333
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XW430-T333 actuator - source: emanual.robotis.com
Source
DYNAMIXEL X Series / XW430-T200
Coreless Motor - Actuation - maxon - ROBOTIS integrates a maxon coreless motor in its DYNAMIXEL XW430-T200 actuator - source: emanual.robotis.com
Source

Context

Market context

DYNAMIXEL X Series is ROBOTIS' modular smart actuator family for research, education, prototypes and commercial robot joints.

Target environment: Robotics labs, education platforms, humanoid prototypes, manipulators and developer-built robot systems.
Workflow context: Joint actuation, robot prototyping, manipulators, mobile robot mechanisms and controllable modular motion.
Customer context: Researchers, educators, startups and robot builders needing widely supported integrated smart servos.
Deployment model: Commercial actuator family sold through ROBOTIS channels with manuals, SDK support and model-level documentation.
Commercial maturity: Available and widely used actuator series with mature documentation and developer ecosystem support.
Adoption constraints: Adoption depends on torque/speed fit, communication protocol, mechanical integration, power budget and durability requirements.
Market position: General-purpose smart actuator family that lowers the barrier to building controllable robot joints.
Adjacent products: DYNAMIXEL P Series, DYNAMIXEL Y Series, HEBI T-Series, Feetech servos

Comparable Systems

DYNAMIXEL P Series
ROBOTIS - Component Family
HEBI R-Series Actuators
HEBI Robotics - Component Family
HEBI T-Series Actuators
HEBI Robotics - Component Family
HEBI H-Series Actuators
HEBI Robotics - Component Family
DYNAMIXEL Y Series
ROBOTIS - Component Family
Xynova Rotary Actuator Series
Xynova - Component Family