DYNAMIXEL X Series

DYNAMIXEL X Series is ROBOTIS smart actuator family for robots, education and automation prototypes. The modules combine actuation, sensing, control and networked communication in compact servos used across robot arms, mobile robots and humanoids.

Facts

Company: ROBOTIS
Product type: Component Family
Status: Available
Capability focus: Locomotion
Website: https://emanual.robotis.com/docs/en/dxl/x/

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

Audience

Robot OEMs

Workflow

Joint actuation, robot prototyping, manipulators, mobile robot mechanisms and controllable modular motion.

Capability

locomotion

Deployment environment

Robotics labs, education platforms, humanoid prototypes, manipulators and developer-built robot systems.

Specifications

Family: DYNAMIXEL X Series
Communication: TTL and RS-485
Protocol: DYNAMIXEL Protocol 2.0
Resolution: 4096 pulse/rev
Control Modes: 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
Software Stack: DYNAMIXEL SDK, DYNAMIXEL Workbench, DYNAMIXEL Wizard 2.0
Variant Summary: X Series includes XL, XC, XM, XH, XD, XW, and 2XL actuator families; model-level torque and speed are listed below.
Operational Role: Modular smart actuator family for robot joints in research, humanoids, manipulators, and commercial systems

Family specifications

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)

Timeline / Research

2025-02-02 - Research Publication - ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation - ToddlerBot is an open-source low-cost humanoid platform for policy learning, data collection, teleopera…
2023-10-25 - Research Publication - Flywheel-inverted pendulum paper uses DYNAMIXEL XL430-W250 motors - The paper presents an optimized design and control method for a flywheel inverted pendulum with two motors. The har…

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DYNAMIXEL X Series canonical Korthos profile