DYNAMIXEL X Series 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

Audience

Robot OEMs

Workflow

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

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)

Tags

  • Peer Group: Integrated robot actuators
  • Workflow: Robot joint actuation
  • Capability: Servo Motion Control, Force control
  • Stack Layer: Actuation layer, Robot actuation stack
  • Commercial Stage: Developer platform, Commercial product
  • Market Signal: Supply-chain enabler

Comparable Systems

View DYNAMIXEL X Series overview