Dynamixel XM540-W270-R Servo

A 12V servo with a TTL interface

The XM540-W270-R actuator is the newest addition to the increasingly wider range of Dynamixel X servos. It has a reduction ratio of 272.5:1 and can generate a starting torque of 106 kg.com (10.6 N.m). It handles supply voltages between 11.1 and 14.8V and is equipped with an RS-485 multi-drop bus interface. (Please note that if you’re looking for a TTL-interfaced Dynamixel servo, you’ll want a model with a serial number ending with a T.)

A worthy representative of the Dynamixel X series

Like with all the actuators in the Dynamixel X series previously released by Robotis, the XM540-W270-R servo includes a variety of valuable features for robotics enthusiasts and researchers or teachers:

• Extensive feedback: position, speed, temperature, input voltage, and so on;
• Many control options: torque, PWM, current-based torque, velocity, and so on;
• Real energy savings compared with the previous versions;
• An absolute contactless encoder offering a 360° control mode;
• A more compact case in aluminium offering improved heat sink;
• Various wiring options and a flap at the back of the case to minimise cable stress.

Technical specifications of the XM540-W270-R servo

• Weight: 165 g
• Dimensions: 33.5 x 58.5 x 44 mm
• Reduction ratio: 272.5: 1
• Starting torque: 10 N.m @ 11.1V; 10.6 N.m @ 12V; 12.9 N.m @ 14.8V
• Starting current: 4.2A @ 11.1V; 4.4A @ 12V; 5.5A @ 14.8V
• No-load speed: 28 rpm @ 11.1V; 30 rpm @ 12V; 37 rpm @ 14.8V
• ST Cortex-M3 processor (STM32F103C8 @ 72 MHz, 32 bit)
• Position sensor: absolute contactless encoder (12 bit, 360°) by AMS
• Coreless motor
• Min. rotation: ±0.088 x 4.096 steps
• Operating range: from 0 to 360°, continuous turn servo
• Input voltage: 10~14.8V (recommended: 12V)
• Operating temperature: -5 to +80°C
• Control signal: digital packets
• Protocol: RS-485 asynchronous serial communication (8 bits, 1 stop, no parity)
• Connection: RS-485 multi-drop bus
• IDs: 253 (0~252)
• Com speed: 9,600 bps~4.5 Mbps
• Feedback: position, velocity, current, trajectory, temperature, input voltage, etc.
• Metal and engineering plastic body, metal gears
• Standby current: 40 mA

Includes:

• 1 Dynamixel XM540-W270-R servo
• 1 HN13-N101 horn assembly
• 1 Teflon washer (for horn assembly)
• 1 x 180 mm X4P robotics cable
• 1 x 180 mm X4P robotics cable (convertible)
• 1 x 160 mm 3P cable
• 16 WB M2.5*5 bolts
• 10 WB M2.5*4 bolts
• 1 WB M3*8 bolt
• 8 spacer rings

Resources for the Robotis Dynamixel 902-0133-000

You’ll find all the documents you need to start your XM540-W270-R adventure below!

• Robotis support
• Video tutorials
• Schematics (en)
• Software (en)
• Compatibility guide (en)
• Selection guide (en)
• Dynamixel SDK (en)