Dynamixel XM540-W150-T Servo Motor

Dynamixel XM540-W150-T servo: absolute control

Like all the Robotis X series servos, the Dynamixel XM540-W150-T offers torque, speed, position and even PWM control. With 6 various control modes available, it provides extensive feedback on your servo’s operating characteristics: trajectory, motor temperature, supply voltage, and so on.

Fully programmable using the software that you can download below, the XM540-W150-T with a TTL interface offers a 360° scan angle at a 73 kg.cm stall torque. Featuring a no-load speed of 53 rpm, it’s one of the fastest in the Dynamixel range, with a slightly higher torque than the XH540-W150-T model.

Mounting specifications of the XM540-W150-T servo

The Dynamixel XM540-W150-T servo motor has a case in aluminium and engineering plastic delivering effective heat dissipation. At the back, a fastening structure allows you to pass the connection cable right through or laterally (on the left or on the right). These 3 mounting configurations make it possible to create a robotics platform with multiple servos.

The various brackets available for mounting your Dynamixel XM540-W150-T servo also make it a very adaptable solution for the most complex assemblies.

Technical specifications of the Robotis XM540-W150-T servo

• Cortex M3 microcontroller (72 MHz, 32 bits)
• Input voltage: 10~14.8V (recommended: 12V)
• Voltage rating: 12V
• Stall torque: 7.30 Nm (73 kg.cm @ 12V)
• Blocking current: 4.4A
• No-load speed: 53 rpm
• No-load current: 0.07A
• Min. rotation: 0,0879° x 4,096
• Angular resolution: 360°
• Position sensor: absolute contactless encoder (12 bits, 360°)
• Operating temperature: -5 to 80°C
• Coreless motor
• Baud rate: 9600–4,500,000 bps
• Control algorithm: PID
• Gear type: spur
• Precious metal gears
• Case in precious metal and engineering plastic
• Dimensions: 33.5 x 58.5 x 44 mm
• Weight: 165 g
• Reduction ratio: 152.3:1
• Control signal: digital packet
• Protocol: TTL – half-duplex asynchronous serial communication (8 bits, 1 stop, no parity)
• IDs: 0 to 252
• Feedback: position, velocity, current, trajectory, temperature, input voltage, etc.
• Protocol version: 1.0, 2.0 (default)
• Operating mode/angle:
  • Current mode: endless turn
• Velocity control mode: endless turn
• Position control mode: 360°
• Extended position control mode: ±256 revs
• Current-based position control mode: ±256 revs
• PWM control mode: endless turn
• Standby current: 40 mA
• Package components:
• 1 x Dynamixel XM540-W150-T servo
• 1 x HN13-N101 horn assembly
• 1 x Teflon washer for horn assembly
• 1 x 180 mm X3P robotics cable
• 1 x 180 mm X3P robotics cable (convertible)
• 1 x 160 mm 3P robotics cable
• 16 x WB M2.2x5 wrench bolt
• 10 x WB M2.5x4 wrench bolt
• 1 x WB M3x8 wrench bolt
• 8 x spacer ring

Resources for the XM540-W150-T servo

Make the most of your Dynamixel XM540-W150-T servo motor with this list of useful links:

• E-Manual(en)
• Schematics(en)
• Software(en)
• Compatibility guide(en)
• Selection guide(en)
• Dynamixel SDK(en)