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ROBOTIS Dynamixel PH54-100-S500-R
Dynamixel Pro Servo Robot Actuator

ROBOTIS Dynamixel PH54-100-S500-R

ROBOTIS Dynamixel PH54-100-S500-R Servo Robot Actuator

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Package Components

  • PH54-100-S500-R
  • Robot Cable-X4P 300mm (Convertible)
  • Robot Cable-X4P 300mm
  • Power Cable-2P 600mm
  • 20 x Wrench Bolt WB M3x8



All Dynamixel Pro servo are rated at 24 V, use the RS-485 communication protocol, and are designed for an operating temperature from 5-55 C (41-131 F). Additional model specifications, dimensional drawings, 3D models, software downloads, and documentation can be found on the individual product pages.

Dynamixel is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

Dynamixel-P Series implements removable reduction cycloid gears, resulting in high precision and impact resistance.

  • Torque control based on current sensing
  • Position, Torque and Speed-based command
  • High resolution with combination of Incremental Encoder and Contactless Absolute Encoder
  • Full metal housing for high durability
  • Can be used to make a full-size manipulator, pan tilt, humanoid, etc.

Dynamixel Pro -> P Upgrade Details

  • Improved design and JST connectors applied
  • Improved dirt inflow and leakage
  • Improved control table (Supports X Series functions)
  • Enhanced control performance such as responsiveness and resolution
  • Enhanced communication responsiveness
  • Improved heat, noise, and durability

Dynamixel Pro -> P Upgrade Details

Package Components

  • PH54-100-S500-R
  • Robot Cable-X4P 300mm (Convertible)
  • Robot Cable-X4P 300mm
  • Power Cable-2P 600mm
  • 20 x Wrench Bolt WB M3x8

Compatible Products

  • Controller: OpenCM 485 Expansion Board, OpenCR1.0
  • Interface: USB2Dynamixel, U2D2

Factory Default Settings

  • ID: 1
  • Baud Rate: 57600bps

(User can change various settings including ID and baud rate according to environment)


The operational voltage is different from other DYNAMIXEL series (Operational voltage: 24V).

Depending on the number of units used, it is recommended to use a separate power supply.

JST 4Pin connector is applied for communication.

The 54-series can NOT use the old hinge frames. NOT COMPATIBLE with FRP54-H110/120/210/220)


  • 1,000 pulse incremental encoder before gear reduction
  • 4,096 step absolute encoder after gear reduction
  • Electrical current sensing based control
  • Internal temperature sensing
  • Position-based command
  • Torque-based command
  • Speed-based command
  • Cycloid type detachable reduction gear (Straight, Right Angle, Belt)
  • Various communication physical layer
    * Supports RS-485
    * CAN, TTL, EtherCAT [Coming Soon]
  • Various optional frame


MCU Cortex-M4 (168 Mhz, 32 bit)
Input Voltage Min: -
Recommended: 24.0V
Max: -
Performance Characteristics Voltage: 24.0V
Stall Torque: -
Stall Current: -
No Load Speed: 33.3rpm
No Load Current: 1.13A
Continuous Operation Voltage: 24.0V
Torque: 25.3N.m
Speed: 29.2rpm
Current: 5.5A
Resolution Resolution [deg/pulse]: 0.0004
Step [pulse]: 1,003,846
Angle [degree]: 360
Position Sensor Contactless Absolute Encoder
Incremental encoder
Operating Temperature Min: -5 °C
Max: 55 °C
Motor BLDC (Maxon)
Baud Rate Min: 9,600 bps
Max: 10,500,000 bps
Control Algorithm PID
Gear Type Cycloid
Gear Material Metal
Case Material Metal
Dimensions (WxHxD) 2.13 x 4.25 x 2.13 inch (54.0 x 108.0 x 54.0 mm)
Weight 26.10oz (732.00g)
Gear Ratio 501.9 : 1
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous
Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multi Drop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, External Port, etc
Protocol version Protocol 2.0
Operating Mode / Angle Torque Control Mode
Velocity Control Mode
Position Control Mode
Extended Position Control Mode
PWM Control Mode
Output 100W
Standby Current 40 mA

Performance Comparison:

Dynamixel-P Series Performance Comparison

Dynamixel SDK:

Dynamixel SDK

Provides various control environment just like Dynamixel

Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication. The API of Dynamixel SDK is designed for Dynamixel actuators and Dynamixel-based platforms. You need to be familiar with C/C++ programming language for right use of the software. This e-Manual provides comprehensive information on ROBOTIS products and applications.

Supported Protocols

To control Dynamixel, communication should be established according to the protocol of Dynamixel. There are versions 1.0 and 2.0 of the Dynamixel protocol. The Dynamixel SDK supports both, and the user can use both protocols simultaneously using the Dynamixel SDK. Refer to the following manuals for details on the protocols.

  • Dynamixel Protocol 1.0
  • Dynamixel Protocol 2.0 (Recommended protocoltype)

Supported Devices

The Dynamixel SDK can be used on PCs such as desktops or laptops, as well as on tablets, and also on SBCs like Raspberry Pi and UpBoards. In addition, it can be used with embedded boards that support the Arduino IDE. Dynamixel uses TTL and RS485 communication. In order to use computer and Dynamixel, we recommend USB2Dynamixel or U2D2 as interface device.

Supported Operating Systems

The Dynamixel SDK supports all three operating systems: Windows, Linux, and MacOS.

Supported Languages

The Dynamixel SDK supports various programming languages: C, C++, C#, Python, Java, MATLAB and LabVIEW.
In addition, Dynamixel SDK supports ROS, so it can be used as ROS library using C++ or Python modules.

  • C: *Dynamic library and source code of this library and examples
  • C#, Java, MATLAB, LabVIEW: Support based on dynamic library using C language
  • C++: *Dynamic library and source code of this library and examples
  • Python: Python module and examples
  • ROS: ROS library using C++ and Python modules

(* Dynamic library (*.dll, *.so, and *.dylib files) / .dll: dynamic-link library on Windows / .so: shared object on Linux / .dylib: dynamic library on macOS)

Dynamixel SDK


Pricing Notes:

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ROBOTIS Dynamixel PH54-100-S500-R Servo Robot Actuator
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