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ROBOTIS Dynamixel XW540-T260-R
Dynamixel-X RS-485 Waterproof Servo Robot Actuator

ROBOTIS Dynamixel XW540-T260-R

Sorry, this product is no longer available, Please contact us for a replacement.



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

Dynamixel XW series are ROBOTIS`first line of IP Level models, featuring a certified IP68 rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.

Dynamixel X-Series is a new line-up of high performance networked actuator module, which has been widely used for building multi-joint robots with reliability and expandability.

  • Various Operating Modes: Velocity Control, Position Control, Extended Position Control, PWM Control
  • Profile Control for Smooth Motion Planning
  • Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • Direct Screw Assembly to the Case (without Nut Insert)
  • Energy Saving with Reduced Current

Package Components

  • XW540-T260-R
  • HN13-N105
  • Robot Cable-WP 1000mm
  • Robot Cable-WP 1000mm (Extention)
  • 16 x Wrench Bolt WB M2.5x5
  • 10 x Wrench Bolt WB M2.5x4
  • 1 x Wrench Bolt WB M3x10

Compatible Products

  • Controller: OpenCM9.04 485 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)

Waterproof Cabling Methods

Waterproof Cabling Methods


DYNAMIXEL XW series use a waterproof cable. One side has a waterproof connector and the other side has a JST connector. Extension cable has waterproof connectors for both sides.

The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.




  • XW series come with separate waterproof cable and extension cable.


  • 6 Operating Modes: Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control
  • Profile Control for Smooth Motion Planning
  • Improved Heat Sink Featuring an Aluminum Case
  • Hollow Back Case Minimizes Cable Stress (3-way-routing)
  • Direct Screw Assembly to the Case (without Nut Insert)
  • Energy Saving (Reduced Current from 100mA to 40mA)
  • 28.4% reduced volume compared to the MX-106
  • Support synchronous control mode

Sophisticated Control Architecture:

  • Various feedback and control method according to developers’ needs
  • Protocol 2.0 provides reliable packet communication

Sophisticated Control Architecture


MCU Cortex-M3 (72 Mhz, 32 bit)
Input Voltage Min: 10.0V
Recommended: 12.0V
Max: 14.8V
Performance Characteristics Voltage: 12.0V
Stall Torque: 9.50N·m
Stall Current: 4.9A
No Load Speed: 40.0rpm
No Load Current: 0.07A
Continuous Operation Voltage: -
Torque: -
Speed: -
Current: -
Resolution Resolution [deg/pulse]: 0.0879
Step [pulse]: 4,096
Angle [degree]: 360
Position Sensor Contactless Absolute Encoder (12Bit, 360 [deg])
Maker : ams (, Part No : AS5045
Operating Temperature Min: -5 °C
Max: 80 °C
Motor Coreless (Maxon)
Baud Rate Min: 9,600 bps
Max: 4,500,000 bps
Control Algorithm PID
Gear Type Spur
Gear Material Metal
Case Material Metal (Front, Middle, Back)
Dimensions (WxHxD) 1.32 x 2.30 x 1.75 inch (33.5 x 58.5 x 45.9 mm)
Weight 5.82oz (185.00g)
Gear Ratio 260.6 : 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, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc
Protocol version Protocol 1.0
Protocol 2.0 (Default)
Operating Mode / Angle Current Control mode:Endless turn
Velocity Control mode:Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode:±256 [rev]
Current-based Position Control Mode:±256 [rev]
PWM Control Mode:Endless turn
Output -
Standby Current 40 mA

Performance Comparison:

Dynamixel-X 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: