Product Code: ROBT 902-0160-000


GST inclusive


Availability: 3 In Stock

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DYNAMIXEL XW series are ROBOTIS`first line of IP Level models, featuring a certified IP68(1m, 24hr)rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.
* 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
  • 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

Package Components

XW540-T140-R 1
HN13-N105 1
Robot Cable-WP 1000mm 1
Robot Cable-WP 1000mm(Extension) 1
Wrench Bolt WB M2.5x5 16
Wrench Bolt WB M2.5x4 10
Wrench Bolt WB M3x10 1

Compatible Products

  • Controller : OpenCM9.04 485 Expansion Board, OpenCR1.0
  • Interface : USB2Dynamixel, U2D2


Model Name XW540-T140-R
MCU Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage Min. [V] 10.0
Recommended [V] 12.0
Max. [V] 14.8
Performance Characteristics Voltage [V] 12.0
Stall Torque [N·m] 6.90
Stall Current [A] 4.9
No Load Speed [rpm] 72.0
No Load Current [A] 0.07
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.0879
Step [pulse] 4,096
Angle [degree] 360
Position Sensor Contactless absolute encoder (12 [bit], 360 [deg])
Maker : ams(, Part No : AS5045
Operating Temperature Min. [°C] -5
Max. [°C] 80
Motor Coreless (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 4,500,000
Control Algorithm PID
Gear Type Spur
Gear Material Metal
Case Material Metal(Front, Middle, Back)
Dimensions (WⅹHⅹD) [mm] 33.5 x 58.5 x 45.9
Dimensions (WⅹHⅹD) [inch] 1.32 X 2.30 X 1.73
Weight [g] 185.00
Weight [oz] 5.82
Gear Ratio 145.6:1
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 1.0
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 [W] -
Standby Current [mA] 40


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