Smart servo actuator
ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL) smart servo actuator
Daisy-chained smart servos with motor, gearhead, controller, driver and 12-bit (4,096 pulse/rev) absolute encoder in one case; stall torque runs from 0.18 Nm (XL330-M077) to 12.9 Nm (XM540-W270 at 14.8 V, series maximum).
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Key specifications
| Voltage (max) | 24 V |
|---|---|
| Temperature | -5–80 °C |
| Data / bus | TTL half-duplex, RS-485, DYNAMIXEL Protocol 2.0 / 1.0 |
| Peak torque (max) | 12.9 Nm |
| Speed (max) | 456 rpm |
| Supply | 3.7–24 V depending on model |
| Ratio (max) | 272.5:1 |
| Resolution (max) | 12 bit |
| Torque note | stall torque (momentary), XM540-W270 at 14.8 V |
Summarised in our own words from ROBOTIS's published data; series maxima, individual models vary. Last checked 2026-10-30. Source 1 · Source 2
Specify Motion is not affiliated with ROBOTIS. ROBOTIS DYNAMIXEL and DYNAMIXEL X Series (XM, XH, XD, XC, XL) are used only to identify the product. Comparisons use published figures; always confirm against the current datasheet.
ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL) replacement and alternative options
Use these supply-network options as a starting point for an engineering check. We can also help source the original ROBOTIS DYNAMIXEL part. Published series figures do not establish an exact-model or drop-in replacement: confirm ratings, fit, interfaces and approvals for your application.
Brushed permanent-magnet DC servomotors in 82 mm and 102 mm frames with a 9.5 V/krpm tachogenerator on every model. Continuous stall torque runs 0.5-4.5 Nm with peaks to 22 Nm, and the motors work with most brushed servo drives on the market.
| Published maximum | DYNAMIXEL X Series (XM, XH, XD, XC, XL) | BDS Series DC Brushed Servomotors (82B… |
|---|---|---|
| Rated torque | — | 4.3 Nm |
| Peak torque | 12.9 Nm | 22 Nm meets or exceeds |
| Speed | 456 rpm | 5,000 rpm meets or exceeds |
| Power | — | 964 W |
Kinco's current-generation AC servo motor line, matched to the JD2 and FD5P PRO drives. Small-inertia 40-80 mm frames run at 3000 rpm on 220 V; large-inertia 130 and 180 mm frames are 1500 rpm machines reaching 47.8 Nm rated and 7.5 kW, with 23-bit multi-turn absolute encoders as standard.
| Published maximum | DYNAMIXEL X Series (XM, XH, XD, XC, XL) | SMK Series AC Servo Motors (SMK40S/60S… |
|---|---|---|
| Rated torque | — | 47.8 Nm |
| Peak torque | 12.9 Nm | 119.5 Nm meets or exceeds |
| Speed | 456 rpm | 6,000 rpm meets or exceeds |
| Power | — | 7,500 W |
Leadshine low-voltage PMSM servo motors from a 25 mm 33 W unit up to a 130 mm 2 kW unit, wound for 24-60 V DC buses. Fully published data covers torque to 6.4 Nm rated / 16 Nm peak, 17-bit absolute or 2500 ppr incremental encoders and IP65. Designed for ELD2, 2ELD2 and ELD3 drives.
| Published maximum | DYNAMIXEL X Series (XM, XH, XD, XC, XL) | ELVM Series Low-Voltage DC Servo Motors |
|---|---|---|
| Rated torque | — | 6.4 Nm |
| Peak torque | 12.9 Nm | 16 Nm meets or exceeds |
| Speed | 456 rpm | 6,000 rpm meets or exceeds |
| Power | — | 2,000 W |
Figures are the highest published for each series and are not always measured the same way. A higher figure is not automatically a better choice: mounting, duty cycle, feedback, connectors and approvals matter too. An engineer will check the fit against your application before recommending anything.
Typical applications
What a smart servo actuator is
A smart servo actuator packages a small DC or brushless motor, a gear train, a position sensor and a microcontroller with motion control in one compact module. Each module is addressed on a shared serial bus, typically TTL or RS485, and can be commanded in position, velocity or current modes, with feedback on position, load, voltage and temperature. Units daisy-chain so multiple joints share one cable. They are widely used for robot joints in research, education and light service robots.
When engineers choose a smart servo actuator
Choose a smart servo for lightweight robot arms, grippers, humanoids and research platforms where quick integration and many networked joints matter more than industrial ratings. They are compact and simple to wire. The trade-offs are torque, precision and life: plastic or small metal gearing has backlash and limited torque, and duty cycles are lower than industrial servos. For production machines with heavy duty, an industrial servo with a gearbox is more appropriate.
How to specify the ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL)
Send these with your enquiry and an engineer can confirm the right DYNAMIXEL X Series (XM, XH, XD, XC, XL) variant or an equivalent:
- Stall and continuous torque (Nm)
- No-load speed (rpm)
- Supply voltage (V)
- Communication bus and protocol
- Position resolution and range
- Gear material and backlash
- Mass and form factor (g, mm)
Common mistakes to avoid
- Designing to stall torque instead of continuous working torque
- Ignoring gear backlash and compliance at the end of an arm
- Daisy-chaining too many joints on one power line
- Assuming industrial duty life from hobby-grade gearing
ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL): frequently asked questions
Can you help replace ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL) or source the original?
Send the full model code, quantity and required date. Our engineers can check original-part availability and assess suitable alternatives, including Motion Control Products options where appropriate. We confirm compatibility and any changes needed before recommending a replacement.
What is the ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL)?
Daisy-chained smart servos with motor, gearhead, controller, driver and 12-bit (4,096 pulse/rev) absolute encoder in one case; stall torque runs from 0.18 Nm (XL330-M077) to 12.9 Nm (XM540-W270 at 14.8 V, series maximum). Published series figures include voltage 24 V, temperature -5 °C, temperature 80 °C, peak torque 12.9 Nm. It is made by ROBOTIS; Specify Motion can help source it or propose an equivalent.
Who makes the ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL)?
The ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL) is made by ROBOTIS DYNAMIXEL (ROBOTIS) and is listed here for engineers comparing options. Specify Motion is not affiliated with ROBOTIS; brand names are used only to identify the product.
What is the voltage of the ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL)?
The published series maximum voltage is 24 V. Individual models and sizes in the DYNAMIXEL X Series (XM, XH, XD, XC, XL) range vary, so check the exact variant against your duty cycle, mounting and environment, or ask our engineers to confirm the right size for you.
Is there an alternative to the ROBOTIS DYNAMIXEL DYNAMIXEL X Series (XM, XH, XD, XC, XL)?
We can assess suitable replacement options. On published figures, Motion Control Products BDS Series DC Brushed Servomotors (82BDS, 102BDS) and Kinco SMK Series AC Servo Motors (SMK40S/60S/80S, SMK130G, SMK180G) are options to assess from our supply network. An engineer confirms the fit against your application before recommending anything.
What is the difference between a smart servo and an RC servo?
An RC servo is controlled by a pulse width signal and gives no feedback. A smart servo has an onboard controller on a digital bus, so it can report position, load, temperature and voltage, accept different control modes and be daisy-chained. This makes smart servos much better suited to robotics.
Are smart servos suitable for industrial machines?
Smart servos are typically designed for robotics research, education and light service robots. For heavy-duty production machines, industrial servo motors with gearboxes and drives give higher torque, precision and life, along with recognised safety functions. Smart servos can still suit light industrial tasks with modest duty.
Further reading: How to select an integrated servo motor · How to select a servo motor · Servo and stepper motors
Other smart servo actuator series
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