Dynamixel XH540-W270-T Smart Actuator

The ROBOTIS Dynamixel XH540-W270-T is a high-torque, high-precision smart servo actuator from the DYNAMIXEL-X series, designed for professional robotic arms, collaborative robots, and research platforms. It delivers 9.9 N.m of stall torque at the recommended 12 V through a 272.5:1 gear train driven by a coreless motor, yielding a no-load speed of 39 RPM. Communication uses DYNAMIXEL Protocol 2.0 over a TTL half-duplex multidrop bus (the -R variant uses RS-485) at baud rates from 9,600 bps to 4.5 Mbps with up to 253 IDs on a single bus. A contactless 12-bit absolute encoder provides 4,096 pulses per revolution, and the onboard ARM Cortex-M3 MCU supports six control modes: Current, Velocity, Position, Extended Position (multi-turn), Current-Based Position, and PWM. Real-time feedback includes position, velocity, current, temperature, and input voltage, making it suitable for closed-loop force and torque and impedance control in humanoid robots, grippers, and precision manipulators.