---
title: "Dynamixel PH54-200-S500-R Pro+ specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 73 Nm, rated 44.7 Nm, weight 855 g, torque density 85.4 Nm/kg, price $3,542."
canonical: https://actuatorlist.com/actuators/dynamixel-ph54-200-s500-r
last-updated: 2026-11-01T14:05:43.000Z
---
# PH54-200-S500-R (Dynamixel-P / Pro+) by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 73 Nm, rated 44.7 Nm, weight 855 g, torque density 85.4 Nm/kg, price $3,542.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 73 Nm |
| Rated torque | 44.7 Nm |
| Max speed | 33 rpm |
| Gear ratio | 501.923:1 |
| Weight | 855 g |
| Torque density | 85.4 Nm/kg |
| Price | $3,542 |
| Price per Nm | $48.5 |
| Backdrivable | n/a |
| Backlash | 6 arcmin |
| Voltage | 24 V |
| Peak current | 14 A |
| Communication | RS-485 |
| Control modes | current, velocity, position, extended\_position, current\_based\_position, pwm |
| Encoder | absolute, 1,003,846 steps/rev |
| Integrated driver | yes |
| Availability | in production |
| Data status | Catalog headline specs spot-checked: confirm revision |

## Size a joint

- [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=44.7&n=33.1): **155 W** of shaft power at its rated 44.7 N·m and 33.1 rpm.
- [Robot arm torque calculator](/tools/robot-arm-torque-calculator?L=0.4,0.35,0.12&m=1.2,0.8,0.3&a=0.855,0.5,0&p=2): **33.3 N·m** at the shoulder with its 855 g at the elbow of a 2 kg-payload arm.
- [Humanoid robot actuators](/guides/humanoid-robot-actuators#hip): **6 of 7 joints** within its rated torque, up to the hip at 41.2 N·m.

## Use cases

- robot arm
- humanoid joint

## Notes

Top-end Dynamixel-P (Pro+) joint for humanoids/large arms. Peak is a STALL figure: ROBOTIS's own store (robotis.us) lists stall torque 73 N.m at stall current 14 A; the e-Manual has no stall row. Rated 44.7 N.m is the e-Manual continuous torque at 24 V (29 rpm, 9.3 A), which ROBOTIS calculates from core-motor specs (robotis.us calls it 20% of stall, which does not match 44.7/73). Weight 855 g, 54x126x54 mm, 501.923:1, 33.1 rpm no-load, 200 W, backlash \<6 arcmin, per the e-Manual. Default Current Limit 22.74 A. RS-485 only.

## Sources

- [https://robotis.us/products/dynamixel-ph54-200-s500-r](https://robotis.us/products/dynamixel-ph54-200-s500-r)
- [https://emanual.robotis.com/docs/en/dxl/p/ph54-200-s500-r/](https://emanual.robotis.com/docs/en/dxl/p/ph54-200-s500-r/)
- [https://www.generationrobots.com/en/403321-dynamixel-pro-plus-h54p-200-s500-r-servo.html](https://www.generationrobots.com/en/403321-dynamixel-pro-plus-h54p-200-s500-r-servo.html)

## Similar Smart Servo actuators

- [STS3250 (12V, 50 kg.cm) (Feetech)](https://actuatorlist.com/actuators/feetech-sts3250): 65.8 Nm/kg
- [XM540-W270-T (Robotis (Dynamixel))](https://actuatorlist.com/actuators/dynamixel-xm540-w270-t): 64.2 Nm/kg
- [XH540-W270-T (Robotis (Dynamixel))](https://actuatorlist.com/actuators/dynamixel-xh540-w270-t): 60 Nm/kg
- [STS3215 (12V, 30 kg.cm) (Feetech)](https://actuatorlist.com/actuators/feetech-sts3215): 53.5 Nm/kg
- [H54-200-S500-R (Dynamixel PRO) (Robotis (Dynamixel))](https://actuatorlist.com/actuators/dynamixel-h54-200-s500-r): 52.3 Nm/kg

## Catalog comparisons

Catalog specifications and source caveats, not compatibility recommendations.

- [PH54-200-S500-R (Dynamixel-P / Pro+) vs PM54-060-S250-R (Dynamixel-P / Pro+)](/comparisons/dynamixel-ph54-200-s500-r-vs-dynamixel-pm54-060-s250-r)

[Browse actuator comparisons](/compare).

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/dynamixel-ph54-200-s500-r
- Catalog index for agents: https://actuatorlist.com/llms.txt