---
title: "Dynamixel PM54-060-S250-R Pro+ specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 38 Nm, rated 10.1 Nm, weight 855 g, torque density 44.4 Nm/kg, price $2,196."
canonical: https://actuatorlist.com/actuators/dynamixel-pm54-060-s250-r
last-updated: 2026-11-01T14:05:43.000Z
---
# PM54-060-S250-R (Dynamixel-P / Pro+) by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 38 Nm, rated 10.1 Nm, weight 855 g, torque density 44.4 Nm/kg, price $2,196.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 38 Nm |
| Rated torque | 10.1 Nm |
| Max speed | 33 rpm |
| Gear ratio | 251.417:1 |
| Weight | 855 g |
| Torque density | 44.4 Nm/kg |
| Price | $2,196 |
| Price per Nm | $57.8 |
| Backdrivable | n/a |
| Backlash | 6 arcmin |
| Voltage | 24 V |
| Peak current | 10.1 A |
| Communication | RS-485 |
| Control modes | current, velocity, position, extended\_position, current\_based\_position, pwm |
| Encoder | absolute, 502,834 steps/rev |
| Integrated driver | yes |
| Availability | in production |
| Data status | Unverified catalog: confirm sources |

## Size a joint

- [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=10.1&n=33.1): **35 W** of shaft power at its rated 10.1 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#elbow): **2 of 7 joints** within its rated torque, up to the elbow at 4.4 N·m.

## Use cases

- robot arm
- humanoid joint

## Notes

Mid-tier 60 W Dynamixel-P (Pro+) joint. The e-Manual confirms 855 g in the same 54x126x54 mm body as the PH54 (the identical weight is correct), 251.417:1, 33.1 rpm no-load, continuous 10.1 N.m at 28.3 rpm / 3.0 A. Peak 38 N.m is ROBOTIS's store (robotis.us) STALL torque, with stall current 10.1 A; the e-Manual publishes no stall figure. Left unverified because the store figures conflict with the e-Manual: the stall current exceeds the e-Manual's maximum Current Limit (7.98 A), and the same store page gives 28.3 rpm as no-load speed (the e-Manual's continuous speed). Backlash \<6 arcmin. RS-485 only.

## Sources

- [https://robotis.us/products/dynamixel-pm54-060-s250-r](https://robotis.us/products/dynamixel-pm54-060-s250-r)
- [https://emanual.robotis.com/docs/en/dxl/p/pm54-060-s250-r/](https://emanual.robotis.com/docs/en/dxl/p/pm54-060-s250-r/)
- [https://static.generation-robots.com/media/fiche-technique-pm54-060-s250-r.pdf](https://static.generation-robots.com/media/fiche-technique-pm54-060-s250-r.pdf)

## Similar Smart Servo actuators

- [PH54-200-S500-R (Dynamixel-P / Pro+) (Robotis (Dynamixel))](https://actuatorlist.com/actuators/dynamixel-ph54-200-s500-r): 85.4 Nm/kg
- [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

## 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-pm54-060-s250-r
- Catalog index for agents: https://actuatorlist.com/llms.txt