---
title: "Dynamixel XC430-W150-T specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.6 Nm, rated n/a, weight 65 g, torque density 24.6 Nm/kg, price $138."
canonical: https://actuatorlist.com/actuators/dynamixel-xc430-w150-t
last-updated: 2026-11-01T14:05:43.000Z
---
# XC430-W150-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.6 Nm, rated n/a, weight 65 g, torque density 24.6 Nm/kg, price $138.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 1.6 Nm |
| Rated torque | n/a |
| Max speed | 106 rpm |
| Gear ratio | 159.5:1 |
| Weight | 65 g |
| Torque density | 24.6 Nm/kg |
| Price | $138 |
| Price per Nm | $86.3 |
| Backdrivable | n/a |
| Backlash | n/a |
| Voltage | 6.5-12.0 V |
| Peak current | 1.4 A |
| Communication | TTL |
| Control modes | velocity, position, extended\_position, pwm |
| Encoder | 12-bit absolute (4096 steps), contactless magnetic |
| 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=1.6&n=106): **17.8 W** of shaft power at its peak 1.6 N·m and 106 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=0.065,0.5,0&p=2): **30.2 N·m** at the shoulder with its 65 g at the elbow of a 2 kg-payload arm.

## Use cases

- robot arm
- quadruped leg

## Notes

Metal-gear version of the XL430 frame; lower gear ratio gives higher speed (106 rpm no-load @12V) with stall torque 1.6 N.m @12V. No current-control mode. Price (~$138 on robotis.us) is hard to verify and varies widely by region/reseller.

## Sources

- [https://www.robotis.us/dynamixel-xc430-w150-t/](https://www.robotis.us/dynamixel-xc430-w150-t/)
- [https://emanual.robotis.com/docs/en/dxl/x/xc430-w150/](https://emanual.robotis.com/docs/en/dxl/x/xc430-w150/)
- [https://docs.robotis.com/docs/dxl/model\_reference/x\_series/xc\_series/xc430-w150/](https://docs.robotis.com/docs/dxl/model_reference/x_series/xc_series/xc430-w150/)

## 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

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/dynamixel-xc430-w150-t
- Catalog index for agents: https://actuatorlist.com/llms.txt