---
title: "Dynamixel XC430-W240-T specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.9 Nm, rated n/a, weight 65 g, torque density 29.2 Nm/kg, price $137.89."
canonical: https://actuatorlist.com/actuators/dynamixel-xc430-w240-t
last-updated: 2026-11-01T14:05:43.000Z
---
# XC430-W240-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.9 Nm, rated n/a, weight 65 g, torque density 29.2 Nm/kg, price $137.89.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 1.9 Nm |
| Rated torque | n/a |
| Max speed | 70 rpm |
| Gear ratio | 245.22:1 |
| Weight | 65 g |
| Torque density | 29.2 Nm/kg |
| Price | $137.89 |
| Price per Nm | $72.6 |
| Backdrivable | n/a |
| Backlash | n/a |
| Voltage | 6.5-14.8 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=1.9&n=70): **13.9 W** of shaft power at its peak 1.9 N·m and 70 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

## Robots that use it

- [Stretch 3](https://actuatorlist.com/robots#hello-robot-stretch-3) by Hello Robot: Lightweight mobile manipulator: a 24.5 kg, 33 x 34 cm differential-drive base carries a 1.41 m mast with a lift, a telescoping arm reaching 0.52 m and a yaw-pitch-roll wrist, 7 manipulation DOF plus a compliant gripper and a pan-tilt head camera. Base wheels, lift and arm run on closed-loop steppers whose model Hello Robot does not name; wrist, gripper and head use Dynamixel servos. Listed at $24,950 until Stretch 4 took over in 2026.

## Notes

Higher-ratio version of the XC430-W150-T in the XL430 frame with a full metal gear train. Stall torque 1.9 N.m at 1.4A and no-load 70 rpm quoted at 12.0V (1.4 N.m / 52 rpm at 9V). No current-control mode. Used in the Hello Robot Stretch 3 gripper and wrist.

## Sources

- [https://robotis.us/products/dynamixel-xc430-w240-t](https://robotis.us/products/dynamixel-xc430-w240-t)
- [https://emanual.robotis.com/docs/en/dxl/x/xc430-w240/](https://emanual.robotis.com/docs/en/dxl/x/xc430-w240/)
- [https://github.com/ROBOTIS-GIT/emanual/blob/master/\_data/dxl\_x\_info.yml](https://github.com/ROBOTIS-GIT/emanual/blob/master/_data/dxl_x_info.yml)

## 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-w240-t
- Catalog index for agents: https://actuatorlist.com/llms.txt