---
title: "Dynamixel XH540-W270-T specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 9.9 Nm, rated n/a, weight 165 g, torque density 60 Nm/kg, price $621."
canonical: https://actuatorlist.com/actuators/dynamixel-xh540-w270-t
last-updated: 2026-11-01T14:05:43.000Z
---
# XH540-W270-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 9.9 Nm, rated n/a, weight 165 g, torque density 60 Nm/kg, price $621.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 9.9 Nm |
| Rated torque | n/a |
| Max speed | 39 rpm |
| Gear ratio | 272.5:1 |
| Weight | 165 g |
| Torque density | 60 Nm/kg |
| Price | $621 |
| Price per Nm | $62.7 |
| Backdrivable | n/a |
| Backlash | 15 arcmin |
| Voltage | 10.0-14.8 V |
| Peak current | 4.9 A |
| Communication | TTL |
| Control modes | current, velocity, position, extended\_position, current\_based\_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=9.9&n=39): **40.4 W** of shaft power at its peak 9.9 N·m and 39 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=0.165,0.5,0&p=2): **30.6 N·m** at the shoulder with its 165 g at the elbow of a 2 kg-payload arm.

## Use cases

- robot arm
- quadruped leg

## Notes

High-torque metal-gear X servo. Stall torque 9.9 N.m @12.0V (rises to ~10.6 N.m @14.8V); no-load 39 rpm @12V. Rated backlash 15 arcmin. Used in larger research arms and quadruped legs. -T is TTL; -R is RS-485.

## Sources

- [https://www.robotis.us/dynamixel-xh540-w270-t/](https://www.robotis.us/dynamixel-xh540-w270-t/)
- [https://emanual.robotis.com/docs/en/dxl/x/xh540-w270/](https://emanual.robotis.com/docs/en/dxl/x/xh540-w270/)
- [https://www.generationrobots.com/en/403377-dynamixel-xh540-w270-t-servo-motor.html](https://www.generationrobots.com/en/403377-dynamixel-xh540-w270-t-servo-motor.html)

## 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
- [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

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/dynamixel-xh540-w270-t
- Catalog index for agents: https://actuatorlist.com/llms.txt