---
title: "Dynamixel XL430-W250-T specs"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.5 Nm, rated n/a, weight 57 g, torque density 26.2 Nm/kg, price $50."
canonical: https://actuatorlist.com/actuators/dynamixel-xl430-w250-t
last-updated: 2026-11-01T14:05:43.000Z
---
# XL430-W250-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.5 Nm, rated n/a, weight 57 g, torque density 26.2 Nm/kg, price $50.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 1.5 Nm |
| Rated torque | n/a |
| Max speed | 61 rpm |
| Gear ratio | 258.5:1 |
| Weight | 57 g |
| Torque density | 26.2 Nm/kg |
| Price | $50 |
| Price per Nm | $33.3 |
| 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=1.5&n=61): **9.58 W** of shaft power at its peak 1.5 N·m and 61 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=0.0572,0.5,0&p=2): **30.2 N·m** at the shoulder with its 57.2 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

Entry-level engineering-plastic-gear X servo. Stall torque quoted at multiple voltages: 1.0 N.m @9.0V, 1.4 N.m @11.1V, 1.5 N.m @12.0V; no-load 61 rpm @12V. No current-control mode (no current sensing). Used in TurtleBot3, OpenManipulator and hobby arms. Street price varies (~$27-50).

## Sources

- [https://www.robotis.us/dynamixel-xl430-w250-t/](https://www.robotis.us/dynamixel-xl430-w250-t/)
- [https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/)
- [https://media.distrelec.com/Web/Downloads/\_t/ds/Dynamixel\_XL-Series\_eng\_tds.pdf](https://media.distrelec.com/Web/Downloads/_t/ds/Dynamixel_XL-Series_eng_tds.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

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/dynamixel-xl430-w250-t
- Catalog index for agents: https://actuatorlist.com/llms.txt