DYNAMIXEL is a robot exclusive smart actuator with fully integratedDC Motor + Controller + Driver + Sensor + Reduction Gear + Network in one DC servo module.


XL-320 has high performance and precise control features compared to its compact size.

Uses TTL communication with daisy chain features to help build small robots easily.

High reliability and accuracy for position control with PID control.

Built-in clutch for reduction gear protection to improve durability and safety.

3 color LEDs can be programmed by users for fancier display when using the motor.

Package Components


3P Cable 130mm(XL320 exclusive)1
Compatible Products

Controller : OpenCM9.04A, B, C

Frame : 6mm plates

*NOT compatible with CM-100 / 100A / CM-200.

Factory Default Settings

ID : 1

Baud Rate : 1Mbps

(User can change various settings including ID and baud rate according to environment)


Supports TTL Communication, and DOES NOT support 3P cable used in AX-series. 

Has similar shape and dimension as the Servo Motor (SM-10), but is NOT the same, so please check the drawings before purchase (Different size, voltage, connector).

XL-320 uses DYNAMIXEL 2.0 protocol. Please visit the e-Manual page first to check the usage.

Model Name XL-320
Input Voltage Min. [V] 6.0
Recommended [V] 7.4
Max. [V] 8.4
Performance Characteristics Voltage [V] 7.4
Stall Torque [N·m] 0.39
Stall Current [A] 1.1
No Load Speed [rpm] 114.0
No Load Current [A] 0.18
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.2930000000
Step [pulse/rev] 1
Angle [degree] 300
Position Sensor Potentiometer
Operating Temperature Min. [°C] -5
Max. [°C] 65
Motor Cored
Baud Rate Min. [bps] 7,343
Max. [bps] 1,000,000
Control Algorithm PID
Gear Type Spur
Gear Material Engineering Plastic
Case Material Engineering Plastic
Dimensions (WⅹHⅹD) [mm] 24 x 36 x 27
Dimensions (WⅹHⅹD) [inch] 0.94 x 1.42 x 1.06
Weight [g] 17.00
Weight [oz] 0.59
Gear Ratio 238 : 1
Backlash [arcmin] -
Backlash [deg] -
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) TTL Level Multidrop Bus
ID 0 ~ 252
Feedback Position, Temperature, Load, Input Voltage, etc
Protocol version Protocol 2.0
Operating Mode / Angle Wheel Mode:Endless turn Joint Mode:300 [deg]
Output [W] -
Standby Current [mA] 15