DYNAMIXEL XW series are ROBOTIS’ first line of IP Level models, featuring a certified IP68 (1m, 24hr) rating and are designed for use in wet environments, underwater, and any outdoor applications where a sealed servo is necessary.

* XW series come with separate waterproof cable and extension cable.

1. 6 Operating Modes  

    (Torque Control, Velocity Control, Position Control, Extended Position Control, Current based Position Control, PWM Control)

2. Profile Control for Smooth Motion Planning

3. Improved Heat Sink Featuring an Aluminum Case

4. Easy and Simple Assembly Structure

5. Energy Saving (Reduced Current from 100mA to 40mA)

6. 28.4% reduced volume compared to the MX-106

Certified Ingress Protection
Package Components
ItemQuantity                   Description
HN13-N1051Standard horn for XW540 models
Robot Cable-WP 1000mm1Waterproof cable
Robot Cable-WP 1000mm(Extension)1Waterproof cable(extension)
Wrench Bolt WB M2.5x516For frame assembly(Side hole)
Wrench Bolt WB M2.5x410For frame assembly
Wrench Bolt WB M3x101For horn assembly
Waterproof Cabling

DYNAMIXEL XW series uses a waterproof cable.

One side has a waterproof connector and the other side has a JST connector.

Extension cable has waterproof connectors for both sides.

The OpenCR controller has a JST connector for direct connection, but since the OpenCM9.04 + OpenCM 485 expansion board only has a Molex connector, a conversion cable must be used by utilizing U2D2 PHB.

Model Name XW540-T140-R
MCU ARM Cortex-M3 (72 [Mhz], 32 [bit])
Input Voltage Min. [V] 10.0
Recommended [V] 12.0
Max. [V] 14.8
Performance Characteristics Voltage [V] 12.0
Stall Torque [N·m] 6.90
Stall Current [A] 4.9
No Load Speed [rpm] 72.0
No Load Current [A] 0.07
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.0879000000
Step [pulse/rev] 4,096
Angle [degree] 360
Position Sensor Contactless absolute encoder (12 [bit], 360 [deg])
Maker : ams(www.ams.com), Part No : AS5045
Operating Temperature Min. [°C] -5
Max. [°C] 80
Motor Coreless (Maxon)
Baud Rate Min. [bps] 9,600
Max. [bps] 4,500,000
Control Algorithm PID
Gear Type Spur
Gear Material Metal
Case Material Metal(Front, Middle, Back)
Dimensions (WⅹHⅹD) [mm] 33.5 x 58.5 x 45.9
Dimensions (WⅹHⅹD) [inch] 1.32 x 2.30 x 1.73
Weight [g] 165.00
Weight [oz] 5.82
Gear Ratio 145.6:1
Backlash [arcmin] -
Backlash [deg] -
Command Signal Digital Packet
Protocol Type Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS485 Multidrop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Voltage, External Port, etc.
Protocol version Protocol 1.0
Protocol 2.0(Default)
Operating Mode / Angle Current Control mode:Endless turn
Velocity Control mode:Endless turn
Position Control Mode:360 [deg]
Extended Position Control Mode:±256 [rev]
Current-based Position Control Mode:±256 [rev]
PWM Control Mode:Endless turn
Output [W] -
Standby Current [mA] 40