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Technical Specifications
Last Updated: 2026-07-10
Weight
Dimensions
Torque
Speed
Current
Temp
Wire
| Identity | |
| Brand |  |
| Product Number | 902-0089-001 |
| Category | Robotics |
| Performance | |
| Torque |
24.0V39.77 oz-in2.86 kg-cm0.3 N-mBottom 10% |
| Speed |
24.0V0.35 sec/60°170.5 deg/s28.4 RPMBottom 10% |
| Running Current |
24.0V1.900 A1,900 mATop 10% |
| Stall Current | 1320–4750 A1320000–4750000 mAAverage |
| Rated Output Power | 40.0 W |
| Radial Load | 370.0 N |
| Physical | |
| Weight | 25.04 oz710.0 gAverage |
| Shape | Cylindrical |
| Dimensions |
L 4.25 in W — H — L 108.0 mm W — H — ∅ 2.13 in54.0 mm |
| Case Material | Metal |
| Drivetrain | |
| Motor Type | Brushless |
| Gears | Steel |
| Gear Ratio | 251.417:1 |
| Shaft Size | 20.0 mm |
| Rotation Mode | Continuous |
| Rotation/Support | Dual Bearings |
| Backlash | 0.100° |
| Control & Signal | |
| Modulation | Digital |
| Direction | Bidirectional |
| Rotational Range | 360° |
| Angle Sensor | Contactless Absolute Encoder |
| Control System | RS-485 / PWM |
| Programmable | Yes |
| Resolution | 502,834 pulse/rev |
| MCU | ARM CORTEX-M4 |
| Operating Modes | Torque, Velocity, Position, Extended Position, PWM |
| Signal Voltage | 5V |
| Electrical & Environment | |
| Operating Voltage | 24–24 V |
| Power Source | External |
| Temperature | -5–55 °C23–131 °F |
| Water Rating | IP54 |
| Certification | CE | ROHS | FCC |
| Idle Current | 40.000 A40,000 mA |
| Connectivity | |
| Wire Length | 600 mm23.62 in |
| Baud Rate | 9.6 Kbps–10.5 Mbps |
Disclaimer: Most data is sourced from the manufacturer. Some data is sourced from our loyal community and with the help of AI. We aim for accuracy but are not responsible for inaccurate information.
Class Comparison
| Torque | Bottom 10% Stronger than 8% of the 52 Custom servos at 24.0V |
| Speed | Bottom 10% Faster than 2% of the 62 Custom servos at 24.0V |
| Weight | Average Lighter than 39% of the 29 Digital Custom servos |
| Running Current | Top 10% Lower draw than 94% of the 50 Custom servos at 24.0V |
| Stall Current | Average Lower draw than 48% of the 26 Digital Custom servos |
Performance Analysis
| Torque Density | 0.0560 oz-in/g Stronger than 14% of the 23 Dynamixel servos in the database |
| Speed-to-Weight | 0.00400 (1/sec·g) Faster than 17% of the 24 Dynamixel servos in the database |
| Speed-Torque Trade-off | 14.00 Better balanced than 45% of the 23 Dynamixel servos in the database |
| Current-per-Torque Ratio | 119.4370 A/oz-in More efficient than 41% of the 23 Dynamixel servos in the database |
| Idle-to-Running Current Ratio | 21.053 Lower idle draw than 10% of the 22 Dynamixel servos in the database |
| No-Load vs Stall Current Spread | 2,500.00 Narrower current spread than 14% of the 23 Dynamixel servos in the database |
| Voltage Range Width | 0.0 V Wider voltage range than 39% of the 29 Digital Custom servos in the database |
| Backlash-to-Range Ratio | 0.00028 1st-highest backlash-to-range ratio of 45 Dynamixel servos |
Notes
The PM54-040-S250-R is an industrial-grade DYNAMIXEL-P smart actuator featuring a cycloidal gear reduction system and a Maxon BLDC motor. It supports high-precision control with over 500,000 steps per revolution. The operating voltage is 24V.
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