Dynamixel PM54-040-S250-R

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*Based on known specs.

Technical Specifications

Last Updated: 2026-10-09

Identity
Brand
Product Number	902-0089-001
Category	Robotics
Performance
Torque	24.0V552.24 oz-inAverage
Speed	24.0V0.35 sec/60°Bottom 10%
Running Current	24.0V1.320 ATop 10%
Stall Current	1320–4750 AAverage
Rated Output Power	40.0 W
Radial Load	370.0 N
Physical
Weight	25.04 ozAverage
Shape	Cylindrical
Dimensions	L 4.252 in W — H — ∅ 2.13 in
Case Material	Metal
Drivetrain
Motor Type	Brushless
Gears	Steel
Gear Ratio	251.417:1
Shaft Size	20.0 mm
Rotation Mode	Multi-turn
Rotation/Support	Dual Bearings
Backlash	0.100°
Control & Signal
Modulation	Digital
Direction	Bidirectional
Rotational Range	360°
Angle Sensor	Contactless Absolute Encoder
Control System	RS485
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 °C
Water Rating	IP54
Certification	CE \| ROHS \| FCC
Idle Current	0.040 A
Connectivity
Connector	Molex
Wire Length	600 mm
Baud Rate	9.6 Kbps–10.5 Mbps

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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.

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*Based on known specs.

Class Comparison

Torque	Average Stronger than 40% of 54 Custom servos at 24.0V
Speed	Bottom 10% Faster than 2% of 64 Custom servos at 24.0V
Weight	Average Lighter than 40% of 31 Digital Custom servos
Running Current	Top 10% Lower draw than 94% of 50 Custom servos at 24.0V
Stall Current	Average Lower draw than 50% of 27 Digital Custom servos

Performance Analysis

Shaft Power	2.90 W
Power Density	0.151 W/in³ More power-dense than 5% of 63 Dynamixel servos
Torque Density	0.7778 oz-in/g Stronger than 48% of 22 Dynamixel servos
Torque-to-Volume Ratio	28.73 oz-in/in³ Denser torque than 47% of 20 Dynamixel servos
Speed-to-Weight	0.00400 (1/sec·g) Faster than 18% of 23 Dynamixel servos
Speed-Torque Trade-off	194.34 Better balanced than 67% of 22 Dynamixel servos
Current-per-Torque Ratio	8.6013 A/oz-in More efficient than 48% of 22 Dynamixel servos
Idle-to-Running Current Ratio	0.030 Lower idle draw than 38% of 22 Dynamixel servos
No-Load vs Stall Current Spread	3,598.48 Narrower current spread than 9% of 23 Dynamixel servos
Voltage Range Width	0.0 V Wider voltage range than 40% of 31 Digital Custom servos
Backlash-to-Range Ratio	0.00028 1st-highest backlash-to-range ratio of 49 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.