Dynamixel XH540-V150-R

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Technical Specifications

Last Updated: 2026-10-25

Identity
Brand
Product Number	902-0142-000
Category	Robotics
Performance
Torque	24.0V906.24 oz-inAverage
Speed	24.0V0.17 sec/60°Above Average
Running Current	24.0V0.060 ATop 10%
Stall Current	≤2.4 ATop 10%
Radial Load	40.0 N
Physical
Weight	5.82 ozAbove Average
Shape	Boxed
Dimensions	L 2.303 in W 1.319 in H 1.732 in
Case Material	Metal / Plastic
Drivetrain
Motor Type	Coreless
Gears	Metal
Gear Ratio	152.3:1
Rotation Mode	Continuous
Rotation/Support	Dual Bearings
Backlash	0.250°
Control & Signal
Modulation	Digital
Rotational Range	360°
Angle Sensor	Contactless Absolute Encoder
Control System	RS485-PID
Programmable	Yes
Resolution	4,096 pulse/rev
MCU	ARM CORTEX-M3
Operating Modes	Current, Velocity, Position, Extended Position (Multi-turn), Current-based Position, PWM (Voltage)
Electrical & Environment
Operating Voltage	24–24 V
Power Source	External
Temperature	-5–80 °C
Idle Current	0.036 A
Connectivity
Connector	JST
Wire Length	180 mm
Baud Rate	9.6 Kbps–4.5 Mbps
Origin
Country of Origin	South Korea

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*Based on known specs.

Class Comparison

Torque	Average Stronger than 60% of 88 Digital Giant servos at 24.0V
Speed	Above Average Faster than 74% of 89 Digital Giant servos at 24.0V
Weight	Above Average Lighter than 81% of 168 Digital Giant servos
Running Current	Top 10% Lower draw than 100% of 29 Digital Giant servos at 24.0V
Stall Current	Top 10% Lower draw than 94% of 108 Digital Giant servos

Performance Analysis

Shaft Power	10.03 W
Power Density	1.907 W/in³ More power-dense than 57% of 136 Digital Giant servos
Torque Density	5.4924 oz-in/g Stronger than 81% of 85 Digital Giant servos
Torque-to-Volume Ratio	172.25 oz-in/in³ Denser torque than 76% of 88 Digital Giant servos
Speed-to-Weight	0.03629 (1/sec·g) Faster than 86% of 86 Digital Giant servos
Speed-Torque Trade-off	151.33 Better balanced than 56% of 85 Digital Giant servos
Current-per-Torque Ratio	0.0026 A/oz-in More efficient than 80% of 47 Digital Giant servos
Idle-to-Running Current Ratio	0.600 Lower idle draw than 5% of 23 Digital Giant servos
No-Load vs Stall Current Spread	40.00 Narrower current spread than 27% of 27 Digital Giant servos
Voltage Range Width	0.0 V Wider voltage range than 1% of 160 Digital Giant servos
Backlash-to-Range Ratio	0.00069 Tighter backlash than 77% of 49 Digital Giant servos

Notes

The DYNAMIXEL XH540-V150-R is a high-performance robotic servo with a coreless Maxon motor and RS-485 communication. It supports multiple operating modes including torque, velocity, and multi-turn position control.