---
title: "H54-200-S500-R (Dynamixel PRO) by Robotis (Dynamixel): specs, torque and price"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 44.7 Nm, rated n/a, weight 855 g, torque density 52.3 Nm/kg, price quote only."
canonical: https://getactuators.com/actuators/dynamixel-h54-200-s500-r
last-updated: 2026-09-26T20:29:50.000Z
---
# H54-200-S500-R (Dynamixel PRO) by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 44.7 Nm, rated n/a, weight 855 g, torque density 52.3 Nm/kg, price quote only.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 44.7 Nm |
| Rated torque | n/a |
| Max speed | 33 rpm |
| Gear ratio | 502:1 |
| Weight | 855 g |
| Torque density | 52.3 Nm/kg |
| Price | quote only |
| Price per Nm | n/a |
| Backdrivable | n/a |
| Backlash | n/a |
| Voltage | 24 V |
| Peak current | n/a |
| Communication | RS-485 |
| Control modes | torque, velocity, position |
| Encoder | absolute, 1,003,846 steps/rev |
| Integrated driver | yes |
| Availability | discontinued |
| Data status | verified against sources |

## Use cases

- robot arm
- humanoid joint

## Notes

Original Dynamixel PRO H-series (predecessor to the Pro+ PH54), a 200W RS-485 joint used in full-size humanoids/large arms. Stall torque 44.7 N.m and no-load 33.1 rpm at 24V (continuous torque ~25.3 N.m); weight 855 g; ~502:1 straight-type reduction. Officially discontinued by Robotis and now sold only on the secondary market, so no current list price. Superseded by the Pro+ PH54-200-S500-R, whose rated torque coincidentally also lists 44.7 N.m.

## Sources

- <https://docs.robotis.com/docs/dxl/model_reference/pro_series/pro_h_series/h54-200-s500-r/>
- <https://emanual.robotis.com/docs/en/dxl/pro/h54-200-s500-r/>
- <https://www.crustcrawler.com/products/Dynamixel%20Pro/docs/H54-200-S500-R.pdf>

## Similar Smart Servo actuators

- [STS3250 (12V, 50 kg.cm) (Feetech)](https://getactuators.com/actuators/feetech-sts3250): 65.8 Nm/kg
- [XM540-W270-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xm540-w270-t): 64.2 Nm/kg
- [XH540-W270-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xh540-w270-t): 60 Nm/kg
- [STS3215 (12V, 30 kg.cm) (Feetech)](https://getactuators.com/actuators/feetech-sts3215): 53.5 Nm/kg
- [XM430-W350-T (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-xm430-w350-t): 50 Nm/kg

## Machine-readable

- JSON: https://getactuators.com/api/v1/actuators/dynamixel-h54-200-s500-r
- Catalog index for agents: https://getactuators.com/llms.txt