---
title: "PH54-200-S500-R (Dynamixel-P / Pro+) by Robotis (Dynamixel): specs, torque and price"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque n/a, rated 44.7 Nm, weight 855 g, torque density n/a, price $3,542."
canonical: https://getactuators.com/actuators/dynamixel-ph54-200-s500-r
last-updated: 2026-09-26T20:29:50.000Z
---
# PH54-200-S500-R (Dynamixel-P / Pro+) by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque n/a, rated 44.7 Nm, weight 855 g, torque density n/a, price $3,542.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | n/a |
| Rated torque | 44.7 Nm |
| Max speed | 33 rpm |
| Gear ratio | 501.9:1 |
| Weight | 855 g |
| Torque density | n/a |
| Price | $3,542 |
| Price per Nm | n/a |
| Backdrivable | n/a |
| Backlash | 6 arcmin |
| Voltage | 24 V |
| Peak current | 14 A |
| Communication | RS-485 |
| Control modes | current, velocity, position, extended\_position, current\_based\_position, pwm |
| Encoder | absolute, 1,003,846 steps/rev |
| Integrated driver | yes |
| Availability | in production |
| Data status | unverified |

## Use cases

- robot arm
- humanoid joint

## Notes

Top-end Dynamixel-P (Pro+) joint for humanoids/large arms. Robotis publishes an estimated continuous/rated torque of 44.7 N.m at 24V (29 rpm, 9.3A); no clean peak/stall torque figure is published, so peak and torque\_density are left null. Backlash \<0.1 deg (~6 arcmin). 200W. RS-485 only.

## Sources

- <https://www.robotis.us/dynamixel-ph54-200-s500-r/>
- <https://emanual.robotis.com/docs/en/dxl/p/ph54-200-s500-r/>
- <https://www.generationrobots.com/en/403321-dynamixel-pro-plus-h54p-200-s500-r-servo.html>

## 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
- [H54-200-S500-R (Dynamixel PRO) (Robotis (Dynamixel))](https://getactuators.com/actuators/dynamixel-h54-200-s500-r): 52.3 Nm/kg

## Machine-readable

- JSON: https://getactuators.com/api/v1/actuators/dynamixel-ph54-200-s500-r
- Catalog index for agents: https://getactuators.com/llms.txt