---
title: "PM54-060-S250-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 10.1 Nm, weight 855 g, torque density n/a, price $2,196."
canonical: https://getactuators.com/actuators/dynamixel-pm54-060-s250-r
last-updated: 2026-09-26T20:29:50.000Z
---
# PM54-060-S250-R (Dynamixel-P / Pro+) by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque n/a, rated 10.1 Nm, weight 855 g, torque density n/a, price $2,196.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | n/a |
| Rated torque | 10.1 Nm |
| Max speed | 33 rpm |
| Gear ratio | 251.4:1 |
| Weight | 855 g |
| Torque density | n/a |
| Price | $2,196 |
| Price per Nm | n/a |
| Backdrivable | n/a |
| Backlash | 6 arcmin |
| Voltage | 24 V |
| Peak current | n/a |
| Communication | RS-485 |
| Control modes | current, velocity, position, extended\_position, current\_based\_position, pwm |
| Encoder | absolute, 502,834 steps/rev |
| Integrated driver | yes |
| Availability | in production |
| Data status | unverified |

## Use cases

- robot arm
- humanoid joint

## Notes

Mid-tier 60W Dynamixel-P (Pro+) joint. Robotis lists estimated rated torque 10.1 N.m at 24V (28.3 rpm, 3.0A continuous); no clean peak/stall figure is published, so peak and torque\_density are left null. Weight 855 g in the 54x126x54 mm frame (same body as the PH54), confirmed by the Robotis distributor datasheet. Backlash ~6 arcmin. RS-485 only.

## Sources

- <https://www.robotis.us/dynamixel-pm54-060-s250-r/>
- <https://emanual.robotis.com/docs/en/dxl/p/pm54-060-s250-r/>
- <https://static.generation-robots.com/media/fiche-technique-pm54-060-s250-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
- [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-pm54-060-s250-r
- Catalog index for agents: https://getactuators.com/llms.txt