---
title: "XC430-W150-T by Robotis (Dynamixel): specs, torque and price"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.6 Nm, rated n/a, weight 65 g, torque density 24.6 Nm/kg, price $138."
canonical: https://getactuators.com/actuators/dynamixel-xc430-w150-t
last-updated: 2026-09-26T20:29:50.000Z
---
# XC430-W150-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 1.6 Nm, rated n/a, weight 65 g, torque density 24.6 Nm/kg, price $138.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 1.6 Nm |
| Rated torque | n/a |
| Max speed | 106 rpm |
| Gear ratio | 159.5:1 |
| Weight | 65 g |
| Torque density | 24.6 Nm/kg |
| Price | $138 |
| Price per Nm | $86.3 |
| Backdrivable | n/a |
| Backlash | n/a |
| Voltage | 6.5-12.0 V |
| Peak current | 1.4 A |
| Communication | TTL |
| Control modes | velocity, position, extended\_position, pwm |
| Encoder | 12-bit absolute (4096 steps), contactless magnetic |
| Integrated driver | yes |
| Availability | in production |
| Data status | verified against sources |

## Use cases

- robot arm
- quadruped leg

## Notes

Metal-gear version of the XL430 frame; lower gear ratio gives higher speed (106 rpm no-load @12V) with stall torque 1.6 N.m @12V. No current-control mode. Price (~$138 on robotis.us) is hard to verify and varies widely by region/reseller.

## Sources

- <https://www.robotis.us/dynamixel-xc430-w150-t/>
- <https://emanual.robotis.com/docs/en/dxl/x/xc430-w150/>
- <https://docs.robotis.com/docs/dxl/model_reference/x_series/xc_series/xc430-w150/>

## 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-xc430-w150-t
- Catalog index for agents: https://getactuators.com/llms.txt