---
title: "XH540-W270-T by Robotis (Dynamixel): specs, torque and price"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 9.9 Nm, rated n/a, weight 165 g, torque density 60 Nm/kg, price $621."
canonical: https://getactuators.com/actuators/dynamixel-xh540-w270-t
last-updated: 2026-09-26T20:29:50.000Z
---
# XH540-W270-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 9.9 Nm, rated n/a, weight 165 g, torque density 60 Nm/kg, price $621.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 9.9 Nm |
| Rated torque | n/a |
| Max speed | 39 rpm |
| Gear ratio | 272.5:1 |
| Weight | 165 g |
| Torque density | 60 Nm/kg |
| Price | $621 |
| Price per Nm | $62.7 |
| Backdrivable | n/a |
| Backlash | 15 arcmin |
| Voltage | 10.0-14.8 V |
| Peak current | 4.9 A |
| Communication | TTL |
| Control modes | current, velocity, position, extended\_position, current\_based\_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

High-torque metal-gear X servo. Stall torque 9.9 N.m @12.0V (rises to ~10.6 N.m @14.8V); no-load 39 rpm @12V. Rated backlash 15 arcmin. Used in larger research arms and quadruped legs. -T is TTL; -R is RS-485.

## Sources

- <https://www.robotis.us/dynamixel-xh540-w270-t/>
- <https://emanual.robotis.com/docs/en/dxl/x/xh540-w270/>
- <https://www.generationrobots.com/en/403377-dynamixel-xh540-w270-t-servo-motor.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
- [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
- [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-xh540-w270-t
- Catalog index for agents: https://getactuators.com/llms.txt