---
title: "XM430-W350-T by Robotis (Dynamixel): specs, torque and price"
description: "Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 4.1 Nm, rated n/a, weight 82 g, torque density 50 Nm/kg, price $290."
canonical: https://getactuators.com/actuators/dynamixel-xm430-w350-t
last-updated: 2026-09-26T20:29:50.000Z
---
# XM430-W350-T by Robotis (Dynamixel)

> Smart Servo actuator from Robotis (Dynamixel) (South Korea). Peak torque 4.1 Nm, rated n/a, weight 82 g, torque density 50 Nm/kg, price $290.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Smart Servo |
| Peak torque | 4.1 Nm |
| Rated torque | n/a |
| Max speed | 46 rpm |
| Gear ratio | 353.5:1 |
| Weight | 82 g |
| Torque density | 50 Nm/kg |
| Price | $290 |
| Price per Nm | $70.7 |
| Backdrivable | n/a |
| Backlash | n/a |
| Voltage | 10.0-14.8 V |
| Peak current | 2.3 A |
| Communication | TTL |
| Control modes | current, velocity, position, extended\_position, current\_based\_position, pwm |
| Encoder | 12-bit absolute (4096 steps), contactless magnetic (AMS) |
| Integrated driver | yes |
| Availability | in production |
| Data status | verified against sources |

## Use cases

- robot arm

## Notes

Metal-gear, coreless-motor workhorse. Stall torque 4.1 N.m and no-load 46 rpm quoted at 12.0V. Full 6-mode control including current (torque). Backbone of Trossen ViperX/WidowX and ALOHA/OpenManipulator-X arms. -T is TTL; -R variant is RS-485.

## Sources

- <https://www.robotis.us/dynamixel-xm430-w350-t/>
- <https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/>
- <https://www.robotshop.com/products/robotis-dynamixel-xm430-w350-t-smart-servo-actuator>

## 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-xm430-w350-t
- Catalog index for agents: https://getactuators.com/llms.txt