XD Series
The DYNAMIXEL XD Series is the improved-lifespan version of the XH Series, designed for advanced robotics, Physical AI, robot arms, humanoids, and enduring automation systems that need precision, durability, and long-term reliability.
With full metal gears, current-based control, feedback-rich operation, and the same control-table structure as XH, XD actuators are ideal for robots that need to run longer, collect better data, and improve through real-world learning loops.
Improved Lifespan
XD is built as a longer-life version of XH for robots that need stronger endurance and repeatable operation.
Built for Physical AI
A strong actuator platform for embodied AI systems that learn from real-world motion and interaction data.
Data Flywheel Ready
Capture position, velocity, current, temperature, and motion data to improve robot policies over time.
Force-Aware Control
Current and current-based position control support compliant motion and intelligent robotic interaction.
Endurance for the Physical AI Data Loop
Physical AI depends on robots that can act, sense, record, and improve through repeated real-world operation. XD Series actuators help support that loop with durable motion output, feedback data, current-aware control, and longer-life operation for continuous robot learning.
- Support long-running teleoperation and data collection workflows
- Enable imitation learning, reinforcement learning, and policy testing
- Use current feedback for force-aware interaction and safer contact behavior
- Help improve the data flywheel: better data → better models → better robots
Choose the Right XD Series Model
Maximum torque XD540 model with up to 11.7 N·m stall torque at 14.8 V.
Higher speed XD540 model with up to 86 rpm no-load speed at 14.8 V.
Balanced torque model for robot arms, humanoids, and durable manipulation systems.
Faster XD430 model for responsive motion, compact joints, and repeated automation cycles.
Advanced Motion, Force Control & Longevity
XD Series actuators support advanced DYNAMIXEL operating modes including Velocity Control, Position Control, Extended Position Control, PWM Control, Current Control, and Current-Based Position Control. They are especially useful for Physical AI systems that need compliant motion, repeatable data collection, and longer-duty robotic operation.
XD Series Specifications
| Model | Stall Torque | No Load Speed |
|---|---|---|
| XD540-T270-R | 9.2 N·m @ 11.1 V 9.9 N·m @ 12.0 V 11.7 N·m @ 14.8 V |
36 rpm @ 11.1 V 39 rpm @ 12.0 V 46 rpm @ 14.8 V |
| XD540-T150-R | 6.6 N·m @ 11.1 V 7.1 N·m @ 12.0 V 8.5 N·m @ 14.8 V |
66 rpm @ 11.1 V 70 rpm @ 12.0 V 86 rpm @ 14.8 V |
| XD430-T350-R | 3.1 N·m @ 11.1 V 3.4 N·m @ 12.0 V 4.2 N·m @ 14.8 V |
27 rpm @ 11.1 V 30 rpm @ 12.0 V 37 rpm @ 14.8 V |
| XD430-T210-R | 2.2 N·m @ 11.1 V 2.5 N·m @ 12.0 V 3.1 N·m @ 14.8 V |
46 rpm @ 11.1 V 50 rpm @ 12.0 V 62 rpm @ 14.8 V |