**This product is currently backordered with an extended lead time. Please contact us for more details

Package Contents

Item	Quantity	Description
XH540-V270-R	1	DYNAMIXEL Servo
HN13-N101	1	Servo Horn
Robot Cable-X4P 180mm	1	RS485 4p Cable (JST-JST)
Robot Cable-X4P (Convertible) 180mm	1	RS485 4p Cable (MOLEX-JST)
Robot Cable-3P-Sync 160mm	1	Dual Joint Mode Cable
Wrench Bolt WB M2.5x5	16	For frame installation
Wrench Bolt WB M2.5x4	10	For horn & frame installation
Wrench Bolt WB M3x8	1	For frame installation
Spacer Ring	8	For frame installation

Supported Features

Operating Mode	Description	Typical Use Case
Current Control Mode	Controls the current (torque) applied to the motor.	Grippers, force-sensitive applications.
Velocity Control Mode	Controls the rotational speed continuously in either direction.	Wheels, rollers, or drive systems.
Position Control Mode (0–360°)	Moves to and holds a specific angle within 360°.	Pan-tilt mechanisms, angular joint positioning.
Extended Position Control Mode	Allows multi-turn (±256 revolutions) position control.	Robotic arms, winches, mechanisms requiring precise multi-rotation movement.
PWM Control Mode (Voltage Control)	Directly controls the applied voltage via PWM, without position or velocity feedback.	Open-loop systems, testing, or simple motor control without feedback.

Feedback Type	XH430	XH540
Position	✓	✓
Velocity	✓	✓
Current	✓	✓
PWM	✓	✓
Input Voltage	✓	✓
Temperature	✓	✓
Realtime tick	✓	✓
Trajectory	✓	✓

ROBOTIS Assurance - QC/QM Process, QC Sticker for each product, Certification, Highest Quality Materials & Product, Fast and On Time Delivery, Customization Options Available, B2B Partnerships, Expert and Timely Support, One Year Limited Warranty