{
 "version": "2026-10-20",
 "license": "Dimension sheets: CC BY 4.0. Standard and published-size files: CC BY 4.0. Xem Studio's own designs (files_license = Xem Studio Design License): free to use and sell things from, not to redistribute as files — https://xemstudio.com/license/. Other publishers' files: their own license, linked beside them.",
 "slug": "robotis-dynamixel-xl430-w250-t",
 "name": "Robotis DYNAMIXEL XL430-W250-T servo: case, horn bolt circle and frame mounting holes",
 "kind": "modern",
 "category": "Electronic components",
 "group": "Motors",
 "year": null,
 "question": "What are the Robotis DYNAMIXEL XL430-W250-T case dimensions, horn bolt circle and frame mounting-hole positions?",
 "tags": [
  "dynamixel xl430",
  "xl430-w250-t",
  "smart servo actuator",
  "robot servo",
  "servo horn bolt circle",
  "servo frame mounting holes",
  "robotis dynamixel"
 ],
 "aliases": [
  "XL430-W250-T",
  "DYNAMIXEL XL430",
  "Robotis XL430",
  "XL430-W250",
  "XL430 dimensions",
  "XL430 horn bolt pattern",
  "robotis dynamixel xl430-w250-t smart servo actuator concrete real hardware robot"
 ],
 "overall_mm": {
  "length": 46.5,
  "width": 28.5,
  "height": 40.9
 },
 "official_cad": false,
 "xem_status": "free-files",
 "les": false,
 "free_files": 1,
 "url": "https://xemstudio.com/objects/robotis-dynamixel-xl430-w250-t/",
 "sheet_txt": "https://xemstudio.com/objects/robotis-dynamixel-xl430-w250-t/sheet.txt",
 "sheet": {
  "basis": "Robotis official STEP model of the XL430 (robotis.com download 773) and the XL430-W250 drawings in the Robotis e-Manual.",
  "overall_mm": {
   "length": 46.5,
   "width": 28.5,
   "height": 40.9
  },
  "notes": [
   "Case 28.5 × 46.5 × 34.0 mm with R3.25 vertical corners. The output horn axis is parallel to the 34.0 height, centred across the 28.5 width, 12.0 mm from the case centre toward the horn end (11.25 mm from that end).",
   "Output horn Ø20.5 stands 2.0 mm above the case top with a Ø8.0 hub boss to 3.9 mm; the rear idler Ø20.5 stands 2.0 mm below the case bottom with a Ø7.9 hub 1.0 mm further, giving 40.9 mm overall along the horn axis.",
   "Horn and idler bolt circle: PCD 16 about the horn axis, 4 × Ø2.0 on the case axes and 4 × Ø1.7 on the diagonals, each 3.5 mm deep.",
   "Frame holes are threaded in the servo and modelled at the Ø2.1 tap-drill size, 4.0 mm deep: 2 in the horn face, 4 on each long side, 4 in the rear end and 2 in the horn end (table: x across the width, y along the length from the case centre, z up from the case bottom).",
   "Modelled: case, horn, idler, hubs and every mounting hole. Not modelled: case-corner assembly screws, the shallow recesses around horn and idler, the horn spline, edge chamfers and the two cable connectors with their openings.",
   "Dimensions are exact nominal (true size), no tolerance added."
  ],
  "table": {
   "columns": [
    "face",
    "holes",
    "positions (mm)",
    "Ø × depth (mm)"
   ],
   "rows": [
    [
     "horn face (top)",
     "2",
     "x ±11.0, y +4.0",
     "2.1 × 4.0"
    ],
    [
     "each long side (±x)",
     "4",
     "y −16.0 and +8.0; z 11.0 and 23.0",
     "2.1 × 4.0"
    ],
    [
     "rear end (−y)",
     "4",
     "x ±8.0; z 11.0 and 23.0",
     "2.1 × 4.0"
    ],
    [
     "horn end (+y)",
     "2",
     "x ±8.0; z 23.0",
     "2.1 × 4.0"
    ],
    [
     "horn and rear idler",
     "4 + 4",
     "PCD 16 about the horn axis (x 0, y +12.0)",
     "2.0 / 1.7 × 3.5"
    ]
   ]
  }
 },
 "sheet_text": "Robotis DYNAMIXEL XL430-W250-T servo: case, horn bolt circle and frame mounting holes — dimension sheet\nSource: Xem Studio, https://xemstudio.com/objects/robotis-dynamixel-xl430-w250-t/  (sheet CC BY 4.0)\nBasis: Robotis official STEP model of the XL430 (robotis.com download 773) and the XL430-W250 drawings in the Robotis e-Manual.\nCatalog version: 2026-10-20\n\nOverall (mm): length 46.5, width 28.5, height 40.9\n- Case 28.5 × 46.5 × 34.0 mm with R3.25 vertical corners. The output horn axis is parallel to the 34.0 height, centred across the 28.5 width, 12.0 mm from the case centre toward the horn end (11.25 mm from that end).\n- Output horn Ø20.5 stands 2.0 mm above the case top with a Ø8.0 hub boss to 3.9 mm; the rear idler Ø20.5 stands 2.0 mm below the case bottom with a Ø7.9 hub 1.0 mm further, giving 40.9 mm overall along the horn axis.\n- Horn and idler bolt circle: PCD 16 about the horn axis, 4 × Ø2.0 on the case axes and 4 × Ø1.7 on the diagonals, each 3.5 mm deep.\n- Frame holes are threaded in the servo and modelled at the Ø2.1 tap-drill size, 4.0 mm deep: 2 in the horn face, 4 on each long side, 4 in the rear end and 2 in the horn end (table: x across the width, y along the length from the case centre, z up from the case bottom).\n- Modelled: case, horn, idler, hubs and every mounting hole. Not modelled: case-corner assembly screws, the shallow recesses around horn and idler, the horn spline, edge chamfers and the two cable connectors with their openings.\n- Dimensions are exact nominal (true size), no tolerance added.\n\nface  holes  positions (mm)  Ø × depth (mm)\nhorn face (top)  2  x ±11.0, y +4.0  2.1 × 4.0\neach long side (±x)  4  y −16.0 and +8.0; z 11.0 and 23.0  2.1 × 4.0\nrear end (−y)  4  x ±8.0; z 11.0 and 23.0  2.1 × 4.0\nhorn end (+y)  2  x ±8.0; z 23.0  2.1 × 4.0\nhorn and rear idler  4 + 4  PCD 16 about the horn axis (x 0, y +12.0)  2.0 / 1.7 × 3.5\n\nFiles elsewhere (not hosted by Xem Studio; license as stated by the publisher):\n- ROBOTIS: XL430-W250 e-Manual: specifications and drawings — web — Publisher's page; dimensions are facts — https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#drawings\n- ROBOTIS: DYNAMIXEL XL430-W250-T product page — web — Publisher's page; dimensions are facts — https://www.robotis.us/dynamixel-xl430-w250-t/\n\nFree files (CC BY 4.0, Xem Studio; STEP + STL, 1 parts): https://xemstudio.com/files/hardware/robotis-dynamixel-xl430-w250-t/index.json\nAPI: https://xemstudio.com/api/geometry?object=robotis-dynamixel-xl430-w250-t\n",
 "sources": [
  {
   "publisher": "ROBOTIS",
   "title": "XL430-W250 e-Manual: specifications and drawings",
   "url": "https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#drawings",
   "formats": [
    "web"
   ],
   "license": "Publisher's page; dimensions are facts",
   "license_verified": true,
   "hosted": false
  },
  {
   "publisher": "ROBOTIS",
   "title": "DYNAMIXEL XL430-W250-T product page",
   "url": "https://www.robotis.us/dynamixel-xl430-w250-t/",
   "formats": [
    "web"
   ],
   "license": "Publisher's page; dimensions are facts",
   "license_verified": true,
   "hosted": false
  }
 ],
 "xem": {
  "status": "free-files",
  "sheet_free": true,
  "mesh_price_usd": null,
  "step_price_usd": null,
  "tolerance_mm": null
 },
 "related": [
  "towerpro-mg996r-servo",
  "towerpro-sg90-micro-servo",
  "rc-servos",
  "machine-screws-metric-pan-cheese-csk",
  "socket-head-cap-screws-metric"
 ],
 "fits": [],
 "dimensions": "exact (nominal, no tolerance added)",
 "dimension_rule": "All geometry on Xem Studio is exact (nominal, true size) with no tolerance added. Where a part meets another part, the object lists its mating features (feature, exact size, what it mates with, fit class: press, slide, run, socket, clamp or designed). Apply your process's allowance to those features only; 'designed' gaps are part of the design and stay as drawn. Typical accuracy by process and ISO 286 fits: https://xemstudio.com/tolerances/",
 "mating": [
  {
   "feature": "horn bolt circle",
   "exact": "4 × Ø2.0 + 4 × Ø1.7 on PCD 16, 3.5 deep",
   "mates": "horn-mounted link, wheel or bracket screws",
   "fit": "designed",
   "files": "all"
  },
  {
   "feature": "frame holes",
   "exact": "Ø2.1 tap-drill size, 4.0 deep; side pairs 24.0 × 12.0 apart",
   "mates": "Robotis-pattern frames or a custom bracket, screws of the servo's thread",
   "fit": "designed",
   "files": "all"
  },
  {
   "feature": "case",
   "exact": "28.5 × 46.5 × 34.0, R3.25 corners",
   "mates": "pocket or cradle in a printed or machined frame",
   "fit": "socket",
   "files": "all"
  }
 ],
 "fit_classes": {
  "press": "stays put: pin, tube, bearing or magnet held by interference. ISO 286 equivalent: H7/p6 (locational interference) or tighter.",
  "slide": "assembles by hand and is held by a grub, pinch or clamp: shaft in a hub, rod in a socket, spigot in a bore. ISO 286 equivalent: H7/g6 or H7/h6.",
  "run": "turns or slides in use: pin in a link, rod through a guide. ISO 286 equivalent: H8/f7 (close running).",
  "socket": "large sliding fit: syringe barrel, sleeve, bobbin in a bore. ISO 286 equivalent: H9/d9 (free running) or looser.",
  "clamp": "split part that closes on the mating part with screws: make it at size.",
  "designed": "a gap that is part of the design (piston fit option, displacer gap, air gap): do not change."
 },
 "faq": [
  {
   "q": "What is the horn bolt circle of the XL430-W250-T?",
   "a": "PCD 16 mm about the horn axis: four Ø2.0 holes on the case axes and four Ø1.7 on the diagonals, 3.5 mm deep. The rear idler carries the same pattern."
  },
  {
   "q": "How big is the XL430 case?",
   "a": "28.5 × 46.5 × 34.0 mm with R3.25 corners; 40.9 mm overall along the horn axis including the horn, idler and hubs."
  },
  {
   "q": "Where are the side mounting holes?",
   "a": "Four per long side, at 16.0 mm behind and 8.0 mm ahead of the case centre, 11.0 and 23.0 mm above the case bottom; Ø2.1 tap-drill size, 4.0 mm deep."
  }
 ],
 "files_license": null,
 "offers": [
  {
   "file": "robotis-dynamixel-xl430-w250-t",
   "formats": [
    "step",
    "stl"
   ],
   "price_usd": 0,
   "license": "CC BY 4.0 (Xem Studio)",
   "step": "https://xemstudio.com/files/hardware/robotis-dynamixel-xl430-w250-t/robotis-dynamixel-xl430-w250-t.step",
   "stl": "https://xemstudio.com/files/hardware/robotis-dynamixel-xl430-w250-t/robotis-dynamixel-xl430-w250-t.stl",
   "note": "Robotis DYNAMIXEL XL430-W250-T servo: case, horn bolt circle and frame mounting holes"
  }
 ],
 "markdown": "https://xemstudio.com/objects/robotis-dynamixel-xl430-w250-t/index.md"
}