Robotis DYNAMIXEL XL430-W250-T servo: case, horn bolt circle and frame mounting holes — dimension sheet
Source: Xem Studio, https://xemstudio.com/objects/robotis-dynamixel-xl430-w250-t/  (sheet CC BY 4.0)
Basis: Robotis official STEP model of the XL430 (robotis.com download 773) and the XL430-W250 drawings in the Robotis e-Manual.
Catalog version: 2026-10-20

Overall (mm): length 46.5, width 28.5, height 40.9
- 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.

face  holes  positions (mm)  Ø × depth (mm)
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

Files elsewhere (not hosted by Xem Studio; license as stated by the publisher):
- 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
- ROBOTIS: DYNAMIXEL XL430-W250-T product page — web — Publisher's page; dimensions are facts — https://www.robotis.us/dynamixel-xl430-w250-t/

Free files (CC BY 4.0, Xem Studio; STEP + STL, 1 parts): https://xemstudio.com/files/hardware/robotis-dynamixel-xl430-w250-t/index.json
API: https://xemstudio.com/api/geometry?object=robotis-dynamixel-xl430-w250-t