Dynamixel YM070-210-A099-RH

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*Based on known specs.

Technical Specifications

Last Updated: 2026-10-27

Identity
Brand
Product Number	902-0206-000
Category	Robotics
Performance
Torque	24.0V2,067.36 oz-inAbove Average
Speed	24.0V0.18 sec/60°Below Average
Running Current	24.0V11.000 ABelow Average
Stall Current	≤20.8 AAverage
Rated Output Power	210.0 W
Radial Load	1,520.0 N
Physical
Weight	34.57 ozBelow Average
Shape	Cylindrical
Dimensions	L 3.591 in W — H — ∅ 2.76 in
Case Material	Metal / Plastic
Drivetrain
Motor Type	Brushless
Gears	Metal
Gear Ratio	99:1
Shaft Size	14.00 mm
Rotation Mode	Multi-turn
Backlash	0.050°
Control & Signal
Modulation	Digital
Direction	Bidirectional
Rotational Range	360°
Angle Sensor	Contactless Absolute Encoder
Control System	RS485-PID
Programmable	Yes
Resolution	51,904,500 pulse/rev
MCU	ARM CORTEX-M4
Operating Modes	Position, Velocity, Current
Electrical & Environment
Operating Voltage	24–24 V
Temperature	-5–55 °C
Idle Current	0.040 A
Connectivity
Connector	JST-Molex
Wire Length	600 mm
Baud Rate	9.6 Kbps–10.5 Mbps

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Disclaimer: Most data is sourced from the manufacturer. Some data is sourced from our loyal community and with the help of AI. We aim for accuracy but are not responsible for inaccurate information.

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*Based on known specs.

Class Comparison

Torque	Above Average Stronger than 67% of 52 Custom servos at 24.0V
Speed	Below Average Faster than 22% of 61 Custom servos at 24.0V
Weight	Below Average Lighter than 19% of 28 Digital Custom servos
Running Current	Below Average Lower draw than 28% of 51 Custom servos at 24.0V
Stall Current	Average Lower draw than 50% of 27 Digital Custom servos

Performance Analysis

Shaft Power	21.84 W
Power Density	0.801 W/in³ More power-dense than 16% of 70 Dynamixel servos
Torque Density	2.1096 oz-in/g Stronger than 50% of 23 Dynamixel servos
Torque-to-Volume Ratio	75.80 oz-in/in³ Denser torque than 53% of 20 Dynamixel servos
Speed-to-Weight	0.00583 (1/sec·g) Faster than 35% of 24 Dynamixel servos
Speed-Torque Trade-off	361.74 Better balanced than 64% of 23 Dynamixel servos
Current-per-Torque Ratio	0.0101 A/oz-in More efficient than 45% of 23 Dynamixel servos
Idle-to-Running Current Ratio	0.004 Lower idle draw than 63% of 20 Dynamixel servos
No-Load vs Stall Current Spread	1.89 Narrower current spread than 55% of 21 Dynamixel servos
Voltage Range Width	0.0 V Wider voltage range than 22% of 28 Digital Custom servos
Backlash-to-Range Ratio	0.00014 4th-highest backlash-to-range ratio of 48 Dynamixel servos

Notes

The YM070-210-A099-RH is a high-performance robotic actuator featuring a frameless BLDC motor and an integrated cycloidal reducer for superior torque. It includes a multi-turn absolute encoder and supports RS-485 communication.