Dynamixel YM070-210-R051-RH

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Technical Specifications

Last Updated: 2026-10-10

Identity
Brand
Product Number	902-0199-000
Category	Robotics
Performance
Torque	24.0V166.21 oz-inBottom 10%
Speed	24.0V0.09 sec/60°Below Average
Running Current	24.0V11.900 ABelow Average
Stall Current	≤20800 ABelow Average
Rated Output Power	210.0 W
Radial Load	1,240.0 N
Physical
Weight	27.87 ozBelow Average
Shape	Cylindrical
Dimensions	L 2.80 in W — H — ∅ 2.76 in
Case Material	Metal
Drivetrain
Motor Type	Brushless
Gears	Metal
Gear Ratio	51:1
Shaft Size	14.0 mm
Rotation Mode	Multi-turn
Backlash	3.000°
Control & Signal
Modulation	Digital
Rotational Range	360°
Mechanical Limit	360°
Angle Sensor	Absolute Encoder
Control System	RS-485
Programmable	Yes
Resolution	26,738,700 pulse/rev
MCU	ARM CORTEX-M4
Operating Modes	Current, Position, Velocity
Signal Voltage	5V
Electrical & Environment
Operating Voltage	24–24 V
Power Source	External
Temperature	-5–55 °C
Water Rating	IP54
Certification	CE \| FCC \| ROHS \| UKCA \| KC
Idle Current	40.000 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	Bottom 10% Stronger than 9% of 54 Custom servos at 24.0V
Speed	Below Average Faster than 27% of 64 Custom servos at 24.0V
Weight	Below Average Lighter than 27% of 31 Digital Custom servos
Running Current	Below Average Lower draw than 16% of 50 Custom servos at 24.0V
Stall Current	Below Average Lower draw than 23% of 27 Digital Custom servos

Performance Analysis

Torque Density	0.2104 oz-in/g Stronger than 19% of 22 Dynamixel servos
Torque-to-Volume Ratio	7.79 oz-in/in³ Denser torque than 16% of 20 Dynamixel servos
Speed-to-Weight	0.01406 (1/sec·g) Faster than 55% of 23 Dynamixel servos
Speed-Torque Trade-off	14.96 Better balanced than 33% of 22 Dynamixel servos
Current-per-Torque Ratio	125.1420 A/oz-in More efficient than 19% of 22 Dynamixel servos
Idle-to-Running Current Ratio	3.361 Lower idle draw than 5% of 22 Dynamixel servos
No-Load vs Stall Current Spread	1,747.90 Narrower current spread than 50% of 23 Dynamixel servos
Voltage Range Width	0.0 V Wider voltage range than 0% of 31 Digital Custom servos
Backlash-to-Range Ratio	0.00833 Tighter backlash than 65% of 49 Dynamixel servos

Notes

The YM070-210-R051-RH is a high-performance integrated actuator featuring a Frameless BLDC motor and RS-485 communication. It includes an integrated mechanical brake and supports multiple control modes including current, position, and velocity control.