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Technical Specifications
Last Updated: 2026-07-10
Weight
Dimensions
Torque
Speed
Current
Temp
Wire
| Identity | |
| Brand |  |
| Product Number | 902-0199-000 |
| Category | Robotics |
| Performance | |
| Torque |
24.0V166.21 oz-in11.97 kg-cm1.2 N-mBelow Average |
| Speed |
24.0V0.09 sec/60°666.7 deg/s111.1 RPMBelow Average |
| Running Current |
24.0V11.900 A11,900 mABelow Average |
| Stall Current | ≤20800 A≤20800000 mABelow Average |
| Rated Output Power | 210.0 W |
| Radial Load | 1,240.0 N |
| Physical | |
| Weight | 27.87 oz790.0 gBelow Average |
| Shape | Cylindrical |
| Dimensions |
L 2.80 in W — H — L 71.1 mm W — H — ∅ 2.76 in70.0 mm |
| Case Material | Metal |
| Drivetrain | |
| Motor Type | Brushless |
| Gears | Metal |
| Gear Ratio | 51:1 |
| Shaft Size | 14.0 mm |
| 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 °C23–131 °F |
| Water Rating | IP54 |
| Certification | CE | FCC | ROHS | UKCA | KC |
| Idle Current | 40.000 A40,000 mA |
| Connectivity | |
| Connector | JST-Molex |
| Wire Length | 600 mm23.62 in |
| Baud Rate | 9.6 Kbps–10.5 Mbps |
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.
Class Comparison
| Torque | Below Average Stronger than 18% of the 52 Custom servos at 24.0V |
| Speed | Below Average Faster than 25% of the 62 Custom servos at 24.0V |
| Weight | Below Average Lighter than 25% of the 29 Digital Custom servos |
| Running Current | Below Average Lower draw than 16% of the 50 Custom servos at 24.0V |
| Stall Current | Below Average Lower draw than 20% of the 26 Digital Custom servos |
Performance Analysis
| Torque Density | 0.2104 oz-in/g Stronger than 45% of the 23 Dynamixel servos in the database |
| Speed-to-Weight | 0.01406 (1/sec·g) Faster than 52% of the 24 Dynamixel servos in the database |
| Speed-Torque Trade-off | 14.96 Better balanced than 55% of the 23 Dynamixel servos in the database |
| Current-per-Torque Ratio | 125.1420 A/oz-in More efficient than 36% of the 23 Dynamixel servos in the database |
| Idle-to-Running Current Ratio | 3.361 Lower idle draw than 71% of the 22 Dynamixel servos in the database |
| No-Load vs Stall Current Spread | 1,747.90 Narrower current spread than 45% of the 23 Dynamixel servos in the database |
| Voltage Range Width | 0.0 V Wider voltage range than 0% of the 29 Digital Custom servos in the database |
| Backlash-to-Range Ratio | 0.00833 Tighter backlash than 77% of the 45 Dynamixel servos in the database |
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.
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