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Technical Specifications
Last Updated: 2026-10-10
Weight
Dimensions
Torque
Speed
Current
Temp
Wire
| Identity | |
| Brand |  |
| Product Number | 902-0200-000 |
| Category | Robotics |
| Performance | |
| Torque |
24.0V4,488.72 oz-in323.22 kg-cm31.7 N-mAbove Average |
| Speed |
24.0V0.18 sec/60°342.9 deg/s57.1 RPMBelow Average |
| Running Current |
24.0V11.000 A11,000 mABelow Average |
| Stall Current | ≤20800 A≤20800000 mABelow Average |
| Rated Output Power | 210.0 W |
| Radial Load | 1,520.0 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 | 99:1 |
| Shaft Size | 14.0 mm |
| Rotation Mode | Multi-turn |
| Backlash | 3.000° |
| Control & Signal | |
| Modulation | Digital |
| Direction | Bidirectional |
| Rotational Range | 360° |
| Angle Sensor | Absolute Encoder |
| Control System | EtherCAT-FOC |
| Programmable | Yes |
| Resolution | 51,904,500 pulse/rev |
| MCU | ARM CORTEX-M4 |
| Operating Modes | Current, Position, Velocity |
| Electrical & Environment | |
| Operating Voltage | 24–24 V |
| Temperature | -5–55 °C23–131 °F |
| Idle Current | 40.000 A40,000 mA |
| Connectivity | |
| Connector | 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 | Above Average Stronger than 89% of 54 Custom servos at 24.0V |
| Speed | Below Average Faster than 17% of 64 Custom servos at 24.0V |
| Weight | Below Average Lighter than 30% of 31 Digital Custom servos |
| Running Current | Below Average Lower draw than 24% of 50 Custom servos at 24.0V |
| Stall Current | Below Average Lower draw than 27% of 27 Digital Custom servos |
Performance Analysis
| Shaft Power | 47.43 W |
| Power Density | 2.224 W/in³ More power-dense than 65% of 63 Dynamixel servos |
| Torque Density | 5.6819 oz-in/g 3rd-highest torque density of 22 Dynamixel servos |
| Torque-to-Volume Ratio | 210.45 oz-in/in³ 3rd-highest torque-to-volume ratio of 20 Dynamixel servos |
| Speed-to-Weight | 0.00723 (1/sec·g) Faster than 32% of 23 Dynamixel servos |
| Speed-Torque Trade-off | 785.43 3rd-highest speed-torque trade-off of 22 Dynamixel servos |
| Current-per-Torque Ratio | 4.6338 A/oz-in More efficient than 62% of 22 Dynamixel servos |
| Idle-to-Running Current Ratio | 3.636 Lower idle draw than 0% of 22 Dynamixel servos |
| No-Load vs Stall Current Spread | 1,890.91 Narrower current spread than 32% of 23 Dynamixel servos |
| Voltage Range Width | 0.0 V Wider voltage range than 10% of 31 Digital Custom servos |
| Backlash-to-Range Ratio | 0.00833 Tighter backlash than 71% of 49 Dynamixel servos |
Notes
The YM070-210-R099-RH is a high-performance integrated robotic actuator featuring a cycloidal reducer and EtherCAT communication. It provides precise control with 51,904,512 pulses per revolution and a rated output of 210W.
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