Dynamixel YM070-210-R099-RH

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Technical Specifications

Last Updated: 2026-10-25

Identity
Brand
Product Number	902-0200-000
Category	Robotics
Performance
Torque	24.0V2,067.54 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	27.87 ozBelow Average
Shape	Cylindrical
Dimensions	L 2.80 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	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 °C
Idle Current	0.040 A
Connectivity
Connector	Molex
Wire Length	600 mm
Baud Rate	9.6 Kbps–10.5 Mbps
Origin
Country of Origin	South Korea

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*Based on known specs.

Class Comparison

Torque	Above Average Stronger than 69% of 52 Custom servos at 24.0V
Speed	Below Average Faster than 20% of 61 Custom servos at 24.0V
Weight	Below Average Lighter than 33% of 28 Digital Custom servos
Running Current	Below Average Lower draw than 26% of 51 Custom servos at 24.0V
Stall Current	Average Lower draw than 42% of 27 Digital Custom servos

Performance Analysis

Shaft Power	21.85 W
Power Density	1.024 W/in³ More power-dense than 26% of 70 Dynamixel servos
Torque Density	2.6171 oz-in/g Stronger than 64% of 23 Dynamixel servos
Torque-to-Volume Ratio	96.93 oz-in/in³ Denser torque than 74% of 20 Dynamixel servos
Speed-to-Weight	0.00723 (1/sec·g) Faster than 39% of 24 Dynamixel servos
Speed-Torque Trade-off	361.77 Better balanced than 68% of 23 Dynamixel servos
Current-per-Torque Ratio	0.0101 A/oz-in More efficient than 50% of 23 Dynamixel servos
Idle-to-Running Current Ratio	0.004 Lower idle draw than 58% of 20 Dynamixel servos
No-Load vs Stall Current Spread	1.89 Narrower current spread than 50% of 21 Dynamixel servos
Voltage Range Width	0.0 V Wider voltage range than 15% of 28 Digital Custom servos
Backlash-to-Range Ratio	0.00014 5th-highest backlash-to-range ratio of 48 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.