Dynamixel YM070-210-R051-RH 24V / 8.2Nm/ 39.2rpm / BLDC / Cycloid / RS-485 / Multi-turn encoder

SKU : 713-597

Dynamixel YM070-210-R051-RH 24V / 8.2Nm/ 39.2rpm / BLDC / Cycloid / RS-485 / Multi-turn encoder

Features
* High Performance Frameless Motor with Hollow Shaft
* Torque control based on current sensing
* PID control to enhance position, speed reliability and accuracy
* The integrated absolute magnetic encoder and replaceable battery allow multi-turn position
* information to be retained even after complete power-off (with back up battery).
* Metal housing for high durability
* Modular configuration makes it easy to create applications of varying degrees of freedom

Package Components :
YM070-210-R051-RH 1x ( DYNAMIXEL-Y(M-option) )
Robot Cable-2P-X4P 600mm(Convertible) 1x (RS485 2P-4P Cable(MOLEX-JST))
Robot Cable-2P 600mm 1x (RS485 2P Cable(MOLEX-MOLEX))
Cord End Terminal 4x (For power connection)
Terminal Plug 2x (For power connection)
Wrench Bolt WB M2X6 10x (For output shaft assembly)
Wrench Bolt WB M3x8 10x (For frame assembly)

Specification :
Model Name YM070-210-R051-RH
Series DYNAMIXEL Y
MCU ARM Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage
Min. [V] -
Recommended [V] 24.0
Performance Characteristics
Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 111.3
No Load Current [A] -

Continuous Operation *)
Voltage [V] 24.0
Torque [N·m] 8.2
Speed [rpm] 39.2
Current [A] 11.9

Resolution
Resolution [deg/pulse] 0.0000134636
Step [pulse/rev] 26,738,688
Angle [degree] 360

Position Sensor :
Contactless absolute encoder (19Bit, 360 [deg])
Multi-turn (18Bit, 262,144 [rev], Battery back up)

Operating Temperature :
Min. [°C] -5
Max. [°C] 55
Multi-turn (18Bit, 262,144 [rev], Battery back up)

Motor : Frameless BLDC
Baud Rate :
Min. [bps] 9,600
Max. [bps] 10,500,000
Control Algorithm PID
Gear Type Cycloid
Gear Material Metal
Case Material Metal (Plastic Bottom)
Dimensions (WⅹHⅹD) [mm] D70 x 50.9
Dimensions (WⅹHⅹD) [inch] D2.75 x 2
Weight [g] 790.00
Weight [oz] 27.87
Gear Ratio 51:1
Backlash [arcmin] < 3.0
Backlash [deg] -
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) RS-485 Multidrop Bus
ID 0 ~ 252
Feedback Position, Velocity, Current, Temperature, Voltage, etc
Protocol version Protocol 2.0
Operating Mode / Angle
Current Control mode：Endless turn
Velocity Control mode：Endless turn
Position Control Mode : ±2,570 [Rev]
Output [W] 210
Standby Current [mA] 40

* ) *Continuous operation: Please refer to the performance curve for details including torque and contact us separately in a long-term use environment.