DYNAMIXEL is a robot exclusive smart actuator with fully integrated DC Motor + Reduction Gearhead + Controller + Driver + Network in one DC servo module.

Dynamixel AX-series are used in ROBOTIS STEM, Premium, and GP. 

You can easily create various types of robots such as humanoid, 4 legged and 6 legged robot with the AX-series.

It can also be used as a wheel so that you can create a robot with a combination of wheel type and joint type in a single module.

By using a variety of high-strength engineering plastic option frames or by printing frames using a 3D printer, you can produce any type of robot at a low cost.

Package Components
B01-HORN (assembled)1
3P Cable 200mm1
Bolt PHS M2x616
Bolt PHS M3x101
Nut M2 (N1)16
Compatible Products

Controller : CM-5, CM-510, CM530, CM-700, OpenCM9.04(+ OpenCM485 Expansion Board), OpenCR

Interface : USB2Dynamixel, U2D2

Factory Default Settings

ID : 1 

Baud Rate : 1Mbps

(User can change various settings including ID and baud rate according to environment)


Only AX-series frames can be used. Optional frames for MX-series and X-series cannot be used.

Model Name AX-12A
Input Voltage Min. [V] 9.0
Recommended [V] 11.1
Max. [V] 12.0
Performance Characteristics Voltage [V] 12.0
Stall Torque [N·m] 1.50
Stall Current [A] 1.5
No Load Speed [rpm] 59.0
No Load Current [A] 0.14
Continuous Operation Voltage [V] -
Torque [N·m] -
Speed [rpm] -
Current [A] -
Resolution Resolution [deg/pulse] 0.2930
Step [pulse] 1,024
Angle [degree] 300
Position Sensor Potentiometer
Operating Temperature Min. [°C] -5
Max. [°C] 70
Motor Cored
Baud Rate Min. [bps] 7,843
Max. [bps] 1,000,000
Control Algorithm Compliance
Gear Type Spur
Gear Material Engineering Plastic
Case Material Engineering Plastic
Dimensions (WⅹHⅹD) [mm] 32 X 50 X 40
Dimensions (WⅹHⅹD) [inch] 1.26 X 1.97 X 1.57
Weight [g] 54.60
Weight [oz] 1.93
Gear Ratio 22:31:00
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit, 1stop, No Parity)
Link (Physical) TTL Level Multi Drop Bus
ID 0 ~ 253
Feedback Position, Temperature, Load, Input Voltage, etc
Protocol version 1.0.
Operating Mode / Angle Wheel Mode:Endless turn
Joint Mode:300 [deg]
Output [W] -
Standby Current [mA] 50