Item Information


24V / 26Nm / 20.2rpm / BLDC / Cycloid / RS-485 / Multi-turn encoder

상품 선택옵션 0 개, 추가옵션 0 개

SKU 902-0203-000
Manufacturer ROBOTIS
Origin KOREA
Currency USD
Price $ 2,669.90

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상품 기본설명

YM080-230-R099-RH is an all-in-one robot actuator with a built-in cycloidal reducer, specifically the


DYNAMIXEL DRIVE (DYD) cannot be replaced after purchasing the product.


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
Robot Cable-2P-X4P 600mm(Convertible)1RS485 2P-4P Cable(MOLEX-JST)
Robot cable-2P 600mm1RS485 2P Cable(MOLEX-MOLEX)
Cord End Terminal(L14/P8)4For power connection
Terminal Plug(39500-0002)2For power connection
Wrench Bolt WB M3X2014For Output shaft assembly
Wrench Bolt WB M4x1010For frame assembly
How to Connect a Multi-turn Backup Battery
1. Disconnect the power from the DYNAMIXEL-Y and release the locking bolt on the battery cover.
2. Open the battery cover.
3. Connect the battery cable.
4. Reattach the battery cover.
5. Tighten and secure the locking bolt of the battery cover.
6. Run DYNAMIXEL Wizard 2.0, and follow the battery replacement procedure.
7. Refer to the e-Manual for details (link)
Assembly guide

- Please be aware of different operational voltage from other DYNAMIXEL series (Operational voltage: 24V).

- Please refer to the drawings provided online when combining with other power transmission products.

- This product is designed as an integral unit; the cycloidal reducer and motor cannot be separated for individual use.

- Please be cautious of overheating during prolonged high-speed usage. 

- Please use a frame that matches the screw length considering the depth of the tabs indicated in the drawing.

- After purchasing the product, ensure to connect the multi-turn backup battery before use.

- Please refer to the drawings when combined with various products such as reducers, linear actuators, and

servo cylinders depending on the intended purpose.

- For additional precautions, please refer to the e-manual.

Model Name YM080-230-R099-RH
MCU ARM Cortex-M4 (168 [Mhz], 32 [bit])
Input Voltage Min. [V] -
Recommended [V] 24.0
Max. [V] -
Performance Characteristics Voltage [V] 24.0
Stall Torque [N·m] -
Stall Current [A] -
No Load Speed [rpm] 32.2
No Load Current [A] -
Continuous Operation *) Voltage [V] 24.0
Torque [N·m] 26.0
Speed [rpm] 20.2
Current [A] 10.7
Resolution Resolution [deg/pulse] 0.0000069358
Step [pulse/rev] 51,904,512
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
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] D80 x 78.1
Dimensions (WⅹHⅹD) [inch] D3.14 x 3.07
Weight [g] 1,200.00
Weight [oz] 42.33
Gear Ratio 99:1
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 : ±1,323 [Rev]
Output [W] 230
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.
1. All international orders are processed via DHL from KOREA (not USA) unless otherwise requested.
2. Orders are normally processed within a 2 week time period. A lead time is applicable for certain items. (Normally ships out within 3 working days when in stock).
3. If multiple orders are placed on the same day, they will be shipped in the same package, unless requested to ship separately by order. If an error is discovered in your order that requires change or cancellation, please contact us immediately. We will not be held responsible for any costs that may arise due to your negligence.
4. Please note that destination charges (import tax, customs duty, etc.) are not included in the shipping charges. We will not be able to calculate or pre-pay this fee for you.
5. If an order is placed and the payment is not settled within 14 days, it will automatically be cancelled. If necessary, please re-place the order and make the payment in a timely manner.
6. We recommend you to insure your orders to avoid lost or damaged shipments which is 1% from the total invoice value. We will not be held responsible for lost or damaged shipments.
1. If you are not completely satisfied with your order you may return it within 14 days from your shipment date for an exchange or refund. However, all non-defective products must be in their original packaging, and un-opened new condition. We will not be held responsible for return shipping charges.
All returns must go through the RMA process prior to being sent back to us.
Please note, we will not make any exchanges or repair unless WE HAVE ISSUED YOU AN RMA#.
Please check warranty.
2. Returned packages must include an RMA number on the outside of the package, as well as a copy of your printed invoice.
If you do not have your invoice, please include your name, address and phone number, so we may contact you regarding any questions we may have.
We have the right to refuse your shipment if we have not issued a RMA nubmer.
3. All returned items must be in there original package state. We are not responsible for damage to the print-head or circuitry as a result of improper handling, storage, or misuse.
When removing protective tape and devices please be sure not to damage these areas.
4. Requests for replacement or refunds will not be granted until your returned packages have been received.
5. Please allow up to 14 business days to process your refund from the time it reaches our warehouse, if you need an immediate replacement, we recommend that you place a new order and request a refund of the original order separately. We will not be held responsible for cancellatioin fees.
6. When returning any items, please confirm return address and keep note of the tracking number to avoid losing shipments.
We will not be held responsible for lost items.
7. We reserve the right to deny credit or replacements and charge the customer for parts and labor if the product returned are deemed satisfactory or non-defective.
8. We are not responsible for customer shipping costs to return non-defective or incorrectly ordered products.
9. Customers must obtain a Return Material Authorization('RMA') number by contacting Customer Service at contactus2@robotis.com. Returned products should be informed in advance before being returned.