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Overview

DYNAMIXEL DRIVE (DYD) is a cycloid-based compact reduction gear with superior impact resistance while realizing high torque, high efficiency and light weight.

Characteristics DYD Starain Wave Gear Planetary Gear
Efficiency
Back-Drive torque
Accuracy (Backlash)
Rigidity under impact (shock)
Operating time to failure under heavy operating condition

PRODUCT CHECK

  • Please verify product’s model and number to ensure correct shipment of the product ordered.
  • Please verify all components are included in original packaging.
  • Please verify to see if there might be any damage on the product’s surface or general appearance.


WARNING
(May cause injury or damage to product)

  • Do not disassemble or reassemble the product. If the product is disassembled and reassembled, the original performance cannot be guaranteed.
  • Be careful not to apply a load more than its Permissible peak torque.
  • Do not use the product when it is dropped or subjected to strong impact.
  • Please familiarize yourself with the contents of the manual before using the product. If the product is operated without correct assembly, it may cause vibration, shortened life, and/or permanent damage.
  • Use at an ambient temperature of -5° to 55° degrees Celsius.
  • Do not operate the product in an environment exposed to water, oil or explosive gas.
  • Exercise caution to the internal components are not exposed to dust and chips.
  • High quality oil seals are applied to the input/output shaft, however the product is subject to leakage. Please provide oil protection treatment as needed according to your application.
  • This product is coated with anti-rust treatment at the time of shipment, however rust may appear depending on storage and environmental conditions.
  • This product is coated with surface treatment, however rust protection is not guaranteed.
  • This product is pre-packed with lubricant, do not mix with other lubricants.
  • Please follow local government guidelines when disposing of the lubricant.


CAUTION

  • Avoid coming into contact with the lubricant as this may cause irritation when in contact with your skin and eyes.
  • In the case your eyes come in contact with the lubricant, wash your eyes immediately with clean water and seek medical advice.
  • In the case your skin comes into contact with the lubricant, wash your skin thoroughly with water and soap.

WARRANTY

  • This product is covered under warranty for 1 year after purchase or up to 2,000 hours of operational time. (* Product must be used under normal operating conditions)
  • If there are any issues due to a manufacturing defect within the warranty period, we will repair or replace the product.
  • Warranty will be void if the product is used or handled improperly by user.
  • Warranty will be void if the product is repaired or modified in any way.
  • Warranty will be void if the product is damaged by any external components (ie. motor)
  • Warranty will be void in the case the product is affected by natural disasters and/or uncontrollable circumstances.
  • ROBOTIS is not responsible for any damages or injuries that may occur by the failure of the product mid operation.

Features

Gear Ratio and Rotational Direction

In the following table, its shown input rotate direction and output rotate direction depend on fixed part.
The housing fixed type is input and output rotations in the opposite direction.

Fixed Output Speed Input Direction Output Direction Example
Housing i=(-1)1/R Cathode (+) Anode (-)
Output flange i=1/(R+1) Cathode (+) Cathode (+)

Product Lineup

DYD-11 DYD-14 DYD-17

Specifications

Properties Unit DYD-11-033 DYD-11-051 DYD-14-051 DYD-14-099 DYD-17-051 DYD-17-099
Gear ratio - 33 51 51 99 51 99
Rated output torque (@2,000rpm) Nm 2.2 3.5 3.7 5.4 11 16
Permissible peak torque at accel / decel Nm 8.8 14 14.8 21.6 44 64
Permissible peak torque at E-stop Nm 28 28 43.2 43.2 96 96
Nominal input speed rpm 2,000 2,000 2,000 2,000 2,000 2000
Maximum input speed rpm 8,500 8,500 8,500 8,500 8,500 8500
Backlash arcmin <3.0 <3.0 <3.0 <3.0 <3.0 <3.0
Efficiency (@ 2,000rpm, 20℃) % 65 65 60 60 70 70
Starting torque cNm 5 3 5 3 4 3
Back-drive torque Nm 1 1 3 3 5 5
Dimensions mm □43 × 23.5 □43 × 23.5 ∅68 × 30 ∅68 × 30 ∅78 × 34.2 ∅78 × 34.2
Weight g 196 196 400 400 600 600

Naming Convention

Product Name Model Size Gear Ratio Input Shaft Special Production
DYD 11 33, 51 C
SD
SP
DYD 14 51, 99 C
SD
SP
DYD 17 51, 99 C
SD
SP

Engineering Data

Rated output torque

Rated output torque indicates allowable continuous load torque at rated input speed.

Permissible peak torque at accel / decel

When the reducer is operating, a torque higher than the rated torque is applied during acceleration or deceleration. It is used when calculating the average output torque. See “duty cycle”.

Permissible peak torque at E-stop

The gear may be subjected to momentary peak torques in the event of a collision or emergency stop.

Nominal input speed

Nominal input speed represents a limit for average working cycle speed.

Maximum input speed

The maximum input speed is the speed limit in the continuous operation.

Moment of inertia

The moment of inertia represents the moment of mass inertia based on the input axis of rotation.

Backlash

As shown in the figure below, when the applied torque is increased to the rated torque and is brought back to zero, the torsional angle does not return exactly back to the zero point. This small difference is called hysteresis loss.

Efficiency

The efficiency of the reduction gears depends on the specific lost motion, input speed, load, lubricant temperature and size. The results statistically evaluated from current production tests.

Starting torque

The starting torque is a quasi-static torque required to start rotation of the input shaft(dynamic friction), if no load is applied to the output flange.

Back-drive torque

The back-driving torque is the torque applied on the output flange that is required to start rotation of the input shaft under no load. And the output flange fully rotate 1 revolution.

Product Selection Guide

Selection Flow Chart

Duty Cycle

In the figure the duty cycle is different from your cases, please supply the drawing and values of your duty cycle. These values are important for us to be able to determine effectively lifetimes

Properties Description Properties Description
Ta Average output load [Nm] na Average input speed [rpm]
T1 Maximum output torque at acceleration [Nm] n1 Average input speed at acceleration [rpm]
T2 Output torque at constant speed [Nm] n2 Input speed at constant motion [rpm]
T3 Maximum output torque at deceleration [Nm] n3 Average input speed at deceleration [rpm]
t1 Acceleration time [s]    
t2 Constant motion time [s]    
t3 Deceleration time [s]    
t4 Idle time [s]    
t Duty cycle time [s]    

Average Output Load

Please calculate values of your average output load.

Average Input Speed

Please calculate values of your average input speed.

Service Life

The nominal service life of the Dynamixel Drive is determined by the service life of the bearings on the input shaft.
This nominal service life is limited by the material fatigue of the bearings. It does not take into account other factors that may be a limit to the practical service life, such as insufficient lubrication, contamination or overload. The nominal service life is only a statistical value.

The required service life for a given speed and load values can be calculated as follows:

Properties Description
Lh design Design service life [hour]
Lh calculated Calculated service life [hour]
LR Reference service life [hour]
nR Nominal input speed [rpm]
na Average input speed [rpm]
TR Rated torque [Nm]
Ta Average output load [Nm]

Service Life with Output Load

Service Life: DYD-11 | Test condition : Input speed 2,000rpm, Test environment : Temperature 22 ºC, Humidity 55%

Service Life: DYD-14 | Test condition : Input speed 2,000rpm, Test environment : Temperature 22 ºC, Humidity 55%

Service Life: DYD-17 | Test condition : Input speed 2,000rpm, Test environment : Temperature 22 ºC, Humidity 55%

Product Selection Example

Define the Duty Cycle

Properties Description Value Note
T1 Maximum output torque at acceleration 7.5 Nm  
T2 Output torque at constant speed 5 Nm  
T3 Maximum output torque at deceleration 2.5 Nm  
n1 Average input speed at acceleration 1,500 rpm  
n2 Input speed at constant motion 3,000 rpm  
n3 Average input speed at acceleration 1,500 rpm  
t1 Acceleration time 1 s  
t2 Constant motion time 5 s  
t3 Deceleration time 1 s  
t4 Idle time 0 s  
Lh design Design service life 6,500 hour  

Average Output Load Calculation

Properties Description Value Note
Ta Average output load 4.72 Nm cal.

Average Input Speed Calculation

Properties Description Value Note
na Average input speed 2,571.43 rpm cal.

Pre-Selection : DYD-14-051

Properties Unit DYD-14-051
Gear ratio - 51
Rated output torque (@2,000rpm) Nm 3.7
Permissible peak torque (accel / decel) Nm 14.8
Permissible peak torque at E-stop Nm 43.2
Nominal input speed rpm 2,000
Maximum input speed rpm 8,500
Backlash arcmin <3.0
Efficiency % 60
Dimension mm Ø68 × 30
Weight g 400

Expected Service Life Calculation: DYD-14-051

Properties Description Value Note
Lh calculated Calculated service life 6,027 hour cal.
Lh design Design service life 6,500 hour  
nR Nominal input speed 2,000 rpm see data sheet
na Average input speed 2,142 rpm  
TR Rated torque 3.7 Nm see data sheet
Ta Average output torque 4.72 Nm  

Design service life comparison : DYD-14-051

Design service life : 6,500 hour > Calculated service life : 6,027 hour

Pre-Selection : DYD-14-099

Properties Unit DYD-14-099
Gear ratio - 99
Rated output torque (@2,000rpm) Nm 5.4
Permissible peak torque (accel / decel) Nm 21.6
Permissible peak torque at E-stop Nm 43.2
Nominal input speed rpm 2,000
Maximum input speed rpm 8,500
Backlash arcmin <3.0
Efficiency % 60
Dimension mm ∅68 × 30
Weight g 400

Expected Service Life Calculation: DYD-14-099

Properties Description Value Note
Lh calculated Calculated service life 6,837 hour cal.
Lh design Design service life 6,500 hour  
nR Nominal input speed 2,000 rpm see data sheet
na Average input speed 2,142 rpm  
TR Rated torque 5.4 Nm see data sheet
Ta Average output torque 4.72 Nm  

Design service life comparison : DYD-14-099

Design service life : 6,500 hour < Calculated service life : 6,837 hour

Select the input shaft type

Two types of input shafts are available; C and SD.

Option Type - C Type - SD
Shape
Name Clamp-ring Set-screw (D-Cut)

Use Applications