Edit on GitHub

YM070-210-R051-RH

For initial setup refer to the instructions for Multi-turn Backup Battery Replacement to install and initialize the Multi-turn Backup Battery.

To resolve errors that occur during operation, please refer to Error Code(153) for information on the type of error and instructions on how to clear it

Specifications

Item	Specifications
MCU	ARM Cortex-M4 (168 [Mhz], 32 [bit])
Motor	Frameless BLDC
Baud Rate	9,600 [bps] ~ 10,500,000 [bps]
Operating Modes	Position Control Mode Velocity Control Mode Current Control Mode
Weight	790 [g]
Dimensions (W x H x D)	Ø70 x 71.1 [mm]
Resolution	26,738,688 [pulse/rev]
Encoder Specifications	Single-Turn: 19Bit (524,288 [Pulse/Rev]) Multi-Turn: 18Bit (262,144 [Rev])
Gear Ratio	51:1
Backlash	< 3.0 [arcmin]
Radial Load	1,240 [N] (see the output bearing section)
No Load Speed	111.3 [rev/min]
Continuous Speed	39.2 [rev/min]
Continuous Torque	8.2 [N.m]
Continuous Current¹⁾	11.9 [A]
Maximum Torque²⁾	16.3 [N.m]
Maximum Current^{1) 2)}	20.8 [A]
Output	210 [W]
Operating Temperature	-5 ~ +55 [°C]
Command Signal	Digital Packet
Physical Connection	RS485 Multidrop Bus RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
ID	253 (0 ~ 252)
Standby Current	40 [mA]

Current values are based on the phase current of the internal motor.
The Maximum Torque and Current values represent the servo’s maximum instantaneous output. Continuous operation at or near these values will initiate an overload error to protect the device from damage.

Before Using the Product

Please familiarize yourself with the contents of the manual before using the product. Operation of the product outside of intended usage or with incorrect assembly may cause vibration, shortened lifespan, and/or permanent damage to the actuator.
Please verify that the model number and format match the product you are referencing.
Ensure that all components are included in the product package.
Check for any damage to the surface and appearance of the product.
Before initial operation, connect the included Multi-turn Backup Battery and perform a multi-turn initialization.

Danger
(May cause serious injury or death.)

Do not splash or pour flammable substances, surfactants, beverages, or water on, in, or around the product.
Do not insert hands, feet, fingers, or any other body parts into the product during operation.
If an unusual odor or smoke comes from the product, disconnect power immediately.
Do not allow children to play with the product.
Always check the polarity of the power source before connecting or supplying power.
The included lubricant may cause irritation of the skin or eyes with direct contact.
In the event the lubricant comes into contact with your eyes, flush your eyes immediately with clean water and seek medical advice.
In the event the lubricant comes into contact with your skin, wash your skin thoroughly with soap and water.

Warning
(May cause injury or damage to the product.)

Please adhere to the product’s operating environment limitations. (Temperature: -5 ~ +55 [°C])
Do not allow blades, sharp objects, sparks, and the like to be inserted or applied to the product during operation.
The product is not intended to be disassembled or modified by the user.
Do not subject the product to strong impacts or drops.
Be careful not to apply a load exceeding the allowable peak torque during operation.
Prevent dust, chips, etc., from entering the product.
While lubricant leakage prevention has been applied, the product may still be subject to leakage. Be sure to provide any additional protection treatments as needed according to your application.
While anti-rust treatment has been applied, rust protection is not guaranteed, rust may still appear depending on storage and environmental conditions.
This product is pre-packed with lubricant; do not mix with other lubricants.
Please follow local government guidelines when disposing of the included lubricant.

Warranty Coverage

This product is covered under warranty for 1 year after the purchase date for usage under normal operating conditions.
If there are any issues due to a manufacturing defect within the warranty period, ROBOTIS will repair or replace the product at no additional cost.
Warranty will be void if the product is deemed to be used or handled improperly by the user.
Warranty will be void if the product is taken apart, repaired, or modified in any way.
Warranty will be void if the product is damaged by any external components.
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 resulting from product failure. Use at your own discretion.

Performance Graph

NOTE : The given Stall torque rating for a servo is different from it’s continuous output rating, and may also differ from it’s expected real world performance.

Stall torque is the maximum momentary torque output the servo is capable of, an is generally how RC servos are measured. The Performance graph, or N-T curve, from the above graph is measured under conditions simulating a gradually increasing load.

The actual real world performance of the servo will generally be closer to the performance graph measurements, not the rated stall torque. For this reason, the performance graph is broadly used in the industrial field.

Generally, the Maximum Torque shown through Performance Graph testing is less than the maximum Stall Torque.

CAUTION - When supplying power:

Do not connect or disconnect DYNAMIXEL actuator cables while power is being supplied.

Control Table

The DYNAMIXEL control table is how the servo stores and represents its current state, as well as all of the data required for DYNAMIXEL configuration and control. DYNAMIXEL instruction packets allow users to read and write data to and from the control table to control the servo as well as monitor the device status.

Control Table, Data, Address

The Control Table is a structure that consists of multiple Data fields to store status or to control the device.
Each control table address is a unique value specified in Instruction Packets to access specific data in the Control Table. To read or write device data, you need to specify the corresponding address of the intended data in the Instruction Packet. For more detailed information about DYNAMIXEL packet structure, please refer to the DYNAMIXEL Protocol 2.0 eManual page.

Note: The representation of negative numbers follows the Two’s complement rule. For a detailed ㄷexplanation of Two’s complement, please refer to Wikipedia’s article on “Two’s complement.”

Area (EEPROM, RAM, Hybrid)

The control table is divided into three areas: EEPROM, RAM, and Hybrid. Here are the characteristics of each area:

Area	Detai
EEPROM	Values in the EEPROM area are preserved even when the power is turned off. (Memory is Non-Volatile). The values in this area can only be altered when the value of Torque Enable (512) is '0' (Torque OFF).
RAM	The RAM area resets to its default values whenever power is applied (Memory is Volatile). The values in this area can be changed regardless of the value of Torque Enable.
Hybrid	The Hybrid area retains its values even when power is turned off, and changes can be made regardless of the Torque Enable value. When torque is disabled (Torque Enable = 0), it behaves like the EEPROM area. Values are immediately stored when changed. When torque is enabled (Torque Enable = 1), it behaves like the RAM area. Changes are possible but not immediately stored. To save changes made in this state, use Gain Save (170) when torque has been disabled.

Size

Data consisting of 2 bytes or more may occupy multiple sequential control table registers up to 4 bytes long. When addressing control table data, the size of the control table item to be modified must be specified in the Instruction Packet to ensure proper data access.
Serial data with 2 bytes or more is represented in the control table using the Little Endian rule.

Access Authorization

Data in the control table has two access attributes. ‘RW’ indicates that both reading and writing are possible. ‘R’ indicates a read-only attribute. Data with a read-only attribute cannot have its value changed using WRITE Instructions.
Read-only attributes (‘R’) are primarily used for measurement or monitoring purposes, while read-write attributes (‘RW’) are used for device configuration and control.

Default Values

The default values in the EEPROM area as indicated in the manual are the initial settings of the product (factory default settings). When using the Factory Reset Instruction, any changes made by the user to the EEPROM will be reset to their default values.
The default values in the RAM area are the values set when power is supplied to the device.

Control Table Configuration

Address	Size(Byte)	Area	Name	Access	Default	Range	Unit
0	2	EEPROM	Model Number	R	4,020	-	-
2	4	EEPROM	Model Information	R	-	-	-
6	1	EEPROM	Firmware Version	R	-	-	-
7	1	EEPROM	ID	RW	1	0 ~ 252	-
8	1	RAM	Bus Watchdog	RW	0	0 ~ 127	-
10	1	EEPROM	Secondary(Shadow) ID	RW	255	0 ~ 252	-
11	1	EEPROM	Protocol Type	RW	2	2	-
12	1	EEPROM	Baud Rate (Bus)	RW	1	0 ~ 9	-
13	1	EEPROM	Return Delay Time	RW	250	0 ~ 254	2 [us]
15	1	RAM	Status Return Level	RW	2	0 ~ 2	-
16	1	RAM	Registered Instruction	R	0	0 ~ 1	-
32	1	EEPROM	Drive Mode	RW	0	0 ~ 77	-
33	1	EEPROM	Operating Mode	RW	3	0 ~ 3	-
34	1	EEPROM	Startup Configuration	RW	0	0 ~ 1	-
38	1	EEPROM	Position Limit Threshold	RW	0	0 ~ 32,767	1 [pulse]
40	1	EEPROM	In-Position Threshold	RW	19	0 ~ 2,147,483,647	1 [pulse]
44	1	EEPROM	Following Error Threshold	RW	0	0 ~ 2,147,483,647	1 [pulse]
48	4	EEPROM	Moving Threshold	RW	19	0 ~ 2,147,483,647	5 [pulse/ms]
52	4	EEPROM	Homing Offset	RW	0	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
56	4	EEPROM	Inverter Temperature Limit	RW	80	0 ~ 100	1 [°C]
57	2	EEPROM	Motor Temperature Limit	RW	60	0 ~ 100	1 [°C]
60	2	EEPROM	Max Voltage Limit	RW	320	240 ~ 400	0.1 [V]
62	4	EEPROM	Min Voltage Limit	RW	160	160 ~ 400	0.1 [V]
64	2	EEPROM	PWM Limit	RW	1,000	0 ~ 1,000	0.1 [%]
66	2	EEPROM	Current Limit	RW	2,080	0 ~ 2,080	0.01 [A]
68	4	EEPROM	Acceleration Limit	RW	313	0 ~ 755,294	10 [rev/min²]
72	4	EEPROM	Velocity Limit	RW	3,921	0 ~ 12,592	0.01 [rev/min]
76	4	EEPROM	Max Position Limit	RW	262,144	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
84	4	EEPROM	Min Position Limit	RW	-262,144	-2,147,483,647 ~ 2,147,483,647	1 [pulse]
96	4	EEPROM	Electronic GearRatio Numerator	RW	51	1 ~ 1,045,576	1/R
100	4	EEPROM	Electronic GearRatio Denominator	RW	1	1 ~ 1,045,576	R
104	2	EEPROM	Safe Stop Time	RW	200	0 ~ 32,767	1 [ms]
106	2	EEPROM	Brake Delay	RW	0	0 ~ 32,767	1 [ms]
108	2	EEPROM	Goal Update Delay	RW	0	0 ~ 32,767	1 [ms]
110	1	EEPROM	Overexcitation Voltage	RW	100	0 ~ 100	1 [%]
111	1	EEPROM	Normal Excitation Voltage	RW	0	0 ~ 100	1 [%]
112	2	EEPROM	Overexcitation Time	RW	0	0 ~ 32,767	1 [ms]
132	2	EEPROM	Present Velocity LPF Frequency	RW	0	0 ~ 32,767	0.1 [Hz]
134	2	EEPROM	Goal Current LPF Frequency	RW	0	0 ~ 32,767	0.1 [Hz]
136	2	EEPROM	Position FF LPF Time	RW	0	0 ~ 512	0.2 [ms]
138	2	EEPROM	Velocity FF LPF Time	RW	0	0 ~ 512	0.2 [ms]
152	1	RAM	Controller State	R	-	-	-
153	1	RAM	Error Code	R	-	-	-
154	1	RAM	Error Code History 1	R	-	-	-
155	1	RAM	Error Code History 2	R	-	-	-
…	…	…	…	…	…	…	…
168	1	RAM	Error Code History 15	R	-	-	-
169	1	RAM	Error Code History 16	R	-	-	-
170	1	RAM	Hybrid Save	RW	0	0 ~ 2	-
212	4	Hybrid	Velocity I Gain	RW	2,446,559	0 ~ 2,147,483,647	-
216	4	Hybrid	Velocity P Gain	RW	24,778	0 ~ 2,147,483,647	-
220	4	Hybrid	Velocity FF Gain	RW	0	0 ~ 2,147,483,647	-
224	4	Hybrid	Position D Gain	RW	9,090	0 ~ 2,147,483,647	-
228	4	Hybrid	Position I Gain	RW	0	0 ~ 2,147,483,647	-
232	4	Hybrid	Position P Gain	RW	6,283,185	0 ~ 2,147,483,647	-
236	4	Hybrid	Position FF Gain	RW	0	0 ~ 2,147,483,647	-
240	4	Hybrid	Profile Acceleration	RW	313	0 ~ Acceleration Limit(68)	10 [rev/min²]
244	4	Hybrid	Profile Velocity	RW	3,921	0 ~ Velocity Limit(72)	0.01 [rev/min]
248	4	Hybrid	Profile Acceleration Time	RW	400	0 ~ 262,144	0.2 [ms]
252	4	Hybrid	Profile Time	RW	800	0 ~ 524,288	0.2 [ms]
256	2	EEPROM	Indirect Address 1	RW	634	0 ~ 919	-
258	2	EEPROM	Indirect Address 2	RW	635	0 ~ 919	-
…	…	…	…	…	…	…	…
508	2	EEPROM	Indirect Address 127	RW	760	0 ~ 919	-
510	2	EEPROM	Indirect Address 128	RW	761	0 ~ 919	-
512	1	RAM	Torque Enable	RW	0	0 ~ 1	-
513	1	RAM	LED	RW	0	0 ~ 1	-
516	2	RAM	PWM Offset	RW	0	- Voltage(PWM)Limit(64) ~ Voltage(PWM)Limit(64)	0.1 [%]
518	2	RAM	Current Offset	RW	0	- Current Limit(66) ~ Current Limit(66)	0.01 [A]
520	2	RAM	Velocity Offset	RW	0	- Velocity Limit(72) ~ Velocity Limit(72)	0.01 [rev/min]
524	4	RAM	Goal PWM	RW	0	- Voltage(PWM) Limit(64) ~ Voltage(PWM)Limit(64)	0.1 [%]
526	4	RAM	Goal Current	RW	0	- Current Limit(66) ~ Current Limit(66)	0.01 [A]
528	4	RAM	Goal Velocity	RW	0	- Velocity Limit(72) ~ Velocity Limit(72)	0.01 [rev/min]
532	4	RAM	Goal Position	RW	0	Min Position Limit(84) ~ Max Position Limit(76)	1 [pulse]
541	1	RAM	Moving Status	R	-	-	-
542	2	RAM	Realtime Tick	R	-	-	1[ms]
544	2	RAM	Present PWM	R	-	-	0.1 [%]
546	2	RAM	Present Current	R	-	-	0.01 [A]
548	4	RAM	Present Velocity	R	-	-	0.01 [rev/min]
552	4	RAM	Present Position	R	-	-	1 [pulse]
560	4	RAM	Position Trajectory	R	-	-	1 [pulse]
564	4	RAM	Velocity Trajectory	R	-	-	1 [pulse/s]
568	2	RAM	Present Input Voltage	R	-	-	0.01 [V]
570	1	RAM	Present Inverter Temperature	R	-	-	1 [°C]
571	1	RAM	Present Motor Temperature	R	-	-	1 [°C]
634	1	RAM	Indirect Data 1	RW	0	0 ~ 255	-
635	1	RAM	Indirect Data 2	RW	0	0 ~ 255	-
…	…	…	…	…	…	…	…
760	1	RAM	Indirect Data 127	RW	0	0 ~ 255	-
761	1	RAM	Indirect Data 128	RW	0	0 ~ 255	-
919	1	RAM	Backup Ready	R	-	-	-

Control Table Description

Caution: All data present in the EEPROM Area can only be modified when the value of Torque Enable (512) is ‘0’.

Model Number(0)

The model number of the DYNAMIXEL actuator.

Model Information(2)

Additional DYNAMIXEL model information.

Firmware Version(6)

The firmware version installed on the DYNAMIXEL.

ID(7)

A unique number used to identify devices on the DYNAMIXEL network. The acceptable ID range is from 0 to 252 (0xFC), with 254 (0xFE) being reserved for the Broadcast ID. The Broadcast ID (254, 0xFE) is used specifically for sending Instruction Packets to all connected DYNAMIXEL devices simultaneously.

Caution : Each DYNAMIXEL servo connected to the network requires a unique ID. If device IDs are duplicated, communication errors can occur, and searching for DYNAMIXELs with duplicated IDs will fail.

Note : When a packet is sent to the Broadcast ID (0xFE), no status packets will be returned for read or write instructions regardless of the [Status Return Level(68)] setting. For more detailed information, please refer to the Status Packet section of the DYNAMIXEL Protocol 2.0 eManual page.

Bus Watchdog(8)

The [Bus Watchdog(8)] serves as a fail-safe mechanism to halt the device in case communication between the controller and the device is interrupted. When Torque Enable(512) is ‘1’ (Torque is ON), the [Bus Watchdog(8)] feature monitors the interval of communication between the controller and the device. If the measured communication interval exceeds the configured [Bus Watchdog(8)] timer, the DYNAMIXEL will stop moving to ensure safety.
When this is triggered, the [Bus Watchdog(8)] value changes to ‘-1’ to indicate a Bus Watchdog Error. Once in the Bus Watchdog Error state, the Access attribute for Goal Values (Goal PWM(524), Goal Current(526), Goal Velocity(528), Goal Position(532) becomes Read-Only. Attempting to write a new value to these Goal Values will result in a Data Range Error, which will be indicated in the Status Packet’s Error field. To resolve the Bus Watchdog Error, you must reset [Bus Watchdog(8)] to ‘0’ or use the Error Clear Packet to clear the error.

Note : For detailed information about Data Range Errors, please refer to the DYNAMIXEL Protocol 2.0 eManual page.

Here is an example of how the Bus Watchdog function operates:

Set [Operating Mode(33)] to Velocity Control Mode and change [Torque Enable(512)] to ‘1’.
Write ‘50’ to [Goal Velocity(528)], to have the actuator begin to rotate counterclockwise.
Change the value of [Bus Watchdog(8)] to ‘100’ (2,000 [ms]) to activate the Bus Watchdog feature.
If no Instruction packet is received for 2,000 milliseconds, the device will come to a stop with a safe deceleration.
The [Bus Watchdog(8)] value is set to ‘-1’ to indicate a Bus Watchdog Error, and the Access attribute of Goal Values becomes Read-Only.
Writing ‘150’ to [Goal Velocity(528)], will result in a Data Range Error being reported via the Status Packet.
Change the value of [Bus Watchdog(8)] to ‘0’ to clear the Bus Watchdog Error.
Write ‘150’ to [Goal Velocity(528)], and the device starts rotating counterclockwise.

Secondary(Shadow) ID(10)

The [Secondary ID(10)] is another value that can be used to identify devices on the DYNAMIXEL network, similar to ID(7).
There are several important differences between ID(7) and [Secondary ID(10)]:

The Secondary ID does not need to be a unique value. This means that multiple devices can share the same Secondary ID value, allowing the creation of device groups.
The primary ID has a higher priority than the Secondary ID. If the Secondary ID and ID are the same, the primary ID takes precedence. You cannot use the Secondary ID to change values in the EEPROM area of the control table. Only values in the RAM area can be changed.
If a command is sent to a servo’s Secondary ID, no Status Packet will be returned.
If the value of the Secondary ID is 253 or higher, the Secondary ID functionality is disabled.

Value	Description
0 ~ 252	Enable Secondary ID function
253 ~ 255	Disable Secondary ID function, Default value : ‘255’

Here is an example scenario with 5 devices with IDs ranging from 1 to 5:

Set the Secondary ID (12) to ‘5’ for all 5 devices.
Send a Write Instruction Packet (ID = 1, LED (513) = 255).
The device with ID ‘1’ turns on its LED and returns a Status Packet.
Send a Write Instruction Packet (ID = 5, LED (513) = 255):
All 5 devices turn on their LEDs.
However, only device ID ‘5’ returns a Status Packet.
Set the Secondary ID (12) to ‘100’ for all 5 devices.
Send a Write Instruction Packet (ID = 100, LED (513) = 0): All 5 devices turn off their LEDs. Since there is no device with ID ‘100’, no Status Packet is returned.

Protocol Type(11)

The communications protocol of the DYNAMIXEL-Y actuators can be set to either “DYNAMIXEL Protocol 2.0” or “Modbus-RTU.”

Value	Description
2	DYNAMIXEL Protocol 2.0
10(TBD)	Modbus-RTU, Industrial Standard Protocol

Note : The Modbus-RTU Protocol will be available for DYNAMIXEL-Y servos in the future.

Baud Rate (Bus)(12)

The Baud Rate is used to configure the communication speed for communication between the controller and servo over the RS485 serial bus.

Value	Nominal Baud Rate [bps]	Actual Baud Rate [bps]	Error Rate [%]
9	10.5M	10,500,000	0.000
8	6M	6,000,000	0.000
7	4.5M	4,421,053	-1.176
6	4M	4,000,000	0.000
5	3M	3,000,000	0.000
4	2M	2,000,000	0.000
3	1M	1,000,000	0.000
2	115,200	115,226	0.023
1 (Default)	57,600	57,613	0.023
0	9,600	9,600	0.000

Caution : Reliable Communication between the controller and the device requires a Baud rate error margin under 3%.

Note : When using a U2D2 reduce the response latency of the USB port to ensure stable communication at higher Baud rates.

Return Delay Time(13)

Return Delay Time allows the configuration of the delay time between a DYNAMIXEL receiving and executing an instruction packet and returning a status packet, in increments of two microseconds. For example, if the value is set to 10, a Status Packet will be returned after a delay of 20 microseconds.

Unit	Range	Description
2 [μsec]	0 ~ 254	Default: ‘250’ (500[us]) Maximum: ‘254’ (508[us])

Status Return Level(15)

Status Return Level is used to configure whether or the DYNAMIXEL will return status packets response to commands.

Value	Response Policy	Description
0	PING Instruction	Status Packet is returned only in response to the PING command
1	PING Instruction Read Instruction	Status Packet is returned only in response to PING and READ commands
2	All Instructions	Status Packet is returned for all commands

Note: When the Instruction Packet is sent to the Broadcast ID (0xFE), Status Packets for Read Instruction or Write Instruction will not be returned regardless of the Status Return Level. For more detailed information, please refer to the Status Packet section of the DYNAMIXEL Protocol 2.0 eManual page.

Registered Instruction(16)

The Registered Instruction control table item indicates if there is a received Registered Write command ready to be executed.

Value	Description
0	No registered command from REG_WRITE
1	Registered command from REG_WRITE

Note: When the registered command is executed, the Registered Instruction value is reset to ‘0’.

Drive Mode(32)

Drive Mode contains a collection of DYNAMIXEL configuration settings related to actuator movement, including normal and reverse mode and the active profile setting.

Value	Option	Description
Bit 7(0x80)	-	Unused, always ‘0’ ‘0’
Bit 6(0x40)	Dynamic Brake ON	[0] Dynamic Brake OFF: Deactivate Dynamic Brake when torque is off. [1] Dynamic Brake ON: Activate Dynamic Brake when torque is off.
Bit 5(0x20)	-	Unused, always ‘0’ ‘0’
Bit 4(0x10)	-	Unused, always ‘0’ ‘0’
Bit 3(0x08)	-	Unused, always ‘0’ ‘0’
Bit 2(0x04)	Profile Configuration	[0] Velocity-based Profile: Create profiles based on velocity. [1] Time-based Profile: Create profiles based on time. ※ For more details, refer to the Profile section of this eManual page.
Bit 1(0x02)	-	Unused, always ‘0’ ‘0’
Bit 0(0x01)	Normal/Reverse Mode	[0] Normal Mode: Counter-clockwise (CCW) is positive, clockwise (CW) is negative. [1] Reverse Mode: Clockwise (CW) is positive, counter-clockwise (CCW) is negative.

Operating Mode(33)

Operating Mode is used to configure the active DYNAMIXEL operating mode in use by the servo.

Startup Configuration(34)

Startup Configuration allows users to specify actions to be performed when the device is powered on.

Value	Operating Mode	Description
Bit 7(0x80)	-	Unused, always ‘0’ ‘0’
Bit 6(0x40)	-	Unused, always ‘0’ ‘0’
Bit 5(0x20)	-	Unused, always ‘0’ ‘0’
Bit 4(0x10)	-	Unused, always ‘0’ ‘0’
Bit 3(0x08)	-	Unused, always ‘0’ ‘0’
Bit 2(0x04)	-	Unused, always ‘0’ ‘0’
Bit 1(0x02)	-	Unused, always ‘0’ ‘0’
Bit 0(0x01)	Startup Torque ON	[0] Torque Enable set to ‘0’ (Torque Off) at boot-up [1] Torque Enable set to ‘1’ (Torque On) at boot-up

Position Limit Threshold(38)

The Position Limit Threshold is the threshold for triggering Position Limit Reached Errors. If the value of Present Position(552) is outside the range of (Max Position Limit(76) + Position Limit Threshold) ~ (Min Position Limit(84) - Position Limit Threshold), a Position Limit Reached Error will be triggered. If this value is ‘0’, Position Limit Reached Errors are disabled.

Unit	Range
1 [Pulse]	0 ~ 32,767

In-Position Threshold(40)

The threshold for determining the In-Position Bit of Moving Status(541). If the difference between the Goal Position(532) and Present Position(552) is smaller than this value, the In-Position Bit of the Moving Status(541) register will be set to ‘1’.

Unit	Range
1 [Pulse]	0 ~ 2,147,483,647

Following Error Threshold(44)

The threshold value for determining the Following Error Bit of Moving Status(541). If the difference between Position Trajectory(560) and Present Position(552) is greater than this value, the Following Error Bit of the Moving Status(541) register will be set to ‘1’.

Unit	Range
1 [Pulse]	0 ~ 2,147,483,647

Moving Threshold(48)

The threshold value for determining the Moving Bit of Moving Status(541). If the Present Velocity(548) value is greater than this value, the Moving Bit of the Moving Status(541) register will be set to ‘1’.

Unit	Range
1 [Pulse]	0 ~ 2,147,483,647

Homing Offset(52)

Used to adjust the zero position of the servo. This value is added to the actual position reported by the contactless encoder to produce the Present Position(552) value.
Present Position(552) = Actual Position + Homing Offset

Unit	Range
1 [Pulse]	-2,147,483,647 ~ 2,147,483,647

Inverter/Motor Temperature Limit(56, 57)

This is the upper limit for the operating temperature of the inverter and motor.
If the values of Present Inverter Temperature(570) or Present Motor Temperature(571) exceed the Inverter Temperature Limit and Motor Temperature Limit respectively, an overheating error occurs. The values of the control table items shown in the table below will be changed, and the device will enter an error state. After an error occurs, the next returned status packet will include an Alert Bit (0x80) in the Error field.

Address	Label	Value Change	Description
152	Controller State	9 (Hardware Fault)	The internal controller transitions to Hardware Fault state.
153	Error Code	3 (Inverter Overheating) 4 (Motor Overheating)	The temperature of the inverter is higher than the Inverter Temperature Limit(56). The temperature of the motor is higher than the Motor Temperature Limit(57).
512	Torque Enable	0 (Torque OFF)	An error has occurred, causing the device’s torque to be disabled.
154 ~ 169	Error Code History	Error Code	The currently occurring error code is added to the Error Code History.

Max/Min Voltage Limit(60, 62)

Min/Max Voltage Limit is used to configure the upper and lower limits of the input voltage.
If the Present Input Voltage(568) voltage exits the range between Max Voltage Limit or Min Voltage Limit, an input voltage error will be triggered. In such cases, the values in the control table are changed as shown in the table below, and the device comes to a stop. Since an error has occurred in the device, the next Status Packet transmitted will include an Alert Bit (0x80) in the Error field.

Address	Label	Value Change	Description
152	Controller State	9 (Hardware Fault)	The internal controller transitions to Hardware Fault state.
153	Error Code	1 (Over Voltage Error) 2 (Low Voltage Error)	The present input voltage is higher than the Max Voltage Limit. The present input voltage is lower than the Min Voltage Limit.
512	Torque Enable	0 (Torque OFF)	An error has occurred, causing the device’s torque to be disabled.
154 ~ 169	Error Code History	Error Code	The currently occurring error code is added to the Error Code History.

PWM Limit(64)

PWM Limit is used to configure the maximum PWM output by the servo. In all control modes, the servo will be limited a maximum PWM output equal to the configured PWM limit, and in PWM mode the Goal PWM(524) cannot be set to a value higher than the configured PWM Limit. Reducing the PWM limit will limit the maximum output torque and speed of the servo.

Unit	Range	Description
0.1 [%]	0 ~ 1,000	500 = PWM Duty 50[%] Output 1,000 = PWM Duty 100[%] Output

Caution : If the input voltage to the servo is less than 24v, output will be limited to the maximum input voltage.

Current Limit(66)

Current Limit is used to set the maximum output current in current controlled operating modes. The Goal Current(526) cannot be set to a value greater than the Current Limit. If a value greater than this limit is set, returned status packets will include a Data Limit Error in the Error field.

Unit	Range	Description
0.01 [A]	0 ~ 2,080	1,000 = 10[A], 10[A] current limit 2,080 = 20.8[A], 20.8[A] current limit

Note : Continuous currents exceeding the rated 10[A] can damage the actuator, and will trigger an Overload Error to protect the device. Only use currents exceeding the rated value for momentary periods.

Acceleration Limit(68)

Acceleration Limit allows the setting of a maximum acceleration value for trajectory generation. The Profile Acceleration(240) cannot be set to a value greater than the configured Acceleration Limit. If a value greater than this limit is set, the returned status packet will include a Data Limit Error in the Error field.

Unit	Range
10 [rev/min²]	0 ~ 755,294

Velocity Limit(72)

Velocity limit is used to set an upper maximum on the speed of generated trajectories, as well as accepted Goal Velocity(528) values. Values for Goal Velocity(528) and Profile Velocity(244) cannot be set to values exceeding the Velocity Limit. If a value greater than this limit is set, the returned status packet will include a Data Limit Error in the Error field.

Unit	Range	Description
0.01[RPM]	0 ~ 12,592	1,000 = Maximum speed limited to 10[RPM] 12,592 = Maximum speed limited to 125.92[RPM]

Max/Min Position Limit(76, 84)

In Position Control mode, the Position Limits serves as a limit for target positions within the servo’s 32-bit range of motion (-2,147,483,647 ~ 2,147,483,647). In Position Control mode, the Goal Position(532) cannot exceed this value. If a value greater than this limit is set, the returned status packet will include a Data Limit Error in the Error field.

Unit	Range
1 [pulse]	-2,147,483,648 ~ 2,147,483,647

Electronic Gear Ratio Numerator/Denominator(96, 100)

The Electronic Gear Ratio allows the configuration of the number of motor pulses to your desired output scale, to ensure accurate position control even when the actuator is paired with an external reduction. The Electronic Gear Ratio is applied during the calculation of Present Velocity(548), Present Position(552), Goal Velocity(528), Goal Position(532), Position Trajectory(560) and Velocity Trajectory(564) calculation. The Electronic Gear Ratio is applied as follows when used in Position Control Mode:

Here is an example of electronic gear ratio configuration:

Re: Electronic Gear Ratio R: Actual Gear Ratio L: Ball Screw Lead

System Form	Setting Unit	Description
Direct Drive System	0.01 [deg]	DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]
Gearbox Attachment R = 100:1	0.01 [deg]	DYNAMIXEL-Y Resolution: 524,288 [pulse/rev]
Ball Screw System L: 10mm/rev	0.01 [mm]	DYNAMIXEL-Y Resolution: 524,288

Torque ON-OFF Timing Chart

Timing Chart for the [Safe Stop Time(104)] ~ [Overexcitation Time(112)] features.

Note : When the Controller State(152) is Process Torque On(4) or Process Torque Off(6), writing values to Torque Enable(512), Goal PWM(524), Goal Current(526), Goal Velocity(528), Goal Position(532) will result in a “Result Fail” status packet return.

Safe Stop Time(104)

Safe Stop Time is used to configure the amount of time the actuator will use to decelerate if torque is disabled while the actuator is in motion. When the value of Torque Enable(512) is changed from ‘1’ (Torque ON) to ‘0’ (Torque OFF), the servo will stop operation and cut off the signal supplied to the inverter. If the device is in motion, it will decelerate to a stop according to the allotted time duration specified by Safe Stop Time to prevent damage.

Unit	Range	Initial Value
[ms]	0 ~ 32,767	200

Note : In Current Control mode, only Dynamic Brake deceleration is used to stop the actuator.

Brake Delay(106), Goal Update Delay(108)

Brake Delay allows the configuration of the delay time between torque being enabled or disabled and the brake system engaging, and Goal Update Delay allows configuration of the time between the brake disengaging and the controller updating registered goal values.

Address	Label	Unit	Range	Description
106	Brake Delay	[ms]	0 ~ 32,767	Torque ON: The brakes will be released (106)[ms] after the Torque Enable(512) value is changed to 1. Torque OFF: The motor controller will turn off 100[ms] after the brake is enabled.
108	Goal Update Delay	[ms]	0 ~ 32,767	Updating of Goal Position, Velocity, Current, and PWM values begins Goal Update Delay[ms] after brake release.

Overexcitation Voltage(110), Normal Excitation Voltage(111), Overexcitation Time(112)

These values are used for adjusting brake input voltage. Overexcitation Voltage sets the initial voltage used to disengage the brake system, Normal Excitation Voltage sets the voltage used to maintain brake disengagement, and Overexcitation Time sets the duration of the overexcitation period during brake disengagement.

Item	Unit	Range
Overexcitation Voltage	1.0 [%]	0 ~ 100
Normal Excitation Voltage	1.0 [%]	0 ~ 100
Overexcitation Time	1.0 [ms]	0 ~ 32,767

Present Velocity LPF Frequency(132)

The frequency of the Low-Pass Filter used to smooth the generation of Present Velocity(548). This is the setting to define the Present Velocity Filter in the Operating Mode(33) block diagram. Adjusting this value can lead to improved control performance if there is noise in the calculated velocity value.

Unit	Range
0.1[Hz]	0 ~ 65,535

Goal Current LPF Frequency(134)

The frequency of the Low-Pass Filter for Target Current. This is used to define the Goal Current Filter in the Operating Mode(33) block diagram. Control performance may be improved by reducing unwanted frequencies from the control signal.

Unit	Range
0.1[Hz]	0 ~ 65,535

Position FF LPF Time(136)

The frequency of the Low-Pass Filter for the Feedforward value of the Position Controller. Control performance may be improved by reducing unwanted frequencies in the control signal.

Unit	Range
0.2[ms]	0 ~ 512

Velocity FF LPF Time(138)

The frequency of the Low-Pass Filter for the Feedforward value of the Velocity Controller. Control performance may be improved by reducing unwanted frequencies from the control signal.

Unit	Range
0.2[ms]	0 ~ 512

Controller State(152)

Controller State allows the monitoring of the current activity state of the internal motor controller.

Value	Label	Description
0	Start	Power has been supplied to the device.
1	Init System	Device initialization in progress.
2	Inverter OFF	Torque is OFF, The inverter is turned OFF.
3	Dynamic Brake	Torque is OFF, Dynamic Brake is active.
4	Processing Torque ON	Operations to enable Torque are in progress.
5	Running	Torque is ON.
6	Processing Torque OFF	Operations to disable Torque are in progress.
7	Detected HW Fault	A Hardware issue has been detected, and the servo is entering a fault state.
8	HW Fault	A Hardware issue has occurred. The issue can be identified using the Error Code(153) control table item.

Note : When the Controller State is Processing Torque On(4) or Processing Torque Off(6), writing values to Torque Enable(512), Goal PWM(524), Goal Current(526), Goal Velocity(528), Goal Position(532) cannot be processed, and will result in a “Result Fail” return status packet.

Error Code(153)

Error Code stores the value of any currently active error statuses. The list of errors that may occur is as follows:

Value	Label	Torque ON	*Hold	Error Clear	Description
0 (0x00)	No Error	-	-	-	No error
1 (0x01)	Over Voltage Error	N	-	Y	Device supply voltage exceeds the Max Voltage Limit(60)
2 (0x02)	Low Voltage Error	N	-	Y	Device supply voltage exceeds the Min Voltage Limit(62)
3 (0x03)	Inverter Overheating Error	N	-	Y	The inverter temperature has exceeded the Inverter Temperature Limit(56)
4 (0x04)	Motor Overheating Error	N	-	Y	The motor temperature has exceeded the Motor Temperature Limit(57).
5 (0x05)	Overload Error	N	-	Y	Operating current exceeding rated current for an extended duration
7 (0x07)	Inverter Error	N	-	N	An issue has occurred with the inverter
9 (0x09)	Battery Warning	Y	N	N	Low Multi-turn battery voltage. Replacement recommended
10 (0x0A)	Battery Error	N	-	N	Multi-turn battery voltage is too low, causing issues
11 (0x0B)	Magnet Error	N	-	N	Multi-turn position lost. Multi-turn reset required
12 (0x0C)	Multi-turn Error	N	-	N	An issue has occurred with the Multi-turn IC
13 (0x0D)	Encoder Error	N	-	N	An issue has occurred with the Encoder IC
14 (0x0E)	Hall Sensor Error	N	-	N	An issue has occurred with the Hall Sensor
15 (0x0F)	Calibration Error	N	-	N	Cannot find calibration Data
17 (0x11)	Following Error	Y	Y	Y	Position control error exceeds the Following Error Threshold(44)
18 (0x12)	Bus Watchdog Error	Y	Y	Y	An issue has occurred with the Bus Watchdog
19 (0x13)	Over Speed Error	Y	Y	Y	Rotates at a speed of 120% or more than the Velocity Limit(72)
20 (0x14)	Position Limit Reached Error	Y	Y	Y	In position control mode, the current position has moved beyond the Max/Min Position Limit + Position Limit Threshold(38) range.

Note : *Hold indicates that writing new Goal Values is not possible while Torque is On and this error is in effect. In position and velocity control modes, the current position is maintained after deceleration and stop, while in current control mode, the servo will enter Dynamic Brake mode.

How to Clear Error

Many errors reported in the Error Code register can be cleared without requiring a reset of the actuator by using either of the methods below:

Error Clear Packet: Errors that can be cleared can be reset by sending an Error Clear Packet.
DYNAMIXEL Wizard 2.0: You can clear the error by pressing the Clear button located next to the Error Code on the right of the screen.

Error Code History

When a problem occurs with the device, the Error Code (153) is displayed, indicating the specific error. If an error occurs while the Error Code (153) value is not ‘0’ (No Error) due to a previous error, the value of Error Code (153) will be changed to the corresponding error value. In other words, the value of Error Code (153) indicates the most recent error occurred. In such cases, the Error Code (153) that occurred in Error Code History 1 to 16 (154 ~ 169) are stored sequentially.

Note : The same error does not occur multiple times.

If more than 16 errors occur, the oldest errors (Error Code History 1 (154)) are deleted, and the 16 most recent error values are recorded. The following is an example when 16 errors have occurred, and the 17th error occurs.

When clearing Error Code (153) via the Error Clear Packet, the errors that can be cleared from Error Code History 1 ~ 16 are removed, while those that cannot be cleared remain. The following is an example of sending an Error Clear Packet when clearable and impossible errors are recorded in the Error Code History.

Hybrid Save(170)

Hybrid Save indicates whether or not the Hybrid memory area has been modified since it was last saved, and allows requesting saves of the hybrid memory area. Writing ‘1’ to this control table item will save the current values of the hybrid memory to storage.

Value	Label	Description
0	Changed	There are unsaved values in the Hybrid area.
1	Save Request	Request to save values in the Hybrid area. This can only be requested when the Torque Enable(512) value is ‘0’.
2	Saved	The values in the Hybrid area have been saved.

Note : If the value of Hybrid Save is ‘0’, changes to hybrid memory will not be saved if the device is rebooted or power is disconnected.

Velocity I Gain(212), Velocity P Gain(216), Velocity FF Gain(220)

These are the control gain values for the internal velocity controller used to generate velocity trajectories in the Velocity Controller block within the block diagram of the Operating Mode(33) item.

item	Gain Notation	Range	Description
Velocity I Gain(212)	K_vI	0 ~ 2,147,483,647	Velocity Integral Gain
Velocity P Gain(216)	K_vP	0 ~ 2,147,483,647	Velocity Proportional Gain
Velocity FF Gain(220)	K_vFF	0 ~ 2,147,483,647	Acceleration Feedforward Gain

Position D Gain(224), Position I Gain(228), Position P Gain(232), Position FF Gain(236)

These are the control gain values for the position controller. These values configure the Position Controller block within the block diagram of the Operating Mode(33).

item	Gain Notation	Range	Description
Position D Gain(224)	K_PD	0 ~ 2,147,483,647	Position Derivative Gain
Position I Gain(238)	K_PI	0 ~ 2,147,483,647	Position Integral Gain
Position P Gain(232)	K_PP	0 ~ 2,147,483,647	Position Proportional Gain
Position FF Gain(236)	K_PFF	0 ~ 2,147,483,647	Velocity Feedforward Gain

Profile Acceleration(240), Profile Velocity(244)

If a velocity-acceleration-based profile is selected as the Drive Mode(32), the Profile Acceleration and Profile Velocity will be used to generate and limit movement trajectories.

item	Unit	Control Mode	Description
Profile Acceleration(248)	10 [rev/min²]	Velocity control, Position control	Profile acceleration/deceleration time
Profile Velocity(252)	0.01 [RPM]	Position control	Maximum movement speed of profile. If the value is 0, profiles are deactivated.

Profile Acceleration Time(248), Profile Time(252)

If time-based profile is selected in Drive Mode(32), Profile Acceleration Time and Profile Time will be used to generate a time based movement trajectory. Please refer to the Profile section for further details.

item	Unit	Control Mode	Description
Profile Acceleration Time(248)	0.2 [ms]	Velocity control, Position control	Profile acceleration/deceleration time
Profile Time(252)	0.2 [ms]	Position control	Total profile time. If the value is 0, the profile is deactivated.

Indirect Address, Indirect Data

Indirect Addresses allow users to restructure the layout of a DYNAMIXEL’s control tables to better suit the needs of their application. By assigning a control table item to an Indirect Address, the Indirect Data location associated with that address will represent the data in the assigned control table register. For example, if you assign ‘513’ to Indirect Address 1(256) and write ‘1’ to Indirect Data 1(634), the LED will light up and the value of the LED(513) control table item will change to ‘1’. Additionally, when a value is written LED(513), the value of Indirect Data 1 will also be updated. In other words, by assigning an address to an Indirect Address, the Indirect Data for that address becomes a mirror of the assigned address.

Example 1 : Allocating LED(513) to Indirect Data 1(634).

Set Indirect Address 1(256) to ‘513’.
Change Indirect Data 1(634) to ‘1’ : The LED(513) value also changes to ‘1’, and the LED turns on.
Change Indirect Data 1(634) to ‘0’ : The LED(513) value also changes to ‘0’, and the LED turns off.

Note : In order to allocate more than 2 bytes of data to an indirect address, the addresses of all data must be assigned to the indirect address, as shown in ‘Example 2’.

One thing to note is when setting a Control Table with a length of 2 bytes or more as an Indirect Address all bytes of the Control Table Item must be designated to sequential Indirect Addresses. For instance, if you wish to set Indirect Data 2 to mirror Goal Position(532), you must configure it as follows:

Example 2 : To allocate 4 byte Goal Position(532) to Indirect Data 2(635), all 4 consecutive bytes must be allocated.

Indirect Address 2(257) : Write 532 which is the first address of Goal Position.
Indirect Address 3(258) : Write 533 which is the second address of Goal Position.
Indirect Address 4(259) : Write 534 which is the third address of Goal Position.
Indirect Address 5(260) : Write 535 which is the fourth address of Goal Position.
Write 4 byte desired position value of 250,961(0x0003D451) to Indirect Data 2 ~ 5 : The value of Goal Position(532) will reflect these changes and update to 250,961(0x0003D451).

Indirect Data Address	Goal Position Address	Saved HEX Value
635	532	0x51
636	533	0xD4
637	534	0x03
638	535	0x00

Torque Enable(512)

Controls Torque ON/OFF state. Setting the value to ‘1’ enables Torque state and prevents writing data in the EEPROM area. If Torque cannot be enabled, the Result Fail bit in the returned status packet will be set to ‘1’.

Value	Description
0	Torque OFF
1	Torque ON

LED(513)

LED controls the indicator LED on the back of the servo.

Value	Description
0	Turns off the LED at the back of the device.
1	Turns on the LED at the back of the device.

Note : The LED also functions as an indicator displaying the device’s current condition:

Status	LED Operation
Boot-up	Single blink
Factory Reset	Four blinks
Alarm	Steady blinking
Bootloader Mode	Illuminated

PWM/Current/Velocity Offset(516, 518, 520)

Offset values for Goal PWM, Current, and Velocity. These offsets will be applied to goal values provided to the servo.

item	Unit	Control Mode	Description
PWM Offset(516)	0.01[V]	Current control, Velocity control, Position control	Offset for PWM output value
Current Offset(518)	0.01[A]	Velocity control, Position control	Offset for current output value
Velocity Offset(520)	0.01[RPM]	Position control	Offset for velocity output value

Goal PWM(524)

Goal PWM is used as an upper limiting value for the output PWM of the motor in all control modes. Supplied Goal PWM values cannot exceed the configured PWM Limit(64)

Unit	Range	Control Mode	Description
0.01 [V]	- PWM Limit(64) ~ PWM Limit(64)	Current control, Velocity control, Position control	500 = Maximum output voltage limited to 50[%] 1,000 = Maximum output voltage limited to 100[%]

Goal Current(526)

In current control mode, the Goal Current is used to specify the desired output current. In velocity control mode, position control mode, and extended position control mode it functions as a limit on the current controller’s output current. Goal Current cannot exceed the configured Current Limit(66).

Unit	Range	Control Mode	Description
0.01 [A]	- Current Limit(66) ~ Current Limit(66)	Current control Velocity control, Position control	800 = 8[A] Current output 500 = Maximum output current limited to 5[A]

Note : If a current exceeding the device’s rated current is continuously applied to the motor, an Overload Error will occur. Please only use currents exceeding the rating momentarily.

Goal Velocity(528)

In velocity control mode, the Goal Velocity value is used to specify the target velocity value.
In position control mode and extended position control mode, it is used to set a limit on the maximum movement velocity. Goal Velocity cannot exceed the configured Velocity Limit(72).

Unit	Range	Control Mode	Description
0.01 [RPM]	- Velocity Limit(72) ~ Velocity Limit(72)	Current control Velocity control Position control	Unused 80,000 = Rotates at 800[RPM] speed 500,000 = Maximum rotational speed limited to 5,000[RPM]

Note : If the electronic gear ratio is not 1, the Goal Velocity value will be multiplied by this ratio before being applied to the controller.

Goal Position(532)

The Goal Position is used to specify the target position in position control mode. The Goal Position is limited by the configured Min Position Limit(84) and Max Position Limit(76).

Unit	Range	Control Mode	Description
1[pulse] (Approx. 0.006866 deg)	Min Position limit(84) ~ Max position limit(76)	Current control Velocity control Position control	Unused 16,000 = Move to position 16,000 [pulse]

Moving Status(541)

Provides additional information about the movement status of the actuator. The In-Position Bit(0x01) is only used in position control mode.

Value	Item	Description
Bit 7 (0x80)	-	Unused, always ‘0’ ‘0’
Bit 6 (0x40)	Position In Range	Whether the current position is within the range of Min Position limit(84) ~ Max position limit(76) 0 : Out of the Limit Range 1 : Within the Limit Range
Bit 5 (0x40) Bit 4 (0x40)	Profile type(H) Profile type(L)	The current profile type in use 11 : Trapezoidal profile 10 : Triangular profile 01 : Rectangular profile 00 : Profile unused (Step)
Bit 3 (0x08)	Following error	Whether or not the Position Trajectory(560) is being followed 0 : Follow 1 : Following error
Bit 2 (0x04)	Moving	Whether the device is rotating 0 : Standby status 1 : Movement detected
Bit 1 (0x02)	Profile ongoing	Whether the profile is in progress according to the Goal Position(532) command 0 : Profile complete 1 : Profile in progress
Bit 0 (0x01)	In-Position	Whether the Goal Position(532) has been reached 0 : Not reached 1 : Reached

Note : A triangular velocity profile is set automatically when the Profile Velocity(244) is not reached under trapezoidal velocity profile conditions.

Realtime Tick(542)

A realtime counter of the uptime of the device. It can be used as a timestamp for packets, providing a more accurate time value than a PC.

Unit	Range	Description
1 [ms]	0 ~ 32,767	Time since the device booted. The value resets to ‘0’ after reaching 32,767.

Present PWM(544)

The PWM Duty value currently applied to the device’s motor. For more details, please refer to Goal PWM(524).

Present Current(546)

Present Current reports the actual instantaneous current value flowing through the device’s motor. Please refer to Goal Current(526) for further details.

Present Velocity(548)

Present Velocity reports the current rotational velocity of the device. Please refer to Goal Velocity(528) for further details.

Present Position(552)

Present Position reports the current encoder position of the device. Please refer to Goal Position(532) for further details.

Position Trajectory(560)

Position Trajectory is the target position trajectory generated by the active profile. This value is only generated in position control mode. Please refer to Profile Velocity(244) for further details.

Velocity Trajectory(564)

Velocity Trajectory is the target velocity trajectory generated by the active profile. The behavior of this value may differ depending on the active operating mode:

Velocity control mode : When the profile has been completed, the Velocity Trajectory will equal the Goal Velocity(528)
Position control mode : Reports the target velocity trajectory to follow the current Position Trajectory(560). When the profile ends, the Velocity Trajectory will be set to ‘0’.

Please refer to Profile Velocity(244) for further details.

Present Input Voltage(568)

Reports the present voltage that is being supplied to the device. Please refer to Max/Min Voltage Limit(60, 62) for further details.

Present Inverter Temperature(570)

This is the current temperature of the motor’s inverter. Please refer to the Inverter Temperature Limit(56) for further details.

Present Motor Temperature(571)

The current internal temperature of the motor. Please refer to the Motor Temperature Limit(57) for further details.

Backup Ready(919)

Backup Ready indicates whether the actuator has a Backup of the control table saved to internal memory available for restoration using a Control Table Backup Packet.

How to Assemble

Assembly Guide

Maintenance

Reference

Profile

Profiles are control methods used in motor operation to reduce rapid changes in speed and acceleration, thereby reducing vibrations, noise, and motor loads through controlled acceleration and deceleration. These profiles are often called Velocity Profiles as they directly control acceleration and deceleration based on target velocities. The device offers three types of profiles. Generally, the profile selection is determined by the combined settings of Profile Velocity(244) and Profile Acceleration(240). The trapezoidal profile specifically is additionally considers the total planned movement distance (ΔPos, the difference between the target position and the current position).

When the device’s controller receives an updated Goal Position(532), it generates a target velocity trajectory based on the actuator’s current movement speed. Even if the target position changes to a new Goal Position(532) while the device is in transit, the speed trajectory is adjusted to ensure smooth speed transition. The function responsible for creating a target velocity trajectory to prevent velocity discontinuity like this is called Velocity Override. Here, for simplicity in the formula, the initial speed of the profile is assumed to be ‘0’.

The following outlines the profile generation process for the Goal Position(532) command when the Operating Mode(33) is position control mode.

The user’s request is registered as the new Goal Position(532) through the communication bus.
The acceleration time (t1) is determined by the Profile Velocity(244) and Profile Acceleration(240).
The shape of the profile is determined by the Profile Velocity(244), Profile Acceleration(240), and the total movement distance (ΔPos, the difference between the target position and the current position) as shown in the following table.
The final selected profile is written to the Moving Status(541) register.
The device moves according to the target trajectory calculated by the profile.
The target velocity trajectory and target position trajectory of the chosen profile are written to the Position Trajectory(560) and Velocity Trajectory(564) registers.

Condition	Types of Profile
Profile Velocity(244) = 0	Profile unused (Step instruction)
(Profile Velocity(244) ≠ 0) & (Profile Acceleration(240) = 0)	Rectangular profile
(Profile Velocity(244) ≠ 0) & (Profile Acceleration(240) ≠ 0)	Trapezoidal profile

Note : In velocity control mode, only Profile Acceleration(240) is used and the two available profile shapes are Step and Trapezoidal.
The Velocity Override function operates in a similar manner.
The acceleration time (t1) in this case is calculated as follows.

Velocity-based Profile : t₁ = 64 * {Profile Velocity(112) / Profile Acceleration(108)}
Time-based Profile : t₁ = Profile Acceleration(108)

Certifications

Please reach out to us at contactus2@robotis.com for certifications that are not listed.

FCC

% include en/dxl/fcc_class_b.md %}

Connector Information

Item	RS-485		Power
Pinout	`1` DATA+ `2` DATA-		`1` GND `2` VDD
Diagram
Housing	Molex 505565-0200	S/T type Molex 39500-0002	R/A type 1 Molex 39503-2002	R/A type 2 Molex 39503-3002
PCB Header	Molex 505568-0381		Molex 39501-1002
Crimp Terminal	Molex 504185-1000		(Option) CE007508(0.75SQ, L14, P8)
Wire Specification	26 AWG		20 AWG

Caution: Before operation, ensure that 24V power is supplied through the power port. During setup, take special care to ensure that the polarity of all connections are correct. Incorrect connection may result in serious damage to the DYNAMIXEL.

Communication Circuit

UART Connection Circuit Diagram

DYNAMIXEL-Y servos require half-duplex RS-485 communications for control. In order to utilize a full-duplex RS-485 network to control DYNAMIXEL actuators a half-duplex conversion circuit is required. The diagram below details the recommended circuit diagram for half-duplex conversion.

Note: The circuit above is suitable for MCUs with a 5V logic level, or which are otherwise 5V tolerant. For devices using other logic levels, use a Level Shifter to match the required operating voltage.

The above circuit is integrated into ROBOTIS’ DYNAMIXEL controllers. In the provided circuit diagram, the direction of the data signal of the TxD and RxD lines is determined based on the level of TX_Enable_5V.

If TX_Enable_5V = High : The TxD signal is transferred to D+ and D-
If TX_Enable_5V = Low : The D+ and D- signals are transferred to RxD

Cable Connection

The pin configuration of the DYNAMIXEL-Y connector is shown below.

Drawings

Download PDF, DWG, STEP, IGES

Moment of Inertia

TBD

Please also checkout ROBOTIS Download Center for software applications, 3D/2D CAD, and other useful resources!

Clear Packet

Multi-turn Clear Packet

DYNAMIXEL-Y is capable of backing up Multi-turn position information, ensuring that it is preserved even after a power outage. A Multi-turn Clear Packet is required to reset this value. After a Multi-turn Clear, DYNAMIXEL will undergo a reboot.
After replacing the Multi-turn Backup Battery, it is essential to perform this process prior to resuming operation.

Packet Type	P1	P2 ~ P5	Description
Multi-turn Clear	0x01	Fixed value (0x44 0x58 0x4C 0x22)	Sets the current position (Present Position) value to an absolute position within one revolution based on the motor. Can be cleared only when the motor is not in motion. If the Clear Instruction Packet is sent while Torque Enable is active, the Error field in the Status Packet will display Result Fail (0x01).
Error Clear	0x02	Fixed value (0x45 0x52 0x43 0x4C)	Clear errors that occurred in DYNAMIXEL. If an error cannot be cleared or the conditions for clearance are not met, the error remains uncleared, and Result Fail (0x01) is displayed in the Error field of the Status Packet.

Note: Multi-turn Clear resets the motor’s absolute position value to within one revolution. Models with an attached reducer may lose their reducer-based absolute position. To prevent this issue, move the reducer’s absolute position to 0 before proceeding with the Multi-turn Clear process.

Multi-turn Clear Method

Click the ‘Packet’ button at the top of DYNAMIXEL Wizard 2.0 to open the packet window. If connected to DYNAMIXEL, click ‘Disconnect’ to terminate the connection.
Select the COM Port and Baud Rate in use for your servos, then click the ‘Open’ button.
Select ‘Clear Instruction’ from the Instruction tab.
Enter the DYNAMIXEL ID for the servo you wish to clear and click the ‘Send’ button to transmit the packet.
Wait until the Status Packet is received. Check the received packet for errors before resuming operation of your servo.

Note: For more detailed information, please refer to the DYNAMIXEL Wizard 2.0 and DYNAMIXEL Protocol 2.0 eManual pages.

Error Clear Packet

The Error Clear Packet can be used to clear the error state of a DYNAMIXEL Y actuator without requiring a restart of the device. When there is an active error registered to the device, it can be cleared using a Clear Instruction Packet. If the error is unable to be cleared, the returned status packet will indicate a Failed result (0x01).

Multi-turn Backup Battery Replacement

DYNAMIXEL-Y features an internal Multi-turn Backup Battery for Multi-turn Position Backup. After replacing the battery, it is necessary to perform the Multi-turn Clear operation to reset the Multi-turn position to ensure accuracy.

Procedure for Battery Replacement

Prepare the DYNAMIXEL-Y and new Multi-turn Backup Battery.
After supplying power and connecting the DYNAMIXEL-Y to DYNAMIXEL Wizard 2.0, enter the Tools → Encoder Battery Replacement menu.
In the case of a model with an included reducer, ensure that the reducer is positioned at it’s origin point. (Position 0)
Open the battery cover, install the new Multi-turn Backup Battery, close the cover, and click the Next button.
Wait for the operation to complete.
Once finished, exit the menu by clicking the OK button.

Output Bearing

Output bearing specifications (Table.B1)

Model	Basic dynamic load rating, C [N]	Offset from flange, df [m]	Roller pitch circle diameter, Dp [m]	Allowable Dynamic equivalent radial load, Pc_max [N]¹⁾	Allowable moment load, M_max [N.m]²⁾
YM070-210-R051-RH	5,182	0.0086	0.0498	1677.1	44.5
YM070-210-R099-RH	5,182	0.0086	0.0498	2046.4	54.4
YM080-230-R051-RH	6,842	0.0093	0.0569	2091.3	63.0
YM080-230-R099-RH	6,842	0.0093	0.0569	2551.7	76.9

Note :

Allowable dynamic equivalent load (Pc_max) must not exceed this value
Allowable moment load, Ma is Lr+df=0 and La=0

Output bearing life

The bearing life of the Dynamixel-Y output bearing is obtained from the following equation.

L₁₀ - Bearing life [hour]
N_a - Average output speed [rpm]
C - Basic dynamic load rating [N]
P_c - Dynamic equivalent load [N]
T_f - Temperature factor (Tf=1.0 less 100℃)
L_f - Load factor (Table.B2)

Allowable dynamic equivalent load, Pc_max

L₁₀ - Bearing life [hour] @ 7,000 hour
N_n - Nominal output speed [rpm] @ input speed 2,000rpm ÷ gear ratio
C- Basic dynamic load rating [N]
T_f - Temperature factor (Tf=1.0 less 100℃) @ Tf = 1.0
L_f - Load factor (Table.B2) @ Lf=1.0
P_{c_max} - Allowable dynamic equivalent load [N]

Dynamic equivalent load, Pc

The dynamic equivalent load of the Dynamixel-Y output bearing is obtained from the following equation.

P_c - dynamic equivalent load [N]
F_r - Radial load [N]
F_a - Axial load [N]
M - Moment [N.m]
X - Dynamic radial factor (Table.B3)
Y - Dynamic axial factor (Table.B3)
D_p - Roller pitch circle diameter [m]

Allowable radial load, Fr_max

P_{c_max} - Allowable dynamic equivalent load [N]
F_a - Axial load [N]
M - Moment [N.m]
X - Dynamic radial factor (Table.B3)
Y - Dynamic axial factor (Table.B3)
D_p - Roller pitch circle diameter [m] (Table.B1)
d_f - Offset from flange [m]
L_r - Distance of radial load [m]
F_{r_max} - Allowable radial load [N]

Tables

Table.B2 Load factor

Conditions	Lf
Smooth motion without impact	1.0 ~ 1.2
Normal motion	1.2 ~ 1.5
Motion with severe impact	1.5 ~ 3.0

Table.B3 Dynamic radial/axial factor

Classification	X	Y
F_a/(F_r+2M/Dp)≤1.5	1.0	0.45
F_a/(F_r+2M/Dp)≤1.5	0.67	0.67

If, Fr=0 and M=0, assuming X=0.67, Y=0.67