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DYNAMIXEL DRIVE (DYD)

Overview​

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

CharacteristicsDYDStrain Wave GearPlanetary Gear
Efficiency◎△◎
Back-Drive torque○△◎
Accuracy (Backlash)◎◎△
Rigidity under impact (shock)◎△○
Operating time to failure under heavy operating condition◎△○
  • ◎: Excellent
  • ○: Good
  • △: Average
warning
  • Do not disassemble or modify the DYD gear.
  • Keep the input shaft clean and free from foreign objects.
  • Do not apply excessive load beyond the rated specifications.
  • Use only the specified lubricant and follow the lubrication schedule.

Features​

  • Superior Impact Resistance
  • High Durability & Strong Rigidity
  • High Efficiency & Low Backlash
  • High Precision
  • Various Gear Ratios
  • Lightweight & Compact Gear Module

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.

FixedOutput SpeedInput DirectionOutput DirectionExample
Housingi=(-1)1/RCathode (+)Anode (-)
Output flangei=1/(R+1)Cathode (+)Cathode (+)

Product Lineup

DYD-11DYD-14DYD-17

Specifications​

PropertiesUnitDYD-11-033DYD-11-051DYD-14-051DYD-14-099DYD-17-051DYD-17-099
Gear ratio-335151995199
Rated output torque (@2,000rpm)Nm2.23.53.75.41116
Permissible peak torque at accel / decelNm8.81414.821.64464
Permissible peak torque at E-stopNm282843.243.29696
Nominal input speedrpm2,0002,0002,0002,0002,0002000
Maximum input speedrpm8,5008,5008,5008,5008,5008500
Backlasharcmin<3.0<3.0<3.0<3.0<3.0<3.0
Efficiency (@ 2,000rpm, 20℃)%656560607070
Starting torquecNm535343
Back-drive torqueNm113355
Dimensionsmm□43 × 23.5□43 × 23.5∅68 × 30∅68 × 30∅78 × 34.2∅78 × 34.2
Weightg196196400400600600
  • Nominal input speed: 2,000 rpm
  • Maximum input speed: 8,500 rpm
  • Service life: 7,000 hours

Naming Convention​

Product NameModel SizeGear RatioInput ShaftSpecial Production
DYD1133, 51C / SDSP
DYD1451, 99C / SDSP
DYD1751, 99C / SDSP

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.

PropertiesDescriptionPropertiesDescription
TaAverage output load [Nm]naAverage input speed [rpm]
T1Maximum output torque at acceleration [Nm]n1Average input speed at acceleration [rpm]
T2Output torque at constant speed [Nm]n2Input speed at constant motion [rpm]
T3Maximum output torque at deceleration [Nm]n3Average input speed at deceleration [rpm]
t1Acceleration time [s]
t2Constant motion time [s]
t3Deceleration time [s]
t4Idle time [s]
tDuty 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:

PropertiesDescription
Lh designDesign service life [hour]
Lh calculatedCalculated service life [hour]
LRReference service life [hour]
nRNominal input speed [rpm]
naAverage input speed [rpm]
TRRated torque [Nm]
TaAverage 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​

PropertiesDescriptionValueNote
T1Maximum output torque at acceleration7.5 Nm
T2Output torque at constant speed5 Nm
T3Maximum output torque at deceleration2.5 Nm
n1Average input speed at acceleration1,500 rpm
n2Input speed at constant motion3,000 rpm
n3Average input speed at acceleration1,500 rpm
t1Acceleration time1 s
t2Constant motion time5 s
t3Deceleration time1 s
t4Idle time0 s
Lh designDesign service life6,500 hour

Average Output Load Calculation​

PropertiesDescriptionValueNote
TaAverage output load4.72 Nmcal.

Average Input Speed Calculation​

PropertiesDescriptionValueNote
naAverage input speed2,571.43 rpmcal.

Pre-Selection: DYD-14-051​

PropertiesUnitDYD-14-051
Gear ratio-51
Rated output torque (@2,000rpm)Nm3.7
Permissible peak torque (accel / decel)Nm14.8
Permissible peak torque at E-stopNm43.2
Nominal input speedrpm2,000
Maximum input speedrpm8,500
Backlasharcmin<3.0
Efficiency%60
DimensionmmØ68 × 30
Weightg400

Expected Service Life Calculation: DYD-14-051​

PropertiesDescriptionValueNote
Lh calculatedCalculated service life6,027 hourcal.
Lh designDesign service life6,500 hour
nRNominal input speed2,000 rpmsee data sheet
naAverage input speed2,142 rpm
TRRated torque3.7 Nmsee data sheet
TaAverage output torque4.72 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​

PropertiesUnitDYD-14-099
Gear ratio-99
Rated output torque (@2,000rpm)Nm5.4
Permissible peak torque (accel / decel)Nm21.6
Permissible peak torque at E-stopNm43.2
Nominal input speedrpm2,000
Maximum input speedrpm8,500
Backlasharcmin<3.0
Efficiency%60
Dimensionmm∅68 × 30
Weightg400

Expected Service Life Calculation: DYD-14-099​

PropertiesDescriptionValueNote
Lh calculatedCalculated service life6,837 hourcal.
Lh designDesign service life6,500 hour
nRNominal input speed2,000 rpmsee data sheet
naAverage input speed2,142 rpm
TRRated torque5.4 Nmsee data sheet
TaAverage output torque4.72 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.

OptionType - CType - SD
Shape
NameClamp-ringSet-screw (D-Cut)

Use Applications

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