

The MX-106T is a Dynamixel servomotor, with high-level control features and very precise. It is by far the most powerful of the Dynamixel servomotors.
Including €0.05 for ecotax
This video illustrates the capabilities and the existing application for Dynamixel servomotors:
The servomotors have to be linked to a main controller (CM-900, CM-700, CM-5, CM-510 or CM-530) to be commanded. The progams are made with RoboPlus, which allow really easy programmation, without much previous knowledge.
The most recent main controllers support embedded C and there is a SDK for you to developp your own applications.
The MX-106R and MX-106T are new Dynamixel servomotors in the MX range. They replace and improve the EX-106+ servomotor with a new absolute contactless encoder with 12 bit resolution (4096 positions), can be positionned over 360° in joint mode (251° previously), can be speed controlled in wheel mode and estimate their torque based on current.
Moreover they are controlled with a PID (proportional integral derivative), which parameters can be set servomotor by servomotor. Admissible values are between 0 and 255 and the PID coefficients are modified with the following formulas:
Two MX-106T Dynamixel servomotors can be used in 'dual mode', where the slave servomotor reproduces exactly the moves of the master one (or the inverse of the moves if the 'reverse' option is activated)
The case of the EX-106+ has also been lightly modified, the MX-106T servomotor is therefore not compatible with the HN05-N101/T101 horn.
The Dynamixel servomotor MX-106T supports the TTL communication protocol (when MX-106R supports RS485 communication) with high speed (3Mbs), it is compatible with the CM-510, CM-530 and CM-700 main controllers. Warning, the operating voltage is not the same as the EX-106+ voltage.
All the technical specifications of the Dynamixel MX-106T actuator are available on the website of the manufacturer at http://support.robotis.com/en/product/dynamixel/mx_series/mx-106.htm
This document offers an overview on the characteristics of all the Dynamixel servomotors.
![]() Comparison between all Dynamixel servomotors |
The chart below compare the Dynamixel actuators on their performance. Servomotors are differentiated by communication type (and the MX range proposes both protocols).