Bottom view of FEETECH FS90R micro continuous rotation servo (V2.0) showing middle-point adjustment potentiometer.


The FS90R is a micro-sized servo that has been built by FEETECH (formerly known as Fitec) specifically for continuous rotation. At 6 V, it has a maximum rotation speed of around 130 RPM (no-load) and can produce up to 21 oz-in (1.5 kg-cm) of torque. The servo can be controlled using a direct connection to a single microcontroller I/O line without any additional electronics, which makes it a great miniature actuator for beginner robotics projects; just throw on a pair of wheels and your robot is ready to roll!

The FS90R continuous rotation servo converts standard RC servo position pulses into continuous rotation speed. The default rest point is 1.5 ms, but this can be adjusted by using a small screwdriver to turn the middle-point adjustment potentiometer. Pulse widths above the rest point result in counterclockwise rotation, with speed increasing as the pulse width increases; pulse widths below the rest point result in clockwise rotation, with speed increasing as the pulse width decreases.

The servo has a 10″ (250 mm) lead that is terminated with a JR-style connector and includes additional servo horns and mounting hardware. The following picture shows an example of the hardware that might be included (actual hardware could vary):

This robotics servo, which is a continuous rotation version of the FEETECH FS90, is compatible with our servo controllers. If you are looking for a similar servo that is capable of limited-range position control as opposed to continuous rotation speed control, consider the FS90, which has identical dimensions and uses the same motor, or the Power HD micro servo HD-1900A, which has almost the same weight, speed, and torque as the FS90.

Note: As of December 2014, we are shipping V2.0 of this servo, which widens the deadband from ±5 μs to ±45 μs to make it easier to set a stationary neutral position. Also, the middle-point adjustment potentiometer has been changed to a lighter SMD potentiometer on the new version. The physical dimensions of the servo have not changed.


If you want to use this servo as an actuator for your miniature robot, you will need a wheel to go with it. Fortunately, we carry a 60×8 mm wheel specifically designed for use with this servo:

The wheel size is well matched to the servo’s speed and torque, allowing for a top speed of around 40 cm/s (1.3 ft/s) at 6 V.

Continuous rotation servo comparison

Continuous rotation servo size comparison. From left to right: SpringRC SM-S4303R, Power HD AR-3606HB, Parallax, and FEETECH FS90R.

SpringRC SM-S4303R PowerHD AR-3606HB Parallax (Futaba S148) FEETECH FS90R
Max Speed @ 6 V: 54 RPM 71 RPM 50 RPM 130 RPM
Stall torque @ 6 V: 71 oz-in 93 oz-in 42 oz-in 21 oz-in
Max Speed @ 4.8 V: 43 RPM 62 RPM 39 RPM 100 RPM
Stall torque@ 4.8 V: 46 oz-in 83 oz-in 33 oz-in 18 oz-in
Weight: 41 g 40 g 43 g 9 g
Size (mm): 41.3×20.7×40.2 40.5×20.0×38.0 40.5×20.0×38.0 23.2×12.5×22
Price: $12.95 $14.95 $13.95 $4.95



Size: 23.2 × 12.5 × 22 mm
Weight: 9 g

General specifications

Digital?: N
Free-run current @ 6V: 120 mA
Stall current @ 6V: 800 mA1
Speed @ 6V: 130 rpm
Stall torque @ 6V: 21 oz·in1
Speed @ 4.8V: 100 rpm
Stall torque @ 4.8V: 18 oz·in1
Lead length: 10 in
Hardware included?: Y


Stalling should generally be avoided as it can damage the motor and gears.


SKU PL-2820
Brand Pololu

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