{"title":"ST3215 Serial Bus Servo 19.5kg.cm 7.4V 360° Encoder","handle":"st3215-serial-bus-servo-19-5kg-7-4v-360-magnetic-encoder","url":"/products/st3215-serial-bus-servo-19-5kg-7-4v-360-magnetic-encoder","description":"Built for demanding multi-axis robots, this smart serial bus servo combines high torque, absolute position feedback and simplified wiring over a TTL serial bus. It is suited to projects such as robotic arms, educational robots, quadrupeds, humanoid robots and small-scale sorting systems.The servo uses a 12-bit magnetic encoder for true 360° absolute position sensing, with 4096 steps and 0.088° per step resolution. It also supports ±7-turn multi-turn absolute positioning for movements beyond a single rotation.Control is via half-duplex UART, allowing up to 253 servos to be daisy-chained from a single host I/O port. Each servo can be assigned its own ID, reducing cable clutter in complex robotic builds.The package includes one ST3215 Serial Bus Servo, a servo horn screw accessory kit and a 3-pin servo cable.Features:Serial bus control: TTL serial bus interface for controlling up to 253 servos from a single portMagnetic encoder: 12-bit high-precision magnetic encoder for 360° absolute positioningHigh resolution: 4096 steps with 0.088° per stepMulti-turn positioning: ±7 turns absolute positioningHigh torque: 19.5kg·cm stall torque at 7.4VGear train: 1:345 gear train made from copper and aluminiumHousing: High-strength PA+GF housingOperating modes: Angle Servo Mode, Speed Closed-loop Mode, Speed Open-loop Mode and Stepping ModeFeedback: Real-time feedback on position, speed, load, input voltage, current and internal temperatureProtection: Built-in protection against over-stall, over-current, over-voltage and over-heatingSpecifications:Operating voltage: 4-7.4VNo-load speed: 0.238s/60° (42RPM)@6V；0.192s/60° (52RPM)@7.4VNo-load current: 130mA@6V；150mA@7.4VStall torque: 16.5kg.cm@6V；19.5kg.cm@7.4VStall current: 2A@6V；2.5A@7.4VStandby current: 6mARated load: 4kg.cm@6V；5kg.cm@7.4VRated current: 500mA@6V；650mA@7.4VMotor resistance: 2.5ΩTorque constant (Kt): 8kg.cm/ADimensions: 45.2×24.7×35mmHousing: PA+GFGear material: CopperBearing: Ball bearingSensor: 12-bit magnetic encoderRotation: 360°Connector: 3-pin (Black-GND, Red-VCC, Blue-Signal/TTL)Cable length: 15cmWeight: 55±1gOutput shaft: 25T/OD5.9mmGear ratio: 1:345Gear backlash: ≤0.5°Output shaft screw: M3×6Motor type: CorelessSignal: DigitalProtocol: Half-duplex UART (8-bit, 1 stop bit, no parity)ID range: 0-253Baud rate: 38.4kbps-1Mbps (default: 1Mbps)Control algorithm: PIDMidpoint: 180° (2048 steps)Resolution: 0.088°Rotation direction: Clockwise (0→4096)Feedback: Load, position, operating speed, input voltage, operating current, operating temperatureOverload: Triggers when stalled torque exceeds 80% of stall value for 2s; cleared by sending new position command. Customizable torque threshold/duration.Overcurrent: Disables output when current >2A for 2s; cleared by sending new position command. Customizable current threshold/duration.Overvoltage: Activates when voltage >7.4V or <4V; auto-recovery within normal range. Customizable voltage range.Overheat: Disables torque output when temperature >70°C.Mode 0: Angle Servo (default; 0-360° absolute positioning)Mode 1: Speed Closed-loop Motor (maintains speed under load)Mode 2: Speed Open-loop Motor (speed drops under load)Mode 3: Stepping Mode (incremental motion from current position)Multi-Turn Mode: ±7-turn absolute positioning at maximum precision (turn count not saved after power loss).Center Calibration: One-click midpoint setting at any 360° position.Load lifespan: >100,000 cyclesMotor noise: 45±5dBServo noise: 60±5dBStorage temp: -30°C to +80°COperating temp: -20°C to +60°CMax update rate: 1msHigh-level voltage: 2-5VLow-level voltage: 0-0.45VA strong fit for robotics builds that need compact wiring, position feedback and programmable motion modes over a UART bus.","vendor":"DFRobot","product_type":"Serial Bus Servo","in_stock":true,"options":[],"variants":[{"id":15954,"title":"Default Title","sku":"DF-SER0069","mpn":"SER0069","price":44.0,"on_sale":false,"in_stock":true,"available_quantity":2}]}