FEETECH HL-3620-C001 Servo Motor
FEETECH HL-3620-C001 Servo Motor
The HL-3620-C001 is a 7.4V 20kg.cm double shaft constant force serial BUS servo configured with a PID control algorithm and an electronic resolution of 0.088°/pulse (360°/4096 steps) for 360° absolute position control. Operating across a 6V–8.4V input range, the unit delivers a peak stall torque of 25.5kg.cm, a rated load of 6.4kg.cm, and a no-load speed of 0.135sec/60° (74RPM) at 8.4V. Technical specifications include a core motor, aluminum casing, copper gears, ball bearings, a 1/275 gear ratio, and a 25T/OD5.9mm horn gear spline. The firmware supports three distinct operating modes (angle servo, constant speed, and constant current), a ±7-turn multi-loop mode, and a programmable constant force torque output. Communication is driven by digital packets over a half-duplex asynchronous serial protocol (38400bps–1Mbps, ID range 0–253), featuring sensor feedback for real-time load, position, speed, voltage, current, and temperature monitoring.
Common use cases: High-precision humanoid robot arm and leg joints requiring 0.088° resolution and multi-mode control, collaborative robot (cobot) end-effectors with constant force output, educational robot platforms with serial BUS daisy-chain wiring, and applications needing 25.5kg.cm torque with comprehensive real-time telemetry at 6–8.4V.
| PRODUCT PARAMETERS | |
| Model | HL-3620-C001 |
| Product Name | 7.4V 20kg.cm 360° Double Shaft Constant Force Servo |
| Storage Temperature Range | -30℃~80℃ |
| Operating Temperature Range | -20℃~60℃ |
| Temperature Range | 25℃±5℃ |
| Humidity Range | 65%±10% |
| Size | A: 40.2mm B: 20.2mm C: 40mm |
| Weight | 61.7±1g |
| Gear type | Copper |
| Limit angle | No limit |
| Bearing | Ball bearings |
| Horn gear spline | 25T/OD5.9mm |
| Gear Ratio | 1/275 |
| Horn Offset Angle | 0° |
| Case | Aluminum |
| Connector wire | 15CM |
| Motor | Core Motor |
| Rated Input Voltage | 6V–8.4V |
| No load speed | 0.135sec/60° (74RPM)@8.4V |
| Running current (at no load) | 280mA@8.4V |
| Peak stall torque | 25.5kg.cm@8.4V |
| Stall current | 3.3A@8.4V |
| Rated Load | 6.4kg.cm@8.4V |
| Rated current | 850mA@8.4V |
| KT constant | 7.7kg.cm/A |
| Terminal resistance | 2.39 Ω |
| Operating Modes | Mode 0: Angle servo mode (default — absolute position 0–360°) Mode 1: Motor constant speed mode (maintains speed as load increases) Mode 2: Motor constant current mode (maintains current as load increases, supports absolute position) |
| Multi-Loop Mode | ±7 turns at highest accuracy (power-off turn count not saved; resolution expandable) |
| Constant force output | Set target torque value (address 44); servo maintains this torque output |
| Command signal | Digital Packet |
| Protocol Type | Half Duplex Asynchronous Serial Communication |
| ID range | 0–253 |
| Communication Speed | 38400bps ~ 1Mbps |
| Control Algorithm | PID |
| Neutral Position | 180° (2048) |
| Running degree | 360° (0~4096 steps) |
| Resolution | 0.088°/pulse (360°/4096) |
| Rotating Direction | Clockwise (0→4096) |
| Feedback | Load, Position, Speed, Input Voltage, Current, Temperature |