FEETECH HL-3620-C002 Servo Motor
FEETECH HL-3620-C002 Servo Motor
The HL-3620-C002 is a high-performance 7.4V 20kg single-shaft constant force serial BUS servo featuring a rugged aluminum case, core motor, copper gears, and ball bearings. Operating within a 6V–8.4V input voltage range, it delivers a peak stall torque of 25.5kg.cm and a no-load speed of 0.135sec/60° at 8.4V. This PID-controlled servo utilizes half-duplex asynchronous serial communication (38400bps–1Mbps, ID range 0–253) via digital packets, offering a 360° running degree with a precise 0.088°/pulse resolution (4096 steps) and a ±7-turn multi-loop mode. It features three intelligent operating modes: absolute angle servo (0–360°), constant speed, and constant current/force output. For advanced closed-loop automation, it provides comprehensive real-time telemetry feedback including load, position, speed, input voltage, current, and temperature.
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 single-shaft applications needing 25.5kg.cm torque with comprehensive real-time telemetry at 6–8.4V.
| PRODUCT PARAMETERS | |
| Model | HL-3620-C002 |
| Product Name | 7.4V 20kg Single Shaft Constant Force Serial BUS Servo |
| Storage Temperature Range | -30℃~80℃ |
| Operating Temperature Range | -10℃~60℃ |
| Temperature Range | 25℃±5℃ |
| Humidity Range | 65%±10% |
| Size | A：40.2mm B：20.7mm C：40.8mm |
| Weight | 62.1±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°@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 |