FEETECH HL-3930 Servo Motor
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FEETECH HL-3930 Servo Motor
The HL-3930-C001 is an industrial-grade double shaft constant force serial bus servo engineered for closed-loop robotic articulation and precision automation subsystems. Utilizing a half-duplex asynchronous serial communication protocol, this intelligent actuator features a programmable PID control algorithm alongside comprehensive real-time telemetry tracking load, position, speed, voltage, current, and temperature. Designed for versatile system integration, its firmware supports multiple distinct operating modes: angle servo mode for absolute positioning, motor constant speed mode under dynamic loads, and motor constant current mode for accurate torque limiting. Constructed with a structural aluminium case, steel gears, and integrated ball bearings, this high-density actuator delivers precise constant force output across multi-turn regimes without sacrificing mechanical reliability.
| PRODUCT PARAMETERS | |
| Model | HL-3930-C001 |
| Product Name | 12V 35kg Double Shaft Constant Force Serial Bus Servo |
| Storage Temperature Range | -30℃~80℃ |
| Operating Temperature Range | -20℃~60℃ |
| Temperature Range | 25℃ ±5℃ |
| Humidity Range | 65%±10% |
| Size | A：45.22mm B：24.72mm C：35mm |
| Weight | 70.5± 1g |
| Gear type | steel Gear |
| Limit angle | No limit |
| Bearing | Ball bearings |
| Horn gear spline | 25T/OD5.9mm |
| Gear Ratio | 1/345 |
| Case | Aluminium |
| Connector wire | 15CM |
| Motor | Core Motor |
| Rated Input Voltage | 9V-12.6V |
| No load speed | 0.222sec/60°(45RPM)@12V |
| Runnig current(at no load) | 150mA@12V |
| Peak stall torque | 35kg.cm@12V |
| Stall current | 2.8A@12V |
| Rated Load | 8.7kg. cm@12V |
| Rated current | 800mA@12V |
| KT常数 | 12.5kg. cm/A |
| Terminal resistance | 1.0 Ω |
| Operating Modes | Mode 0: Angle servo mode (default mode, absolute position controllable from 0-360 degrees) Mode 1: Motor constant speed mode (motor constant speed mode, maintains speed without deceleration as the load increases) Mode 2: Motor constant current mode (motor constant current mode,maintains current without decreasing with increasing load) can achieve absolute position |
| Constant force output | Set the output torque value, the servo can maintain this torque (input the target torque value corresponding to address 44, the servo can maintain this torque) |
| Multi-Loop Mode | control of positive and negative 7 turns at the highest accuracy, but the umber of power failure turns is not saved (the resolution can be expanded, and the number of turns can be doubled) |
| Command signal | Digital Packet |
| Protocol Type | Half Duplex Asynchronous Serial Communication |
| ID range | 0-253 |
| Communication Speed | 38400bps ~ 1 Mbps |
| Control Algorithm | PID |
| Neutral Position | 180° (2048) |
| Running degree | 360° (when 0~4096) |
| Resolution [deg/pulse] | 0.088°(360°/4096) |
| Rotating Direction | Clockwise(0→4096) |
| Feedback | Load, Position, Speed, Input Voltage, Current, Temperature |