FEETECH HL-3960 Servo Motor
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FEETECH HL-3960 Servo Motor
The HL-3960-C001 is an industrial-grade TTL metal case coreless motor double shaft servo engineered for closed-loop robotic systems and precise force control automation. Communicating via a half-duplex asynchronous serial bus protocol, the actuator utilizes an embedded PID control loop and delivers complete diagnostic telemetry tracking load, position, speed, voltage, current, and temperature. The firmware seamlessly toggles between angle servo mode for absolute tracking, motor constant speed mode under dynamic loads, and motor constant current mode for accurate torque regulation. Housed in a structural aluminium enclosure with metal gears and ball bearings, this highly integrated subsystem guarantees minimal back lash and dependable constant force output across complex multi-loop motion profiles.
| PRODUCT PARAMETERS | |
| Model | HL-3960-C001 |
| Product Name | 12V 60kg.cm TTL Metal Case Coreless Motor Double Shaft Servo |
| Storage Temperature Range | -30℃~80℃ |
| Operating Temperature Range | -10℃~60℃ |
| Temperature Range | 25℃ ±5℃ |
| Humidity Range | 65%±10% |
| Size | A：45mm B：24.4mm C：35.5mm |
| Weight | 103.2±2g |
| Gear type | Metal Gear |
| Limit angle | No limit |
| Bearing | Ball bearings |
| Horn gear spline | 25T/OD5.9mm |
| Gear Ratio | 1/358 |
| Back Lash | ≦0.5° |
| Case | Aluminium |
| Connector wire | 15CM |
| Motor | Coreless Motor |
| Rated Input Voltage | 9V-12V |
| No load speed | 0.167sec/60° (60rpm)@12V |
| Runnig current(at no load) | 300mA@12V |
| Peak stall torque | 66.8kg.cm@12V |
| Stall current | 4.5A@12V |
| Rated Load | 23kg. cm@12V |
| Rated current | 1500mA@12V |
| KT | 14.84kg.cm/A |
| 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 |
| 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) |
| 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) |
| 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 | 2048 |
| Running degree | 360° (when 0~4095) |
| Resolution [deg/pulse] | 0.088°(360°/4096) |
| Rotating Direction | Clockwise(0→4095) |
| Feedback | Load, Position, Speed, Input Voltage, Current, Temperature |