Overview
The FEETECH HL-3935 Servo Motor is a 12V, double-shaft serial bus servo designed for robotics and automation. It delivers up to 35kg.cm peak stall torque at 12V, features a coreless motor with a 1/378 gear ratio, and supports absolute position control from 0360. With PID control, rich telemetry feedback, and halfduplex asynchronous serial communication up to 1 Mbps, this servo motor suits humanoid and quadruped robots, robotic arms, exoskeletons, and AGV platforms.
Key Features
- Model: HL-3935-C001; product name: 12V 35kg Double Shaft Constant Force Serial Bus Servo
- Coreless motor, steel gears, ball bearings, aluminium case
- Rated input voltage: 9V12.6V; noload speed: 0.117sec/60 (85RPM) @12V
- Peak stall torque: 35kg.cm @12V; stall current: 3.1A @12V
- PID control with digital packet command; ID range 0253; 38400bps ~ 1 Mbps
- Operating modes: angle servo (0360), motor constant speed, motor constant current
- Multiloop mode: 7 turns control (highest accuracy; turns not saved on power loss)
- Constant force output: set and maintain target torque (address 44)
- Feedback: Load, Position, Speed, Input VoltageCurrent, Temperature
- Resolution: 0.088 (360/4096); neutral position: 1802048; clockwise (04096
Application Scenarios
- Humanoid Robots
- Robotic Arms
- Exoskeletons
- Quadruped Robots
- AGV Vehicles
- ARU Robots
Specifications
| Parameter | Value |
|---|---|
| Model | HL-3935-C001 |
| Product Name | 12V 35kg Double Shaft Constant Force Serial Bus Servo |
| Storage Temperature Range | -3080 |
| Operating Temperature Range | -2060 |
| Temperature Range | 25 5 |
| Humidity Range | 65%10% |
| Size | A40mm B20mm C40mm |
| Weight | 85 1g |
| Gear type | steel |
| Limit angle | NO limit |
| Bearing | Ball bearings |
| Horn gear spline | 25T/OD5.9mm |
| Gear Ratio | 1/378 |
| Case | Aluminium |
| Connector wire | 15CM |
| Motor | Coreless Motor |
| Rated Input Voltage | 9V-12.6V |
| No load speed | 0.117sec/60(85RPM)@12V |
| Runnig current(at no load) | 200mA@12V |
| Peak stall torque | 35kg.cm@12V |
| Stall current | 3.1A@12V |
| Rated Load | 8.5kg. cm@12V |
| Rated current | 800mA@12V |
| KT | 11.5kg. cm/A |
| Terminal resistance | 1.75 |
| 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 number 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 | 1802048 |
| Running degree | 360 (when 0~4096) |
| Resolution [deg/pulse] | 0.088(360/4096) |
| Rotating Direction | Clockwise(04096 |
| Feedback | Load, Position,Speed, Input VoltageCurrent,Temperature |
Manuals
- SC-0090-C001Serial_Communication_Specification.pdf
- HL3935-PRODUCT_SPECIFICATION.pdf
- HL3935_Product_structure_diagram.pdf
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