Feetech FS5109R 6V 10kg.cm 360° Metal Gear Continuous Rotation Servo

The Feetech FS5109R is a high-torque continuous-rotation servo with a copper metal gear train, producing 10.2 kg.cm of stall torque at 6V from a standard-size case. Low speed and high torque suit it to heavier wheeled or tracked robots, conveyors, winches and rotating platforms that need a geared motor with simple PWM control.

Key features

• 10.2 kg.cm stall and 3.5 kg.cm rated torque at 6V
• About 50 RPM at no load (6V) through a 1:300 reduction
• Copper gears with 0.5° or less backlash, ball-bearing output and a PA plus fibreglass case
• Neutral at 1500 µs, controlled across 1000-2000 µs; turns anticlockwise as the pulse rises above neutral
• 4-8.4V input; 650 mA rated and 1.7 A stall current at 6V

Specifications

• Input voltage: 4-8.4V (rated at 6V)
• Stall torque: 10.2 kg.cm at 6V
• Rated torque: 3.5 kg.cm at 6V
• No-load speed: about 50 RPM at 6V
• Current at 6V: 6 mA idle, 150 mA no load, 650 mA rated, 1.7 A stall
• Control pulse: 1000-2000 µs, neutral 1500 µs
• Gears: copper, 1:300 ratio
• Bearings: ball bearings
• Output spline: 25T, 5.9 mm (M3 x 6 horn screw)
• Lead length: 300 mm
• Dimensions: 40.1 x 20.1 x 38.9 mm
• Weight: 60.6 g
• Operating temperature: -10 to 60°C

Budget 1.7 A per servo at stall when sizing the BEC, and trim the neutral pulse in code if the output creeps at stop.