Waveshare Servo ST3235 – 30kg·cm

As a high-torque, programmable serial bus servo, it features a 360° high-precision magnetic encoder, enabling absolute angle control across the full 360-degree range. With programmable control, any angle can be set as the midpoint, and the servo can also be switched to continuous rotation or stepper motor mode. The built-in acceleration and deceleration function ensures smoother motion.

Each servo includes two interfaces, allowing for serial connection. In theory, up to 253 bus servos can be controlled simultaneously, with each servo capable of reporting its current angle, load, voltage, mode, and more. This makes it well-suited for robotic applications requiring real-time feedback for closed-loop control, such as robotic arms, hexapod walkers, humanoid robots, and wheeled robots. Additionally, Waveshare provides an open-source 12-DOF robot dog model compatible with this servo. The model and related project files are available for download in the “Resource” section of the Wiki page.

Key features

• Up to 253 servos can be connected in series at the same time (requires full power), and also can obtain feedback information from each servo
• 360°magnetic encoder, larger angle control range
• High precision, the angle control accuracy reaches 360°/4096
• Any angles can be set as the middle of the position, which is convenient for assembly
• Acceleration start and stop function, the movement effect is softer
• Compact structure design and the product appearance are more beautiful
• 6-12.6V wide-voltage input, it can directly supply power with the 2s or 3s lithium battery
• High torque, up to 30kg·cm@12V
• The working mode can be set by the program: servo angle control/motor model can be rotated continuously

Aluminum alloy case & CNC processing

To improve the heat tolerance, size stability, rigidity, and mechanical performance of the case, and increase rotational accuracy.

High precision 360° magnetic encoder

Adopts 12-bit high-precision magnetic encoding angle sensor. Compared with the carbon film potentiometer, the angle of the magnetic encoder is enlarged to 360°, and the resolution is increased by 4 times. Since there is a gap and no friction between the magnetic encoder and the radial magnet, the lifetime of the servo is effectively extended.

Compact size - Large torque

Up to 30kg·cm torque on 12V voltage, suitable for building quadruped robots, hexapod walkers, robotic arms and other robotic projects requiring multiple servos.

Acceleration start-stop function

The speed and acceleration values are settable to make the motion effect softer and reduce impact from inertia.

One button to calibrate the middle position

360° installation at any position, one button to set the current position as middle position. Easy to install and debug.

Closed-loop feedback with real-time protection

The servo will provide various feedback like position, load, speed, input voltage, current and temperature in real time, with unloading force protection when the servo is overheated or overloaded.

Technical data

Multiple operation modes

Suitable for more application scenarios.

Multi-Loop angle position control

Supports angle position control in both positive and negative directions up to 7 loops under the default precision setting, but the number of loops will not be saved in case of power loss. Lowering the angle resolution can double the number of control loops.

Aluminum alloy case

Improves heat tolerance, structural strength, lifetime, and mechanical performance.

High strength aluminum servo wheels

Using T6061 aluminum alloy, good anti-corrosion performance.

High precision copper and steel gears

The combination of the two types of gears allows the servo to work with lower working noise, and enhances its stability and mechanical performance.

All-metal bracket

More convenient to combine it with other devices.