{"product_id":"feetech-sts3215-serial-bus-servo","title":"Feetech STS3215 Serial Bus Servo, 30 kg·cm 12 V \/ 19 kg·cm 7.4 V, 360° Magnetic Encoder, for SO-ARM101, LeKiwi, OpenDuck (single or robot sets)","description":"\u003cp\u003e\u003cstrong\u003eThe Feetech STS3215 is a smart serial-bus servo with a 12-bit magnetic encoder, metal gears and 360° multi-turn position feedback that is the standard actuator of the Hugging Face SO-100 \/ SO-101 robot arms, the LeKiwi mobile manipulator and OpenDuck Mini, used wherever a project needs daisy-chained, position-feedback joints controlled from one serial port.\u003c\/strong\u003e\u003c\/p\u003e\u003cp\u003eThe STS3215 is the servo used in the Hugging Face SO-100 \/ SO-101 arms, the LeKiwi mobile manipulator and OpenDuck Mini. Buy singles to replace a joint, or pick a set that matches the exact voltage and gear-ratio mix the open-source build guides call for.\u003c\/p\u003e\u003ch2\u003eWhat can you use it for?\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003eReplacing or upgrading a joint in an SO-ARM100 \/ SO-ARM101 leader or follower arm\u003c\/li\u003e\n\u003cli\u003eBuilding an SO-101 arm from printed parts: the 12-servo set matches the official bill of materials\u003c\/li\u003e\n\u003cli\u003eLeKiwi mobile base (3 × 12 V wheel servos) or the full LeKiwi robot (base + arm)\u003c\/li\u003e\n\u003cli\u003eOpenDuck Mini bipedal robot (14 × 7.4 V servos)\u003c\/li\u003e\n\u003cli\u003eCustom robots, grippers and pan-tilt heads that need position, load and temperature feedback over one bus\u003c\/li\u003e\n\u003c\/ul\u003e\u003ch2\u003eWho is it for?\u003c\/h2\u003e\u003cp\u003eLeRobot builders sourcing exact-spec servos, robotics students, and makers who want feedback servos that are cheaper than Dynamixel but supported by open-source software.\u003c\/p\u003e\u003ch2\u003eCompatibility\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003eControllers: BusLinker V3.0, Waveshare bus servo adapter, Feetech FE-URT-1, or any 3.3 V \/ 5 V UART with half-duplex direction control\u003c\/li\u003e\n\u003cli\u003eSoftware: Hugging Face LeRobot (feetech motor bus), Feetech FD software, Python (scservo_sdk), Arduino and ESP32 libraries\u003c\/li\u003e\n\u003cli\u003eHorns: 25 T spline, metal horns included; compatible with SO-101 and LeKiwi printed parts\u003c\/li\u003e\n\u003cli\u003eVoltage: C018 runs on 12 V (SO-101 follower joints); C001 \/ C044 \/ C046 run on 7.4 V (leader arm and light joints) — do not feed 12 V to the 7.4 V models\u003c\/li\u003e\n\u003c\/ul\u003e\u003ch2\u003eSpecifications\u003c\/h2\u003e\u003ctable\u003e\n\u003ctr\u003e\n\u003cth\u003eModel\u003c\/th\u003e\n\u003ctd\u003eFeetech STS3215 (ST3215) smart serial bus servo\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eStall torque\u003c\/th\u003e\n\u003ctd\u003eC018: 30 kg·cm at 12 V; C001 \/ C044 \/ C046: 19 kg·cm at 7.4 V (1:345), lower on the faster ratios\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eGear ratio\u003c\/th\u003e\n\u003ctd\u003e1:345 (C018, C001), 1:191 (C044), 1:147 (C046)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eSpeed\u003c\/th\u003e\n\u003ctd\u003e0.16 s\/60° (C018 at 12 V); 52 rpm at 7.4 V for 1:345 models\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003ePosition sensor\u003c\/th\u003e\n\u003ctd\u003e12-bit magnetic encoder, 4096 steps over 360°, 0.088° resolution\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eControl modes\u003c\/th\u003e\n\u003ctd\u003ePosition (0–360°), constant-speed wheel, open-loop PWM, step mode, multi-turn absolute position\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eInterface\u003c\/th\u003e\n\u003ctd\u003eHalf-duplex TTL serial bus, 38 400 bps – 1 Mbps, daisy-chain up to 253 IDs, 3-pin cable\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eFeedback\u003c\/th\u003e\n\u003ctd\u003ePosition, speed, load, voltage, temperature, current, moving status; over-current and over-temperature protection\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eVoltage\u003c\/th\u003e\n\u003ctd\u003eC018: 6–12.6 V (use 12 V); C001 \/ C044 \/ C046: 5–8.4 V (2S LiPo or 7.4 V supply)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eGears\u003c\/th\u003e\n\u003ctd\u003eMetal (brass and steel), dual-shaft housing with rear bearing, 25 T spline\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eSize \/ weight\u003c\/th\u003e\n\u003ctd\u003e45.2 × 24.7 × 35 mm, 55 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eIncluded per servo\u003c\/th\u003e\n\u003ctd\u003eMetal main horn, rear horn, horn screws, mounting screws, 15 cm 3-pin cable\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/table\u003e\u003ch2\u003eWhat's in the box\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003e\n\u003cstrong\u003eSTS3215-C018, 12 V, 30 kg·cm, 1:345:\u003c\/strong\u003e 1 × STS3215-C018 servo, metal main horn, rear horn, screws, 15 cm cable\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eSTS3215-C001, 7.4 V, 19 kg·cm, 1:345:\u003c\/strong\u003e 1 × STS3215-C001 servo with horns, screws and cable\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eSTS3215-C044, 7.4 V, 1:191 (fast):\u003c\/strong\u003e 1 × STS3215-C044 servo with horns, screws and cable\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eSTS3215-C046, 7.4 V, 1:147 (fastest):\u003c\/strong\u003e 1 × STS3215-C046 servo with horns, screws and cable\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eSO-ARM101 12-servo set (6 × 12 V + 6 × 7.4 V, three ratios):\u003c\/strong\u003e 6 × C018 12 V for the follower, 6 × 7.4 V servos in the 1:345 \/ 1:191 \/ 1:147 mix the SO-101 leader arm calls for, horns, screws and cables\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eLeKiwi base set (3 × 12 V, 1:345):\u003c\/strong\u003e 3 × STS3215-C018 12 V servos with horns, screws and cables\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eLeKiwi full robot set (9 × 12 V + 6 × 7.4 V):\u003c\/strong\u003e 9 × 12 V and 6 × 7.4 V servos in the three LeKiwi gear ratios, horns, screws and cables\u003c\/li\u003e\n\u003cli\u003e\n\u003cstrong\u003eOpenDuck Mini set (14 × 7.4 V, 19 kg·cm, 1:345):\u003c\/strong\u003e 14 × STS3215-C001 servos with horns, screws and cables\u003c\/li\u003e\n\u003c\/ul\u003e\u003ch2\u003eFrequently asked questions\u003c\/h2\u003e\u003ch3\u003eWhich STS3215 do I need for the SO-ARM101?\u003c\/h3\u003e\u003cp\u003eThe follower arm uses six 12 V C018 (30 kg·cm) servos. The leader arm uses 7.4 V servos with three different gear ratios so it is light to move by hand: the 12-servo set on this page contains exactly the mix from the SO-101 bill of materials.\u003c\/p\u003e\u003ch3\u003eWhat is the difference between C018, C001, C044 and C046?\u003c\/h3\u003e\u003cp\u003eC018 is the 12 V, 30 kg·cm, 1:345 version. C001 is the 7.4 V, 19 kg·cm, 1:345 version. C044 (1:191) and C046 (1:147) are 7.4 V servos with lower gear ratios: faster and easier to back-drive, less torque; the SO-101 leader arm uses them for the joints you move most.\u003c\/p\u003e\u003ch3\u003eIs it a real Feetech servo?\u003c\/h3\u003e\u003cp\u003eYes. These are genuine Feetech STS3215 servos with the Feetech label, magnetic encoder and metal gearbox, the same part sold by Seeed and Waveshare.\u003c\/p\u003e\u003ch3\u003eCan I control it from Arduino or Raspberry Pi?\u003c\/h3\u003e\u003cp\u003eYes. It speaks the Feetech half-duplex serial protocol. Use a bus servo board such as the BusLinker V3.0 or a Waveshare adapter for USB, or a UART plus direction pin on a microcontroller with the Feetech SCServo library.\u003c\/p\u003e\u003ch3\u003eDoes it do continuous rotation?\u003c\/h3\u003e\u003cp\u003eYes. Besides 0–360° position mode it supports wheel (constant speed) mode, open-loop PWM mode, step mode and multi-turn absolute position, selectable by register.\u003c\/p\u003e\u003ch3\u003eWhat power supply do I need?\u003c\/h3\u003e\u003cp\u003e12 V 5 A for six C018 servos in an arm; 7.4 V (2S LiPo or a 7.4 V supply) for the C001 \/ C044 \/ C046 models. Each servo draws about 0.9 A rated and up to 2–3 A at stall.\u003c\/p\u003e","brand":"Glunova Biotech","offers":[{"title":"STS3215-C018, 12 V, 30 kg·cm, 1:345","offer_id":50758001230063,"sku":"STS3215-C018","price":32.0,"currency_code":"SGD","in_stock":true},{"title":"STS3215-C001, 7.4 V, 19 kg·cm, 1:345","offer_id":50758001262831,"sku":"STS3215-C001","price":30.0,"currency_code":"SGD","in_stock":true},{"title":"STS3215-C044, 7.4 V, 1:191 (fast)","offer_id":50758001295599,"sku":"STS3215-C044","price":30.0,"currency_code":"SGD","in_stock":true},{"title":"STS3215-C046, 7.4 V, 1:147 (fastest)","offer_id":50758001328367,"sku":"STS3215-C046","price":30.0,"currency_code":"SGD","in_stock":true},{"title":"SO-ARM101 12-servo set (6 × 12 V + 6 × 7.4 V, three ratios)","offer_id":50758001361135,"sku":"STS3215-SOARM101-SET","price":318.0,"currency_code":"SGD","in_stock":true},{"title":"LeKiwi base set (3 × 12 V, 1:345)","offer_id":50758001393903,"sku":"STS3215-LEKIWI-BASE","price":89.0,"currency_code":"SGD","in_stock":true},{"title":"LeKiwi full robot set (9 × 12 V + 6 × 7.4 V)","offer_id":50758001426671,"sku":"STS3215-LEKIWI-FULL","price":394.0,"currency_code":"SGD","in_stock":true},{"title":"OpenDuck Mini set (14 × 7.4 V, 19 kg·cm, 1:345)","offer_id":50758001459439,"sku":"STS3215-OPENDUCK","price":350.0,"currency_code":"SGD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0821\/5406\/2063\/files\/01_servo.jpg?v=1789401615","url":"https:\/\/armdojo.com\/products\/feetech-sts3215-serial-bus-servo","provider":"ArmDojo","version":"1.0","type":"link"}