Waveshare ST3215 Serial Bus Servo, 360° Encoder, 19.5kg.cm @ 7.4V

The Waveshare ST3215 Series Serial Bus Servo is a high-precision, high-torque smart servo designed for advanced robotics applications. Featuring a programmable 360° magnetic encoder, it delivers superior accuracy, smooth motion, and extended lifetime compared to traditional potentiometer servos. Its two-way real-time feedback, adjustable acceleration, and servo/motor switchable mode enable precise closed-loop control. With torque options of 30kg.cm at 12V and 19.5kg.cm at 7.4V, it is ideal for quadruped robots, hexapods, and robotic arms. The compact dual-shaft design, open-source support, and one-button calibration make integration fast and reliable. Features: High torque options: 30kg.cm (12V) / 19.5kg.cm (7.4V) Programmable 360° magnetic encoder with 12-bit precision Two-way real-time feedback for speed, load, voltage & position Servo / motor operation mode switchable Acceleration start-stop for smooth motion control One-button center position calibration Compact dual-shaft structural design for easy mounting Open-source control program & 3D model support Applications: Quadruped and hexapod robots Robotic arms and manipulators Closed-loop motion control systems Bionic and educational robotics Automation prototypes and research projects Package Includes: 1 x Waveshare ST3215 Serial Bus Servo, 360° Encoder, 19.5kg.cm @ 7.4V1 x Servo connection cable (3-wire)2 x Aluminum servo horns / mounting plates1 x Set of mounting screws (assorted sizes)

Specifications

Torque	19.5kg.cm@7.4V
Rotational angle	360° (0~4095)
Operating Voltage	4V ~ 7.4V
N0-Load Speed	0.192sec / 60°(52RPM)@7.4V
Item Type:	Serial Bus Servo
Model No. / Name:	ST3215
Encoder Type	360° 12-bit magnetic
Rotation angle	360° (0~4095)
Gear Type	high precision metal gear
Speed	0.192sec / 60°(52RPM)@7.4V
ID range	0 ~ 253
Baud Rate (bps)	38400bps ~ 1Mbps (1Mbps by default)
No-Load Current (mA)	150
Length (mm):	45.22
Width (mm):	37.25
Shipping Weight	0.069 kg
Shipping Dimensions	7 × 6 × 4 cm