| 130KG·CM STALL | 0.120S/60° NO-LOAD | 16.8V RATED |
| 190G WEIGHT | SteelGEARTRAIN | 360°TRAVELCustomizable |
Overview
The 9100 is a 130 kg·cm brushless servo at 16.8 V in a 61 × 30 × 61.4 mm case that weighs 190 g. Ten ball bearings carry the output shaft, which is why a case this small can hold this much torque: the load is spread through the gear stack instead of hanging on two end bearings.
The geartrain is steel, the output is a 25T-φ9.95 mm spline with a metal horn, and the case is CNC aluminium with machined fins. The electrical interface is a J30J-9TJL connector on a short pigtail rather than a flying lead, so the harness belongs to your machine and can be replaced without touching the servo.
This page covers the CAN build: the same mechanics on a CAN bus, with arbitration and error checking handled in hardware. The version to pick when the machine already speaks CAN and a dropped frame must not become a wrong angle.
Performance at each supply voltage
| Supply | No-load speed | Peak stall torque | Idle current | Stall current |
|---|---|---|---|---|
| 8.4 V | 0.250 s/60° (240 °/s) | 115 kg·cm (11.28 N·m / 1597 oz·in) | 200 mA | 6.5 A |
| 12 V | 0.150 s/60° (400 °/s) | 110 kg·cm (10.79 N·m / 1528 oz·in) | 300 mA | 8 A |
| 16.8 V | 0.120 s/60° (500 °/s) | 130 kg·cm (12.75 N·m / 1805 oz·in) | 400 mA | 10 A |
Control specification
| Item | Specification |
|---|---|
| Command signal | CAN bus |
| Amplifier | Digital controller |
| Dead band | 3 µs |
| Rotating direction | CCW (1000–2000 µs), customizable |
| Travel | 360°, customizable |
Mechanical specification
| Item | Specification | Item | Specification |
|---|---|---|---|
| Dimensions | 61 × 30 × 61.4 mm | Case material | Aluminium, CNC |
| Weight | 190 g | Geartrain | Steel |
| Bearings | 10 × ball bearing | Motor | Brushless |
| Output spline | 25T-φ9.95 mm | Horn | Metal |
| Lead / connector | J30J-9TJL connector, sold separately | Mechanical limit | No limit |
| Operating temperature | −20 °C to 60 °C | Storage temperature | −30 °C to 70 °C |
| Ingress protection | Splash resistant (customizable) | Travel | 360°, customizable |
What’s in the box
- 1 × XQ-S9100DC servo
- 1 × 7075 aluminium horn
- 1 × mounting screw pack
The J30J-9TJL mating cable is not included; it is ordered separately to suit your harness.
How to size it
The inspection sheet gives 115 kg·cm at 8.4 V, 110 kg·cm at 12 V and 130 kg·cm at 16.8 V. The 12 V figure is the conservative one — plan a 3S build around 110 kg·cm and a 4S build around 130, and size the linkage at the lowest rail the pack will see under load.
Stall current is 10 A at 16.8 V against 400 mA no-load, so this is not a BEC servo. Feed it from a dedicated pack or a supply rated for the full stall current of every servo on the rail.
FAQ
What supply voltage does it need?
8.4 to 16.8 V DC. The headline 130 kg·cm is the 16.8 V figure; at 8.4 V the same servo delivers 115 kg·cm at 0.25 s/60°.
Is the cable included?
No. The servo ends in a J30J-9TJL connector and the mating cable is a separate item, because most installations build the harness into the machine.
What bitrate and message set does it use?
Not printed on the inspection sheet. Ask for the CAN message set, bitrate options and node ID range before integration; they are supplied on request.
Why CAN instead of RS-485?
Arbitration and error detection are in hardware, so a corrupted frame is discarded rather than acted on, and several nodes can share the bus without a master polling loop.
Other interfaces
Downloads
- XQ-S9100DC inspection specification (PDF, 798 KB)
Torque, speed and current at each supply voltage, mechanical data, control specification, mounting dimensions. - 2D dimension drawing (image)
Mounting hole positions, case depth and overall height; the same drawing is inside the datasheet.
