| 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 RS-485 / Modbus build: the same mechanics on a differential serial bus, which is what survives long cable runs and electrically noisy cabinets. Modbus keeps it compatible with industrial PLCs and HMIs.
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 | RS-485 (Modbus) |
| 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-RS9100MB 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.
Does it speak standard Modbus?
The sheet specifies RS-485 Modbus as the command signal. Ask for the register map and the supported function codes before you write the PLC program — they are not printed on the inspection sheet.
How long can the cable be?
RS-485 is differential, so tens of metres are routine at moderate bit rates. Terminate the pair at both ends and keep the power pair separate.
Other interfaces
Downloads
- XQ-RS9100MB inspection specification (PDF, 825 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.
