| 3KG·CM STALL | 0.07S/60° NO-LOAD | 7.4V RATED |
| 7.7G WEIGHT | AluminiumGEARTRAIN | 360°TRAVELCustomizable |
Overview
The XQ-S1009D is the smallest servo in XQ-POWER’s coreless range: 7.7 g on the scale, a 23.5 × 9 × 19.5 mm case, and 3 kg·cm at 7.4 V. The geartrain is aluminium rather than stainless — that is the deliberate trade at this size, where a stainless train would cost more weight than the extra life is worth on a linkage this light.
The coreless motor is what keeps it quick at low voltage. With no iron core to spin up, it reaches 0.07 s/60° on a 2S rail; a cored motor of the same mass would be measurably slower and would sag further under load.
Performance at each supply voltage
| Supply | No-load speed | Peak stall torque | Idle current | Stall current |
|---|---|---|---|---|
| 6.0 V | 0.09 s/60° (667 °/s) | 2.5 kg·cm (0.25 N·m / 35 oz·in) | 150 mA | 0.8 A |
| 7.4 V | 0.07 s/60° (857 °/s) | 3 kg·cm (0.29 N·m / 42 oz·in) | 200 mA | 1.2 A |
Control specification
| Item | Specification |
|---|---|
| Command signal | PWM |
| Amplifier | Digital controller |
| Pulse width range | 500–2500 µs |
| Neutral position | 1500 µs |
| Dead band | 2 µs |
| Rotating direction | CCW (1000–2000 µs) |
| Travel | 360°, customizable |
Mechanical specification
| Item | Specification | Item | Specification |
|---|---|---|---|
| Dimensions | 23.5 × 9 × 19.5 mm | Case material | CNC aluminium |
| Weight | 7.7 g | Geartrain | Aluminium |
| Bearings | 2 × ball bearing | Motor | Coreless |
| Output spline | 15T / 3.85 mm | Horn in box | POM plastic |
| Lead | 145 mm ± 5 | Travel limit | 360°, customizable |
| Operating temperature | −15 °C to 65 °C | Storage temperature | −20 °C to 70 °C |
| Ingress protection | Splash resistant (customizable) |
What’s in the box
- 1 × XQ-S1009D servo
- 1 × POM horn set
- 1 × mounting screw pack
Optional: metal horn, sold separately.
How to size it
Torque budget = load at the horn × horn length from spline centre × 1.5 safety factor.
Worked example: a 0.6 kg surface whose centre of pressure sits 20 mm from the spline centre needs 0.6 × 9.81 × 0.020 × 1.5 ≈ 0.18 N·m. The S1009D delivers 0.29 N·m at 7.4 V, so it closes with about 1.6× headroom. At this scale the horn length dominates the calculation — shortening the horn from 20 mm to 15 mm drops the requirement to 0.13 N·m, which is usually cheaper than moving up a servo size.
FAQ
Can I run it at a full 2S charge?
The inspection sheet publishes 6.0 V and 7.4 V only — there is no 8.4 V row, unlike the high-voltage models in this range. Treat 7.4 V as the ceiling; a fully charged 2S pack sits at 8.4 V, above the published range.
Why are there only two torque figures?
Because the sheet was measured on 6.0 V and 7.4 V, not three rails. Both are listed rather than only the better one: 2.5 kg·cm at 6.0 V and 3 kg·cm at 7.4 V.
Does it rotate continuously?
Travel is 360° when commanded over 1000–2000 µs, as a factory customization. Standard units work across the 500–2500 µs window. Continuous rotation is set at build time — state it on the order.
Is it waterproof?
The sheet specifies splash water resistance, customizable, and publishes no IP rating. Do not treat it as submersible.
How much is 3 kg·cm in oz·in?
About 42 oz·in, or 0.29 N·m. Same torque, three units — US hobby buyers quote oz·in, robotics buyers quote N·m.
Downloads
- XQ-S1009D inspection specification (PDF, 494 KB)
Full datasheet: torque, speed and current at every supply rail, mechanical data, control specification and mounting dimensions. - 2D dimension drawing (image)
Quick view of mounting hole positions and case depth; the same drawing is inside the datasheet at higher resolution.
