| 180KG·CM STALL | 0.140S/60° NO-LOAD | 16.8V RATED |
| 452G WEIGHT | SteelGEARTRAIN | 360°TRAVELCustomizable |
Overview
The 9150 is the 180 kg·cm member of the family: 64 × 32.8 × 76.5 mm, 452 g, black anodised CNC aluminium case with a fin stack and a 180° mechanical limit. It is the servo to reach for when 130 kg·cm is not enough margin.
Torque is 115 kg·cm at 8.4 V, 160 at 12.6 V and 180 at 16.8 V, with 0.14 s/60° no-load speed and 10 A stall current at the top rail. Steel geartrain, two ball bearings, 25T-φ9.95 mm spline with a metal horn, 500 mm lead.
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 | 0.290 s/60° (207 °/s) | 115 kg·cm (11.28 N·m / 1597 oz·in) | 150 mA | 6.5 A |
| 12.6 V | 0.180 s/60° (333 °/s) | 160 kg·cm (15.70 N·m / 2222 oz·in) | 270 mA | 8 A |
| 16.8 V | 0.140 s/60° (429 °/s) | 180 kg·cm (17.66 N·m / 2500 oz·in) | 400 mA | 10 A |
Control specification
| Item | Specification |
|---|---|
| Command signal | CAN bus |
| Amplifier | Digital controller |
| Dead band | 4 µs |
| Rotating direction | CCW (1000–2000 µs) |
| Travel | 360°, customizable |
Mechanical specification
| Item | Specification | Item | Specification |
|---|---|---|---|
| Dimensions | 64 × 32.8 × 76.5 mm | Case material | Aluminium, CNC |
| Weight | 452 g | Geartrain | Steel |
| Bearings | 2 × ball bearing | Motor | Brushless |
| Output spline | 25T-φ9.95 mm | Horn | Metal |
| Lead / connector | 500 mm | Mechanical limit | 180° |
| 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-S9150DC servo
- 1 × 7075 aluminium horn
- 1 × mounting screw pack
How to size it
The 180 kg·cm figure is a 16.8 V number. At 12.6 V the same servo is 160 kg·cm and at 8.4 V it is 115 kg·cm, so the linkage should be sized at the rail you will run, with margin for pack sag under load.
Stall current hits 10 A at 16.8 V and no-load current is 400 mA. Holding a heavy load statically draws current continuously — check the supply and the wiring for the holding case, not just for the peak.
FAQ
What is the difference between the 9150 and the 9130?
The 9150 is the 180 kg·cm unit (64 × 32.8 × 76.5 mm, 452 g, 180° limit); the 9130 is 130 kg·cm (64 × 33 × 76 mm, 411 g, 220° limit). Same family, different gear ratio and case finish.
Can it hold 180 kg·cm continuously?
It can hold it statically, but check the duty cycle: a static hold draws current and the case fins are the only heat path. For continuous holding, derate or add airflow.
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-S9150DC inspection specification (PDF, 477 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.
