210rpm AGV UART direct drive servo motor wheel

This DFRobot direct-drive servo motor is a hub motor: outer rotor, encoder and driver sit in one housing, and there is no gearbox. It is controlled via UART, regulates speed or position and reports position, speed, current and fault codes. The driver uses FOC control and protects against overcurrent, overtemperature and stalling. The no-load speed is 210 rpm and the rated torque 0.25 Nm.

Since 2025 DFRobot supplies version V2.0 with 11 to 28 V, stall current at most 3 A, IPX4 protection and 260 g. Version V1.0 had 11 to 22 V, stall current at most 4.5 A and 216 g; the wiki still lists these values.

Recommended Accessories:

• FT232 USB to TTL Module

Features:

• Motor, encoder and driver in one housing, direct drive without gearbox
• Brushless outer rotor with FOC control, quiet operation
• Speed control up to ±210 rpm and position control via UART
• Feedback of position, speed, current and fault codes
• Hall position detection and electric brake
• Protection against overcurrent, overtemperature and stalling
• 12-bit encoder

Application Examples:

• Drive wheels for small AGVs and robot vehicles
• Balancing vehicles
• Robot joints
• Educational and toy vehicles

Documentation:

• DFRobot Wiki FIT1001
• Getting started with UART commands (DFRobot Wiki)
• Protocol and protection functions (DFRobot Wiki)
• Dimension drawing V2.0 (PDF)

Technical Data:

• Manufacturer: DFRobot
• Manufacturer SKU: FIT1001
• Operating voltage: 11 to 28 V DC (V2.0), 11 to 22 V DC (V1.0)
• Rated voltage: 14.4 V DC
• Interface: UART, connections VCC, GND, RX, TX
• No-load speed: 210 ± 15 rpm
• No-load current: 0.15 A
• Rated speed: 98 rpm
• Rated torque: 0.25 Nm
• Rated current: 0.5 A
• Stall torque: 0.85 Nm
• Stall current: at most 3 A (V2.0), at most 4.5 A (V1.0)
• Torque constant: 0.28 Nm/A (at 98 rpm)
• Speed constant: 14 rpm/V
• Efficiency: at least 50 %
• Encoder: 12 bit
• Noise: at most 48 dB (V2.0), at most 45 dB (V1.0)
• Protection: IPX4 (V2.0)
• Operating temperature: -5 to 40 °C
• Weight: 260 g (V2.0), 216 g (V1.0)
• Dimensions: 73 × 73 × 25 mm

Scope of Delivery:

• 1× direct-drive servo motor UART 210 rpm