FEETECH FT90R Digital Micro Continuous Rotation Servo

The FT90R is a digital micro servo that has been built by FEETECH specifically for continuous rotation, offering an inexpensive and easy way to get your small turret spinning or miniature robot moving, especially when paired with our 60×8mm wheels designed specifically for this servo. This servo can work with both 5 V and 3.3 V servo signals.

Key specs at 6 V: 135 RPM (no-load), 21 oz-in (1.5 kg-cm), 9 g, CCW rotation for pulse widths above the rest point.

Overview

The FT90R is a micro-sized digital servo that has been built by FEETECH (formerly known as Fitec) specifically for continuous rotation. At 6 V, it has a maximum rotation speed of around 135 RPM (no-load) and can produce up to 21 oz-in (1.5 kg-cm) of torque. The servo can be controlled using a direct connection to a single microcontroller I/O line without any additional electronics, which makes it a great miniature actuator for beginner robotics projects; just throw on a pair of wheels and your robot is ready to roll!

The FT90R continuous rotation servo converts standard RC servo position pulses into continuous rotation speed. The rest point (sometimes called neutral position) is set to 1.5 ms. Pulse widths above the rest point result in counterclockwise rotation, with speed increasing as the pulse width increases; pulse widths below the rest point result in clockwise rotation, with speed increasing as the pulse width decreases.

The servo has a 10″ (250 mm) lead that is terminated with a JR-style connector and includes additional servo horns and mounting hardware. The following picture shows an example of the hardware that might be included (actual hardware could vary):

This robotics servo, which is a digital version of the FEETECH FS90 continuous rotation servo , is compatible with our servo controllers . If you are looking for a similar servo that is capable of limited-range position control as opposed to continuous rotation speed control, consider the FS90 , which has identical dimensions, or the Power HD micro servo HD-1900A , which has almost the same weight , speed, and torque as the FS90.

You can find more information about this servo in its datasheet (110k pdf).

Note that, as with most hobby servos, stalling or back-driving this servo can damage it.

Wheels

If you want to use this servo as an actuator for your miniature robot, you will need a wheel to go with it. Fortunately, we carry compatible servo wheels for micro servos (21T, 4.8 mm spline):

60 mm and 40 mm Pololu Wheels for Micro Servo Splines on FEETECH's FT90R and FS90R micro continuous rotation servos.

The 60×8mm wheel allows for a top speed of around 42 cm/s (1.3 ft/s) at 6 V.

Continuous rotation servo comparison

Continuous rotation servo size comparison. From left to right: SpringRC SM-S4303R, Power HD AR-3606HB, FEETECH FS5106R, Parallax Feedback 360°, Parallax (Futaba S148), and FEETECH FS90R.

	6V		4.8V		Weight (g)	Size (mm)	Direction vs pulse (1ms → 2ms)	Digital?	Feedback?	Price
	Max speed (RPM)	Stall torque (oz in)	Max speed (RPM)	Stall torque (oz in)
SpringRC SM-S4303R	54	71	43	46	41	41.3 × 20.7 × 40.2	CW→CCW			$15.95
SURPLUS SpringRC SM-S4303R 2-Pack	54	71	43	46	41	41.3 × 20.7 × 40.2	CCW→CW			$19.95 for a pair of servos
FEETECH FS5106R	95	83	78	70	39	40.8 × 20.1 × 38.0	CW→CCW			$15.95
Parallax Feedback 360°	140	35	–	–	41	40.0 × 20.0 × 37.2	CW→CCW			$27.99
FEETECH FT90R	135	21	108	18	9	22.9 × 12.1 × 26.5	CW→CCW			$8.95
FEETECH FS90R	130	21	100	18	9	22.5 × 12.1 × 23.4	CW→CCW			$5.95