DRS - 0201 HerkuleX Smart Servo

The HerkuleX DRS-0201 is a modular smart actuator that integrates a coreless DC motor, heavy-duty metal gear reduction, control electronics, and serial networking into a single compact housing. Delivering up to 24 kg.cm of stall torque at 7.4V with comprehensive real-time telemetry, it is suited to robotics students, makers, and educators developing robotic arms and multi-joint platforms.

Coreless motor with metal geartrain

A metal-brush coreless DC motor paired with a 1:266 heavy-duty metal gearbox delivers up to 24 kg.cm stall torque and a top speed of 0.147 s/60° at 7.4V. The unit supports both 320° angular movement with 0.325° resolution and continuous rotation mode.

Advanced motion control and telemetry

Built-in motion algorithms such as PID, feedforward, and trapezoidal velocity profiling ensure smooth, precise articulation. The servo reports live telemetry back to the controller, including angular position, velocity, internal temperature, supply voltage, and load.

Multi-drop serial networking

Dual onboard connectors allow servos to be daisy-chained over full-duplex asynchronous TTL serial at baud rates up to 0.67 Mbps. Using individual IDs from 0 to 253 alongside a broadcast address (254), up to 254 servos can be commanded simultaneously.

Onboard diagnostics and RGB lighting

The servo identifies and signals seven distinct error conditions via an integrated multi-colour LED to aid troubleshooting. The RGB LED can also be commanded directly over serial for custom user indicators and robot aesthetics.

Standardised four-wire pinout

The supplied 200 mm wire harness uses a dedicated four-wire layout consisting of Black (GND), Red (VDD 7.4V nominal, 7–12V range), Blue (TXD), and Yellow (RXD).

Complete modular mounting hardware

Each unit is supplied with I-type and L-type mounting joints, a horn, wheel horn bushing and washer, cable guard, and a full assortment of joint and bracket bolts for straightforward mechanical assembly.

Downloads & documentation

• Product wiki (DFRobot)
• Arduino library