Servo Motor Mg996R Arduino | Arduino Servo Motor Control

Động cơ Servo MG996R

• Động cơ Servo MG996R có thể xoay được một góc bất kỳ từ 0 – 180 độ hoặc 0 – 360 độ/. Sản phẩm có kích thước nhỏ gọn và có độ bền, lực kéo khỏe hơn rất nhiều so với động cơ Servo MG90S thông thường.

• Sản phẩm phù hợp để ứng dụng vào các ứng dụng sáng tạo như làm cánh tay robot chuyển động, làm robot nhện, cơ cấu quay góc,… tùy vào sở thích của người dùng.

Arduino Code

Quick Steps

• Connect Arduino to PC via USB cable
• Open Arduino IDE, select the right board and port
• Copy the above code and open with Arduino IDE
• Click Upload button on Arduino IDE to upload code to Arduino

• See the result: Servo motor rotates slowly from 0 to 180° and then back rotates slowly from 180 back to 0°

Code Explanation

Read the line-by-line explanation in comment lines of code!

Servo Motor Control Arduino Code

Now let’s take a look at the Arduino code for controlling the servo motor. The code is very simple. We just need to define the pin to which the servo is connect, define that pin as an output, and in the loop section generate pulses with the specific duration and frequency as we explained earlier.


/* Servo Motor Control - 50Hz Pulse Train Generator by Dejan, https://howtomechatronics.com */ void setup() { pinMode(servoPin, OUTPUT); } void loop() { // A pulse each 20ms digitalWrite(servoPin, HIGH); delayMicroseconds(1450); // Duration of the pusle in microseconds digitalWrite(servoPin, LOW); delayMicroseconds(18550); // 20ms - duration of the pusle // Pulses duration: 600 - 0deg; 1450 - 90deg; 2300 - 180deg }

Code language: Arduino (arduino)

After some testing I came up with the following values for the duration of the pulses that work with my servo. Pulses with 0.6ms duration corresponded to 0 degrees position, 1.45ms to 90 degrees and 2.3ms to 180 degrees.

I connected a multimeter in series with the servo to check the current draw. The maximum current draw that I noticed was up to 0.63A at stall. Well that’s because this isn’t the original TowerPro MG996R servo, but a cheaper replica, which obviously has worse performance.

Nevertheless, let’s take a look at a more convenient way of controlling servos using Arduino. That’s using the Arduino servo library.


/* Servo Motor Control using the Arduino Servo Library by Dejan, https://howtomechatronics.com */ Servo myservo; // create servo object to control a servo void setup() { myservo.attach(9,600,2300); // (pin, min, max) } void loop() { myservo.write(0); // tell servo to go to a particular angle delay(1000); myservo.write(90); delay(500); myservo.write(135); delay(500); myservo.write(180); delay(1500); }

Code language: Arduino (arduino)

Here we just need to include the library, define the servo object, and using the attach() function define the pin to which the servo is connected as well as define the minimum and maximum values of the pulses durations. Then using the write() function we simply set the position of the servo from 0 to 180 degrees.

Mua sản phẩm

2. Thông số kỹ thuật

• Thông số kỹ thuật của động cơ Servo MG996R

  • Lực kéo ở điện áp 6V ~ 11kg

  • Có momen xoắn lớn

  • Điện áp hoạt động: 4,8 ~ 7.2V

  • Bánh răng: Kim loại

  • Trọng lượng: Khoảng 55g

• Sơ đồ dây nối:

  • Màu đỏ: Dương nguồn

  • Màu nâu: Âm nguồn

  • Màu cam: Truyền tín hiệu

About Servo Motor

The MG996R servo motor is a high-torque servo motor capable of lifting up to 15kg in weight. The motor can rotate its handle from 0° to 180°, providing precise control of angular position. For basic information about servo motors, please refer to the Arduino – Servo Motor tutorial.

Pinout

The MG996R servo motor used in this example includes three pins:

• VCC pin: (typically red) needs to be connected to VCC (4.8V – 7.2V)
• GND pin: (typically black or brown) needs to be connected to GND (0V)
• Signal pin: (typically yellow or orange) receives the PWM control signal from an Arduino’s pin.

Arduino and PCA9685 PWM/ Servo Driver

There’s also another way of controlling servos with Arduino, and that’s using the PCA9685 servo driver. This is a 16-Channel 12-bit PWM and servo driver which communicates with Arduino using the I2C bus. It has a built in clock so it can drive 16 servos free running, or independently of Arduino.

What’s even cooler we can daisy-chain up to 62 of these drivers on a single I2C bus. So theoretically we can control up to 992 servos using only the two I2C pins from the Arduino board. The 6 address select pins are used for setting different I2C addressed for each additional driver. We just need to connect the solder pads according to this table.

Here’s the circuit schematic and we can once again notice that we need a separate power supply for the servos.

You can get the components needed for this example from the links below:

• MG996R Servo Motor …………………………. Amazon / Banggood / AliExpress
• PCA9685 PWM Servo Driver ………………. Amazon / Banggood / AliExpress
• Arduino Board ……………………………………. Amazon / Banggood / AliExpress
• 5V 6A DC Power Supply …………………..….. Amazon / Banggood / AliExpress

Disclosure: These are affiliate links. As an Amazon Associate I earn from qualifying purchases.

Now let’s take a look at the Arduino code. For controlling this servo driver we will use the PCA9685 library which can be downloaded from GitHub.

Arduino and PCA9685 Code


/* Servo Motor Control using Arduino and PCA9685 Driver by Dejan, https://howtomechatronics.com Library: https://github.com/NachtRaveVL/PCA9685-Arduino */ PCA9685 driver; // PCA9685 outputs = 12-bit = 4096 steps // 2.5% of 20ms = 0.5ms ; 12.5% of 20ms = 2.5ms // 2.5% of 4096 = 102 steps; 12.5% of 4096 = 512 steps PCA9685_ServoEvaluator pwmServo(102, 470); // (-90deg, +90deg) // Second Servo // PCA9685_ServoEvaluator pwmServo2(102, 310, 505); // (0deg, 90deg, 180deg) void setup() { Wire.begin(); // Wire must be started first Wire.setClock(400000); // Supported baud rates are 100kHz, 400kHz, and 1000kHz driver.resetDevices(); // Software resets all PCA9685 devices on Wire line driver.init(B000000); // Address pins A5-A0 set to B000000 driver.setPWMFrequency(50); // Set frequency to 50Hz } void loop() { driver.setChannelPWM(0, pwmServo.pwmForAngle(-90)); delay(1000); driver.setChannelPWM(0, pwmServo.pwmForAngle(0)); delay(1000); driver.setChannelPWM(0, pwmServo.pwmForAngle(90)); delay(1000); }

Code language: Arduino (arduino)

So first we need to include the libraries and define the PCA9685 object. Then using the Servo_Evaluator instance define the pulses duration or the PWM output of the driver. Note that the outputs are 12-bit, or that’s a resolution of 4096 steps. So the minimum pulse duration of 0.5ms or 0 degrees position would correspond to 102 steps, and the maximum pulse duration of 2.5ms or 180 degrees position to 512 steps. But as explained earlier these values should be adjusted according your servo motor. I had value from 102 to 470 which corresponded to 0 to 180 degrees position.

In the setup section we need to define the I2C clock rate, set the driver address and set the frequency to 50Hz.

In the loop section, using the setChannelPWM() and pwmForAngle() functions we simply set the servo to the desired angle.

I connected a second servo to the driver, and as I expected, it wasn’t positioning the same as the first one, and that’s because the servos that I’m using are cheap copies and they are not so reliable. However, this isn’t a big problem because using the Servo_Evaluator instance we can set different output settings for each servo. We can also adjust the 90 degrees position in case it’s not precisely in the middle. In that way all servos will work the same and position at the exact angle.

Controlling a lot of servos with Arduino and the PCA9685 drivers

We will take a look at one more example and that’s controlling a lot of servos with multiple chained PCA9685 drivers.

For that purpose we need to connect the drivers to each other and connect the appropriate address select solder pads. Here’s the circuit schematic:

Let’s take a look at the Arduino code now.


/* Servo Motor Control using Arduino and PCA9685 Driver by Dejan, https://howtomechatronics.com Library: https://github.com/NachtRaveVL/PCA9685-Arduino */ PCA9685 driver; // PCA9685 outputs = 12-bit = 4096 steps // 2.5% of 20ms = 0.5ms ; 12.5% of 20ms = 2.5ms // 2.5% of 4096 = 102 steps; 12.5% of 4096 = 512 steps PCA9685_ServoEvaluator pwmServo(102, 470); // (-90deg, +90deg) // Second Servo PCA9685_ServoEvaluator pwmServo2(102, 310, 505); // (0deg, 90deg, 180deg) void setup() { Wire.begin(); // Wire must be started first Wire.setClock(400000); // Supported baud rates are 100kHz, 400kHz, and 1000kHz driver.resetDevices(); // Software resets all PCA9685 devices on Wire line driver.init(B000000); // Address pins A5-A0 set to B000000 driver.setPWMFrequency(50); // Set frequency to 50Hz } void loop() { driver.setChannelPWM(0, pwmServo.pwmForAngle(-90)); delay(1000); driver.setChannelPWM(0, pwmServo.pwmForAngle(0)); delay(1000); driver.setChannelPWM(0, pwmServo.pwmForAngle(90)); delay(1000); }

Code language: Arduino (arduino)

So we should create separate PCA9685 object for each driver, define the addresses for each driver as well as set the frequency to 50Hz. Now simply using the setChannelPWM() and pwmForAngle() functions we can set any servo at any driver to position any angle we want.

Popular RC / Hobby Servos for Arduino Projects

There are many different models and manufacturers of RC or hobby. The main consideration when choosing a servo motor is its torque, operating voltage, current draw and size.

Here are the two most popular servo models among makers, the SG90 Micro Servo and the MG996R.

SG90 Micro Servo technical specifications:

MG996R Servo technical specifications:

Example application

The example application is kept very simple. The motor rotates to four different positions with a delay of one second in between. If the motor has completed the last position, the sequence starts again.

Wiring

The motor has three wires: Brown (GND), Red (+5V) and Orange (PWM signal). Unfortunately, the motor can’t be directly powered from the Arduino. The motor will likely draw to much current from the Arduino. As a consequence, the Arduino might get damaged. In order to overcome this problem, I wired the motor to an external power supply.

In particular, I took a 5V USB power supply (power bank) to power the motor. For the wiring, I made use of a USB terminal adapter. The “-” signal from the USB terminal adapter is wired to the brown input of the servo motor. Accordingly, the “+” signal is wired to the servo’s red input. In order to guarantee the same signal level, the terminal adapter’s “-” signal is wired to one of the Arduino’s GND pins. Luckily, it is easily possible to connect two male jumper wires to a single terminal block of the adapter.

Next, Arduino’s pin #3 is wired to the orange input of the servo motor.

Example source code

I made use of the servo library to control the MG 996R motor. In the setup function, pin number 3 is made known to the servo object.

In the loop function, the motor is rotated to four different positions by the write method.

/* MIT License Copyright 2021 Michael Schoeffler (https://www.mschoeffler.com) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /* * Example source code of an Arduino tutorial on how to control an MG 996R servo motor. */ #include

Servo servo; // servo object representing the MG 996R servo void setup() { servo.attach(3); // servo is wired to Arduino on digital pin 3 } void loop() { servo.write(0); // move MG996R’s shaft to angle 0° delay(1000); // wait for one second servo.write(45); // move MG996R’s shaft to angle 45° delay(1000); // wait for one second servo.write(90); // move MG996R’s shaft to angle 90° delay(1000); // wait for one second servo.write(135); // move MG996R’s shaft to angle 135° delay(1000); // wait for one second servo.write(180); // move MG996R’s shaft to angle 180° delay(1000); // wait for one second }

If everything has been correctly executed, the motor should start moving.

Arduino – MG996R

In this tutorial, we are going to learn how to use the MG996R high-torque servo motor with Arduino.

How Servo Motors Work?

There are four main components inside of a hobby servo, a DC motor, a gearbox, a potentiometer and a control circuit. The DC motor is high speed and low torque but the gearbox reduces the speed to around 60 RPM and at the same time increases the torque.

The potentiometer is attached on the final gear or the output shaft, so as the motor rotates the potentiometer rotates as well, thus producing a voltage that is related to the absolute angle of the output shaft. In the control circuit, this potentiometer voltage is compared to the voltage coming from the signal line. If needed, the controller activates an integrated H-Bridge which enables the motor to rotate in either direction until the two signals reach a difference of zero.

A servo motor is controlled by sending a series of pulses through the signal line. The frequency of the control signal should be 50Hz or a pulse should occur every 20ms. The width of pulse determines angular position of the servo and these type of servos can usually rotate 180 degrees (they have a physical limits of travel).

Generally pulses with 1ms duration correspond to 0 degrees position, 1.5ms duration to 90 degrees and 2ms to 180 degrees. Though the minimum and maximum duration of the pulses can sometimes vary with different brands and they can be 0.5ms for 0 degrees and 2.5ms for 180 degrees position.

Read More: Stepper Motors and Arduino – The Ultimate Guide

Conclusion

So, we have covered almost everything we need to know about using servo motors with Arduino. Of course, there are some many manufacturers and models of these type of hobby or RC servo motors, and each of them has its own unique features that might differ from what we explained above.

The possibilities for creating awesome robotics, automation and RC projects using motors are endless, however choosing the right model for your application is very important.

I hope you enjoyed this tutorial and learned something new. Feel free to ask any question in the comments section below, as well as make sure you can my Arduino Projects Collection.

Controlling Multiple Servo Motors with Arduino

The Arduino servo library supports controlling of up to 12 servos at the same time with most the Arduino boards, and 48 servos using the Arduino Mega board. On top of that, controlling multiple servo motors with Arduino is as easy as controlling just a single one.

Here’s an example code for controlling multiple servos:


/* Controlling multiple servo motors with Arduino by Dejan, https://howtomechatronics.com */ Servo servo1; Servo servo2; Servo servo3; Servo servo4; Servo servo5; void setup() { servo1.attach(8); servo2.attach(9); servo3.attach(10); servo4.attach(11); servo5.attach(12); } void loop() { // move all servos to position 0 servo1.write(0); servo2.write(0); servo3.write(0); servo4.write(0); servo5.write(0); delay(2000); // move all servos to position 90 servo1.write(90); servo2.write(90); servo3.write(90); servo4.write(90); servo5.write(90); delay(2000); // move all servos to position 180 servo1.write(180); servo2.write(180); servo3.write(180); servo4.write(180); servo5.write(180); delay(2000); }

Code language: Arduino (arduino)

So, we just have to create objects from the Servo class for each servo motor, and define to which Arduino pin is connected. Of course, we can set any servo to move to any position, at any time.

As an example you can also check my Arduino Ant Hexapod Robot project where I used an Arduino MEGA board to control 22 servo motors.

Hướng dẫn lập trình Arduino

• Mở phần mềm Arduino IDE. Xem hướng dẫn lập trình với Arduino tại đây.

• Copy đoạn code sau, click vào nút

  
Verify

  để kiểm tra lỗi chương trình. Sau khi biên dịch không báo lỗi, bạn có thể nạp đoạn code vào board.

  • Điều khiển Servo 180 độ:

#include “YoloBit.h” #include

YoloBit yolobit; // Điều khiển servo 180, quay liên tục từ góc 0 đến 180 độ và ngược lại. Servo myservo; int pos = 0; // lưu vị trí của servo void setup() { myservo.attach(P4); // kết nối servo vào chân P4 } void loop() { for (pos=0; pos<=180; pos++) { // từ 0 đến 180 độ myservo.write(pos); delay(15); } // Đảo ngược quá trình từ 180 đến 0 độ for (pos=180; pos>=0; pos–) { myservo.write(pos); delay(15); } }

• Điều khiển Servo 360 độ:

#include

#include “Yolobit.h” Servo myservo; Yolobit yolobit; int pos = 0; int Control_Pin = P4; void setup() { // Điều khiển servo qua chân P4 của Yolobit myservo.attach(Control_Pin ); // Servo ở trạng thái đứng yên, ở góc 90 độ myservo.write(90); } void loop() { // Servo quay về vị trí tối đa ở góc 180 độ trong 1 giây myservo.write(180); delay(1000); // Servo ở trạng thái đứng yên trong 1 giây myservo.write(90); delay(1000); // Servo quay về vị trí tối đa ở góc 0 độ trong 1 giây myservo.write(0); delay(1000); // Servo ở trạng thái đứng yên trong 1 giây myservo.write(90); delay(1000); }

A servo motor allows to precisely control a shaft to a specific rotary position. The MG 996R is one of the most popular servo motors within the maker community. This tutorial shows how to wire the MG 996R servo to an Arduino. Moreover, this tutorials includes a simple code example that let’s the motor rotate to various rotary positions.

Related products

What is Servo Motor?

A servo motor is a closed-loop system that uses position feedback to control its motion and final position. There are many types of servo motors and their main feature is the ability to precisely control the position of their shaft.

In industrial type servo motors the position feedback sensor is usually a high precision encoder, while in the smaller RC or hobby servos the position sensor is usually a simple potentiometer. The actual position captured by these devices is fed back to the error detector where it is compared to the target position. Then according to the error the controller corrects the actual position of the motor to match with the target position.

In this tutorial we will take a detailed look at the hobby servo motors. We will explain how these servos work and how to control them using Arduino.

Hobby servos are small in size actuators used for controlling RC toys cars, boats, airplanes etc. They are also used by engineering students for prototyping in robotics, creating robotic arms, biologically inspired robots, humanoid robots and so on.

Kết nối

• Bước 1: Chuẩn bị các thiết bị như sau, đối với động cơ MG996R cần có thêm pin 8.4V 18650.

• Bước 2: Cắm Yolo:Bit vào mạch mở rộng

• Bước 3: Kết nối pin 18650 vào mạch mở rộng

• Bước 4: Kết nối servo vào chân P4 trên mạch mở rộng

Động cơ Servo hoạt động | điều khiển Servo bằng Arduino

LỰA CHỌN ĐỘNG CƠ BƯỚC

Lựa chọn động cơ bước, động cơ servo, động cơ hybrid và một số số phụ kiện đi kèm: Driver điều khiển, phanh từ hay hộp giảm tốc cho động cơ bước ⇒ XEM CÁC LOẠI ĐỘNG CƠ

♦ Xem thêm: Kiến thức về động cơ bước và cách điều khiển

Trong hướng dẫn này, chúng ta sẽ tìm hiểu cách thức hoạt động của động cơ servo và cách điều khiển động cơ servo bằng trình điều khiển PWM Arduino và PCA9685. Bạn có thể xem video sau hoặc đọc hướng dẫn dưới đây.

Hướng dẫn lập trình với OhStem App

• Đối với động cơ servo 180 độ:

Note

Khi sau khi xác định vị trí góc của servo, bằng câu lệnh trong khối bắt đầu. Bạn hãy nhấn nút để xem sự di chuyển của cánh servo.

• Đối với động cơ servo 360 độ:

  • Sử dụng khối lệnh sau trong danh mục CHÂN CẮM, để điều khiển:

  • Động cơ servo 360, sẽ có các chế độ hoạt động như sau:

    • Tốc độ 0: Đứng yên

    • Tốc độ 100: Tối đa

    • Tốc độ -100 – 0: Động cơ quay ngược chiều kim đồng hồ

    • Tốc độ 0- 100: Động cơ quay cùng chiều kim đồng hồ

  • Gửi chương trình sau xuống Yolo:Bit, để kiểm tra hoạt động của servo:

Note

Chương trình được ứng dụng vào các dự án như sáng tạo bánh xe robot, ròng rọc của cáp treo…

Arduino Servo Motor Control

Let’s put the above said to test and make a practical example of controlling a hobby servo using Arduino. I will use the MG996R which is a high-torque servo featuring metal gearing with stall torque of 10 kg-cm. The high torque comes at a price and that’s the stall current of the servo which is 2.5A. The running current is from 500mA to 900mA and the operating voltage is from 4.8 to 7.2V.

The current ratings indicate that we cannot directly connect this servo to the Arduino, but we must use a separate power supply for it.

Circuit Diagram

Here’s the circuit diagram for this example.

We simply need to connect the control pin of the servo to any digital pin of the Arduino board, connect the Ground and the positive wires to the external 5V power supply, and also connect the Arduino ground to the servo ground.

In case we use a smaller hobby servo, the S90 Micro Servo, it’s possible to power it directly from the 5V Arduino pin.

The S90 Micro Servo has lower current consumption, around 100-200mA no-load running current, but around 500-700mA stall current. On the other hand, the Arduino 5V pin can output only around 500mA if powered via USB, or up to 1A in powered via the barrel connector.

Even though it’s possible to run these 9g servo motors directly to Arduino, for more stable work I would suggest to always use an external power supply for them.

You can get the components needed for this example from the links below:

• MG996R Servo Motor …………………………. Amazon / Banggood / AliExpress
• or S90 Micro Servo ………..…………………… Amazon / Banggood / AliExpress
• Arduino Board ……………………………………. Amazon / Banggood / AliExpress
• 5V 2A DC Power Supply …………………..….. Amazon / Banggood / AliExpress

Disclosure: These are affiliate links. As an Amazon Associate I earn from qualifying purchases.

Video Tutorial

We are considering to make the video tutorials. If you think the video tutorials are essential, please subscribe to our YouTube channel to give us motivation for making the videos.

Động Cơ RC Servo MG996R

MG996R RC servo motor

Mã sản phẩm: LS7T

Sản phẩm hiện đang còn hàng.

Xem chi nhánh còn hàng

• Đây là bản nâng cấp từ servo MG995 về tốc độ, lực kéo và độ chính xác
• Lực kéo: 9.4kg / cm (4.8V), 11kg / cm (6V)
• So với MG946R, MG996R nhanh hơn, nhưng hơi nhỏ hơn.
• Tốc độ xoay: 0.17 giây / 60 độ (4.8 v) 0.14 giây / 60 độ (6 v)

DỊCH VỤ & KHUYẾN MÃI LIÊN QUAN

• Cộng thêm 9 điểm tích lũy

• TP.HCM: Miễn phí vận chuyển đơn hàng từ 300k

  Tỉnh thành khác: Miễn phí vận chuyển đơn hàng từ 500k

  Xem thêm các khuyến mãi vận chuyển khác.

Hardware Required

Arduino UNO or Genuino UNO

USB 2.0 cable type A/B

MG996R Servo Motor

Jumper Wires

(Optional) 9V Power Adapter for Arduino

(Recommended) Screw Terminal Block Shield for Arduino Uno

(Optional) Transparent Acrylic Enclosure For Arduino Uno

Or you can buy the following sensor kit:

DIYables Sensor Kit 30 types, 69 units