Skip to content

Datasheets and Specifications

Reference links for every electrical component. PDF links where available, Amazon listings for Chinese components without formal datasheets.

GEO-DUDe (12V System)

Servos

Component Datasheet Voltage Stall Current Notes
HOOYIJ RDS51150 (150kg base) Amazon.ca, Specs page 9-12.6V 8.0A @ 12V DSServo RDS51150SG rebrand, IP66, 270 deg, 18T spline
ANNIMOS 150kg (shoulder) Spec sheet PDF, Amazon.ca 9-12.6V 8.0A @ 12V Same DSServo RDS51150SG internals as HOOYIJ, IP67
ANNIMOS DS5180 (80kg elbow) Spec sheet PDF, Amazon.ca 6-8.4V 5.4A @ 7.4V Copper/aluminum gear, IP67. Max 8.4V, needs buck to 7.4V
Wishiot RDS3218 (20kg wrist) DSServo downloads, Amazon.ca 4.8-6.8V ~2.5A stall 270 deg, 25T spline, IP66. Needs 5V buck
~~Miuzei MG90S (2kg end-effector)~~ ~~Tower Pro datasheet PDF~~ ~~4.8-6.0V~~ ~~\~650mA stall~~ ~~Dropped (end-effector deferred)~~

Controllers and ICs

Component Datasheet Notes
PCA9685 16-ch PWM driver NXP official PDF I2C, 12-bit resolution, 24-1526 Hz, up to 62 devices per bus
Raspberry Pi 4 Model B RPi datasheet PDF, Product brief BCM2711, 2.4/5 GHz WiFi, 40-pin GPIO

Power

Component Datasheet Specs
VAYALT 12V 600W PSU Amazon.ca AC 85-265V in, 12V 50A out, OCP/OVP/OTP/SCP. No formal datasheet (generic Chinese SMPS)
XLX 20A 300W buck converter Module datasheet PDF, Amazon.ca 6-40V in, 1.2-36V adj out, 20A max/15A cont, CV/CC modes
3-wire 15A slip ring Amazon.ca 3 circuits, 15A/circuit, 0-600V, 250 RPM max, IP51. No formal datasheet

Gimbal (24V System)

Stepper Drivers

Component Datasheet Notes
TMC2209 IC (Trinamic) Analog Devices datasheet PDF, Product page VM 4.75-29V, 2A RMS/2.8A peak, StealthChop2, StallGuard4, UART
BIGTREETECH TMC2209 V1.3 module BTT user manual PDF, V1.2 GitHub repo 12-28V, 110 mOhm sense resistors (1.77A effective RMS max), heatsink included

Controllers

Component Datasheet Notes
ESP32-WROOM-32 module Espressif WROOM-32 PDF Dual-core 240 MHz, WiFi+BT, 4MB flash
ESP32 SoC Espressif ESP32 PDF Full chip reference
DOIT ESP32 DevKit V1 (board) Pinout reference CP2102 USB bridge, 30 GPIO exposed

Power

Component Datasheet Specs
BOSYTRO 24V 480W PSU Amazon.ca AC 85-265V in, 24V 20A out, OCP/OVP/OTP/SCP. No formal datasheet (generic Chinese SMPS)

Servo Specifications (Quick Reference)

All servos are dumb PWM. Control signal: 500-2500 us pulse width, 50-330 Hz.

Servo Model Voltage Torque Stall I Speed (no-load) Rotation Gear IP Weight
Base 150kg RDS51150SG 9-12.6V 165 kg-cm @12V 8.0A 0.21s/60 @12V 270 Steel, 18T, 357:1 IP66 163g
Shoulder 150kg RDS51150SG 9-12.6V 165 kg-cm @12V 8.0A 0.21s/60 @12V 270 Steel, 18T, 357:1 IP67 175g
Elbow 80kg DS5180 6-8.4V 78 kg-cm @7.4V 5.4A 0.21s/60 @7.4V 270 Cu/Al, 18T IP67 165g
Wrist 20kg RDS3218 4.8-6.8V 19 kg-cm @5V ~2.5A 0.16s/60 @5V 270 Cu/Al, 25T IP66 60g
~~End-effector 2kg~~ ~~MG90S~~ ~~4.8-6.0V~~ ~~1.8 kg-cm @4.8V~~ ~~\~650mA~~ ~~0.10s/60 @4.8V~~ ~~180~~ ~~Metal~~ ~~-~~ ~~13.4g~~

Notes

  • Chinese servo datasheets: HOOYIJ, ANNIMOS, and Wishiot are all DSServo Technology Co. (Dongguan) products sold under different brand names. The Amazon-hosted PDFs linked above are image scans of manufacturer spec cards, which are the best publicly available documentation.
  • PSU datasheets: Both the VAYALT and BOSYTRO PSUs are generic Chinese switching power supplies without formal published datasheets. For safety-critical upgrades, consider Mean Well equivalents (LRS-600-12 for 12V, LRS-480-24 for 24V) which have UL/TUV certified datasheets.
  • DSServo download page: dsservo.com/en/download.asp has PDFs for the RDS3218/DS3218 but not the RDS51150.