ESP32 MG996R Servo

The MG996R is a high-torque servo motor ideal for robotics and demanding DIY projects. Operating on 4.8V to 7.2V, it delivers up to 11 kg·cm torque at 6V, with a ~120° rotation range controlled via PWM signals. Weighing 55g, its durable metal gears and dimensions (40.7mm x 19.7mm x 42.9mm) make it suitable for heavy-duty applications requiring strength and reliability.

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mg996r Price

Normally, the MG996R Servo costs around 4$ per Psc.

The prices are subject to change. Check current price:

About MG996R Servo

The MG996R is a high-torque servo motor commonly used in robotics, RC models, and heavy-duty DIY electronics projects. It operates on an input voltage range of 4.8V to 7.2V and provides a torque of up to 11 kg·cm at 6V. The servo supports an angular range of approximately 120° (60° in each direction) and is controlled via PWM signals, where a pulse width of 1ms corresponds to 0°, 1.5ms to the midpoint, and 2ms to the maximum position. Weighing around 55 grams, the MG996R features robust metal gears and has dimensions of 40.7mm x 19.7mm x 42.9mm. Its high torque and durability make it ideal for demanding applications requiring strength and reliability, such as robotic arms, steering systems, and other heavy-duty mechanisms.

mg996r Sensor Technical Specifications

Below you can see the MG996R Servo Technical Specifications. The sensor is compatible with the ESP32, operating within a voltage range suitable for microcontrollers. For precise details about its features, specifications, and usage, refer to the sensor’s datasheet.

Protocol: PWM

Interface: PWM

Stall Torque: 9.4 kg·cm (4.8V), 11 kg·cm (6V)

Operating Speed: 0.17 s/60° (4.8V), 0.14 s/60° (6V)

Operating Voltage: 4.8V to 7.2V

Running Current: 500 mA (4.8V), 900 mA (6V)

Stall Current: 2.5 A (6V)

Dead Band Width: 5 µs

Temperature Range: 0°C to 55°C

Weight: 55 grams

Dimensions: 40.7mm x 19.7mm x 42.9mm

Gear Type: Metal

Rotation Range: Approximately 120° (60° in each direction)

mg996r Sensor Pinout

Below you can see the pinout for the MG996R Servo. The VCC pin is used to supply power to the sensor, and it typically requires 3.3V or 5V (refer to the datasheet for specific voltage requirements). The GND pin is the ground connection and must be connected to the ground of your ESP32!

The servo's GND wire (brown) is used to complete the electrical circuit and must be connected to the ground of the ESP32 and/or the external power source.
The servo's +5V wire (red) supplies power to the servo motor and must receive 5 to 7.2 volts from an external power source capable of providing sufficient current (up to 2.5A during stall conditions).
The servo's DATA wire (orange) carries the PWM signal to control the servo's position and should be connected to a PWM-capable GPIO pin on the ESP32.

mg996r Wiring with ESP32

Below you can see the wiring for the MG996R Servo with the ESP32. Connect the VCC pin of the sensor to the 3.3V pin on the ESP32 or external power supply for power and the GND pin of the sensor to the GND pin of the ESP32. Depending on the communication protocol of the sensor (e.g., I2C, SPI, UART, or analog), connect the appropriate data and clock or signal pins to compatible GPIO pins on the ESP32, as shown below in the wiring diagram.

Connect the MG996R servo's signal wire (orange) to a PWM-capable GPIO pin on the ESP32 (e.g., GPIO 13).
Connect the power wire (red) to the 5V pin on the ESP32 or an external power source capable of supplying sufficient current (up to 2.5A during stall conditions).
Connect the ground wire (brown) to the ESP32's GND pin and ensure it is shared with the external power source if used.

Code Examples

Below you can find code examples of MG996R Servo with ESP32 in several frameworks:

Arduino IDE

ESP-IDF

ESPHome

PlatformIO

MicroPython

ESP32 mg996r Arduino IDE Code Example

Example in Arduino IDE

You can find the ESP32 MG996R Arduino IDE code in General Servo sensor page.

ESP32 mg996r ESP-IDF Code Example
Example in Espressif IoT Framework (ESP-IDF)

You can find the ESP32 MG996R ESP-IDF code in General Servo sensor page.

ESP32 mg996r ESPHome Code Example

Example in ESPHome (Home Assistant)

You can find the ESP32 MG996R ESPHome code in General Servo sensor page.

ESP32 mg996r PlatformIO Code Example

Example in PlatformIO Framework

You can find the ESP32 MG996R PlatformIO code in General Servo sensor page.

ESP32 mg996r MicroPython Code Example

Example in Micro Python Framework

You can find the ESP32 MG996R MicroPython code in General Servo sensor page.

Conclusion

We went through technical specifications of MG996R Servo, its pinout, connection with ESP32 and MG996R Servo code examples with Arduino IDE, ESP-IDF, ESPHome and PlatformIO.