Overview

The MG996R is a standard-size, high-torque RC servo motor manufactured by TowerPro. It features a complete metal gear train, dual ball bearings on the output shaft, and an upgraded internal PCB with a redesigned IC driver circuit providing greater deadband accuracy and positioning stability compared to its predecessor (the MG995).

Delivering up to 11 kg⋅cm11\text{ kg}\cdot\text{cm} of stall torque at 6.0 V, the MG996R is widely used in robotic arms, hexapod walkers, steering mechanisms for 1/10-scale RC cars, large pan-tilt camera mounts, and mechanical automation projects.

Quick reference

Operating voltage (VCC)4.8 V to 7.2 V DC (6.0 V recommended)
Stall torque9.4 kg⋅cm9.4\text{ kg}\cdot\text{cm} (at 4.8V) / 11.0 kg⋅cm11.0\text{ kg}\cdot\text{cm} (at 6.0V)
Operating speed0.17 s / 60° (at 4.8V) / 0.14 s / 60° (at 6.0V)
Rotation range~180° total mechanical travel
Control signalPWM (50 Hz / 20 ms frame period)
Pulse width range500 µs (0°) to 2400 µs (180°)
Weight55 g

Terminals & cable wiring

The MG996R uses a standard 3-pin 0.1" (2.54 mm) female JR/Futaba connector:

PinCable ColorSignalDescription
1Brown / BlackGNDGround (0 V)
2RedVCCPower supply (+4.8 V to +7.2 V DC)
3Orange / YellowPWMPosition control signal (50 Hz PWM)

Electrical & mechanical specifications

Electrical Specifications

ParameterSymbolMinTypMaxUnitConditions
Operating VoltageVCCV_{CC}4.86.07.2VDC supply
Running Current (No Load)IrunI_{run}170200250mAVCC=6.0 VV_{CC} = 6.0\text{ V}, static motion
Running Current (Loaded)IloadI_{load}500700900mAUnder mechanical load
Stall CurrentIstallI_{stall}1.21.42.5AVCC=6.0 VV_{CC} = 6.0\text{ V}, shaft locked
Dead Band Widthtdbt_{db}—58µsPosition resolution threshold

Mechanical Specifications

ParameterValueUnitNotes
Dimensions40.7 × 19.7 × 42.9mmStandard servo form factor
Weight55.0gBare motor with wire
Cable Length300mm3-wire ribbon cable
Gear TypeBrass & Aluminum Metal—Full metal gear set
BearingDual Ball Bearings—Output shaft support

Control signal timing

The MG996R uses a 50 Hz PWM control signal (20 ms period). The pulse width determines the output horn angle:

  • 500 µs (0.5 ms): Position 0∘0^\circ
  • 1500 µs (1.5 ms): Position 90∘90^\circ (Neutral Center)
  • 2400 µs (2.4 ms): Position 180∘180^\circ
text
          ┌─┐                                         ┌─┐
          │ │ (0.5ms to 2.4ms)                        │ │
          │ │                                         │ │
     ─────┘ └─────────────────────────────────────────┘ └─────
     ◄─────────────────── 20 ms (50 Hz) ─────────────►

Drive requirements & wiring

Servo Connector→External Power Supply / MCUNotes
Red (VCC)External 5 V to 6 V DC Supply (2A+ rated)Never power from MCU 5V pin
Brown (GND)Common Ground (GND)Connect power supply GND to MCU GND
Orange (PWM)Microcontroller PWM PinGPIO control pin (3.3V or 5V logic)
Warning

High current demand hazard:

  • Stall current for a single MG996R can reach 2.5 A at 6.0 V. Driving multiple MG996R servos simultaneously requires a dedicated high-current regulated power supply (e.g. 5V/6V 5A+ UBEC or switching power supply).
  • Attempting to power an MG996R directly from an Arduino 5V pin or USB port will cause immediate microcontroller resets, serial disconnects, or potential damage to onboard regulators.

Common mistakes

  • Powering from MCU 5V rail: The 1.4A+ running inrush current resets the microcontroller as soon as the motor starts moving.
  • Floating ground line: Omitting the ground connection between the external servo power supply and the microcontroller leads to erratic motor jitter.
  • Forcing mechanical stops: Driving pulse widths beyond the physical endstops (<450 μs<450\ \mu\text{s} or >2450 μs>2450\ \mu\text{s}) stalls the motor continuously, rapidly heating the internal MOSFETs and draining battery power.

Notes

  • MG995 vs MG996R: The MG996R was introduced specifically to fix the wide deadband, slow response, and positioning overshoot of the older MG995 model.

Assets & downloads