Stall torque for servo, kg/cm?

Question

I've recently bought some cheap TowerPro SG-50 rc servos from ebay. They seem to work quite well, and despite their small size they are quite strong.

But how "strong" are they actually. The datasheet specifies:

Stall Torque: 0.8 kg / cm

What does that mean. I guess that stall torque is the amount of torque that needs to be applied in the reverse direction of the rotation, before the servo stalls. But what does the unit kg / cm mean?

Answer 1

The normal SI units for torque are Newton-metres. Torque is a force times the distance from the fulcrum/axis. The units that you are giving do not make sense (although I have seen them in a number of places quoted for this device - puzzling). I expect that this is a mistyping of the units on a cheap data sheet.

I would expect that the motor will stall when a weight of 0.8kg is hanging from a 1cm long arm attached to the motor spindle.

Answer 2

Stall torque is the maximum torque that the unit can supply when in 'locked shaft' condition. This doesn't mean you actually have to mechanically bolt the shaft or anything, it just means the torque that can be dished out from a dead stop.

Applying a torque that opposed motion, that is less than the stall torque, will cause the rotational speed to slow down and the unit will draw more current. Applying an opposing torque that is greater than the stall torque will overcome the unit's abilities and will drive it backwards.

The value of 0.8 kg-cm means the amount torque you would get if you were to bolt a 1cm long arm to the shaft (set and right angles to the axis of rotation, and positioned dead horizontal), and hang an 0.8kg mass at the end of the arm. This is a product, so it's also the amount of torque you'd get using 0.08kg (i.e., 80g) at the end of a 10cm shaft, etc.

FWIW, the proper SI unit for torque is newton-meters, or possibly even newton-centimeters would be acceptable, as torque is defined as FORCE (Newtons) x MOMENT-ARM (distance). The english units are lbf-ft, pounds-force * feet, often written just ft-lbs, and this probably has influenced the less rigorous spec sheet writers to cast their 'metric' torques in the somewhat mistaken units of kg-cm, kg-m, and g-m.

Answer 3

http://www.engineersedge.com/torque_conversion.htm

1 Kg/cm = 9.806x10^-2 N/m

Answer 4

I believe the general interpretation of "/" is that it stands for "per", and that the unit following the slash is always treated as a single whole unit.

m/s = meters (per 1) second
A/h = amperes (per 1) hour
0.8 kg / cm = 0.8 kilograms (per 1) centimeter (of lever length or gear/pulley radius)

These are also understood as inverse ratios, such that 1/2 of the second unit will be balanced by twice of the first unit, etc.

The center of the servo shaft is like the fulcrum of a lever and the shaft radius is the same as the length of the lever where the mass is lifted. The maximum mass the lever can lift depends on where the load is suspended from the lever, which is the same as the radius of the shaft / gear / pulley.