# Waveshare DDSM115 Direct Drive Servo Motor

> All-in-one 115 RPM direct drive servo hub motor with RS485 control, 4096-position encoder, and IP54 rating — designed for robotics, AGVs, and precision motion applications.

## Quick Facts

- **Brand:** Waveshare
- **Board Type:** module
- **Price:** ~$76.99
- **Product Readiness:** consumer
- **CPU:** N/A (integrated servo controller)
- **RAM:** N/A
- **Flash:** N/A
- **Power:** 18V DC (5S LiPo)
- **Operating Voltage:** 3.3V

## Open Source

- **Firmware:** No
- **Schematics:** No
- **PCB Layout:** No

## Certifications

IP54

## Use Cases

- Robotics
- AGV
- Precision Motion
- Robot Arm
- Wheeled Robot

## Components

- **PMSM Direct Drive Motor** (Motor): Direct drive PMSM with 0.96 Nm rated torque, 115 RPM rated speed, and 2.0 Nm stall torque — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fddsm115.htm&ref=openhardware.directory&product=waveshare-ddsm115&source=md-export)
- **4096-Position Absolute Encoder** (Sensor): High-resolution magnetic encoder with 4096 positions for precise closed-loop motor control — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fddsm115.htm&ref=openhardware.directory&product=waveshare-ddsm115&source=md-export)
- **Servo Controller** (Controller): Built-in servo controller supporting current, position, and velocity loop modes with RS485 communication — [Datasheet](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fddsm115.htm&ref=openhardware.directory&product=waveshare-ddsm115&source=md-export)

## Protocols

- **RS-485**

## Description

## Overview

The Waveshare DDSM115 is an all-in-one direct drive servo motor that integrates a permanent magnet synchronous motor (PMSM), high-resolution encoder, and servo controller into a single compact unit. By eliminating the traditional mechanical reducer, it achieves near-lossless drive efficiency with minimal backlash.

## Key Specifications

| Parameter | Value |
|-----------|-------|
| Rated Voltage | 18V DC (5S LiPo) |
| Rated Current | 1.25A |
| No-load Current | <=0.25A |
| Locked-rotor Current | <=2.7A |
| Rated Speed | 115 RPM |
| No-load Speed | 200 RPM |
| Rated Torque | 0.96 Nm |
| Locked-rotor Torque | 2.0 Nm |
| Encoder Resolution | 4096 positions (12-bit) |
| Communication | RS485 |
| Operating Modes | Current loop, Position loop, Velocity loop |
| Weight | 765g |
| Operating Temperature | -20 to 45 C |
| Noise Level | <=50dB |
| Protection Rating | IP54 |

## Features

- Direct drive — no gearbox, no backlash, high efficiency
- Integrated 4096-position absolute encoder for precise positioning
- RS485 bus communication — chain multiple motors on one bus
- Three control modes: current, position, and velocity loops
- Real-time feedback: position, speed, current, temperature, and error codes
- Built-in overcurrent protection and electric brake
- IP54 dust and water protection

## Getting Started

Connect the motor to your controller via RS485. Use the provided protocol documentation to send commands for position, velocity, or current control. Multiple DDSM115 motors can be daisy-chained on a single RS485 bus with unique IDs.

## Where to Buy

- [OpenELab](https://openhardware.directory/r?to=https%3A%2F%2Fopenelab.io%2Fproducts%2Fwaveshare-ddsm115-direct-drive-servo&ref=openhardware.directory&product=waveshare-ddsm115&source=md-export) — $76.99

## Resources

- [product](https://openhardware.directory/r?to=https%3A%2F%2Fwww.waveshare.com%2Fddsm115.htm&ref=openhardware.directory&product=waveshare-ddsm115&source=md-export)

## Tags

`servo-motor`, `direct-drive`, `rs485`, `robotics`, `waveshare`, `hub-motor`, `encoder`

## Images

![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/fea78659365c.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/9e743a6f2860.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/20d886dddaca.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/1cdae4c7dc30.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/be85b515916a.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/c5fced50cd95.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/67505c423a83.jpg)
![Waveshare DDSM115 Direct Drive Servo Motor](https://nbg1.your-objectstorage.com/openhardware-directory/entities/waveshare-ddsm115/37c358a3a5da.jpg)

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