SG90 vs MG996R
Load decides: the MG996R gives 11 kg·cm of stall torque at 6 V on metal gears (TowerPro MG996R spec page), about six times the SG90's 1.8 kg·cm at 4.8 V on plastic gears (TowerPro SG90 spec page). That torque costs a 55 g body against 9 g and up to 1,400 mA at stall, so the MG996R needs a 4.8 V to 6.6 V supply of its own. Both take the same three wires and the same 50 Hz servo pulse, so the code does not change.
Side by side
| SG90 | MG996R | |
|---|---|---|
| Stall torqueTowerPro SG90 spec page; TowerPro MG996R spec page | 1.8 kg·cm at 4.8 V | 9.4 kg·cm at 4.8 V, 11 kg·cm at 6 V |
| SpeedTowerPro SG90 spec page; TowerPro MG996R spec page | 0.1 s per 60° at 4.8 V | 0.19 s per 60° at 4.8 V, 0.15 s at 6 V |
| SupplyTowerPro SG90 spec page; TowerPro MG996R spec page | 4.8 V rated, run from 5 V | 4.8 V to 6.6 V |
| CurrentTowerPro MG996R spec page | Small start and stall spikes; one light servo can share a board's 5V pin | 170 mA running unloaded, 1,400 mA at stall |
| GearsTowerPro SG90 spec page; TowerPro MG996R spec page | Plastic (POM) | Metal |
| WeightTowerPro SG90 spec page; TowerPro MG996R spec page | 9 g | 55 g |
| SizeTowerPro SG90 spec page; TowerPro MG996R spec page | About 23 × 12.2 × 29 mm | 40.7 × 19.7 × 42.9 mm |
| Dead bandTowerPro SG90 datasheet; TowerPro MG996R spec page | 10 µs | 1 µs |
| ControlTowerPro SG90 datasheet; TowerPro MG996R spec page | Pulse every 20 ms, 1.5 ms center, about 1 ms to 2 ms for 180° | Pulse every 20 ms, 1.5 ms center |
Which one to pick
- Light jobs: pan-tilt heads for a small camera or sensor, flaps, pointers and small grippers (1.8 kg·cm, TowerPro SG90 spec page).
- Projects powered from USB or a board's 5V pin with a single servo.
- Tight spaces and weight budgets: 9 g in a body about 23 mm long.
- Robot arms, legs, steering and anything that lifts or pushes: 11 kg·cm at 6 V (TowerPro MG996R spec page).
- Shock and repeated load, where plastic gears strip and metal gears hold.
- Builds that already have a 5 V to 6 V supply able to deliver 1.4 A per servo at stall.
Swapping one for the other
What changes in the wiring and the code.
- The wires match: brown to GND, red to V+, orange to the signal pin. The signal is the same 50 Hz pulse with 1.5 ms at center, so Servo.attach() and write() code runs unchanged.
- Power changes. Moving to the MG996R, take red and brown off the board's 5V pin and onto a supply of 4.8 V to 6.6 V sized for 1,400 mA stall per servo (TowerPro MG996R spec page), with its ground tied to the board's ground. A 470 µF to 1,000 µF capacitor across the servo rails absorbs the start-up spikes.
- The mechanics change: the MG996R is 40.7 × 19.7 × 42.9 mm against about 23 × 12.2 × 29 mm, so brackets, horns and mounting holes do not carry over.
- A 3.3 V ESP32 or Pico still drives the signal of either directly; only the servo's power needs 5 V or more.
SG90 or MG996R: questions
How much stronger is the MG996R than the SG90?
About six times: 11 kg·cm at 6 V (9.4 kg·cm at 4.8 V) against 1.8 kg·cm at 4.8 V (TowerPro MG996R and SG90 spec pages). The SG90 is faster, 0.1 s per 60° against 0.19 s at the same 4.8 V.
Can I power an MG996R from the Arduino 5V pin like an SG90?
No. The MG996R draws up to 1,400 mA at stall (TowerPro MG996R spec page), far beyond a board regulator or a USB port, and the board browns out and resets. Give it a 4.8 V to 6.6 V supply of its own and tie the grounds together. One lightly loaded SG90 can run from the 5V pin.
Do the SG90 and MG996R use the same code?
Yes. Both read a pulse every 20 ms with 1.5 ms at the middle, so the Arduino Servo library, ESP32Servo and the Pico's Servo.h drive either one. Check the end points of each unit: pushing past its travel makes it buzz against the stop.
Which servo for a robot arm?
The MG996R for the shoulder and elbow, where the arm's own weight loads the joint: 11 kg·cm at 6 V on metal gears (TowerPro MG996R spec page). SG90s fit the wrist or gripper of a small arm, where loads stay well under 1.8 kg·cm (TowerPro SG90 spec page).
Can I run the MG996R at 7.2 V for more torque?
TowerPro rates it 4.8 V to 6.6 V and gives its torque figures at 4.8 V and 6 V (MG996R spec page). Stay inside that range; a 2S lithium pack at 7.4 V nominal needs a regulator down to 6 V.
The two references
Checked on 2026-10-29 against 2 sources, the makers’ datasheets first.
This comparison as plain Markdown. /compare/servo-sg90-vs-servo-mg996r-straight.md