# Waveshare Servo Driver with ESP32

> Waveshare Servo Driver with ESP32 (SKU 21593) is a 65 × 30 mm ESP32-WROOM-32 board that drives up to 253 SC/ST serial bus servos (ST3215, STS3215) from two 3-pin S/V/G headers: half-duplex UART1 on GPIO19 (TX) / GPIO18 (RX), 6–12 V DC jack passed straight to the servos, 0.91″ OLED on I2C GPIO21/22, two WS2812 LEDs on GPIO23, CP2102 USB-C, about $16.

- Manufacturer: Waveshare
- Part number: Servo Driver with ESP32
- Category: Development boards
- Canonical page: https://www.xirkit.io/products/waveshare-servo-driver-with-esp32-e517
- Pinout: https://www.xirkit.io/products/waveshare-servo-driver-with-esp32-e517/pinout
- Structured JSON: https://www.xirkit.io/products/waveshare-servo-driver-with-esp32-e517/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Main chip | ESP32-D0WD-V |
| Chips on board | ESP32-WROOM-32, ESP32-D0WD-V |
| Documented board pins | 20 |
| I/O voltage | 3.3 V |
| Supply voltage | 6–12 V |
| SRAM | 520 KB |
| Interfaces | gpio, adc, rtc_gpio, touch, ethernet, clock, gpio_matrix, uart, spi, sdio, usb |
| Frameworks | Arduino IDE |
| Dimensions | 65 × 30 mm |

## Pinout (20 pins, 9 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| VIN 6-12V | CN1 | power in | — | power_in | — | — | — | — | — | — | — |
| GND | CN1 | ground | — | ground | — | — | — | — | — | — | — |
| S | H2 · 1 | signal | — | s | — | — | — | — | — | — | — |
| V | H2 · 2 | power out | — | power_out | — | — | — | — | — | — | — |
| G | H2 · 3 | ground | — | ground | — | — | — | — | — | — | — |
| S | H3 · 1 | signal | — | s | — | — | — | — | — | — | — |
| V | H3 · 2 | power out | — | power_out | — | — | — | — | — | — | — |
| G | H3 · 3 | ground | — | ground | — | — | — | — | — | — | — |
| 5V | H1 · 1 | power out | — | power_out | — | — | — | — | — | — | — |
| GND | H1 · 2 | ground | — | ground | — | — | — | — | — | — | — |
| OUT | H1 · 3 | signal | — | out | — | — | — | — | — | — | — |
| EN | M1 · 3 | control | CHIP_PU | en | 2.475–3.6 V | ≤ 0.6 V | — | — | — | — | no |
| IO0 | M1 · 25 | gpio | GPIO0 | GPIO0, ADC2_CH1, RTC_GPIO11, TOUCH1, EMAC_TX_CLK, CLK_OUT1, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| U0TXD | M1 · 35 | gpio | GPIO1 | GPIO1, U0TXD, CLK_OUT3, EMAC_RXD2, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| U0RXD | M1 · 34 | gpio | GPIO3 | GPIO3, U0RXD, CLK_OUT2, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| IO19 | M1 · 31 | gpio | GPIO19 | GPIO19, U0CTS, VSPIQ, EMAC_TXD0, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| IO18 | M1 · 30 | gpio | GPIO18 | GPIO18, HS1_DATA7, VSPICLK, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| IO21 | M1 · 33 | gpio | GPIO21 | GPIO21, VSPIHD, EMAC_TX_EN, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| IO22 | M1 · 36 | gpio | GPIO22 | GPIO22, U0RTS, VSPIWP, EMAC_TXD1, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |
| IO23 | M1 · 37 | gpio | GPIO23 | GPIO23, HS1_STROBE, VSPID, GPIO matrix (UART/I2C/I2S/SPI/LEDC PWM/MCPWM/RMT/PCNT/TWAI routable) | 2.475–3.6 V | -0.3–0.825 V | ≥ 2.64 V | ≤ 0.33 V | 40 mA typ | 28 mA typ | no |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| www.waveshare.com | 15.99 USD | in_stock | 2026-10-15 | https://www.waveshare.com/servo-driver-with-esp32.htm |

## FAQ

**What microcontroller does the Waveshare Servo Driver with ESP32 use?**

The Waveshare Servo Driver with ESP32 is built around the ESP32-D0WD-V, alongside ESP32-WROOM-32, CP2102, AMS1117-3.3, SN74LVC1G126DBV.

**Are the Waveshare Servo Driver with ESP32 I/O pins 5 V tolerant?**

No. The I/O pins are not 5 V tolerant — they run at 3.3 V logic; use a level shifter for 5 V signals. Input-high threshold: 2.475–3.6 V.

**How much current can a Waveshare Servo Driver with ESP32 GPIO pin source?**

Documented output-high current per pin: 40 mA typ. Values are traced to the chip datasheet; see the pinout table for per-pin limits and conditions.

**What voltage powers the Waveshare Servo Driver with ESP32?**

Supply range 6–12 V. Power inputs: VIN 6-12V (6–12 V).

**How much does the Waveshare Servo Driver with ESP32 cost?**

From $15.99 at www.waveshare.com. Prices are observed unit prices before tax and shipping.

**What are the Waveshare Servo Driver with ESP32 dimensions?**

65 × 30 mm. A STEP model is available for enclosure fit checks.

**Which interfaces does the Waveshare Servo Driver with ESP32 support?**

gpio, adc, rtc_gpio, touch, ethernet, clock, gpio_matrix, uart, spi, sdio, usb.

**How do I program the Waveshare Servo Driver with ESP32?**

Supported frameworks: Arduino IDE.

**Where does this Waveshare Servo Driver with ESP32 data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [Waveshare Servo Driver with ESP32 datasheet](https://www.waveshare.com/wiki/Servo_Driver_with_ESP32)
- [www.waveshare.com listing](https://www.waveshare.com/servo-driver-with-esp32.htm)

## Part graph

### Built from

- [ESP32-D0WD-V](https://www.xirkit.io/products/category/dev-boards/esp32-d0wd-v) — main processor on the Waveshare Servo Driver with ESP32
- ESP32-WROOM-32 — wireless module on the Waveshare Servo Driver with ESP32
- CP2102 — usb uart bridge on the Waveshare Servo Driver with ESP32
- AMS1117-3.3 — ldo regulator on the Waveshare Servo Driver with ESP32
- SN74LVC1G126DBV — bus buffer on the Waveshare Servo Driver with ESP32
- SN74LVC1G125DBV — bus buffer on the Waveshare Servo Driver with ESP32
- SSD1306 0.91" 128x32 OLED — display on the Waveshare Servo Driver with ESP32

### Alternatives (by use case)

- [Waveshare ESP32-P4-NANO](https://www.xirkit.io/products/waveshare-esp32-p4-nano-b0aa) — Both serve robotics and motor control — check the trade-offs; $18.99 vs $15.99

### Pin-compatible

- [Waveshare ST3215 Servo 30 kg·cm 12 V](https://www.xirkit.io/products/waveshare-st3215-servo-30-kg-cm-12-v-250d) — Waveshare ST-series TTL serial bus servo; board drives ST servos on its S/V/G ports (12 V input for 12 V servos)
- [Feetech STS3215-C046 14.4 kg·cm Servo](https://www.xirkit.io/products/feetech-sts3215-c046-14-4-kg-cm-servo-3afb) — Feetech STS3215 TTL serial bus servo, ST protocol
- [Waveshare ST3020 Servo 25 kg·cm 12 V](https://www.xirkit.io/products/waveshare-st3020-servo-25-kg-cm-12-v-3bb1) — ST-series TTL serial bus servo driven on the S/V/G ports
- [Feetech STS3215-C001 19.5 kg·cm Servo](https://www.xirkit.io/products/feetech-sts3215-c001-19-5-kg-cm-servo-796d) — Feetech STS3215 = ST-series TTL serial bus servo (same protocol as Waveshare ST3215)
- [Waveshare ST3235 Servo 30 kg·cm 12 V](https://www.xirkit.io/products/waveshare-st3235-servo-30-kg-cm-12-v-883d) — ST-series TTL serial bus servo driven on the S/V/G ports
- [Waveshare SC15 Servo 15 kg·cm 6 V](https://www.xirkit.io/products/waveshare-sc15-servo-15-kg-cm-6-v-a32f) — SC-series TTL serial bus servo driven on the S/V/G ports
- [Waveshare ST3025 Servo 40 kg·cm 12 V](https://www.xirkit.io/products/waveshare-st3025-servo-40-kg-cm-12-v-c282) — ST-series TTL serial bus servo driven on the S/V/G ports
- [Waveshare ST3215-HS Servo 20 kg·cm 12 V](https://www.xirkit.io/products/waveshare-st3215-hs-servo-20-kg-cm-12-v-c2c5) — ST-series TTL serial bus servo driven on the S/V/G ports
- [Feetech SCS0009 2.3 kg·cm Micro Servo](https://www.xirkit.io/products/feetech-scs0009-2-3-kg-cm-micro-servo-cdf9) — Feetech SCS-series TTL serial bus servo (SC protocol)
- [Waveshare SC09 Micro Bus Servo 2.3 kg·cm](https://www.xirkit.io/products/waveshare-sc09-micro-bus-servo-2-3-kg-cm-f518) — SC-series TTL serial bus servo driven on the S/V/G ports (6 V input for 6 V servos)