View source for Component: ST3215 Servo Motor (Mechatronics)

{| style="width:50%"
|-
| width="20%" style="color:gray;" | Author
| Matrix TSL
|-
| width="20%" style="color:gray;" | Version
| 2.0
|-
| width="20%" style="color:gray;" | Category
| Mechatronics
|}


==ST3215 Servo Motor component==
Control ST3215 servo motors via serial UART communication using the STS protocol.

==Detailed description==























''No detailed description exists yet for this component''

==Examples==























''<span style="color:red;">No additional examples</span>''















==Macro reference==

===ChangeBaudrate===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ChangeBaudrate'''
|-
| colspan="2" | Change the servo baud rate. Baud rate values: 0=9600, 1=57600, 2=115200, 3=1000000. EEPROM must be unlocked.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Baudrate
|-
| colspan="2" | Baud rate value: 0=9600, 1=57600, 2=115200, 3=1000000&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ChangeID===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ChangeID'''
|-
| colspan="2" | Change the servo ID. New ID must be 0-253. EEPROM must be unlocked. Note: New ID takes effect after power cycle.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Current servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | NewID
|-
| colspan="2" | New servo ID (0-253)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===DefineMiddle===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''DefineMiddle'''
|-
| colspan="2" | Define the 2048 position by setting torque to 128.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===Initialise===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
|-
| colspan="2" | &nbsp;
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===IsMoving===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''IsMoving'''
|-
| colspan="2" | Check if the servo is currently moving. Returns True if moving, False otherwise.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ListServos===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ListServos'''
|-
| colspan="2" | Scan and return a list of all responsive servos.  Returns number of servos found.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoList
|-
| colspan="2" | Array to store found servo IDs&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | MaxCount
|-
| colspan="2" | Max number of servos to try and return. 0=Don't limit&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===LockEEPROM===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LockEEPROM'''
|-
| colspan="2" | Lock EEPROM to prevent writes from being saved after power loss. IMPORTANT: Use the NEW servo ID after ChangeID.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID (use NEW ID after ChangeID)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===PingServo===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''PingServo'''
|-
| colspan="2" | Check if a servo is responding. Returns True if successful, False otherwise.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID to ping (0-253)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadAcceleration===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAcceleration'''
|-
| colspan="2" | Read current acceleration value in steps per second squared.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadAngle===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAngle'''
|-
| colspan="2" | Read current position of servo. Returns position in steps (0-4095).&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadCorrection===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadCorrection'''
|-
| colspan="2" | Read position correction value in steps.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadCurrent===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadCurrent'''
|-
| colspan="2" | Read current in milliamps (6.5mA resolution). Returns current / 6.5.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadID===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadID'''
|-
| colspan="2" | Read the servo ID from EEPROM. Returns the stored ID value.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID to query&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadLoad===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLoad'''
|-
| colspan="2" | Read motor load in percentage. Returns load percentage.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadMode===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadMode'''
|-
| colspan="2" | Read current operational mode. Returns: 0=position, 1=speed, 2=PWM, 3=step&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadPosition===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadPosition'''
|-
| colspan="2" | Read current position of servo. Returns position in steps (0-4095).&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadSpeed===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSpeed'''
|-
| colspan="2" | Read current speed of servo. Returns speed in steps per second.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadStatus===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadStatus'''
|-
| colspan="2" | Read servo status flags. Returns status byte with bits: Voltage, Sensor, Temperature, Current, Angle, Overload&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadTemperature===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadTemperature'''
|-
| colspan="2" | Read temperature in degrees Celsius.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadTorqueLimit===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadTorqueLimit'''
|-
| colspan="2" | Read torque limit value (0-1000).&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===ReadVoltage===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadVoltage'''
|-
| colspan="2" | Read voltage in volts (0.1V resolution). Returns voltage * 10.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===Rotate===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Rotate'''
|-
| colspan="2" | Rotate servo continuously in specified direction. Speed range: 50-1000. Direction: 0=forward, 1=reverse.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Speed
|-
| colspan="2" | Rotation speed (50-1000)&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Direction
|-
| colspan="2" | Direction: 0=forward, 1=reverse&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetAcceleration===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAcceleration'''
|-
| colspan="2" | Set servo acceleration in steps per second squared.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Acceleration
|-
| colspan="2" | Acceleration value (0-254)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetAngle===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetAngle'''
|-
| colspan="2" | Move servo to a target angle. Angle range: -180 to 180 degrees.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Angle
|-
| colspan="2" | Angle range: -180 to 180 degrees.&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetCorrection===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetCorrection'''
|-
| colspan="2" | Set position correction value in steps. Adds correction to position.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-s16-icon.png]] - INT
| width="90%" | Correction
|-
| colspan="2" | Correction value in steps&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetMode===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMode'''
|-
| colspan="2" | Set operational mode. Mode: 0=position, 1=speed, 2=PWM, 3=step&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Mode
|-
| colspan="2" | Mode: 0=position, 1=speed, 2=PWM, 3=step&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetPosition===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetPosition'''
|-
| colspan="2" | Move servo to a target position. Position range: -30719 to 30719 steps.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Position
|-
| colspan="2" | Target position in steps (0 to 4095)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetSpeed===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetSpeed'''
|-
| colspan="2" | Set servo speed in steps per second.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | Speed
|-
| colspan="2" | Speed in steps per second (0-3400)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===SetTorqueLimit===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetTorqueLimit'''
|-
| colspan="2" | Set torque limit value (0-1000). Controls maximum torque output.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
| width="90%" | TorqueLimit
|-
| colspan="2" | Torque limit value (0-1000)&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===StartServo===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StartServo'''
|-
| colspan="2" | Enable torque (start servo).&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===StopServo===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StopServo'''
|-
| colspan="2" | Disable torque (stop servo).&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


===UnlockEEPROM===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''UnlockEEPROM'''
|-
| colspan="2" | Unlock EEPROM to allow writes to be saved after power loss.&nbsp;
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | ServoID
|-
| colspan="2" | Servo ID&nbsp;
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}


==Property reference==

{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties''' 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Channel
|-
| colspan="2" | UART Channel selector Software channels are bit banged using generic I/O pins but are not as reliable as hardware channels. Hardware channels use the selected peripheral on-board the target microcontroller.&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| width="90%" | TX
|-
| colspan="2" | Pin to be used for Transmit data&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
| width="90%" | RX
|-
| colspan="2" | Pin to be used for Receive data&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Use Flow Control
|-
| colspan="2" | Flow Control (Handshake) enable or disable.     On: Two I/O pins are used to control the flow of data in and out of the device.     Off: Flow control is disabled.&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Baud Options
|-
| colspan="2" | Baud rate option selector&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-14-icon.png]]
| width="90%" | Baud Rate
|-
| colspan="2" | &nbsp;
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
|-
|-
| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
| width="90%" | Label
|-
| colspan="2" | Textual label shown on the component I/O flasher&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Scope Traces
|-
| colspan="2" | Selects if the scope traces are automatically added to the data recorder window or not.&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Console Data
|-
| colspan="2" | Selects if the console data is automatically generated or not&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
| width="90%" | Console Columns
|-
| colspan="2" | Number of characters that can be displayed on a single line of the console.&nbsp;
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Data Source
|-
| colspan="2" | Simulation data source used to allow the component to connect to various remote devices&nbsp;
|}

==Component Source Code==

Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_ST3215.fcfx FC_Comp_Source_ST3215.fcfx]

Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_ST3215.fcfx FC_Comp_Source_ST3215.fcfx]