Component: ST3215 Servo Motor (Mechatronics): Difference between revisions
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| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ChangeBaudrate''' | ||
|- | |- | ||
| colspan="2" | Change the servo baud rate. Baud rate values: 0=9600, 1=57600, 2=115200, 3=1000000. EEPROM must be unlocked. | | colspan="2" | Change the servo baud rate. Baud rate values: 0=9600, 1=57600, 2=115200, 3=1000000. EEPROM must be unlocked. | ||
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| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''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. | | colspan="2" | Change the servo ID. New ID must be 0-253. EEPROM must be unlocked. Note: New ID takes effect after power cycle. | ||
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| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''DefineMiddle''' | ||
|- | |- | ||
| colspan="2" | Define the 2048 position by setting torque to 128. | | colspan="2" | Define the 2048 position by setting torque to 128. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''Initialise''' | ||
|- | |- | ||
| colspan="2" | | | colspan="2" | | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''IsMoving''' | ||
|- | |- | ||
| colspan="2" | Check if the servo is currently moving. Returns True if moving, False otherwise. | | colspan="2" | Check if the servo is currently moving. Returns True if moving, False otherwise. | ||
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| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ListServos''' | ||
|- | |- | ||
| colspan="2" | Scan and return a list of all responsive servos. Returns number of servos found. | | colspan="2" | Scan and return a list of all responsive servos. Returns number of servos found. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''LockEEPROM''' | ||
|- | |- | ||
| colspan="2" | Lock EEPROM to prevent writes from being saved after power loss. IMPORTANT: Use the NEW servo ID after ChangeID. | | colspan="2" | Lock EEPROM to prevent writes from being saved after power loss. IMPORTANT: Use the NEW servo ID after ChangeID. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''PingServo''' | ||
|- | |- | ||
| colspan="2" | Check if a servo is responding. Returns True if successful, False otherwise. | | colspan="2" | Check if a servo is responding. Returns True if successful, False otherwise. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadAcceleration''' | ||
|- | |- | ||
| colspan="2" | Read current acceleration value in steps per second squared. | | colspan="2" | Read current acceleration value in steps per second squared. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadAngle''' | ||
|- | |- | ||
| colspan="2" | Read current position of servo. Returns position in steps (0-4095). | | colspan="2" | Read current position of servo. Returns position in steps (0-4095). | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadCorrection''' | ||
|- | |- | ||
| colspan="2" | Read position correction value in steps. | | colspan="2" | Read position correction value in steps. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadCurrent''' | ||
|- | |- | ||
| colspan="2" | Read current in milliamps (6.5mA resolution). Returns current / 6.5. | | colspan="2" | Read current in milliamps (6.5mA resolution). Returns current / 6.5. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadID''' | ||
|- | |- | ||
| colspan="2" | Read the servo ID from EEPROM. Returns the stored ID value. | | colspan="2" | Read the servo ID from EEPROM. Returns the stored ID value. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadLoad''' | ||
|- | |- | ||
| colspan="2" | Read motor load in percentage. Returns load percentage. | | colspan="2" | Read motor load in percentage. Returns load percentage. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadMode''' | ||
|- | |- | ||
| colspan="2" | Read current operational mode. Returns: 0=position, 1=speed, 2=PWM, 3=step | | colspan="2" | Read current operational mode. Returns: 0=position, 1=speed, 2=PWM, 3=step | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadPosition''' | ||
|- | |- | ||
| colspan="2" | Read current position of servo. Returns position in steps (0-4095). | | colspan="2" | Read current position of servo. Returns position in steps (0-4095). | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadSpeed''' | ||
|- | |- | ||
| colspan="2" | Read current speed of servo. Returns speed in steps per second. | | colspan="2" | Read current speed of servo. Returns speed in steps per second. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadStatus''' | ||
|- | |- | ||
| colspan="2" | Read servo status flags. Returns status byte with bits: Voltage, Sensor, Temperature, Current, Angle, Overload | | colspan="2" | Read servo status flags. Returns status byte with bits: Voltage, Sensor, Temperature, Current, Angle, Overload | ||
| Line 439: | Line 439: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadTemperature''' | ||
|- | |- | ||
| colspan="2" | Read temperature in degrees Celsius. | | colspan="2" | Read temperature in degrees Celsius. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadTorqueLimit''' | ||
|- | |- | ||
| colspan="2" | Read torque limit value (0-1000). | | colspan="2" | Read torque limit value (0-1000). | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''ReadVoltage''' | ||
|- | |- | ||
| colspan="2" | Read voltage in volts (0.1V resolution). Returns voltage * 10. | | colspan="2" | Read voltage in volts (0.1V resolution). Returns voltage * 10. | ||
| Line 496: | Line 496: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''Rotate''' | ||
|- | |- | ||
| colspan="2" | Rotate servo continuously in specified direction. Speed range: 50-1000. Direction: 0=forward, 1=reverse. | | colspan="2" | Rotate servo continuously in specified direction. Speed range: 50-1000. Direction: 0=forward, 1=reverse. | ||
| Line 525: | Line 525: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetAcceleration''' | ||
|- | |- | ||
| colspan="2" | Set servo acceleration in steps per second squared. | | colspan="2" | Set servo acceleration in steps per second squared. | ||
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|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetAngle''' | ||
|- | |- | ||
| colspan="2" | Move servo to a target angle. Angle range: -180 to 180 degrees. | | colspan="2" | Move servo to a target angle. Angle range: -180 to 180 degrees. | ||
| Line 573: | Line 573: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetCorrection''' | ||
|- | |- | ||
| colspan="2" | Set position correction value in steps. Adds correction to position. | | colspan="2" | Set position correction value in steps. Adds correction to position. | ||
| Line 597: | Line 597: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetMode''' | ||
|- | |- | ||
| colspan="2" | Set operational mode. Mode: 0=position, 1=speed, 2=PWM, 3=step | | colspan="2" | Set operational mode. Mode: 0=position, 1=speed, 2=PWM, 3=step | ||
| Line 621: | Line 621: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetPosition''' | ||
|- | |- | ||
| colspan="2" | Move servo to a target position. Position range: -30719 to 30719 steps. | | colspan="2" | Move servo to a target position. Position range: -30719 to 30719 steps. | ||
| Line 645: | Line 645: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetSpeed''' | ||
|- | |- | ||
| colspan="2" | Set servo speed in steps per second. | | colspan="2" | Set servo speed in steps per second. | ||
| Line 669: | Line 669: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''SetTorqueLimit''' | ||
|- | |- | ||
| colspan="2" | Set torque limit value (0-1000). Controls maximum torque output. | | colspan="2" | Set torque limit value (0-1000). Controls maximum torque output. | ||
| Line 693: | Line 693: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''StartServo''' | ||
|- | |- | ||
| colspan="2" | Enable torque (start servo). | | colspan="2" | Enable torque (start servo). | ||
| Line 712: | Line 712: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''StopServo''' | ||
|- | |- | ||
| colspan="2" | Disable torque (stop servo). | | colspan="2" | Disable torque (stop servo). | ||
| Line 731: | Line 731: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''UnlockEEPROM''' | ||
|- | |- | ||
| colspan="2" | Unlock EEPROM to allow writes to be saved after power loss. | | colspan="2" | Unlock EEPROM to allow writes to be saved after power loss. | ||
| Line 751: | Line 751: | ||
|- | |- | ||
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]] | | width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]] | ||
| width="90%" | | width="90%" class="mtx-class-macrohead" | '''Properties''' | ||
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | | width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]] | ||
| width="90%" | | width="90%" class="mtx-class-propfolder" | Connections | ||
|- | |- | ||
|- | |- | ||
| Line 788: | Line 788: | ||
| colspan="2" | | | colspan="2" | | ||
|- | |- | ||
| width="10%" align="center" | | width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]] | ||
| width="90%" | | width="90%" class="mtx-class-propfolder" | Simulation | ||
|- | |- | ||
|- | |- | ||
Latest revision as of 14:37, 13 July 2026
| Author | Matrix TSL |
| Version | 2.0 |
| 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
No additional examples
Macro reference
ChangeBaudrate
|
ChangeBaudrate |
| Change the servo baud rate. Baud rate values: 0=9600, 1=57600, 2=115200, 3=1000000. EEPROM must be unlocked. | |
 - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Baudrate |
| Baud rate value: 0=9600, 1=57600, 2=115200, 3=1000000 | |
 - BOOL
|
Return |
ChangeID
|
|
ChangeID |
| Change the servo ID. New ID must be 0-253. EEPROM must be unlocked. Note: New ID takes effect after power cycle. | |
| - BYTE
|
ServoID |
| Current servo ID | |
| - BYTE
|
NewID |
| New servo ID (0-253) | |
| - BOOL
|
Return |
DefineMiddle
|
|
DefineMiddle |
| Define the 2048 position by setting torque to 128. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BOOL
|
Return |
Initialise
|
|
Initialise |
 - VOID
|
Return |
IsMoving
|
|
IsMoving |
| Check if the servo is currently moving. Returns True if moving, False otherwise. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BOOL
|
Return |
ListServos
|
|
ListServos |
| Scan and return a list of all responsive servos. Returns number of servos found. | |
| - BYTE
|
ServoList |
| Array to store found servo IDs | |
| - BYTE
|
MaxCount |
| Max number of servos to try and return. 0=Don't limit | |
| - BYTE
|
Return |
LockEEPROM
|
|
LockEEPROM |
| Lock EEPROM to prevent writes from being saved after power loss. IMPORTANT: Use the NEW servo ID after ChangeID. | |
| - BYTE
|
ServoID |
| Servo ID (use NEW ID after ChangeID) | |
| - BOOL
|
Return |
PingServo
|
|
PingServo |
| Check if a servo is responding. Returns True if successful, False otherwise. | |
| - BYTE
|
ServoID |
| Servo ID to ping (0-253) | |
| - BOOL
|
Return |
ReadAcceleration
|
|
ReadAcceleration |
| Read current acceleration value in steps per second squared. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
ReadAngle
|
|
ReadAngle |
| Read current position of servo. Returns position in steps (0-4095). | |
| - BYTE
|
ServoID |
| Servo ID | |
 - FLOAT
|
Return |
ReadCorrection
|
|
ReadCorrection |
| Read position correction value in steps. | |
| - BYTE
|
ServoID |
| Servo ID | |
 - INT
|
Return |
ReadCurrent
|
|
ReadCurrent |
| Read current in milliamps (6.5mA resolution). Returns current / 6.5. | |
| - BYTE
|
ServoID |
| Servo ID | |
 - UINT
|
Return |
ReadID
|
|
ReadID |
| Read the servo ID from EEPROM. Returns the stored ID value. | |
| - BYTE
|
ServoID |
| Servo ID to query | |
| - BYTE
|
Return |
ReadLoad
|
|
ReadLoad |
| Read motor load in percentage. Returns load percentage. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
ReadMode
|
|
ReadMode |
| Read current operational mode. Returns: 0=position, 1=speed, 2=PWM, 3=step | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
ReadPosition
|
|
ReadPosition |
| Read current position of servo. Returns position in steps (0-4095). | |
| - BYTE
|
ServoID |
| Servo ID | |
| - INT
|
Return |
ReadSpeed
|
|
ReadSpeed |
| Read current speed of servo. Returns speed in steps per second. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
Return |
ReadStatus
|
|
ReadStatus |
| Read servo status flags. Returns status byte with bits: Voltage, Sensor, Temperature, Current, Angle, Overload | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
ReadTemperature
|
|
ReadTemperature |
| Read temperature in degrees Celsius. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
ReadTorqueLimit
|
|
ReadTorqueLimit |
| Read torque limit value (0-1000). | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
Return |
ReadVoltage
|
|
ReadVoltage |
| Read voltage in volts (0.1V resolution). Returns voltage * 10. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Return |
Rotate
|
|
Rotate |
| Rotate servo continuously in specified direction. Speed range: 50-1000. Direction: 0=forward, 1=reverse. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
Speed |
| Rotation speed (50-1000) | |
| - BYTE
|
Direction |
| Direction: 0=forward, 1=reverse | |
| - BOOL
|
Return |
SetAcceleration
|
|
SetAcceleration |
| Set servo acceleration in steps per second squared. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Acceleration |
| Acceleration value (0-254) | |
| - BOOL
|
Return |
SetAngle
|
|
SetAngle |
| Move servo to a target angle. Angle range: -180 to 180 degrees. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - FLOAT
|
Angle |
| Angle range: -180 to 180 degrees. | |
| - BOOL
|
Return |
SetCorrection
|
|
SetCorrection |
| Set position correction value in steps. Adds correction to position. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - INT
|
Correction |
| Correction value in steps | |
| - BOOL
|
Return |
SetMode
|
|
SetMode |
| Set operational mode. Mode: 0=position, 1=speed, 2=PWM, 3=step | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BYTE
|
Mode |
| Mode: 0=position, 1=speed, 2=PWM, 3=step | |
| - BOOL
|
Return |
SetPosition
|
|
SetPosition |
| Move servo to a target position. Position range: -30719 to 30719 steps. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
Position |
| Target position in steps (0 to 4095) | |
| - BOOL
|
Return |
SetSpeed
|
|
SetSpeed |
| Set servo speed in steps per second. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
Speed |
| Speed in steps per second (0-3400) | |
| - BOOL
|
Return |
SetTorqueLimit
|
|
SetTorqueLimit |
| Set torque limit value (0-1000). Controls maximum torque output. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - UINT
|
TorqueLimit |
| Torque limit value (0-1000) | |
| - BOOL
|
Return |
StartServo
|
|
StartServo |
| Enable torque (start servo). | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BOOL
|
Return |
StopServo
|
|
StopServo |
| Disable torque (stop servo). | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BOOL
|
Return |
UnlockEEPROM
|
|
UnlockEEPROM |
| Unlock EEPROM to allow writes to be saved after power loss. | |
| - BYTE
|
ServoID |
| Servo ID | |
| - BOOL
|
Return |
Property reference
|
Properties |
|
Connections |
|
Channel |
| 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. | |
|
TX |
| Pin to be used for Transmit data | |
|
|
RX |
| Pin to be used for Receive data | |
|
|
Use Flow Control |
| 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. | |
|
|
Baud Options |
| Baud rate option selector | |
|
Baud Rate |
|
|
Simulation |
|
Label |
| Textual label shown on the component I/O flasher | |
|
Scope Traces |
| Selects if the scope traces are automatically added to the data recorder window or not. | |
|
|
Console Data |
| Selects if the console data is automatically generated or not | |
|
Console Columns |
| Number of characters that can be displayed on a single line of the console. | |
|
|
Data Source |
| Simulation data source used to allow the component to connect to various remote devices | |
Component Source Code
Please click here to download the component source project: FC_Comp_Source_ST3215.fcfx
Please click here to view the component source code (Beta): FC_Comp_Source_ST3215.fcfx