Difference between revisions of "Component: Servo Motor Controller (Mechatronics)"

Revision as of 09:59, 27 January 2023

Author	Matrix Ltd
Version	2.1
Category	Mechatronics

Servo Motor Controller component

Can control up to eight standard PWM driven servo's. Supports 8-bit and 16-bit movement resolutions. 'Servo Object' properties allow you to connect the controller to on-screen simulations using the "Servo Motor" component and its derivatives.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_Servo_Controller.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_Servo_Controller.fcfx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Macro reference

	DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to jump to. Range: 0-255
- VOID	Return

	MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

	SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to jump to. Range: 0-65535
- VOID	Return

	MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

	SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
- VOID	Return

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

	SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- UINT	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

	AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to automatically move to. Range: 0-255
- VOID	Return

	EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- BYTE	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to automatically move to. Range: 0-65535
- VOID	Return

	Initialise
Sets up the servo motor interrupts
- VOID	Return

Property reference

	Properties
	Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8.
	Connections
	Channel 0
Pin on which to output PWM for the servo motor.
	Channel 1
Pin on which to output PWM for the servo motor.
	Channel 2
Pin on which to output PWM for the servo motor.
	Channel 3
Pin on which to output PWM for the servo motor.
	Channel 4
Pin on which to output PWM for the servo motor.
	Channel 5
Pin on which to output PWM for the servo motor.
	Channel 6
Pin on which to output PWM for the servo motor.
	Channel 7
Pin on which to output PWM for the servo motor.
	Resources
	Peripherals
Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
	Trim
	Trim Mode

	Trim 0
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 1
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 2
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 3
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 4
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 5
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 6
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 7
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used.
	Maximum (us)
Longest pulse width used for the PWM signals.
	Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
	Simulation
	Servo Object 0
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 1
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 2
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 3
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 4
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 5
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 6
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 7
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

==Macro reference==

	DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to jump to. Range: 0-255
- VOID	Return

	MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

	SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to jump to. Range: 0-65535
- VOID	Return

	MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

	SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
- VOID	Return

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

	SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- UINT	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

	AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to automatically move to. Range: 0-255
- VOID	Return

	EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- BYTE	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to automatically move to. Range: 0-65535
- VOID	Return

	Initialise
Sets up the servo motor interrupts
- VOID	Return

Property reference

	Properties
	Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8.
	Connections
	Channel 0
Pin on which to output PWM for the servo motor.
	Channel 1
Pin on which to output PWM for the servo motor.
	Channel 2
Pin on which to output PWM for the servo motor.
	Channel 3
Pin on which to output PWM for the servo motor.
	Channel 4
Pin on which to output PWM for the servo motor.
	Channel 5
Pin on which to output PWM for the servo motor.
	Channel 6
Pin on which to output PWM for the servo motor.
	Channel 7
Pin on which to output PWM for the servo motor.
	Resources
	Peripherals
Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
	Trim
	Trim Mode

	Trim 0
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 1
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 2
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 3
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 4
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 5
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 6
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 7
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used.
	Maximum (us)
Longest pulse width used for the PWM signals.
	Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
	Simulation
	Servo Object 0
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 1
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 2
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 3
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 4
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 5
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 6
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 7
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

==Macro reference==

	DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to jump to. Range: 0-255
- VOID	Return

	MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

	SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to jump to. Range: 0-65535
- VOID	Return

	MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

	SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
- VOID	Return

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

	SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- UINT	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

	AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to automatically move to. Range: 0-255
- VOID	Return

	EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- BYTE	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to automatically move to. Range: 0-65535
- VOID	Return

	Initialise
Sets up the servo motor interrupts
- VOID	Return

Property reference

	Properties
	Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8.
	Connections
	Channel 0
Pin on which to output PWM for the servo motor.
	Channel 1
Pin on which to output PWM for the servo motor.
	Channel 2
Pin on which to output PWM for the servo motor.
	Channel 3
Pin on which to output PWM for the servo motor.
	Channel 4
Pin on which to output PWM for the servo motor.
	Channel 5
Pin on which to output PWM for the servo motor.
	Channel 6
Pin on which to output PWM for the servo motor.
	Channel 7
Pin on which to output PWM for the servo motor.
	Resources
	Peripherals
Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
	Trim
	Trim Mode

	Trim 0
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 1
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 2
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 3
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 4
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 5
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 6
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 7
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used.
	Maximum (us)
Longest pulse width used for the PWM signals.
	Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
	Simulation
	Servo Object 0
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 1
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 2
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 3
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 4
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 5
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 6
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 7
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

==Macro reference==

	DisableServo
Disables a servo channel effectivly disabling the motor.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetPosition
Moves directly to the specified position with no interpolation.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to jump to. Range: 0-255
- VOID	Return

	MoveToPositionInt
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Target position to move towards. Range: 0-65535
- BYTE	Return

	SetPositionInt
Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to jump to. Range: 0-65535
- VOID	Return

	MoveToPosition
Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called. Returns 1 if the position has been reached.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Target position to move towards. Range: 0-255
- BYTE	Return

	SetTrim
Allows the level of trim for each servo channel to be adjusted progmatically.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- BYTE	Trim
Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200
- VOID	Return

	IsAutoMoving
Is the AutoMoveToPosition movement complete. Returns 1 if the servos are still moving. Returns 0 if all servo movement is complete.
- BYTE	Return

	SetAutoMoveSpeedInt
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- UINT	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	IsServoAutoMoving
Is the AutoMoveToPosition movement complete for a specific servo output. Returns 1 if the servo is still moving. Returns 0 if the servo movement is complete.
- BYTE	Channel
Servo Motor Output Range: 0-7
- BYTE	Return

	AutoMoveToPosition
Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- BYTE	Position
Position to automatically move to. Range: 0-255
- VOID	Return

	EnableServo
Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.
- BYTE	Channel
The channel to set the position for. First channel is zero.
- VOID	Return

	SetAutoMoveSpeed
Sets the speed of the auto move to position macro. Default speed is shown in the Servo_Period_Multiplier property.
- BYTE	Speed
1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple
- VOID	Return

	AutoMoveToPositionInt
Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.
- BYTE	Channel
The channel to assign the new position. Range: 0-7
- UINT	Position
Position to automatically move to. Range: 0-65535
- VOID	Return

	Initialise
Sets up the servo motor interrupts
- VOID	Return

Property reference

	Properties
	Channels (1 - 8)
Set the number of servo's that you need to control. Value from 1 to 8.
	Connections
	Channel 0
Pin on which to output PWM for the servo motor.
	Channel 1
Pin on which to output PWM for the servo motor.
	Channel 2
Pin on which to output PWM for the servo motor.
	Channel 3
Pin on which to output PWM for the servo motor.
	Channel 4
Pin on which to output PWM for the servo motor.
	Channel 5
Pin on which to output PWM for the servo motor.
	Channel 6
Pin on which to output PWM for the servo motor.
	Channel 7
Pin on which to output PWM for the servo motor.
	Resources
	Peripherals
Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.
	Trim
	Trim Mode

	Trim 0
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 1
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 2
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 3
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 4
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 5
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 6
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Trim 7
Trim the pulse width for this channel. Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.
	Pulse Width
	Minimum (us)
Shortest pulse width that will be used.
	Maximum (us)
Longest pulse width used for the PWM signals.
	Period Multiplier
Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.
	Simulation
	Servo Object 0
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 1
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 2
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 3
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 4
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 5
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 6
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).
	Servo Object 7
Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a, Data = Position (0-127)).

Difference between revisions of "Component: Servo Motor Controller (Mechatronics)"

Revision as of 09:59, 27 January 2023

Contents

Servo Motor Controller component

Component Source Code

Detailed description

Examples

Macro reference

Property reference

Property reference

Property reference

Property reference

Navigation menu

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@@ Line 17: / Line 17: @@
 ==Component Source Code==
-Please click here to download the component source project: [https://www.flowcode.co.uk/wikicopy/componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx]
+Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx]
 Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_Servo_Controller.fcfx FC_Comp_Source_Servo_Controller.fcfx]
 ==Detailed description==
@@ Line 32: / Line 34: @@
 ==Examples==
@@ Line 42: / Line 46: @@
 ==Macro reference==
+{| 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;" | '''DisableServo'''
+|-
+| colspan="2" | Disables a servo channel effectivly disabling the motor.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to set the position for.  First channel is zero.&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''
+|}
+{| 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" | Moves directly to the specified position with no interpolation. &nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position
+|-
+| colspan="2" | Position to jump to. Range: 0-255&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''
+|}
+{| 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;" | '''MoveToPositionInt'''
+|-
+| colspan="2" | Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called.  Returns 1 if the position has been reached.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Position
+|-
+| colspan="2" | Target position to move towards. Range: 0-65535&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''
+|}
+{| 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;" | '''SetPositionInt'''
+|-
+| colspan="2" | Moves directly to the specified position with no interpolation. Uses a 16-bit position parameter to add extra precision.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Position
+|-
+| colspan="2" | Position to jump to. Range: 0-65535&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''
+|}
+{| 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;" | '''MoveToPosition'''
+|-
+| colspan="2" | Moves a single step towards the new position, the rate of movement is determined by how often the move to macro is called.  Returns 1 if the position has been reached.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position
+|-
+| colspan="2" | Target position to move towards. Range: 0-255&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''
+|}
+{| 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;" | '''SetTrim'''
+|-
+| colspan="2" | Allows the level of trim for each servo channel to be adjusted progmatically.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to set the position for.  First channel is zero.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Trim
+|-
+| colspan="2" | Legacy: 0=0us, 1=+25us, 2=+50us, 3=+75us, 4=+100us, 5=-25us, 6=-50us, 7=-75us, 8=-100us or Smooth: 0-200&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''
+|}
+{| 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;" | '''IsAutoMoving'''
+|-
+| colspan="2" | Is the AutoMoveToPosition movement complete.   Returns 1 if the servos are still moving.  Returns 0 if all servo movement is complete.&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''
+|}
+{| 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;" | '''SetAutoMoveSpeedInt'''
+|-
+| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Speed
+|-
+| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&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''
+|}
+{| 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;" | '''IsServoAutoMoving'''
+|-
+| colspan="2" | Is the AutoMoveToPosition movement complete for a specific servo output.  Returns 1 if the servo is still moving.   Returns 0 if the servo movement is complete.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | Servo Motor Output Range: 0-7&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''
+|}
+{| 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;" | '''AutoMoveToPosition'''
+|-
+| colspan="2" | Automatically moves towards the new position at a fixed rate determined by the AutoMoveSpeed.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Position
+|-
+| colspan="2" | Position to automatically move to. Range: 0-255&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''
+|}
+{| 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;" | '''EnableServo'''
+|-
+| colspan="2" | Enables a servo channel effectivly setting the position of the motor to the value in the local position variable.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to set the position for.  First channel is zero.&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''
+|}
+{| 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;" | '''SetAutoMoveSpeed'''
+|-
+| colspan="2" | Sets the speed of the auto move to position macro.  Default speed is shown in the Servo_Period_Multiplier property.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Speed
+|-
+| colspan="2" | 1=Slowest (Default), 2= Double, 3=Triple, 4=Quadruple&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''
+|}
+{| 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;" | '''AutoMoveToPositionInt'''
+|-
+| colspan="2" | Automatically moves towards the new 16-bit position at a fixed rate determined by the AutoMoveSpeed.&nbsp;
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+| width="90%" | Channel
+|-
+| colspan="2" | The channel to assign the new position. Range: 0-7&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+| width="90%" | Position
+|-
+| colspan="2" | Position to automatically move to. Range: 0-65535&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''
+|}
+{| 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" | Sets up the servo motor interrupts&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''
+|}
+==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" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Channels (1 - 8)
+|-
+| colspan="2" | Set the number of servo's that you need to control. Value from 1 to 8.&nbsp;
+|-
+| 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-5-icon.png]]
+| width="90%" | Channel 0
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 1
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 2
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 3
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 4
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 5
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 6
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-5-icon.png]]
+| width="90%" | Channel 7
+|-
+| colspan="2" | Pin on which to output PWM for the servo motor.&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Resources
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-10-icon.png]]
+| width="90%" | Peripherals
+|-
+| colspan="2" | Lists the internal peripherals of the MCU used by the component. When the servo motor is initialised you will not be able to use the listed peripherals for other functionality.&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Trim
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim Mode
+|-
+| colspan="2" | &nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 0
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 1
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 2
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 3
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 4
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 5
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 6
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
+| width="90%" | Trim 7
+|-
+| colspan="2" | Trim the pulse width for this channel.  Use this to trim the positioning of two servos so that similar input values will produce the same degree of movement.&nbsp;
+|-
+| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
+| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Pulse Width
+|-
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Minimum (us)
+|-
+| colspan="2" | Shortest pulse width that will be used.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Maximum (us)
+|-
+| colspan="2" | Longest pulse width used for the PWM signals.&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
+| width="90%" | Period Multiplier
+|-
+| colspan="2" | Number of instructions for 1 / 256th of the positional accuracy. This sets the default movement speed to maintain legacy move speeds. Also sets the multiplication factor to convert from a byte 0-255 to a clocked position value.&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-17-icon.png]]
+| width="90%" | Servo Object 0
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 1
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 2
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 3
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 4
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 5
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 6
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|-
+| width="10%" align="center" | [[File:Fc9-type-17-icon.png]]
+| width="90%" | Servo Object 7
+|-
+| colspan="2" | Drag a servo motor component onto the System Panel, and then select it here, to create an on screen simulation of the way that your flowchart moves the servo's. Servo motors should be based on the 'Servo Motor Base' component, or use a custom component set to responf to 'User.Notify' events (ID = n/a,  Data = Position (0-127)).&nbsp;
+|}==Macro reference==
 {| class="wikitable" style="width:60%; background-color:#FFFFFF;"