Component: ST3215 Servo Motor (Mechatronics)

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