Component: ST3215 Servo Motor (Mechatronics)
From Flowcode Help
Jump to navigationJump to search| Author | Matrix TSL |
| Version | 2.0 |
| Category | Mechatronics |
Contents
- 1 ST3215 Servo Motor component
- 2 Detailed description
- 3 Examples
- 4 Macro reference
- 4.1 ChangeBaudrate
- 4.2 ChangeID
- 4.3 DefineMiddle
- 4.4 Initialise
- 4.5 IsMoving
- 4.6 ListServos
- 4.7 LockEEPROM
- 4.8 PingServo
- 4.9 ReadAcceleration
- 4.10 ReadAngle
- 4.11 ReadCorrection
- 4.12 ReadCurrent
- 4.13 ReadID
- 4.14 ReadLoad
- 4.15 ReadMode
- 4.16 ReadPosition
- 4.17 ReadSpeed
- 4.18 ReadStatus
- 4.19 ReadTemperature
- 4.20 ReadTorqueLimit
- 4.21 ReadVoltage
- 4.22 Rotate
- 4.23 SetAcceleration
- 4.24 SetAngle
- 4.25 SetCorrection
- 4.26 SetMode
- 4.27 SetPosition
- 4.28 SetSpeed
- 4.29 SetTorqueLimit
- 4.30 StartServo
- 4.31 StopServo
- 4.32 UnlockEEPROM
- 5 Property reference
- 6 Component Source Code
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
