HUMANOID ROBOT Feetech SCS115 15kg.cm SERVO Dynamixel AX-12
The advantage of Serial bus servo:
1.Beautiful wiring structure,
2.Easy to control signal,
3.real-time feedback of position,tempreture,speed,voltage,Current data,
4.Less occupied port.
5.Digital transmission signal is
Flexible, convenient, reliable and good compatibility
6.intercommunication;
Now PWM is Simulate Transmission,Pulse width variation stand for control vector,so easily interfered by the outside world.
1.FT-SCServo is meaning that Smart Control Servo was R&D and manufactured by FEETECH
2.SCServo can work at servo mode and wheel mode.
The servo mode can be used to multi-joints robot since the robots can be controlled with specific angles. (The factory default setting is servo mode)
The wheel mode can be used to wheel-type operation robots since motors of the robots spin infinitely. (If wheel mode is available you need to program the value of position limitation the both are 0.)
If you want to reprogram servo, you need to download the PC software (SCServo_Debug), and to connect SCPC-2(Serial Control Programming Card) between servo and PC.
More about SCServo_Debug and SCPC-2 introduce please reference its instructions.
3.SCServo has a unique ID number to identify on BUS network.
The range from 0 to 253 (0xFD) can be used (The factory default setting is ID 1), and, especially, 254(0xFE) is used as the Broadcast ID. If the Broadcast ID is used to transmit Instruction Packet, we can command to all SCServo.
After programmed servo ID, to be best way is written it on the sticker of servo. If not, maybe you will forget the ID when you programmed many servos.
4.SCServo have kinds of baud rate available.
The baud rate from 38400 bps to 1M bps can be used.
They are 38400, 57600,76800,115200,128000,250000,500000,1000000. (The factory default setting is 1000000 bps)
Hardware Specifications
5. SCServo can feedback the value of Position, Temperature, Load, Speed and Input Voltage.
6. Also we can reprogram the speed of rotation, the max output torque, operating voltage limit, and operating temperature limit etc.
7. SCServo can repeat assembly by M2 machine screw, and then use DIY assembly by U bracket.
8.Half Duplex Asynchronous Communication
Half duplex UART is a serial communication protocol where both TxD and RxD can’t be used at the same time. This method is generally used when many devices need to be connected to a single bus. Since more than one device is connected to the same bus, all the other devices need to be in input mode while one device is transmitting.
The Main Controller that controllers of the SCServo actuators sets the communication direction to input mode, and only when it is transmitting an Instruction Packet, it changes the direction to output mode.
9.Connection to UART
To control the SCServo actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.
