Example: SCS45

Firmware Version Number:

Software: FD 1.9.6

When the SCS45 servo is stalled during movement and cannot reach the target position, the overload torque (Address: 39) detects that the current load (Address: 60) reaches 80% of the torque. Then the protection time (Address: 38) starts counting down (the time is calculated as the set value * unit 40ms). After the time ends, the protection torque (Address: 37) is activated, and it stalls according to the set torque ([Sensitive word] torque * set percentage, 0 for free state). At this time, because the torque decreases, the current will no longer increase until the next command (a command packet in the opposite direction of the stall) is sent, and then the servo returns to normal. The advantages of this are: 1. The temperature will not keep rising; 2. The current will not keep increasing, protecting the power supply; 3. Preventing the circuit board from burning; 4. Protecting the gears; 5. Eliminating potential safety hazards caused by the servo to the equipment.

Check the value at address 19 (unloading condition) for judgment:

32	16	8	4	2	1
Overload	Empty Address	Current	Temperature	Sensor	Voltage

For example:

A value of 32 indicates that overload protection is enabled;

A value of 40, which is 32 + 8, indicates that overload protection and over - current protection are enabled (currently, the SCS series has no over - current detection function);

A value of 36, which is 32+4, indicates that overload protection and temperature protection are enabled;

A value of 37, which is 32 + 4+1, indicates that overload protection, temperature protection, and voltage protection are enabled;

A value of 45, which is 32+8 + 4+1, indicates that overload protection, current protection, temperature protection, and voltage protection are enabled.

For the SCS series: Set the [sensitive word] angle limit and small - angle limit to "0" and save. Then control with the time parameter (Address: 44): 100 - 1000 indicates counter - clockwise rotation; (100 - 1000)+1024 indicates clockwise rotation. (Approximately, setting 60 starts counter - clockwise rotation, and 1080 starts clockwise rotation. This is for reference only).

For the SMS series: Set the operating mode at address 33 to "2" and save. Then control with the speed parameter (Address: 46): 0 - 1000 indicates counter - clockwise rotation, 0 - (- 1000) indicates clockwise rotation. The [sensitive word] bit is the direction bit, and - 1 = the [sensitive word] bit of the speed byte indicates this.

The motor mode setting for the SMCL/STS series is the same as that of the SCS series.

In the SCS series, the minimum speed is 20 degrees per second, while in the SM series, the minimum speed is 4 degrees per second.

Connecting only one servo in series: Check the hardware connection. If using the URT - 1 board for debugging, the URT - 1 board needs an external power supply:

If it is an SCS series servo, supply 4.8V - 8.4V at the blue terminal (for SCS009, SCS2332, SCS45, it is recommended to supply 4.8 - 6V; for SCS15, SCS115, SCS215, SCS40, SCS40 - DS, SCS46, SCS6560, it is recommended to supply 7V - 8.4V).

If it is an SM series servo, supply 12V at the blue terminal (for SM29BL, SM30BL, SM40BL, SM45BL, SM60CL, SM85CL, SM120BL).

Check the baud rate: The default baud rate of the SCS series is 1000000bps, and the default baud rate of the SM series is 115200bps. If the baud rate is selected incorrectly, the servo cannot be searched.

Connecting multiple servos in series: Before connecting in series, each servo needs to be connected to the FD software individually, and the ID needs to be modified in the programming interface. For example, if three servos are to be connected in series, the IDs of each servo need to be modified to 1, 2, and 3 respectively. Only with different IDs can they be arranged and searched. In addition, if SCS series and SM series servos are connected in series, the baud rate also needs to be modified to the same value in the programming interface. Otherwise, the FD software will only scan out the servos with the same baud rate as the set one.

If the servos still cannot be scanned out even after setting the power supply, baud rate, ID, etc. correctly:

1. Try changing to another servo or another computer. Since the URT - 1 needs to load the driver, if the driver is not installed properly, it may not be able to scan.
2. Check the wiring. Do not use other servo wires. It is recommended to choose a power supply with a large power. Otherwise, when there is a load, the voltage may fluctuate frequently, resulting in communication time - out and other phenomena.
3. If the servo was scanned out during the [sensitive word] operation, but cannot be scanned out when re - connected later, check whether the parameters have been modified, or whether there is a short - circuit caused by reversing the positive and negative power supplies during the operation. It is recommended to save a copy of the parameters locally in the programming interface after connecting during the [sensitive word] operation.

A single - chip microcomputer cannot be directly connected to a serial servo. Control needs to be achieved through the signal conversion of URT - 1. It can also be converted through the signal - conversion circuit schematic diagram, which can be viewed in the serial - servo data package.
Wiring method:
TX - TX, RX - RX, 5V - 5V, GND - GND
A - A, B - B, V - V, G - G

You can refer to the following diagrams:

This is only applicable for gripping the same items (items of the same mass), and the "torque limit" percentage needs to be set in advance. If items with non - fixed mass and volume are gripped multiple times, it is impossible to determine the torque value that the servo needs to output, which may damage the object or cause the servo to experience overload and force release. Taking a serial servo as an example, a serial servo has controllable "torque limit" percentage output. When the weight of an object requires the servo to output a force of 1kg to grip the item without dropping it and without damaging the object, we can achieve this through the following operations: Assume the stall torque is 10kg·cm, and enter 100 at address 16 "torque limit" (indicating 10% of 10kg, that is, an output of 1kg). Then a force of 1kg can be used to grip the item.

In the protocol: For the SCS series, the high - byte comes first, while for the SMS series, the low - byte comes first.