Some additional information to HMI.
2. chaingeable Parameter by HMI Servo Programmer Kit
n D-gain Parameter
n Dead Zone Parameter
n P-gain Parameter
3. PC to Servo Serial Interface
n HMI interface protocol allows to connect and control robot servos by PC serial port, up to 127 servos.
n The number of max connectable servos can be changed by Signal level and other system environment.
n Voltage / Current Feedback Data comes only as logic value from 0 ~ 255. Considering Duty rate, it should be recalculated.
1）B_Version : ID alc Version Read
|
|
80 |
E7 |
0 |
0 |
|
version |
ID |
|
>>send packet
|
command |
data. 1 |
data. 2 |
CHKSUM |
Rec. [0x00] |
Rec, [0x00] |
|
|
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
- header = 0x80(packet start)
- command = 0xE7
- data1 = 0x00
- data2 = 0x00
- check = header + command + data1 + data2
- NUL = 0x00
- NUL = 0x00
>>receiving packet
|
Rec. [Data2] |
|
|
1byte |
1byte |
- data1 = version
- data2 = ID
2）B_Battery : Current and Voltage.
|
|
80 |
E8 |
0 |
0 |
|
current |
voltage |
|
>>send packet
|
command |
data1 |
data2 |
CHKSUM |
rec.[0x00] |
rec.[0x00] |
|
|
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
- header = 0x80(packet start)
- command = 0xE8
- data1 = 0x00
- data2 = 0x00
- check = header + command + data1 + data2
- NUL = 0x00
- NUL = 0x00
>>receiving packet
|
rec.[Data2] |
|
|
1byte |
1byte |
- data1 = current
- data2 = voltage
3）B_ID_R_POS_PC : call Servo with defined ID and read motor speed and position setting.
|
|
80 |
E9 |
00-7F(ID) |
speed |
|
pos_H |
pos_L |
ID |
>>send packet
|
command |
data1 |
data2 |
CHKSUM |
rec.[0x00] |
rec.[0x00] |
|
|
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
- header = 0x80(packet start)
- command = 0xE9
- data1 = 00-7F(ID)
- data2 = speed
- check = header + command + data1 + data2
- NUL = 0x00
- NUL = 0x00
>>receiving packet
|
rec.[Data2] |
|
|
1byte |
1byte |
- data1 = pos_H
- data2 = pos_L
4）B_ID_W_MOV_MAX : call Servo with defined ID set motor position
|
|
80 |
00-7F(ID) |
pos_H |
pos_L |
|
- |
- |
ID |
>>send packet
|
command |
data1 |
data2 |
CHKSUM |
rec.[0x00] |
rec.[0x00] |
|
|
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
- header = 0x80(packet start)
- command = 00-7F(ID)
- data1 = pos_H
- data2 = pos_L
- check = header + command + data1 + data2
- NUL = 0x00
- NUL = 0x00
>>receiving packet
|
rec.[Data2] |
|
|
1byte |
1byte |
- data1 = 0x00
- data2 = 0x00
5）B_motor_go_stop : Move stop/start
|
|
80 |
EB |
0 |
0/1 |
|
03 |
03 |
0:stop 1:go |
>>send packet
|
command |
data1 |
data2 |
CHKSUM |
rec.[0x00] |
rec.[0x00] |
|
|
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
1byte |
- header = 0x80(packetstart)
- command = EB
- data1 = 0
- data2 = 0x00/0x01 " 0:stop ,1:go value“
- check = header + command + data1 + data2
- NUL = 0x00
- NUL = 0x00
>>receiving packet
|
rec.[Data2] |
|
|
1byte |
1byte |
- data1 = 0x03
- data2 = 0x03
4. Overload Protection
All Hitec robot servos have Overload Protection.
n If overload situation lasts more than 10 sec. then it turns of automatically.
n To reset servo, please turn power off and on again.
n Overload protection is always active and the setting cannot be changed by users.
5. After reset, Servo moves slowly to neutral position and this is not a malfunction