I have a newbie question. Has anyone (or thread link) done sending commands to multi-drop uart servos instead of the normal PWM type? I've written small test codes on SPIN but no respond from the servo
Spec:
- Communication Multi drop Full Duplex UART serial communication
- Baud Rate 4,800bps ~ 921,600bps(8 levels)
- Extension Max 254 modules per channel(ID 0~253)
- Operating Voltage 6VDC ~ 10VDC(7.4VDC~8.4VDC recommended)
- Speed Max No Load Speed 0.15 sec/60°(wCK-1108 under recommended voltage)
- Stall Torque Max 13kg·cm(wCK-1413 under recommended voltage)
- Max Power 1.1W(wCK-1108, 1111), 1.4W(wCK-1413)
- Gear Ratio 1/173(wCK-1108), 1/241(wCK-1111, 1413)
- Control Mode Position Control, Speed Control, Torque Control
- Control Angle 0~254(Standard Resolution), 0~1,022(High Resolution)
- Operating Angle 0°~269°(Standard Resolution), 0°~333°(High Resolution)
- Resolution 8 bit/1.055°(Standard Rosolution), 10 bit/0.325°(High Resolution)
- Error Range ±0.8°(Standard Resolution)
- Speed Level 30 levels(Position Control Mode), 16 levels(Wheel Mode)
- Case Material Engineering Plastic
- Gear Material POM(wCK-1108), POM+Metal(wCK-1111,1413)
- Size 51.6 mmx27.1 mmx36.4 mm
- Weight 45g(wCK-1108), 49g(wCK-1111,1413)
There was a thread I think with some code attached. These servos use a default Baud around 1MHz and FullDuplexSerial can't quite go that fast. The writer used a different or modified serial driver to get it to work. I don't have a link. You'll have to browse through the old Propeller forum threads.
Very cool looking device. I had a difficult time finding a manual for it -- meaning after looking I couldn't find a manual for it. Still, a servo with local intelligence in a nice modular package like that with a multi-drop serial cable solves a LOT of issues in robotic building.
Thanks Mike. I managed to listen in on the TX line from the controller & managed to get about 97% correct instruction set on the 8-bit command (4-bytes) by comparing the initial instructions set in the mfgr's PC software & the decoded captured data. So I thought using the same baud rate should get the servo's attention but I was wrong. Measured the original servo & signal voltage & set the same at the prop but still no good Anyway, I search for that thread you mentioned.
Allan, you could download the manual under the support section, page 3.
Comments
Post Edited (allanlane5) : 6/1/2010 2:09:29 PM GMT
Company: RoboBuilder
Brand: wCK series, I'm using wCK-1108T & K
Link: http://www.robobuilder.net/eng/
Spec:
- Communication Multi drop Full Duplex UART serial communication
- Baud Rate 4,800bps ~ 921,600bps(8 levels)
- Extension Max 254 modules per channel(ID 0~253)
- Operating Voltage 6VDC ~ 10VDC(7.4VDC~8.4VDC recommended)
- Speed Max No Load Speed 0.15 sec/60°(wCK-1108 under recommended voltage)
- Stall Torque Max 13kg·cm(wCK-1413 under recommended voltage)
- Max Power 1.1W(wCK-1108, 1111), 1.4W(wCK-1413)
- Gear Ratio 1/173(wCK-1108), 1/241(wCK-1111, 1413)
- Control Mode Position Control, Speed Control, Torque Control
- Control Angle 0~254(Standard Resolution), 0~1,022(High Resolution)
- Operating Angle 0°~269°(Standard Resolution), 0°~333°(High Resolution)
- Resolution 8 bit/1.055°(Standard Rosolution), 10 bit/0.325°(High Resolution)
- Error Range ±0.8°(Standard Resolution)
- Speed Level 30 levels(Position Control Mode), 16 levels(Wheel Mode)
- Case Material Engineering Plastic
- Gear Material POM(wCK-1108), POM+Metal(wCK-1111,1413)
- Size 51.6 mmx27.1 mmx36.4 mm
- Weight 45g(wCK-1108), 49g(wCK-1111,1413)
Allan, you could download the manual under the support section, page 3.