Data Sheet

ROBOT . HEAD to TOE

Product User’s Manual – Shield-Servo

c. 1st byte is combination of mode and servo motor channel. Servo motor channel is from

0-16. Select ‘0’ to activate all servo motor from channel 1 to 8.

111

Mode for position and speed command

00000-01000

Servo motor channel

d. 2nd and 3rd byte combined to provide 13 bit data of servo position, 0-8000. The

resolution

of Shield-servo is 0.5us. It will start from 0.5ms and increase the duty cycle of pulses

according to value of position. Thus, following formula show the duty cycle of pulse

generated.

.Duty cycle = (resolution X servo position)+0.5ms

=(0.25us X servo position)+0.5ms

2nd Byte: Higher 7 bit

3rd Byte: Lower 6bit

13 bit servo position

e. 4th byte represents the speed of servo rotation. The speed is from 0-100. The higher value

the faster servo will rotate to its position. Decimal value ‘1’ indicates that the servo will

run at slowest speed and decimal value ‘100’ will run at fastest speed. However, value ‘0’

is special value. Value ‘0’ is more faster than value ‘100’.