_R-STS01mightyZAP Servo Tester Shield Manual_ENG_V1.2 19D5

IR-STS01 Servo Tester Shield Manual V.1.1
2
INDEX
01
Outline
3
1.1. Introduction--------------------------------------- 3
1.2. Caution-----------------------------------------------3
1.3. Storage-----------------------------------------------3
02 Servo Motor Connection 4
2.1. Assembly---------------------------------------------4
2.2. Linear Servo Connection-------------------------4
2.3. Power Connection---------------------------------5
03 Basic Test Operation 5
3.1. Manual Mode (PWM Control )----------------6
3.2. Manual Mode (RS-485/TTL Control )--------6
3.3. Auto Mode(PWM/RS-485/TTL Control)-----7
04 Use of Arduino Library 8
4.1. Library Adding--------------------------------------8
4.2. Example Load---------------------------------------9
4.3. Program Upload -----------------------------------9
05 Shield Control Example by Arduino IDE 9
5.1. Outline/Caution -------------------------------------9
5.2. Example – User LED--------------------------------10
5.3. Example – VR Read---------------------------------11
5.4. Example – Switch-----------------------------------12
5.5. Example – Servo Motor PWMControl 1------13
5.6. Example – Servo Motor PWMControl 2------14
5.7. Example – Stroke Limit (PWMControl)--------15
5.8. Example – VR Reverse (PWMControl)---------16
5.9. Example – VR Speed (PWMControl)-----------17
5.10. Example – VR Delay (PWMControl)----------18
5.11. Example – Data Communication Control (TTL/RS-485)--
-----------------------------------------------------19
06
Servo Control
Example by Arduino IDE
20
6.1. Outline/Caution ------------------------------------------20
6.2. Example – Information Read (TTL/RS-485)--------21
6.3. Example – Servo ID---------------------------------------22
6.4. Example – LED---------------------------------------------23
6.5. Example – Limit Temperature-------------------------23
6.6. Example – Goal Position---------------------------------24
6.7. Example – Present Position-----------------------------25
6.8. Example – Limit Volt--------------------------------------26
6.9. Example – Alarm LED-------------------------------------27
6.10. Example – Alarm Shutdown---------------------------28
6.11. Example– Stroke Limit----------------------------------29
6.12. Example– Resolution Factor---------------------------30
6.13. Example– Moving Speed-------------------------------31
6.14. Example– Force Limit-----------------------------------32
6.15. Example– Max Force------------------------------------33
6.16. Example– Compliance Margin------------------------34
6.17. Example– Punch------------------------------------------35
6.18. Example– Punch Initial---------------------------------36
6.19. Example– PID---------------------------------------------37
Appendix 38
Arduino PC Development environment ------------------38
Arduino IDE Installation--------------------------------------38
Arduino IDE Basic Composition-----------------------------41