Manual
Table Of Contents
- Product Features
- Installing the hardware
- Downloading and Installing the software
- Programming a Phidget
- Technical Section
- The PhidgetAdvancedServo software component uses degrees to specify position, velocity, and acceleration. The degree unit is translated into a pulse sent to the servo, but it’s up to the servo to translate this signal into a particular position. This translation varies between servo models and manufacturers so our degree abstraction will not be exactly the same as the servo you are using. Our degree abstraction is based on the HS322-HD servo, which is typically 10.4uS per degree.
- API Section
- We document API calls specific to the 1066. Functions common to all Phidgets are not covered here. This documentation is deliberately generic. For calling conventions in a specific language, refer to that language’s API manual.
- Device Specifications
- Mechanical Drawing
- Product History
1066_0_Product_Manual created: 07/09/09 Page 11
double VelocityMax(int ServoIndex) [get] : Constant
VelocityMax is the absolute upper limit to which Velocity can be set. For the1066, this will
always return 6400.
double VelocityMin(int ServoIndex) [get] : Constant
VelocityMin is the absolute lower limit to which Velocity can be set. For the 1066, this will
always return 0.
double Position(int ServoIndex) [get,set]
Position is used for both the target and actual position for a particular servo. If the servo is
currently engaged and a new value is set, then the controller will continuously try to move to
this position. Otherwise, this call will return the current position of the servo. This call does
not return the actual physical position of the servo.
The range of Position is bounded by PositionMin/PositionMax•
If the servo is not engaged, then the position cannot be read.•
The position can still be set while the servo is not engaged. Once engaged, the servo will •
snap to position if it is not there already.
This property should be set by the user as part of initialization. If not, it will report the last •
value set on the device (unless the 1066 has been power-cycled).
Get will return the last value as reported by the device. This means sets to this value will •
take a small amount of time to propagate.
double PositionMax(int ServoIndex) [get,set]
PositionMax is the upper limit to which Position can be set, and is initialized to 233. It
can be used to prevent the controller from going beyond a servo’s range of motion. A
PhidgetException will be thrown if this is set above 233 or below PositionMin.
double PositionMin(int ServoIndex) [get,set]
PositionMin is the lower limit to which Position can be set, and is initialized to -22.9921875.
It can be used to prevent the controller from going beyond a servo’s range of motion. A
PhidgetException will be thrown if this is set below -22.9921875 or above PositionMax.
double Current(int ServoIndex) [get]
Current returns the power consumption in amps for a particular servo. The value returned for
a disconnected or idle servo will be slightly above zero due to noise.
bool SpeedRamping(int ServoIndex) [get,set]
SpeedRamping enables or disables whether the PhidgetAdvancedServo tries to smoothly
control the motion of a particular servo. If enabled, then the 1066 will progressively send
commands based on velocity, acceleration and position.
This value is set to false when the 1066 is first connected. This property should be set by •
the user as part of initialization. If not, it will report the last value set on the device (unless
the 1066 has been power-cycled).
Get will return the last value as reported by the device. This means sets to this value will •
take a small amount of time to propagate.