Data Sheet

ManualsBrandsXYZ Printing ManualsMisc. Smart Servo MotorXYZrobot A1-16 Smart Servo

Overview and Characteristics of Servo A1-16

A1-16 is a modular actuator, which combines a gear reducer, a DC motor and an

embedded control board in one small package. A1-16 provides the necessary torque

for building a small robot. Also, A1-16 could give much information of internal

condition such as the internal temperature, supply voltage and so on. A1-16 is much

easier to use for beginners and advance users than a traditional servo motor

General Servo Motor Specifications

1. Operation voltage : 8 ~ 12 V(default)

2. Maximum speed : 70 ± 10 rpm

3. Stall torque : 25.0 kg-cm max

4. Rotary position feedback with 360° continuous rotation angle and maximum 330°

effective position control range

5. Protocol type : Duplex UART 5V TTL serial communication(8, N, 1)

6. Communication Speed : 9600, 19200, 57600, 115200(default)

7. Feedback Information : Position, Temperature, Current, Voltage, etc

Dimensions of Servo Motor

1. Size : 50 x 32 x 40.5 mm

2. Weight : 60 ± 2 grams

3. Material : POM casing with metal gear

Wiring Connection

The A1-16 servos communicate with the main controller by daisy chain connection.

Many A1-16 servos could be controlled by one single bus as shown above. Main

controller provides power and sends control signal to A1-16 and receives respective

data through the same bus. Every A1-16 servo has its unique ID value and

communicates with the main controller by it, so user should be sure with the right ID

Summary of content (15 pages)

PAGE 1
Overview and Characteristics of Servo A1-16 A1-16 is a modular actuator, which combines a gear reducer, a DC motor and an embedded control board in one small package. A1-16 provides the necessary torque for building a small robot. Also, A1-16 could give much information of internal condition such as the internal temperature, supply voltage and so on. A1-16 is much easier to use for beginners and advance users than a traditional servo motor General Servo Motor Specifications 1. 2. 3. 4.
PAGE 2
before assembly. When power is successfully applied to A1-16, the status LED blinks in sequence with red, white, blue and green LED twice. The pin assignment of A1-16 is described as below. Each pin of two connector is internal connected. So A1-16 could function with any connector attached.
PAGE 3
Front View of A1-16 1. Servo Hub: The servo hub is the rotation output part of A1-16. 2. Zero Position: The zero position shows the central position of A1-16 servo hub. Back View of A1-16 1. Cable Clip: The cable clip provide a route for cable. 2. Status LED: The status LED could indicate different error status to the users. The detail error information shows below.
PAGE 4
Requested and ACK Packets Main controller communicates with the servos in the UART network by sending a requested packet and receiving ACK packet back from the servo. Regardless of the number of servos in the network, only the servo with correct ID will acknowledge request packet and send the ACK packet to the main controller.
PAGE 5
Table 1: Requested and ACK packets data string bytes 1 2 3 description header header packet size N 4 5 6 7 8~107 packet ID CMD check_ check_ data[i] sum_1 sum_2 Requested 0xFF packet 0xFF 7~107 1~20, 0x01~ 254 (#) 0x09 (*) (**) ... ACK packet 0xFF 7~107 1~20 (*) (**) ... 0xFF 0x40~ 0x49 Note: (#) When packet ID=254, broadcast ID, none of any servo will send ACK packet (*) check_sum_1 = (N^ID^CMD^data[0]^data[1]^...
PAGE 6
Table 3: Requested and ACK packets for EEP_WRITE(0x01) and RAM_WRITE(0x03) (1) Requested packet for EEP_WRITE and RAM_WRITE CMD 1 2 4 5 6 header header size ID CMD check_ check_ start sum_1 sum_2 addr. length data[i] L 0xFF 1~20, 254 0x01, 0x03 0xXX 0xXX 0xFF 3 9+L 7 8 0xXX 9 0xXX +L ... Note: EEP_WRITE: 4 <= start addr. <= 53, , 5 <= start adds. + length <= 54 RAM_WRITE: 0 <= start addr. <= 47, 1 <= start adds.
PAGE 7
Table 5: Requested and ACK packets for I-JOG (0x05) CMD (1) Requested packet for I-JOG CMD 1 2 3 header header size 0xFF 0xFF 4 5 6 ID CMD check_ check_ I-JOG sum_1 sum_2 data ... 0xXX ... 7+5*n 1~20, 0x05 254 7 +5 0xXX (5-1) +(n-1)*5 Note: n=number of motor IDs send. (5-1) I-JOG data 1 2 goal.lsb 0xXX 3 4 5 goal.
PAGE 8
Table 6: Requested and ACK packets for S-SOG (0x06) CMD (1) Requested packet for S-JOG CMD 1 2 3 header header size 0xFF 0xFF 4 5 6 ID CMD check_ check_ play sum_1 sum_2 time S-JOG ... data 0xXX (6-1) 8+4*n 1~20, 0x06 254 7 8 0xXX 0xXX +4 +(n-1)*4 ... Note: n=number of motor IDs send. (6-1) S-JOG data 1 2 3 4 goal.lsb goal.
PAGE 9
Table 7: Requested and ACK packets for STAT(0x07) CMD (1) Requested packet for STAT CMD 1 2 3 4 5 6 7 header header size ID CMD check_ sum_1 check_ sum_2 0xFF 0xFF 7 1~20 0x07 0xXX 0xXX (2) ACK packet for STAT CMD 1 2 3 4 5 6 7 8 9 header header size ID CMD check_ sum_1 check_ sum_2 status_ error status_ detail 0xFF 0xFF 17 1~20 0x47 0xXX 0xXX 0xXX 0xXX 10 11 12 13 14 15 16 17 PWM. lsb PWM. msb pos_ref. lsb pos_ref. msb position. lsb position.
PAGE 10
Table 9: Requested and ACK packets for REBOOT(0x09) CMD (1) Requested packet for REBOOT CMD 1 2 3 4 5 6 7 header header size ID CMD check_ sum_1 check_ sum_2 0xFF 0xFF 7 1~20, 254 0x09 0xXX 0xXX (2) ACK packet for REBOOT CMD 1 2 3 4 5 6 7 8 9 header header size ID CMD check_ sum_1 check_ sum_2 status_ error status_ detail 0xFF 0xFF 9 1~20 0x49 0xXX 0xXX 0xXX 0xXX
PAGE 11
3. EEPROM & RAM Parameters The system parameters saved in EEOROM and RAM are shown in Table 10. There are 54 bytes parameter data in EEPROM and 80 bytes parameter data in RAM, in which the first 48 bytes of RAM data are same as the data in RAM from address of 6 to 54. The EEPROM data can be read and written to; some of the RAM data are read only. Table 10: EEPROM & RAM Parameters EEPROM RAM Parameter Addr. Addr.
PAGE 12
34 28 Position_Ki 2 R/W 0x0000 36 30 Close_to_Open_Ref_Position 2 R/W 0x03FF 38 32 Open_to_Close_Ref_Position 2 R/W 0x00 40 34 Reserved 2 R/W 0x03FF 42 36 Ramp_Speed 2 R/W 0x03FF 44 38 LED_Blink_Period 1 R/W 0x00 45 39 Reserved 1 R/W 0x00 46 40 Packet_Timeout_Detection_Period 1 R/W 0x0A 47 41 Reserved 1 R/W 0x00 48 42 Overload_Detection_Period 1 R/W 0x19 49 43 Reserved 1 R/W 0x00 50 44 Inposition_Margin 1 R/W 0x01 51 45 Over_Voltage_Detection_Per
PAGE 13
The description of EEPROM and RAM parameters above are summarized below. (E0) Model_No：Servo model name (E1) Year：Year (E2) Version/Month：bit0~3：month, bit4~8：version of servo firmware (E5) Baud_Rate： 0x01：9600 0x02：19200 0x06：57600 0x0C：115200 (E6,R0) sID：Servo ID, 1, 2, ..., 19, 20 ...
PAGE 14
(E18,R12) Max_Wheel_Ref_Position：Start virtual position for speed close loop control. (E22,R16) Max_PWM：The max value of A1-16 servo output torque. (E24,R18) Overload_Threshold：The max value of A1-16 servo output torque. (E26,R20) Min_Position：Min operational angle (E28,R22) Max_Position：Max operational angle (E30,R24) Position_Kp：msb is the integer number and lsb is the decimal number.
PAGE 15
6 0x20 0 Requested Packet Checksum Error Green LED on 7 0x40 0 Requested Packet Data Error Green LED on 8 0x80 0 Requested Packet RX FIFO Error Green LED on (R49) status_detail bit Mask Default Status Detail 1 0x01 0 Reserved 2 0x02 0 Reserved 3 0x04 0 Reserved 4 0x08 0 Reserved 5 0x10 0 Motor Moving 6 0x20 0 Motor In-Position (Position control mode only) 7 0x40 0 1: Torque on (Position/Speed control), 0: Torque off 8 0x80 0 Motor Braked (R53) LED_Control：bit i