深圳飞特模型有限公司

Serial Bus Smart Control servo

SCS15 Manual

Revision history
date version Update content
1. Corrigendum amendment
2016.8.19 V1.01
2. add speed control parameters
2016.12.21 V1.02 Delete protocol content

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Part One Component overview

1.1 product feature
Serial bus smart control servo fully integrated Motor, servo drive,
Serial bus communication interface and sensor together as one servo,Mainly used
for micro robot joint, wheel, track drive,
Can also be used for other simple position control occasions.
The features of SCS15 are as follows
 High torque ：15Kg.cm  Can be set to motor mode, full
 Wide voltage range power supply cycle rotation,Open loop speed
DC 6V～9V regulation
 Resolution:0.19 °  The bus connection theory can be
 Double shaft install way，Fit for connected in series with 253 ID
robot joint numbers
 High precision all metal gear set，  The baud rate is high as 1M
Two ball Bearing  0.25KHz Servo update rate
 Dual connection port,daisy chain  Using serial bus SCS
connection communication protocol
 position servo mode can rotate 0-  With position, temperature, speed,
200° voltage feedback

1.2 structure size

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1.3 Electrical connection

1.3.1 Pin definition
Serial bus smart control The electrical interface is shown below ，The two
groups of pins define the same terminals and connect the servos one by one.

1.3.2 Servo communication mode

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SCS15 Asynchronous serial bus communication mode ，Theoretically, 253 robot
servos can be connected at most。Each servo can set different node addresses,
multiple servos can be unified control, or can be independently controlled.
The communication instruction set of SCS15 is open, communicating with the
user's host computer (controller or PC machine) through the asynchronous serial
interface. You can set the parameter and control the function. An instruction
is sent via an asynchronous serial interface, and the SCS15 can be set to
either a motor control mode or a position control mode. In the motor control
mode, SCS15 can be used as DC motor, speed adjustable; in position control mode,
SCS15 has the rotation range of 0-200 DEG, within this range with high
precision position control performance, rotational speed control.
As long as the protocol conforms to the protocol, the half duplex UART
asynchronous serial interface can communicate with the SCS15 and control the
SCS15. There are two main forms:
Way 1：use SCM-1and Pccontrol SCServo
Computer will recognize SCM-1 as serial device (driver normal installation),
the host computer software will be issued through the serial port in accordance
with the protocol format of data packets, forwarded to SCS15 via SCM-1. The
SCS15 will execute the packet instructions and return the response packets.
SCServoDebug.exe is the recommended debugging software, and you can also design
proprietary PC end software in accordance with the protocols provided by this
manual.

Way 2：Use Dedicated controller to control SCServo

Mode 1 can quickly and easily debug and control the SCS serial bus
intelligent servo system, and modify various performance and functional
parameters. However, this approach can not be separated from the PC machine,
and can not be added, such as sensors to build independent control of the robot.
The design of special controllers such as can be used as Arduino or general
controller, control steering controller through UART port, the 1.3.3 section
gives the conversion principle of UART controller interface signal, can be
designed their own controller.

1.3.3 UART Interface schematic diagram

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SCS15 serial bus intelligent servo system realizes half duplex asynchronous
serial bus communication, the communication speed can reach as high as 1Mbps,
and the interface is simple and the protocol is simple.
In your self designed controller, the UART interface for communicating with
the SCS15 is referred to as shown below。

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Part 2 Memory control table

2.1 ERROR current state
The returned response packet contains the servo current status ERROR，If
the servo current working state is abnormal ，Will be reflected by this byte ，
Each Byte reprsent information is below:
BIT Name Detail
BIT7 0 ---
BIT6 0 ---
BIT5 Overload In position mode, the output torque is
less than the load when running
BIT4 0 ---
BIT3 0 ---
BIT2 Overheated The temperature is over the specified
range
BIT1 0 ---
BIT0 Overvoltage The voltage is over the specified range
and
undervoltage
If ERROR is 0，There is no wrong information about the servo。

2.2 Memory control table

The information and control parameters of the robot servo form a table
which is stored in the RAM and EEPROM regions of the control chip. By modifying
the contents constantly, we can control the servo constantly. This table is
called the memory control table, which reads as follows:

Address Command item Read write initial Storage

value area
0（0x00） -- -- -- EEPROM
1（0x01） -- -- --
2（0x02） -- -- --
3（0x03） software version（H） read --
4（0x02） software version（L） read --
5（0x05） ID Read /write 00（0x00）

6（0x06） baud rate Read /write 00（0x00）

7（0x07） Return delay time Read /write 00（0x00）
8（0x08） Answer status level Read /write 01（0x01）

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9（0x09） Minimum angle limit Read /write 00（0x00）
（H）
10（0x0A） Minimum angle limit Read /write 00（0x00）
（L）
11（0x0B） Maximum angle limit Read /write 03（0x03）
（H）
12（0x0C） Maximum angle limit Read /write 255（0xFF）
（L）
13（0x0D） Maximum temperature Read /write 80（0x50）
limit

14（0x0E） Highestinput Read /write 250（0xFA）

voltage
15（0x0F） Lowest input Read /write 50（0x32）
voltage
16（0x10） Max torque（H） Read /write 03（0x03）
17（0x11） Max torque（L） Read /write 255（0xFF）
18（0x12） High voltage flag Read /write 00（0x00）
bit
19（0x13） Unload condition Read /write 37（0x25）
20（0x14） LED alarm condition Read /write 37（0x25）
21（0x15） P Read /write 15（0x0F）
22（0x16） D Read /write 00（0x00）
23（0x17） I Read /write 00（0x00）
24（0x18） Minimum PWM（H） Read /write 00（0x00）
25（0x19） Minimum PWM（L） Read /write 00（0x00）
26（0x1A） Clockwise Read /write 02（0x02）
insensitive range
27（0x1B） Counterclockwise Read /write 02（0x02）
insensitive region
28（0x1C） Integral Read /write 00（0x00）
restriction（L）
29（0x1D） Integral Read /write 00（0x00）
restriction（H）
30（0x1E） Differential Read /write 00（0x00）
sampling
coefficient
31--39 -- -- --
40（0x28） Torque switch Read /write 00（0x00） RAM
41（0x29） -- -- --
42（0x2A） Target position（H） Read /write --
43（0x2B） Target position（L） Read /write --

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44（0x2C） Running time（H） Read /write 00（0x00）
45（0x2D） Running time（L） Read /write 00（0x00）
46（0x2E） Running speed（H） Read /write 00（0x00）
47（0x2F） Running speed（L） Read /write 00（0x00）
48（0x30） Lock sign Read /write 00（0x00）
49--55 -- -- --
56（0x38） Current position（H） Read ？
57（0x39） Current position（L） Read ？
58（0x3A） Current speed（H） Read ？
59（0x3B） Current speed（L） Read ？
60（0x3C） Current load（H） Read ？
61（0x3D） Current load（L） Read ？
62（0x3E） Current voltage Read ？
63（0x3F） Current temperature Read ？
64（0x40） REG WRITE sign Read 00（0x00）
If the control parameter has the command of "L" and "H", its range is 0x00
- 0x3FF; the parameter takes only one byte of command, and its range is 0x00 -
0xFE.
The parameters stored in RAM will not be saved after power down. The
parameters stored in the EEPROM can be saved after power down. "-" indicates
that parameters cannot be modified.
Details are described below:
0x06:
Address 0x06 defaults to 0, indicating the baud rate is 1M, you can press
the table to change the baud rate to the user's other baud rates, and the other
baud rate will be restored to 1M. The baud rate and the corresponding computed
parameters are listed below:
Address6 Hex Actual baud Target baud error
rate rate
0 0x00 1000000.0 1000000.0 0.000%
1 0x01 500000.0 500000.0 0.000%
2 0x02 250000.0 250000.0 0.000%
3 0x03 128000.0 128000.0 0.000%
4 0x04 115107.9 115200 0.079%
5 0x05 76923.0 76800 -0.160%
6 0x06 57553.9 57600 0.008%
7 0x07 38461.5 38400 -0.160%
0x07:
Set the back delay time, that is, how long the delay is when the servo
receives a command that needs to be answered, and the response is set by you.
Time range: parameter (0~254) *2US, if the parameter 250, that is, after 500us
response, but the parameter is 0, which means the shortest response time.
0x08:

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The response level sets whether the data is returned after the servo has
received the data 。
Address Return response packet
16
0 Other instructions do not return the acknowledge
packet except the read instruction and the PING
instruction
1 Returns the response packet to all instructions
0x09～0x0C:
Sets the angle range that the actuator can run，Minimum angle limit ≤Target
angle value ≤Maximum angle limit

Note that the minimum angle limit must be less than the maximum angle

limit. If the target angle exceeds the range, it is equal to the limit value.
0x0D
The maximum operating temperature, such as setting to 80, the highest
temperature is 80 degrees, and the setting accuracy is 1 degrees
0x0E
The highest operating voltage, such as the high set to 85, the maximum
working voltage of 8.5V, the set accuracy of 0.1V
0x0F
The minimum operating voltage, such as the high set to 45, the minimum
operating voltage of 4.5V, the set accuracy of 0.1V
0x10～0x11
Set the maximum output torque of the stservo. 0X03FF corresponds to the
maximum output torque of the SCS15.0x13:

Set uninstall condition, /LED alarm condition 。

BIT function
BIT7 --
BIT6 --
BIT5
If set to 1, the overload output /LED alarm occurs
when overload occurs
BIT4 --
BIT3 --
BIT2 If set to 1, release the torque /LED alarm when
overheating occurs

BIT1 --
BIT0 If set to 1, the torque /LED is released when the
voltage range exceeds the voltage range

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To act in accordance with logic or principles. LED alarm condition (0X14)
set to 0, turn off LED, otherwise open LED。
0x1A～0x1B:
The size of dead zone position loop, clockwise and counterclockwise are set
to 1 big dead zone is about 0. less 38
0x28:
Torque output ：“1”turn on，“0”turn off。
0x2A～0x2B:
Target position, range 0x0000 - 0x03FF, 0x0000 corresponds to 0 degrees,
0x03FF corresponds to 200 degrees, deviation + 2%。
0x2C～0x31:
Set time and speed servo operation to the target location (velocity
parameters than the time parameters of priority, and the writing time and speed
parameters, velocity parameters are selected as control parameters), time
parameter unit (MS), velocity parameters unit (0.19 / sec) as the 1000 speed
for (1000*0.19) deg / sec. Set to 0, corresponding to the maximum speed SCS15
of 62RPM。
0x30：
Lock function bit. If this bit is set to 0, turn off the lock protection,
then the EEPROM zone parameter changes can be saved out of power。

Please note ，lock function byte set to 0，SCS15 write speed turn slow ，
Frequent write operations on the EEPROM parameter affect the life of the SCS15.
0x40：
If the REG WRITE command waits for execution, it is shown as 1, and when
the REG WRITE instruction is executed, it is shown as 0。

2.3 Motor speed regulation mode

SCS series robot servo can be switched to motor speed regulation mode. It
can be used in rotating mechanism such as wheel and crawler.
Limit the minimum angle and maximum angle （0x09～0x0C）to 0，give a speed
（0x2C～0x2D），The servo will rotate in the motor speed regulation mode 。The
speed is controlled by size and direction, as shown in the following table:
BIT 11~15 10 9 8 7 6 5 4 3 2 1 0
VALUE 0 0/1 SPEED VALUE
Address 0x2C～0x2D：BIT10 It's the direction bit，if 0 it is turn
anticlockwise ，if 1it is Clockwise rotation 。BIT0 ～BIT9 is value。

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