AngleControl

Regarding SMS and STS servo multi-turn and large-angle setting and control

 Question 1: Servo can only be controlled in a single turn

Question 2: Servo feedback single-turn position value 0-4096

Question 3: Multi-turn operation The current position is operated all the time, and single-turn feedback is maintained

The answer is as follows:

1 Both the maximum angle and minimum angle parameters are set to 0, the servo can be controlled by plus or minus 7 turns, the value is 30721 * 360/4096= 2700 degrees.

2 The original value of the current phase is +16. After the phase value is set, a large angle value can be feedback.

3 SM85CL SM40BL ST3215 Servo multi-turn function Regarding multi-turn control, a servo-turn reset command is required. After the reset command is sent, the number of turns is clear, but the single-turn valid value is retained, and the servo will turn off the torque.