Magnetic Encoded STS Servo - Memory Table Parsing
1 Servo Communication Protocol
The servo uses the FT-SCS Custom Communication Protocol, with the default serial port configuration at the factory. The default baud rate for the STS servo is 1M, using TTL single-bus communication, with 8 data bits, no parity, and 1 stop bit. The configurable range of the baud rate is 38400~1Mbps, and the default communication address (station number) is 1. FT-SCS Custom Communication Protocol (Servo SCS Communication Protocol)
2 Servo Memory Table Definition
If the function address uses two-byte data, the low-order byte is at the front address and the high-order byte is at the back address
2.1 Version Information
2.2 EPROM Configuration
2.3 SRAM Control
2.4 SRAM Feedback
2.5 Factory Parameters
3 Special Byte Explanation
3.1 Servo Phase
Digit/bit weight: Description
BIT0 (1): Driving Direction Phase; (0) Forward, (1) Reverse
BIT1 (2): Drive Axle Mode; (0) Brushless, (1) Brushed, takes effect after restart
BIT2 (4): Speed Unit; (0) 0.732 RPM, (1) 0.0146 RPM
BIT3 (8): Speed Mode; (0) Speed 0 indicates stop, (1) Speed 0 indicates maximum speed
BIT4 (16): Angle Feedback Mode; (0) Feedback single-turn angle, (1) Feedback full angle
BIT5 (32): Drive Bridge Configuration/Voltage Sampling, (0) Independent H-Bridge/1K High-Voltage Sampling, (1) Integrated H-Bridge/1.5K Low-Voltage Sampling/No Current Feedback
BIT6 (64): PWM Frequency, (0) 24kHz, (1) 16kHz
BIT7 (128): Position feedback direction phase, (0) forward, (1) reverse
If multiple bits are set simultaneously, the phase value of the servo is the sum of the values of each bit. For example: if the original phase value is 0 and the servo runs in reverse, the phase value is 128 + 1 = 129;
3.2 Servo Status
Steering gear status: 0 indicates normal, 1 indicates abnormal
Digit/bit weight: Description
BIT0 (1): Voltage Status
BIT1 (2): Magnetic Encoding Status
BIT2 (4): Temperature Status
BIT3 (8): Current Status
BIT4 (16): ----
BIT5 (32): Load Status
BIT6 (64): ----
BIT7 (128): ----
If there are multiple states simultaneously, the state value of the servo is the sum of the individual bit values. For example, if there is overvoltage/undervoltage and servo overheating, the servo state value is 4 + 1 = 5;
3.3 Unloading Conditions
Uninstall condition: 0 indicates off, 1 indicates on
Digit/bit weight: Description
BIT0 (1): Voltage Protection
BIT1 (2): Magnetic Encoding Protection
BIT2 (4): Overheat Protection
BIT3 (8): Overcurrent Protection
BIT4 (16): ----
BIT5 (32): Load Overload
BIT6 (64): ----
BIT7 (128): ----
If multiple bits are set simultaneously, the unloading condition value of the servo is the sum of the values of each bit. For example, if both voltage protection and overheat protection are enabled, the unloading condition value is 4 + 1 = 5;
3.4 LED Alarm Conditions
LED alarm condition: 0 indicates off, 1 indicates on
Digit/bit weight: Description
BIT0 (1): Voltage Alarm
BIT1 (2): Magnetic Encoding Alarm
BIT2 (4): Overheat Alarm
BIT3 (8): Overcurrent Alarm
BIT4 (16): ----
BIT5 (32): Load Overload Alarm
BIT6 (64): ----
BIT7 (128): ----
If multiple bits are set simultaneously, the LED alarm condition value of the servo is the sum of the values of each bit. For example, if both the voltage alarm and overheat alarm are enabled simultaneously, the alarm condition value is 4 + 1 = 5;