SCS0009 Wiring, ID and Power

The SCS0009 version uses 8 Feetech serial bus servos, and the PC/Raspberry Pi controls them directly through a USB bus driver board.

Hardware list

Item	Specification
Servos	Feetech SCS0009 serial bus servo ×8
Driver board	USB serial bus driver board (or Arduino + Feetech TTL Linker)
Power	7–12V (DC5521) into the driver board, which powers the servos; common ground with the driver board
Communication	1,000,000 baud

Odd IDs are the first servo of each finger and even IDs are the second; the second servo is mounted in reverse, so it is negated in the conversion.
The two servos sit side by side with their axes collinear: rotating in the same direction produces splay, and rotating in opposite directions produces flexion/extension, so the two servos together provide each finger's 2 degrees of freedom.
The left hand is not 9–16 but 11–18, numbered "ring finger first".
Physical direction: counting from right to left, the right servo is odd and the left servo even. Right-hand middle-position order (raw 0–1023) is 451,571,451,571,451,571,451,571; left hand 571,451,571,451,571,451,571,451.

Connect the 8 servos in ID order to the bus driver board (in series or directly).
Connect the driver board's USB to the PC or Raspberry Pi; on Linux, add the user to the dialout group.
Connect the external 7–12V power supply to the driver board's power input (do not connect it directly to the servos' 3P wires); it must share a common ground with the driver board.
The left and right hands use different ID groups (right 1–8, left 11–18) and can share the same bus; switch hands with the Target selector during control.

Before assembly, set the hand to its middle position and install the servo horns at the middle position.
On the first connection, use the SCS0009 debug tool to scan every ID and check the middle position and direction.
Then run an overall test with the desktop GUI/CLI or web control.