HerkuleX DRS-0101 Smart Robot Servo
Description
- Input voltage: 7.4V DC
- Stall torque: [email protected]
- Maximum speed: 0.166s/60°@7.4V
- Operating angle: 320°
The HerkuleX DRS-0101 Robot Servo is a state of the art modular smart servos incorporating motor, gear reducer, control circuitry and communications capability in one single package, capable of detecting and responding to internal changes in temperature and voltage supply. Once it receives a movement command, it automatically creates a trapezoidal type speed profile like the diagram below to control the position. With the servo operating according to the acceleration/deceleration profile, it suppresses vibrations caused by the sudden acceleration and deceleration and increases the energy efficiency.
- Size: 45mm(W) x 24mm(D) x 31mm(H)
- Weight: 45g
PDF File
Mechanical specification
- Carbon Brush Cored DC Motor
- A lot of adapting pieces
- Rotation angle range: 320° Continuous Rotation
- Resolution: 0.325°
- Stall torque: 12kg.cm (7.4v)
- Maximum Speed: 0.166s/60° (7.4v)
- Gear: 1:266, Super Engineering Plastic
- Size: 45mm(W) x 24.0mm(D) x 31mm(H)
- Weight: 45g
Electrical specification
- Working Voltage: 7~9VDC(Optimized 7.4V)
- Rated Current: 450mA @ 7.4V : 1.7kgf.cm
- Communication Link: Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop
- Multi control through Servo ID: 0 ~ 253, 254(Broadcast only)
- Maximum Baud Rate: 0.67Mbps
- Feedback: Position, Speed, Temperature, Load, Voltage etc.
- Various Control Algorithm: PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone
Using a simple Arduino Uno, it works perfectly. Even with high rate (using direct analog input) and fluctuating data bursts the servo keep up smoothly. Pretty strong for its size too... impressive for the price!
En utilisant un simple Arduino Uno, cela fonctionne parfaitement. Même avec un débit élevé (en utilisant une entrée analogique directe) et des rafales de données fluctuantes, le servo se maintient en douceur. Assez solide pour sa taille aussi ... impressionnant pour le prix!
The servo generally points where I tell it to, but sometimes for unknown reasons it will start flashing red, indicating an error, but I won't know what is wrong and the servo will still move to a position. Getting the servo ID right was a bit frustrating because the documentation's not very clear about the default servo ID (253). Sometimes when it can't quite get to a position it'll just buzz. For all the annoying things though, it appears to accurately get to where I tell it, which is really the point.
This is a powerful and very controlled servo that is much more capable then the standard RC servo. However, it does have its down side. It does not provide connection points that correspond to standard RC servos so most servo mechanical kits will not work with it. The connection points provided use very small screws which can be difficult to find. I had to special order them and have them shipped to a local store. If you are using an Arduino etc. with a PWM to the servo this is very much a different ball game. Most, if not all, of the commonly available development boards can not provide the power required by the servo. I used an adjustable voltage regulator tied to my robots 24 V battery to meet the servos requirements. The serial interface to the servo is TTL 5V. If you want to use your Arduino Uno you will not be able to handle the default baud rate for reception (it works fine for transmission) with the software serial ports.
Bonne documentation, mauvaise (ou API inexistante). Ces servos intelligents sont parfois trop intelligents.
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