© 1997-2013 Designer Systems
Page 4 of 8
INTERFACE 13.04.13 Revision 1.00
Servo 7 status
R6
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 8 status
R7
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 9 status
R8
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 10 status
R9
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 11 status
R10
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 12 status
R11
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 13 status
R12
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 14 status
R13
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 15 status
R14
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 16 status
R15
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 17 status
R16
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 18 status
R17
A
B
C
D
0
0
0
0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Firmware version
R18
M
M
M
M
V
V
V
V
M..M = Firmware major revision number 1-15
V..V = Firmware minor revision number 1-15
Bit (A) 128
decimal
is the operate bit
which when set indicates that the
servo is operational.
Bit (B) 64
decimal
is the reverse bit
which when set indicates that posi-
tion values written to the servo will
be reversed.
Bit (C) 32
decimal
is the soft-start bit
which when set indicates that soft-
start is in progress.
Movement complete determination
Bit (D) 16
decimal
is cleared to indicate
if the current servo movement has
completed.
This indication is not derived from
mechanical or electrical feedback
from the servo being controlled but
is a function of the current servo
speed selected and position.
When the slowest servo speed (0) is
selected the determination of
movement completion is at its best.
This is because the positional
change of the servo between its cur-
rent and final position has been split
into many sub-positions which must
be attained before the final position
is reached. These many sub-
positions ensure that the mechanical
position closely relates to the posi-
tion requested by the pulse width
and therefore the determination of
final position (movement complete)
will closely relate to mechanical
position. As servo speed is increased
the error between mechanical posi-
tion and pulse width position in-
creases and movement completion
accuracy is degraded.
Electrical Characteristics
(T
A
= 25
o
C Typical)
Parameter
Minimum
Maximum
Units
Notes
Supply Voltage (Servo power)
3.8
12
V
1,2
Supply Current (Servo power)
1
2x 2800
mA
3
Supply Voltage (on-board VCC)
4.75
16
V
Supply Current (on-board VCC)
2
25
mA
4
I2C pull-up resistance
-
4700
I
2
C speed
-
400
kHz
Absolute Maximum Ratings
Parameter
Minimum
Maximum
Units
Notes
Supply Voltage (Servo power)
-0.5
+30
V
5
Supply Current (Servo power)
0
4.5
A
Environmental
Parameter
Minimum
Maximum
Units
Operating Temperature
0
70
o
C
Storage Temperature
-10
80
o
C
Humidity
0
80
%
Dimensions
Length 56.25mm, Width 53.5mm, Height 15mm
Weight
25g
Immunity & emissions
See statement on page 8
Notes:
1.Servo voltage below 5V requires that the servo regulator be disabled (see above).
2.Voltages above 6-12V may require force cooling of the heat-sinks if servo load is high.
3.Values given are based on maximum and minimum loading for each regulator.
4.Values given are for servos being not driven and driven.
5.Value given is based on maximum and minimum loading.
