Hi-Tec SERVO D Series Manual de usuario

D series SERVO(TTL/ RS485) Protocol Manual

Revision 1.06_EN

HITEC RCD, INC.

1
D series SERVO(TTL/RS485) Protocol Manual 
 
Rev 1.06EN HITEC RCD, INC. 
INDEX 
1D Series SERVO Control Protocol ........................................................................................................................................ 3 
1-1 Protocol..................................................................................................................................................... 3 
1-2 Communication System..................................................................................................................... 3 
1-3 Test Configuration................................................................................................................................ 3 
1-4 External User’s Signal Transceiver................................................................................................. 4 
 TTL Communication Circuit .......................................................................................................................4 
 RS-485 Communication Circuit................................................................................................................4 
1-5 Packet Format ........................................................................................................................................ 5 
 Header.................................................................................................................................................................5 
 ID............................................................................................................................................................................5 
 Address ...............................................................................................................................................................6 
 Register Length ...............................................................................................................................................6 
 Data ......................................................................................................................................................................6 
 Check Sum.........................................................................................................................................................7 
2D Series SERVO Register....................................................................................................................................................... 8 
2-1 Address Table......................................................................................................................................... 8 
2-2 Status.......................................................................................................................................................... 9 
 REG_POSITION.................................................................................................................................................9 
2-3 Action......................................................................................................................................................... 9 
 REG_POSITION_NEW ....................................................................................................................................9 
2-4 Configuration........................................................................................................................................10 
 REG_ID..............................................................................................................................................................10 
 REG_FAILSAFE_SET ......................................................................................................................................10 
 REG_DEADBAND..........................................................................................................................................11 
 REG_VELOCITY_MAX .................................................................................................................................. 11 

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

REG _SOFT_START_SPEED........................................................................................................................12

REG_OVERLOAD PROTECTION .............................................................................................................12

REG_POSITION_MAX..................................................................................................................................12

REG_POSITION_MIN...................................................................................................................................12

REG_POSITION_MID ................................................................................................................................... 13

REG_POWER_CONFIG................................................................................................................................13

REG_DEFAULT................................................................................................................................................ 13

REG_CONFIG_SAVE..................................................................................................................................... 13

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

1D Series SERVO Control Protocol

1-1 Protocol

Using D Series Protocol, you can write or read data in the register of the D series SERVO.

1-2 Communication System

D Series SERVO communicates with external device by using Half Line of TTL communication

with only one line as signal line. In case of RS485 SERVO, it communicates with external device

by 2 wire Half Duplex method.

It can send and receive bi-directional communication and it supports both of “Multi-Drop”

which can control several SERVO using only one line and “Single-Drop” which can control

SERVO using a single connection method.

1-3 Test Configuration

It can be controlled by connecting with PC using DPC-11 (TTL) and DPC-485 (SERVO for RS485

communication) provided separately. When the user configures the controller, the user needs

to configure the circuit by referring to the Interface Circuit Diagram below.

(Communication Parameter: Baud rate - 115,200bps, stop bit - 1, parity –none)

⚫SERVO PINMAP(LEFT) only for RS485 // SERVO PINMAP(RIGHT) for TTL, PWM

⚫TTL and RS-485 configuration using our products DPC-485, DPC-11

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

1-4 External User’s Signal Transceiver

Please refer to the manual below when you use a separate controller without using DPC-11.

TTL Communication Circuit

Please configure a Half duplex circuit.

⚫MCU_TXD must be low when reading SERVO data.

RS-485 Communication Circuit

Please configure RS-485 transceiver circuit.

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

1-5 Packet Format

Packet Format is divided into 6 areas such as Header, ID, Address, REG Length, Data, Check

Sum as follow.

- Data format - Little Endian

- Check Sum = (ID + Address + REG Length + Data Low + Data High) & 0xFF

⚫Normal Write

-Data write to Servo

Write

Header

0x96

0xXX

Address

0xXX

REG

Length

0x02

Data

Low

0xXX

Data

High

0xXX

Check

Sum

0xXX

⚫Normal Read

-Request a response to SERVO

Write

Header

0x96

0xXX

Address

0xXX

REG

Length

0x00

Check

Sum

0xXX

-Response from SERVO

Return

Header

0x69

0xXX

Address

0xXX

REG

Length

0x02

Data

Low

0xXX

Data

High

0xXX

Check

Sum

0xXX

Header

Packet starts with Byte. Every Protocol Packet should start with Header Byte. Packets

sent from the controller to SERVO begin with 150 (0x96), and packets returned by the

SERVO to the controller begin with 105 (0x69).

It shows Byte which represents the unique ID of SERVO to receive the packet.

The corresponding packet is recognized only in the servo that matches the ID of the

packet. Unmatched servo will not respond. ID can be specified from 0 to 255.

⚫Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all

servo regardless of the SERVO unique ID.

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

Address

It is Register Address Byte.

Registers of SERVO are configured in 2-byte units, and Register Address has Even value.

It is a Byte that indicates the length of Data in the Packet.

⚫Write Mode

It indicates the number of Bytes behind REG Length.

⚫Read Mode

If the .REG Length is '0', it means that there is no data transmitted afterwards, which

is used to read the data from the register corresponding to the packet address.

Data

The data you want to write to the Register.

When the Data is [Write Mode], it can have a length from 1 byte to a maximum of 255

bytes.

When the Data is [Read Mode], it has a length of 0 Byte. In other words, Data is

omitted after REG Length in Packet.

When writing or reading 2 Byte Data value to register specified by Address of Packet,

follow Little Endian rule as follows. Data [0] has 2 bytes of Low Byte and Data[1] has

High Byte.

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

Check Sum

This is a byte to verify the error of the packet. If CheckSum does not match, it

recognizes as an error packet and does not respond to the corresponding packet.

CheckSum is the lower 1 byte value of the sum of the bytes of all areas excluding the

header in the packet.

⚫Read Mode Check Sum Calculation

Check Sum = (ID + Address + Length) & 0xFF

⚫Write Mode Check Sum Calculation

Check Sum = (ID + Address + Length +Data Low + Data High) & 0xFF

Header

Address

REG

Length

Data

Low

Data

High

Check

Sum

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

2D Series SERVO Register

2-1 Address Table

Address

Name

length

R/W

Range

Feature

reset

min

max

Status

0x0C

REG_POSITION

16383

Read the Position.

Action

0x1E

REG_POSITION_NEW

r/w

3000

6000

Set the New Position.

Config

0x32

REG_ID

r/w

255

Set the SERVO ID.

0x4C

REG_FAILSAFE_SET

r/w

5000

Set the Failsafe position.

0x4E

REG_DEADBAND

r/w

Set the Position Dead band.

0X66

REG_VIBRATION_DEADBAND_MIN

r/w

4095

Set the vibration Dead band min.

0x68

REG_VIBRATION_DEADBAND_MAX

r/w

4095

Set the vibration Dead band max.

0x54

REG_VELOCITY_MAX

r/w

4095

Set the Servo Speed.

0x60

REG_SOFT_START_SPEED

r/w

Set the Soft start Speed.

0x9C

REG_OVERLOAD PROTECTION

r/w

100

Set the Overload Protection.

0xB0

REG_POSITION_MAX

r/w

16383

Set Max position.

0xB2

REG_POSITION_MIN

r/w

16383

Set Min position.

0xC2

REG_POSITION_MID

r/w

8192

16383

Set Mid position.

0x46

REG_POWER_CONFIG

Reboot the Servo.

0x6E

REG_FACTORY_DEFAULT

3855

Restore data to factory default.

0x70

REG_CONFIG_SAVE

65535

Save changed data in memory.

D series SERVO(TTL/RS485) Protocol Manual

Rev 1.06EN HITEC RCD, INC.

2-2 Status

It is a Register that store status information.

REG_POSITION

It is the current position value of SERVO and the range is 0 to 16383.

The Actual operating ranges are 360° for MD series servo, 220° for Standard D series servo,

and 200° for mini & Micro D servo.

The actual sensor resolution is 360°/4096=0.0898° for MD series servo and 220°/4096=0.0537°

for Standard D series servo and 200°/4096=0.0488° for Mini & Micro D series servo.

Address

Length

R/W

Reset

Min

Max

0x0C

16383

⚫MD Series (360°): -90°=4096, 0°=8192, 90°=12288.

(The MD Series servo may have different values around 0°.)

⚫Standard D Series (220°) → -90°=1489, 0°=8192, 90°=14895.

⚫Mini & Micro D Series (200°) → -90°=819, 0°=8192, 90°=15565.

2-3 Action

It is the REGISTER to operate SERVO.

REG_POSITION_NEW

It is the target position value of SERVO and the range is 0 to 6000. The value of 400,

3000, 5600 is converted into the actual operation range of SERVO which is the setting

range of POSITION_MIN, POSITION_MID, POSITION_MAX and it makes SERVO move.

⚫When REG_POSITION_NEW=400, the value read from REG_POSITION is

REG_POSITION_MIN.

⚫When REG_POSITION_NEW=3000, the value read from REG_POSITION is

REG_POSITION_MID.

⚫When REG_POSITION_NEW=5600, the value read from REG_POSITION is

REG_POSITION_MAX.

Address

length

R/W

Reset

Min

Max

0x1E

R/W

3000

6000

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