HITEC SERVO D Series Protocol Manual
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HITEC SERVO D Series Protocol Manual

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D series SERVO(TTL/ RS485) Protocol Manual
Revision 1.06_EN
HITEC RCD, INC.

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Summary of Contents for HITEC SERVO D Series

  • Page 1 D series SERVO(TTL/ RS485) Protocol Manual Revision 1.06_EN HITEC RCD, INC.

  • Page 2: Table Of Contents

    D 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 Rev 1.06EN HITEC RCD, INC.
  • Page 3 D series SERVO(TTL/RS485) Protocol Manual 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 Rev 1.06EN HITEC RCD, INC.

  • Page 4: Series Servo Control Protocol

    (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 ⚫ Rev 1.06EN HITEC RCD, INC.

  • Page 5: External User's Signal Transceiver

    Please configure a Half duplex circuit. MCU_TXD must be low when reading SERVO data. ⚫ <Circuit example using transistors> <Circuit example using FET> RS-485 Communication Circuit Please configure RS-485 transceiver circuit. <Circuit example using RS-485 transceiver IC> Rev 1.06EN HITEC RCD, INC.

  • Page 6: Packet Format

    Unmatched servo will not respond. ID can be specified from 0 to 255. Data Data Check Header Address Length High Packets whose ID is set to 0 (0x00) are recognized as the same parameters in all ⚫ servo regardless of the SERVO unique ID. Rev 1.06EN HITEC RCD, INC.

  • Page 7: Address

    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. Data Data Check Header Address Length High Rev 1.06EN HITEC RCD, INC.

  • Page 8: Check Sum

    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 Rev 1.06EN HITEC RCD, INC.

  • Page 9: Series Servo Register

    Set Max position. 0xB2 REG_POSITION_MIN 16383 Set Min position. 0xC2 REG_POSITION_MID 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. Rev 1.06EN HITEC RCD, INC.

  • Page 10: Status

    Reset 0x1E 3000 6000 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. Rev 1.06EN HITEC RCD, INC.

  • Page 11: Configuration

    0x4C 5000 If the Data is 1, disable the failsafe function ⚫ If the Data is 0, when in Failsafe condition, torque becomes 0. ⚫ The range of setting position shift value is 2~5000usec. ⚫ Rev 1.06EN HITEC RCD, INC.

  • Page 12: Reg_Deadband

    Set the maximum speed of SERVO. If you increase the data from 0 to 2, you can adjust the speed by 10%. (The setting range may differ for SERVO product) When the maximum speed of SERVO is set to 100%, set it to 4095. Address length Reset 0x54 4095 4095 Rev 1.06EN HITEC RCD, INC.
  • Page 13 It is the POSITION value when inputting 5600 as REG_POSITION_NEW value. Address length Reset 0xB0 16383 16383 REG_POSITION_MIN Set the minimum position where the SERVO can operate. It is the POSITION value when inputting 400 as REG_POSITION_NEW value. Address length Reset 0xB2 16383 Rev 1.06EN HITEC RCD, INC.
  • Page 14 Configuration Register values are saved in Flash ROM, so that it can be maintained after power reset. Address length Reset 0x70 65535 After saving, previously saved Configuration Register values cannot be recalled. ⚫ Please be careful about the use Rev 1.06EN HITEC RCD, INC.

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