- Robots
Robot Model 2
Robot Model 2
- Gimbals
Gimbal 1
Products variations colors and images without any additional plugins.
Gimbal 2
Products variations colors and images without any additional plugins.
Gimbal 2
Products variations colors and images without any additional plugins.
- Robot Arms
StarAI Arm-cello | violin
StarAI Arm-viola | violin
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6.1. 简介
- 通过指令控制指定 ID 的舵机 (或全部舵机) , 在设定的 运动时间 内移动至 目标位置 (±180°) , 并可设定 执行功率。
- 指令编号 : 08 (0x08)
6.2. 指令
| 字节名 | 长度 | 数据类型 | 说明 |
|---|---|---|---|
header |
2 | uint16_t | 固定标识 (0x12 0x4c) |
cmd_id |
1 | uint8_t | 简易单圈角度控制(0x08) |
length |
1 | uint8_t | 7个字节 (0x07) |
servo_id |
1 | uint8_t | 舵机 ID, 范围 0 ~ 254 (0x00 ~ 0xfc ) 0xff 为线上所有舵机 |
position |
2 | int16_t | 目标位置, 单位: 0.1° 范围 : +1800 ~ -1800 (+CW / −CCW) |
time |
2 | uint16_t | 运动时间, 单位: ms |
power |
2 | uint16_t | 执行功率, 单位mW 若power=0, 或大于功率保护阈值, 则都按照功率保护阈值执行 |
checksum |
1 | uint8_t | 校验码 = Σ(Byte[0..10]) % 256 |
0x12 0x4c 0x08 0x07 0x00 0x84 0x03 0xf4 0x01 0x00 0x00 0xe9
示例说明 :
- 设置 ID 0 舵机,
- 在 500ms 内移动到目标位置 +90°,
- 将
功率保护阈值配置参数设置为最大执行功率, 以 最大功率 运行。
6.3. 响应 (可选)
| 字节名 | 长度 | 数据类型 | 说明 |
|---|---|---|---|
header |
2 | uint16_t | 固定标识 (0x05 0x1c) |
cmd_id |
1 | uint8_t | 简易单圈角度控制(0x08) |
length |
1 | uint8_t | 2个字节 (0x02) |
servo_id |
1 | uint8_t | 舵机 ID, 范围 0 ~ 254 (0x00 ~ 0xfc ) |
result |
1 | uint8_t | 0x01: 执行成功 | 0x00: 失败 |
checksum |
1 | uint8_t | 校验码 = Σ(Byte[0..5]) % 256 |
0x05 0x1C 0x08 0x02 0x00 0x01 0x2c
示例说明 :
- ID 0 舵机返回的值为 0x01, 代表 执行成功。
注意 : 默认没有响应包, 仅当上位机设置舵机配置参数指令送出响应开关= 是, 才会回传。
| Protocol Type |
UART |
|---|---|
| Input Voltage |
9.0-12.6v |
| Motor Type |
Iron motor |
| Position Sensor |
12-bit magnetic absolute encode |
| Effective Position Range |
±180° (Single-turn Position Control Mode) | ±368 ,640° (Multi-turn Position Control Mode) |
| Resolution |
096/360°（0.088°） ,4 |
| Processor |
32bit MCU |
| Baud Rate |
600bps~1Mbps ,9 |
| ID Range |
0~254 |
| Output Spline Specification |
Aluminium / Ø6mm / 25T |
| Gear Material |
All-metal copper-aluminum composite gear material |
| Interface |
PH2.0-3Pin |
| Case Material |
Aluminum alloy middle frame with upper/lower engineering plastic housings |
| Dimensions |
40×20×40mm |
| Appearance |
Single-shaft |
| Weight |
53g |
| Operating Temperature |
-10~60℃ |
| Operating Mode |
Single-turn Position Control Mode | Multi-turn Position Control Mode | Damping Mode |
| Protection Mode |
Temperature Protection | Voltage Protection | Stall Protection | Power Protection | Current Protection |
| Max Stall Torque |
3.43N·m (35kg-cm) |
| Max Continuous Torque |
1.27N·m (13kg-cm) |
| Rated Torque |
0.54N·m (5.5kg-cm) |
| Rated Speed |
16rpm（0.625sec@60°） |
| No Load Speed |
34rpm（0.298sec@60°） |
| No Load Current |
＜200mA |
| Standby Current |
＜20mA |
| Peak Current |
3A |
| Axial Load |
20N |
| Radial Load |
40N |
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UART Bus Servo (HA8-U35H-M)
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The bus servo integrates a DC motor, gearbox, control driver, sensors, and communication protocol into a single unit, making it highly versatile for applications in robotics, automation, robotic arms, healthcare, and scientific research and education.
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