1. ആമുഖം
1.1 ഉൽപ്പന്നം കഴിഞ്ഞുview
The Waveshare ST3215-HS is a high-performance bus servo motor designed for advanced robotic and control applications. It features a robust design with 20kg.cm torque, 106RPM high speed, and a 360-degree high-precision magnetic encoder. This servo motor supports two-way feedback and is switchable between servo and motor modes, making it versatile for various projects such as wheeled robots, 3D printers, quadruped robots, and robotic arms.
1.2 പ്രധാന സവിശേഷതകൾ
- 20kg.cm Large Torque
- 106RPM High Speed
- 360° High Precision Magnetic Encoder
- Two-Way Feedback (Position, Load, Speed, Input Voltage)
- UART Serial Bus Control (up to 253 motors)
- Servo Mode for precise angle control, Motor Mode for continuous rotation
- Acceleration Start-Stop Function for smoother motion
- Compact structure with high-intensity engineering plastics case and metal gears
- Supports flat key shaft flange installation
2 സ്പെസിഫിക്കേഷനുകൾ
2.1 സാങ്കേതിക ഡാറ്റ
| പരാമീറ്റർ | മൂല്യം |
|---|---|
| ഉൽപ്പന്ന തരം | ST3215-HS bus servo motor |
| ടോർക്ക് | 20kg.cm @ 12V |
| റൊട്ടേഷൻ ആംഗിൾ | 360° (0~4095) |
| Position Sensor Resolution | 360° / 4096 |
| Mechanism Limited Angle | പരിധിയില്ല |
| ഓപ്പറേറ്റിംഗ് വോളിയംtage | 6 ~ 12.6 വി |
| ഗിയർ തരം | High precision metal gear |
| നോ-ലോഡ് സ്പീഡ് | 0.094 sec / 60° (106 RPM) |
| എൻകോഡർ തരം | 360° Magnetic Encoder |
| ഐഡി ശ്രേണി | 1 ~ 253 |
| ബ ud ഡ്രേറ്റ് | 38400 bps ~ 1 Mbps (1 Mbps by default) |
| പ്രതികരണം | Position, Load, Speed, Input Voltage |
| ലോഡ് ഇല്ലാത്ത കറന്റ് | 240 എം.എ |
| Locked-Rotor Current | 2.4 എ |
| KT | 8.3 kg.cm/A |
2.2 ഭൗതിക അളവുകൾ
The servo motor features a compact design. Refer to the diagram below for detailed dimensions.
Image: Outline dimensions of the ST3215-HS servo motor.
3. പാക്കേജ് ഉള്ളടക്കം
സ്റ്റാൻഡേർഡ് പാക്കേജിൽ ഇനിപ്പറയുന്ന ഇനങ്ങൾ ഉൾപ്പെടുന്നു:
- ST3215-HS Servo Motor x1
- മൗണ്ടിംഗ് സ്ക്രൂകൾ (വിവിധ വലുപ്പങ്ങൾ)
- Servo Horns/Wheels (typically two types, flat and cross)
- കണക്ഷൻ കേബിൾ
Image: ST3215-HS Servo Motor and accessories.
4. സജ്ജീകരണം
4.1 വയറിംഗ് ഡയഗ്രം
The ST3215-HS servo motor uses a UART serial bus for control, allowing multiple motors to be daisy-chained. Connect the servo motors to a compatible servo driver board as shown in the diagram below. Ensure proper power supply for all connected motors.
Image: UART Serial Bus Control Wiring Diagram. Note: The servo driver board is not included with the servo motor.
4.2 Installing Flat Key Shaft Flange
The servo motor supports the installation of a flat key shaft flange, which can be used to drive various transmission parts like wheels or robotic linkages. Ensure the flange is securely attached.
Image: Flat Key Shaft Flange Installation. Note: The flat key shaft flange and wheels are not included.
4.3 Calibrating Middle Position (using Web Control Interface)
The ST3215-HS allows for easy calibration of its middle position using a web control interface, typically provided by a compatible servo driver board.
- Connect to AP: After the servo driver board is powered on, it will automatically create a Wi-Fi hotspot. Connect your mobile phone or computer to this hotspot.
- Access Control Interface: എ തുറക്കുക web browser on your connected device and enter the IP address displayed on the servo driver board (e.g., 192.168.4.1) to access the control interface.
Image: Steps to connect to the servo driver board's access point and open the web നിയന്ത്രണ ഇന്റർഫേസ്.
- Release Torque: On the control interface, click the "Release" button to unlock the servo motor. Manually turn the servo motor to the desired middle position.
GIF: Releasing torque and manually setting the servo arm position.
- Set Middle Position: Click the "Set Middle Position" button on the interface, then confirm the setting.
GIF: Setting the current position as the middle position.
- കാലിബ്രേഷൻ പരിശോധിക്കുക: To verify, turn the servo motor to any angle, then click the "Middle" button. The servo motor should automatically return to the newly set middle position.
GIF: Verifying the middle position calibration.
5. പ്രവർത്തന നിർദ്ദേശങ്ങൾ
5.1 ഡ്യുവൽ ഓപ്പറേറ്റിംഗ് മോഡുകൾ
The ST3215-HS servo motor supports two distinct operating modes:
- Servo Mode: Provides precise control over the rotation angle. Ideal for applications requiring exact positioning.
GIF: Precise rotation angle control in Servo Mode.
- മോട്ടോർ മോഡ്: Allows for continuous rotation, suitable for driving wheels or other components that require constant movement.
GIF: Continuous rotation in Motor Mode.
5.2 Acceleration Start-Stop Function
The servo motor features an acceleration start-stop function, allowing you to set speed and acceleration values. This results in smoother and more controlled motion, preventing abrupt starts and stops.
GIF: Actual effect of acceleration start-stop function.
GIF: Motion effect diagram illustrating controlled acceleration and deceleration.
5.3 Two-Way Feedback
The ST3215-HS provides real-time feedback on various parameters, including position, load, speed, and input voltage. This two-way communication is crucial for advanced closed-loop control systems in robotics.
Image: Illustration of two-way feedback capabilities.
6. പരിപാലനം
To ensure the longevity and optimal performance of your ST3215-HS servo motor, follow these maintenance guidelines:
- വൃത്തിയായി സൂക്ഷിക്കു: Regularly clean the exterior of the servo motor to prevent dust and debris from entering the mechanism. Use a soft, dry cloth.
- ഓവർലോഡ് ഒഴിവാക്കുക: Do not exceed the specified torque and current limits. Continuous overloading can damage the motor and gears.
- കണക്ഷനുകൾ പരിശോധിക്കുക: എല്ലാ വയറിംഗ് കണക്ഷനുകളും സുരക്ഷിതമാണെന്നും കേടുപാടുകൾ സംഭവിച്ചിട്ടില്ലെന്നും ഉറപ്പാക്കാൻ ഇടയ്ക്കിടെ പരിശോധിക്കുക.
- സംഭരണം: Store the servo motor in a dry, dust-free environment when not in use.
7. പ്രശ്നപരിഹാരം
If you encounter issues with your ST3215-HS servo motor, consider the following common troubleshooting steps:
- മോട്ടോർ പ്രതികരിക്കുന്നില്ല:
- പവർ സപ്ലൈ വോള്യം പരിശോധിക്കുകtage and current. Ensure it meets the 6-12.6V requirement and can provide sufficient current, especially for multiple motors.
- എല്ലാ വയറിംഗ് കണക്ഷനുകളും ശരിയാണെന്നും സുരക്ഷിതമാണെന്നും ഉറപ്പാക്കുക.
- Confirm the servo driver board is functioning correctly and sending appropriate commands.
- Check the ID of the servo motor to ensure it matches the ID being addressed by the controller.
- കൃത്യമല്ലാത്ത സ്ഥാനനിർണ്ണയം:
- Recalibrate the middle position using the web നിയന്ത്രണ ഇന്റർഫേസ്.
- Check for any physical obstructions or excessive load on the servo arm.
- Ensure the magnetic encoder is clean and free from interference.
- അമിത ചൂടാക്കൽ:
- Reduce the load on the servo motor.
- മോട്ടോറിന് ചുറ്റും മതിയായ വായുസഞ്ചാരം ഉറപ്പാക്കുക.
- Check for continuous high current draw, which might indicate a short or excessive mechanical resistance.
8 ഉപയോക്തൃ നുറുങ്ങുകൾ
- Power Supply Consideration: When using multiple bus servo motors, it is crucial to ensure your power supply solution can provide sufficient current. Although one UART channel can control up to 253 motors, the cumulative power demand can be significant. Always verify your power supply capacity to avoid performance issues or damage.
- Open Source Resources: Leverage the provided open-source web control demo and secondary development tutorials. These resources can significantly aid in remote setting, control, and rapid project development.
9. വാറണ്ടിയും പിന്തുണയും
For detailed warranty information, technical support, and additional resources, please refer to the official Waveshare wiki page:
www.waveshare.com/wiki/ST3215-HS_Servo_Motor
Image: Waveshare Wiki for resources and support.
