go-servoc's Introduction

servoc

Command line tool to interact with JMC IHSV57 servos.

Uploading you config is as easy as:

servo -c config.yaml -p /dev/cu.serial

The full configuration looks like this:

motor_encoder:
  line: 0
eletronic_gear:
  molecular: 0
  denominator: 0

input_offset: 0
weight_coefficient: 0

control_mode: pos_pulse_ccw_dir
# control_mode: pos_pulse_cw_dir
# control_mode: pos_dipulse_ccw_dir
# control_mode: pos_dipulse_cw_dir
# control_mode: pos_digital
# control_mode: pos_ramp_enable
# control_mode: vel_analog_cw
# control_mode: vel_analog_ccw
# control_mode: vel_digital_pwm_half
# control_mode: vel_digital_pwm_inversion
# control_mode: vel_ramp_enable
# control_mode: torque_analog_cw
# control_mode: torque_analog_ccw
# control_mode: torque_digital_pwm_half
# control_mode: torque_digital_pwm_inversion

mode2:
  control: external
  # control: internal
  pos_filter: false
  vel_filter: false

pos_loop:
  pp: 0
  pd: 0
  pf: 0
  pos_filter: 0
  pos_error: 0

vel_loop:
  vp: 0
  continous_vp: 0
  vi: 0
  vel_limit: 0
  vd: 0
  acc: 0
  aff: 0
  dec: 0
  vel_filter: 0

current_loop:
  cp: 0
  continous_current: 0
  ci: 0
  limit_current: 0

threshold_setting:
  temp_limit: 0
  over_voltage_limit: 0
  under_voltage_limit: 0
  i2t_limit: 0

For a more realistic configuration check out the config from Sebastian End.

Where to ask questions

via gitter

via git issue

via twitter

License

All code and data is released under the Apache License 2.0.

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go-servoc's Issues

IHSV57 servos

Hi, this is great that you've managed to talk to these servos. Got couple of them on my desk and i'd like to talk to them. Do you know what voltage should be on RS232 connector? Is it TTL (5V) or 3.3V? Where did you get tuning software for them?
And regarding to your code: would you write some know-how for begginers and non experts in linux to guide them (and me:):)) how to use your solution? Do you use these servos with EMC2(linuxcnc)?
Thanks!

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