1. Uvod
This manual provides detailed instructions for the waveshare ST3215 30KG High Precision Serial Bus Servo Motor. It covers the product's features, setup procedures, operating modes, technical specifications, maintenance guidelines, and troubleshooting tips. Please read this manual thoroughly before operating the device to ensure proper functionality and longevity.
2. Ključne karakteristike
- Visoki izlazni moment: Delivers up to 30kg.cm of torque at 12V, suitable for demanding robotic applications.
- High Precision Magnetic Encoder: Equipped with a 360° programmable magnetic encoder, offering 360-degree absolute angle control with an accuracy of 360°/4096.
- Serial Bus Connectivity: Supports connection of up to 253 servos in series, enabling complex multi-servo systems.
- Two-Way Feedback: Provides real-time feedback on position, load, speed, and input voltage for each connected servo.
- Dvostruki načini rada: Switchable between servo angle control mode and continuous rotation motor mode.
- Adjustable Middle Position: Any angle can be set as the middle position for flexible assembly and calibration.
- Acceleration Start/Stop Function: Ensures smoother movement transitions.
- Wide Voltage Ulaz: Operates on 6V to 12.6V, compatible with 2S or 3S lithium batteries.
- Izdržljiva konstrukcija: Features high-strength aluminum servo wheels, high-precision copper and steel gears, and a robust nylon and fiberglass case.
3. Podešavanje i povezivanje
Follow these steps to set up your waveshare ST3215 servo motor:
- Raspakivanje: Carefully remove the servo and included accessories from the packaging. The package typically contains the ST3215 Servo, a connection cable, and mounting hardware.
- Montaža: Secure the servo to your project structure using the provided screws and mounting plates. Ensure the servo is firmly attached to prevent movement during operation.
Figure 3.1: waveshare ST3215 Servo with included cable and mounting hardware.
Figure 3.2: waveshare ST3215 Servo with a mounting disc attached to the output shaft, ready for integration.
- Priključak za napajanje: Connect the servo to a power supply within the 6V to 12.6V range. Ensure the polarity is correct. The servo can be directly powered by a 2S or 3S lithium battery.
- Serial Bus Connection: Connect the servo to your control board (e.g., a servo driver board) using the serial bus cable. Multiple servos can be daisy-chained for serial communication.
Figure 3.3: Illustration of UART Serial Bus Control, demonstrating how multiple servos can be connected in series to a single control board. Note: A robust power supply is crucial when connecting many servos.
- Početna konfiguracija: Refer to the programming guide for your specific control board to set the servo ID, baud rate, and operating mode.
4. Načini rada
The ST3215 servo supports two primary operating modes:
4.1. Servo Angle Control Mode
In this mode, the servo maintains a specific angular position. You can command the servo to move to any angle within its 360° range with high precision. The 360° magnetic encoder allows for absolute angle control.
4.2. Continuous Rotation Motor Mode
This mode allows the servo to rotate continuously, functioning like a DC motor. You can control the direction and speed of rotation. This is useful for applications requiring continuous movement, such as wheels or conveyor belts.
4.3. Two-Way Feedback
The serial bus interface enables the servo to provide real-time feedback to the control system. This includes:
- pozicija: Current angular position of the servo.
- Opterećenje: Current load experienced by the servo.
- brzina: Current rotational speed.
- Ulazni voltage: Voltage supplied to the servo.
Figure 4.1: Visual representation of the ST3215 servo's two-way feedback capabilities and its dual operating modes (servo and motor).
4.4. Calibrating Middle Position
The servo allows for easy calibration of its middle position:
- Install the servo at any desired 360° orientation.
- Using the control interface, select the option to set the current position as the middle position.
- Confirm the setting. The servo will now consider this new position as its neutral or middle point.
Figure 4.2: Step-by-step guide for calibrating the middle position of the ST3215 servo using a control interface.
5. Tehničke specifikacije
| Parametar | Vrijednost |
|---|---|
| Vrsta proizvoda | ST3215 Serial Bus Servo |
| Obrtni moment | 30kg.cm @ 12V |
| Ugao rotacije | 360° (0~4095) |
| Position Sensor Resolution | 360 ° / 4096 |
| Mechanism Limited Angle | No Limit |
| Operating Voltage | 6 ~ 12.6V |
| Vrsta zupčanika | High Precision Metal Gear |
| Brzina bez opterećenja | 0.222 sec / 60° (45 RPM) @ 12V |
| Tip enkodera | 360° Magnetic Encoder |
| ID Range | 0 ~ 253 |
| baud rate | 38400bps ~ 1Mbps (1Mbps by default) |
| Feedback Parameters | Position, Load, Speed, Input Voltage |
| struja praznog hoda | 180 mA |
| Locked-Rotor Current | 2.7A |
| KT (Torque Constant) | 11kg.cm/A |
| Dimenzije (D x Š x V) | 45.22 x 35 x 24.72 mm (1.78 x 1.38 x 0.97 inča) |
| Težina artikla | 69 g (2.64 unci) |
Figure 5.1: Outline dimensions of the ST3215 servo motor, with measurements in millimeters.
6. Održavanje
To ensure optimal performance and extend the lifespan of your ST3215 servo motor, consider the following maintenance guidelines:
- Održavajte čistoću: Regularly clean the exterior of the servo to prevent dust and debris accumulation, especially around the output shaft and ventilation areas.
- Izbjegavajte preopterećenje: Do not exceed the specified torque limits. Continuous overloading can lead to premature wear of gears and motor damage.
- Pravilno napajanje: Uvijek koristite stabilan izvor napajanja unutar preporučene jačinetage range (6V to 12.6V). Incorrect voltage can damage the internal electronics.
- Pregledajte veze: Periodically check all electrical connections for looseness or damage. Secure connections are vital for reliable operation.
- Uslovi okoline: Operate the servo within appropriate temperature and humidity ranges. Avoid exposure to extreme conditions or corrosive environments.
7. Otkrivanje problema
If you encounter issues with your ST3215 servo, refer to the following common problems and solutions:
| Problem | Mogući uzrok | Rješenje |
|---|---|---|
| Servo does not respond | No power, incorrect wiring, incorrect servo ID, communication error. | Check power supply and connections. Verify servo ID and baud rate settings. Ensure the control board is functioning correctly. |
| Servo moves erratically or vibrates | Loose connections, mechanical obstruction, excessive load, power supply instability. | Inspect all connections. Remove any obstructions. Reduce mechanical load. Ensure power supply is stable and sufficient. |
| Servo overheats | Continuous high load, insufficient cooling, short circuit. | Reduce load or operating time. Ensure adequate ventilation. Check for any short circuits in wiring. |
| Netačno pozicioniranje | Encoder issue, mechanical backlash, incorrect calibration. | Recalibrate the middle position. Check for any loose gears or mechanical play. |
| Multiple servos not communicating | Incorrect ID assignment, power supply issues for multiple servos, baud rate mismatch. | Ensure each servo has a unique ID. Verify the power supply can handle the cumulative current draw. Confirm all servos and the controller use the same baud rate. |
8. Podrška i garancija
waveshare provides development resources and technical support for the ST3215 servo motor. If you encounter any issues that cannot be resolved using this manual, or require further assistance with integration and programming, please contact waveshare customer support.
For specific warranty information, please refer to the purchase documentation or contact your retailer. General warranty terms typically cover manufacturing defects for a specified period from the date of purchase.
