CanServo/DroneCAN/Multi-Turn/en

Overview

• FW (ST) Ver 1.6(2) / (AT) Ver 1.10 or later Multi-Turn mode is available on DroneCAN.
• Caution: When the servo is turned on, the current position is initialized to 0.

Version Differences

• Each version is slightly different.

• FW Ver 1.6(2) / FW Ver 1.10 or later
  • If Target Position +2.0 is specified, it rotates to the +2 Turn position

• FW Ver 1.6(3) / FW Ver 2.2
  • Turn Multiplier added
  • If Turn Multiplier = 2, Target Position +1.0 is specified, it rotates to the +2 Turn position
  • Bug: Status / Position = +2.0

• FW Ver 1.6(5) - Scheduled
  • Bug: Scheduled to be fixed to Status / Position = +1.0

Usage Example

• When the servo is turned on, the current position becomes 0.

• To specify the left and right rotation angles proportionally, specify Position Min = -16384, Mid = 0, Max = 16384.

• When using only one direction
  • Position Min = -1, Mid = 0, Max = 16384

Caution

• Min and Mid cannot be the same, or Max and Mid cannot be the same.
• This is because when calculating the Status/Position value, it is divided by Min-Mid or Max-Mid to create a range of -1.0 to +1.0.