Parallax Standard Servo (#900 00005) Rotation Motor Manual V2.1

standard%20rotation%20servo%20motor%20manual%20v2.1

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Parallax Standard Servo (#900-00005)

The Parallax Standard Servo is ideal for adding 181° range of motion and position control to your project.

Great for robotics applications.

Features

y Holds any position between 0 and 180 degrees

y 43.1 oz-in torque at 6 V

y Accepts four mounting screws

y Easy to interface with any Parallax microcontroller or

PWM-capable device

y Simple to control with the PULSOUT command in

PBASIC or SX/B

y High precision gear made of POM (polyacetal) resin

makes the operation smooth causing no backlash.

y Weighs only 1.55 oz (44 g)

y Manufactured for Parallax exclusively by Futaba

Key Specifications

y Power requirements: 4 to 6 VDC*; Maximum current draw is 140 +/- 50 mA at 6 VCDC when

operating in no load conditions, 15 mA when in static state

y Communication: Pulse-width modulation

y Dimensions approx 2.2 x 0.8 x 1.6 in (5.58x 1.9 x 40.6 cm) excluding servo horn

y Operating temperature range: 14 to 122 °F (-10 to +50 °C)

*Power Requirement Notes

Futaba specifies 4-6 VDC for this servo. However, we find that this servo is tolerant of a 9 V battery for

very brief periods of time when there is no load, as used in some activities in the Stamps in Class series

of tutorials. (Slight jittering may be observed when batteries are fresh; this does not cause damage). Do

not use this servo with an unregulated wall-mount supply, or a regulated wall mount supply exceeding

6 VDC.

Servo current draw can spike while under load. Be sure that your application's power supply and voltage

regulator is prepared to supply adequate current for all servos used. Do not try to power this servo

directly from a BASIC Stamp module's Vdd or Vin pins; do not connect the servo's Vss line directly to the

BASIC Stamp module's Vss pin.

Quick-Start Circuit

Vµ = microcontroller voltage supply

Vservo = 4 to 6 VDC, regulated or battery (See Error! Reference source not found., page Error! Bookmark not

defined. )

I/O = PWM TTL or CMOS output signal, 3.3 to 5 V, not to exceed Vservo + 0.2 V

Specifications

Pin Name Description Minimum Typical Maximum Units

1 (White) Signal Input; TTL or CMOS 3.3 5.0 Vservo + 0.2 V

2 (Red) Vservo Power Supply 4.0 5.0 6.0 V

3 (Black) Vss Ground 0 V

Power Precautions

y Do not use this servo with an unregulated wall-mount supply. Such power supplies may deliver

variable voltage far above the stated voltage.

y Do not power this servo through the BASIC Stamp Module's Vdd pin.

y Servo current draw can spike while under peak load; be sure your application's regulator is

prepared to supply adequate current for all servos used in combination.

y Some Stamps in Class tutorials, such as

What's a Microcontroller?

instruct the user to briefly

power these servos with a 9V battery when using a HomeWork Board and no load; this does not

cause damage.

Board of Education Jumper Connection

When connecting the servo to the Board of Education Rev C’s servo header, be sure the jumper is set to

Vdd (regulated 5 VDC for this board) as shown in the figure below. Failure to place the jumper at this

setting can cause damage your servo.

Black

Red

X4 X5

15 14 13 12

Vdd

Vin

Standard Servo Microcontroller

GND

Vµ Vservo

White

Vss

I/O Red

Black

Vdd

Communication Protocol

The Parallax Standard Servo is controlled through pulse width modulation, where the position of the

servo shaft is dependent on the duration of the pulse. In order to hold its position, the servo needs to

receive a pulse every 20 ms. Below is a sample timing diagram for the center position of the Parallax

Standard Servo.

BASIC Stamp 2 Programming Example

PBASIC has a PULSOUT command that sets the I/O pin to an output and sends a pulse of a specified

duration.

PULSOUT

Duration

The example shown below for a BASIC Stamp 2 causes a servo connected to BASIC Stamp I/0 pin 12 to

turn to and hold its center position for approximately 5 seconds.

' CenterStdServo.bs2

' {$STAMP BS2}

' {$PBASIC 2.5}

counter VAR Word

FOR counter = 1 TO 220

PULSOUT 12, 750

PAUSE 20

FOR counter = 1 TO 220

PULSOUT 12, 750

PAUSE 20

Number of 44ths of a

second to hold the

position, for the BS2

Position to hold, in 2

s units for the BS2

Required 20 ms

between each pulse

Servo I/O

For detailed explanations using the BASIC Stamp 2, see

What's a Microcontroller?

Chapter 4, available for

free download from www.parallax.com/go/WAM.

Different BASIC Stamp modules use different units for the PULSOUT command's

Duration

argument.

When adapting BS2 code to another BASIC Stamp model, you may need to make adjustments. The table

below lists the PULSOUT ranges for each BASIC Stamp microcontroller. See the BASIC Stamp Manual or

BASIC Stamp Editor Help for more information.

BASIC Stamp Module 1.3 ms 1.5 ms (center) 1.7 ms

BS1 130 150 170

BS2, BS2e, BS2pe 650 750 850

BS2sx, BS2px, BS2p24/40 1625 1875 2125

You can figure out what the PULSOUT command’s

Duration

argument has to be when you know how

long you want the pulse to last. Just divide the PULSOUT

Duration

units into the time you want the pulse

to last:

(µs) units PULSOUT

(ms)Duration Pulse

Argument Duration

Duration

Propeller P8X32A Programming Example

Servo control with the Propeller chip is simplified by using a cog’s counter modules. The code below

causes a servo connected to I/O pin P0 to turn to and hold the 90 degree position. For more information

about counter modules and PWM with the Propeller, see Chapter 7 in the Propeller Education Kit Labs:

Fundamentals text, which is included as a PDF in the Propeller Tool IDE Help.

{{ CenterParallaxServo.spin

For centering Parallax Continuous Rotation Servo

or holding Parallax Standard Servo at 90° position.

Sends a 1.5 ms pulse approx every 20 ms }}

CON

_clkmode = xtal1 + pll16x ' System clock → 80 MHz

_xinfreq = 5_000_000 ' Using 5 MHz external crystal oscillator

servoPin = 0 ' Servo signal to this I/O pin-change if needed

PUB CenterServo | tInc, tc, tHa, t

ctra[30..26] := %00100 ' Configure Counter A to NCO

ctra[8..0] := servoPin

frqa := 1

dira[servoPin]~~

' Set up cycle and high times

tInc := clkfreq/1_000_000

tC := tInc * 21_500

tHa := tInc * 1500

t := cnt ' Mark counter time

repeat ' Repeat PWM signal

phsa := -tHa ' Set up the pulse

t += tC ' Calculate next cycle repeat

waitcnt(t) ' Wait for next cycle

Parallax Standard Servo (#900 00005) Rotation Motor Manual V2.1

standard%20rotation%20servo%20motor%20manual%20v2.1

standard%20rotation%20servo%20motor%20manual%20v2.1

standard%20rotation%20servo%20motor%20manual%20v2.1

standard%20rotation%20servo%20motor%20manual%20v2.1

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