Servo mode

/enableServoMode (int)motorID (bool)enable

Argument

Argument Range Description
motorID 1-4, 255 motor ID
enable 0-1 1:Enable, 0:Disable

Executable timing

Always

Description

Turns on/off the servo mode (position tracking mode). To avoid sudden movement, the current position at the moment of activation is set to the target position.

It is not possible to send other motor control commands such as /run or /goTo while operating in this mode.

/setServoParam (int)motorID (float)kP (float)kI (float)kD

Argument

Argument Range Description
motorID 1-4, 255 motor ID
kP 0.0- Proportional control gain
kI 0.0- Integral control gain
kD 0.0- Differential control gain

Executable timing

Always

Description

Adjusts the PID control gain.

Initial value

Argument Initial value
kP 0.06
kI 0
kD 0

/getServoParam (int)motorID

Argument

Argument Range Description
motorID 1-4, 255 motor ID

Executable timing

Always

Response

/servoParam (int)motorID (float)kP (float)kI (float)kD
Argument Range Description
motorID 1-4, 255 motor ID
kP 0.0- Proportional control gain
kI 0.0- Integral control gain
kD 0.0- Differential control gain

/setTargetPosition (int)motorID (int)position

Argument

Argument Range Description
motorID 1-4, 255 motor ID
position -2,097,152 - 2,097,151 target position

Executable timing

Always

Description

Sets the target position in servo mode.

/setTargetPositionList (int)position1 (int)position2 (int)position3 (int)position4

Argument

Argument Range Description
position[1-4] -2,097,152 - 2,097,151 target position

Executable timing

Always

Description

Sets the target positions of the servo mode for all 4 axes at once.

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