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@@ -149,6 +149,9 @@ A "**Hall Sensor Brushless Motor**" (有感无刷有霍尔马达) refers to a **
149 149
150 150
![](2026-03-02-20-49-56.png)
151 151
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+single direction control mechanism
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+
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+![](2026-03-02-21-00-49.png)
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## brushless motor with hall sensor for mobility
154 157
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/motor-servo-dat.md
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@@ -0,0 +1,311 @@
1
+# servo-dat
2
+
3
+- [[servo-gimbal-dat]]
4
+
5
+- [[peripherals-dat]]
6
+
7
+- [[PWM-dat]] - [[PPM-dat]]
8
+
9
+
10
+- [[servo-connector-dat]] - [[servo-horn-dat]]
11
+
12
+- [[servo-HDK-dat]] - [[servo-SDK-dat]]
13
+
14
+- [[servo-360-dat]] - [[servo-rank-dat]]
15
+
16
+- [[PCA9685-dat]]
17
+
18
+- [[servo]]
19
+
20
+## tech
21
+
22
+- [[servo-DSC-dat]]
23
+
24
+## products
25
+
26
+- [[servo-rank-dat]]
27
+
28
+- Micro servo - [[SCU1030-DAT]] - [[SCU1031-dat]] == SG90 / MG90
29
+
30
+- MG995 / MG996R micro servo - [[SCU1012-DAT]] == 13KG
31
+
32
+
33
+![](2026-02-28-00-57-43.png)
34
+
35
+![](2026-02-28-00-57-59.png)
36
+
37
+
38
+These servo models differ primarily in terms of gear material, torque, and rotation angle.
39
+
40
+The SG90 is the basic widely-used model. The SG90 comes in 90-degree, 180-degree, and 360-degree versions that are identical except for their rotation angles.
41
+
42
+The MG90S is essentially an enhanced version of the SG90 with metal gears, though its mounting dimensions differ slightly from the SG90.
43
+
44
+The 90-degree and 180-degree servos have identical physical dimensions and torque specifications, differing only in their maximum rotation angles. The 360-degree servo allows continuous rotation.
45
+
46
+The fixed-wing S-version servo (with 25cm wire length) is not the helicopter version. Compared to helicopter servos, it has lower pull strength, performance, and motor lifespan. It's suitable for electric fixed-wing aircraft made of foamboard or foam (recommended) and offers good value for money.
47
+
48
+## feature of servos
49
+
50
+- The servo is a device that can control the angle of rotation of the motor shaft. It consists of a DC motor, a gear set, and a position feedback system.
51
+- The servo can be controlled by a PWM signal, which determines the angle of rotation of the motor shaft.
52
+- The servo can be used in various applications, such as robotics, RC vehicles, and automation systems.
53
+- The servo can be classified into different types based on its construction and operation, such as analog servos, digital servos, and continuous rotation servos.
54
+- The servo can be powered by different voltage levels, typically ranging from 4.8V to 6V for standard servos and up to 7.4V for high-performance servos.
55
+- The servo can be controlled by different protocols, such as PWM, I2C, and UART, depending on the application and the controller used.
56
+- The servo can be equipped with different types of gears, such as plastic gears, metal gears, and ceramic gears, depending on the torque and speed requirements of the application.
57
+- The servo can be used in various configurations, such as standard servos, mini servos, micro servos, and high-torque servos, depending on the size and weight constraints of the application.
58
+- The servo can be used in different environments, such as indoor, outdoor, and underwater, depending on the sealing and protection features of the servo.
59
+- The servo can be used in different applications, such as robotics, automation, and control systems, depending on the requirements of the application.
60
+- The servo can be used in different industries, such as automotive, aerospace, and consumer electronics, depending on the requirements of the application.
61
+
62
+
63
+## test note
64
+
65
+- user a [[servo-tester]] to get the range of the servo first
66
+
67
+- test without a load first
68
+
69
+- the internal [[gearbox-dat]] can be burned if too high load used
70
+
71
+
72
+
73
+
74
+## wiring
75
+
76
+![](2025-04-09-15-37-30.png)
77
+
78
+
79
+### servo with five wires
80
+
81
+![](2026-02-28-01-37-32.png)
82
+
83
+A 5-wire servo consists of a **DC Motor** and a **Potentiometer** (feedback sensor) without an internal control board. To use it, you must provide an external motor driver and a microcontroller.
84
+
85
+---
86
+
87
+#### 1. Wiring Diagram
88
+
89
+##### The Potentiometer (Feedback)
90
+The three wires connected to the potentiometer act as a **Voltage Divider**.
91
+
92
+* **Wire 1 (Outer):** Connect to **VCC** (3.3V or 5V from MCU).
93
+* **Wire 2 (Center/Wiper):** Connect to an **Analog Input Pin (ADC)** on your Microcontroller.
94
+* **Wire 3 (Outer):** Connect to **GND**.
95
+
96
+##### The DC Motor (Power)
97
+* **Wire 4:** Connect to **Motor Driver Output A** (e.g., OUT1 on DRV8701).
98
+* **Wire 5:** Connect to **Motor Driver Output B** (e.g., OUT2 on DRV8701).
99
+
100
+
101
+
102
+#### 2. Technical Specifications & Calculations
103
+
104
+##### Potentiometer Feedback
105
+The voltage read by the ADC tells you the current position.
106
+$$V_{out} = V_{cc} \times \frac{R_{lower}}{R_{total}}$$
107
+As the motor turns the gears, the resistance changes, and the voltage shifts linearly with the angle.
108
+
109
+##### Control Logic (The Feedback Loop)
110
+Since there is no internal IC, your code must perform **Closed-Loop Control**:
111
+
112
+1. **Read Position:** Get the current analog value ($Current\_Pos$).
113
+2. **Calculate Error:** $Error = Target\_Pos - Current\_Pos$.
114
+3. **Drive Motor:** * If **Error > Threshold**: Drive Motor CW (Clockwise).
115
+ * If **Error < -Threshold**: Drive Motor CCW (Counter-Clockwise).
116
+ * If **Error ≈ 0**: Stop Motor (Brake).
117
+
118
+
119
+
120
+#### 3. Why Use This Setup?
121
+
122
+| Feature | Standard 3-Wire Servo | Raw 5-Wire Servo |
123
+| :--- | :--- | :--- |
124
+| **Control Board** | Internal (Built-in) | External (MCU + Driver) |
125
+| **Customization** | Limited by internal IC | Fully programmable PID |
126
+| **Current/Torque** | Limited by tiny internal MOSFETs | Limited only by your external driver |
127
+| **Response** | Fixed 50Hz PWM | High-speed real-time control |
128
+
129
+
130
+
131
+## Knowledge
132
+
133
+The control of the steering gear generally requires a time base pulse of about 20ms. The high level part of the pulse is generally the angle control pulse part in the range of 0.5ms-2.5ms, and the total interval is 2ms.
134
+
135
+Taking the 180-degree angle servo as an example, the corresponding control relationship is as follows:
136
+
137
+| Pulse (ms) | Pulse (µs) | Angle (°) |
138
+| ---------: | ---------: | ---------: |
139
+| 0.5 ms | 500 µs | 0 |
140
+| 1.0 ms | 1000 µs | 45 |
141
+| 1.5 ms | 1500 µs | 90 |
142
+| 2.0 ms | 2000 µs | 135 |
143
+| 2.5 ms | 2500 µs | 180 or -90 |
144
+
145
+
146
+![](47-08-17-21-06-2023.png)
147
+
148
+![](2025-06-15-14-21-31.png)
149
+
150
+
151
+
152
+
153
+
154
+## code
155
+
156
+### arduino
157
+
158
+
159
+## servo calibration
160
+
161
+
162
+## Mechanical Calibration
163
+
164
+1. Power the servo and send 1500 µs signal (center pulse).
165
+2. Remove the servo horn (the arm).
166
+3. Reattach the horn so it points exactly to the middle.
167
+
168
+✅ Best method — keeps full 0–180° movement range.
169
+
170
+## FIND A SERVO'S PHYSICAL MIDDLE WITHOUT POWERING IT
171
+
172
+### METHOD 1: Gentle Manual Rotation
173
+
174
+1. Hold the servo body firmly in one hand.
175
+2. Gently rotate the output shaft with your fingers.
176
+
177
+⚠️ IMPORTANT RULES:
178
+- SG90 and most servos are geared; never force rotation beyond stops.
179
+- You will feel two hard mechanical limits (one on each side).
180
+- The total range is usually about 180° or a bit less.
181
+- The *middle* is approximately halfway between those two stops.
182
+
183
+Example steps:
184
+ a. Turn fully to one end (gently).
185
+ b. Mark that position (e.g., note horn orientation).
186
+ c. Turn fully to the other end.
187
+ d. Move the horn halfway back to the middle of that range.
188
+
189
+✅ This gives a close estimate of the neutral angle.
190
+
191
+
192
+### 📏 METHOD 2: Remove the Horn and Reinstall at Mid
193
+
194
+1. Unscrew and remove the servo horn (the plastic arm).
195
+2. Rotate the output spline gently until it’s roughly centered
196
+ (halfway between stops as found above).
197
+3. Reattach the horn pointing straight (e.g., vertical).
198
+
199
+💡 When you later power the servo, it should be close to neutral.
200
+Fine-tune by sending 1500 µs and adjusting slightly if needed.
201
+
202
+
203
+
204
+
205
+## FAQs
206
+
207
+### Can a Servo Hold Position When Power Is Off?
208
+
209
+**No**, standard servos cannot hold position when powered off — they lose holding torque.
210
+
211
+#### Alternatives:
212
+- **Servos with mechanical brakes** – lock position without power.
213
+- **High gear ratio digital servos** – may resist movement, but not reliable.
214
+- **Stepper motors with brakes** – hold position more effectively.
215
+- **External locking mechanisms** – physical clamps or brakes.
216
+
217
+
218
+## mini-servo
219
+
220
+- used for robot joint
221
+
222
+
223
+
224
+## demo
225
+
226
+https://t.me/electrodragon3/401
227
+
228
+
229
+## unsort
230
+
231
+Hitec 海泰克 HS-5565MH 高压数字标准舵机 速度快 空心杯电机 G1可编程电路 不防水
232
+
233
+
234
+
235
+## Apps
236
+
237
+- [[worm-gear-dat]] - [[servo-gimbal-dat]]
238
+
239
+
240
+
241
+lock and unlock system
242
+
243
+![](2025-12-06-14-23-10.png)
244
+
245
+
246
+to linear output
247
+
248
+![](2026-01-09-21-11-41.png)
249
+
250
+connector to a [[crank-dat]]
251
+
252
+![](2026-01-09-21-12-45.png)
253
+
254
+
255
+
256
+
257
+## high torque servo
258
+
259
+35KG version
260
+![](2025-12-06-14-56-46.png)
261
+
262
+
263
+## servo installation
264
+
265
+- [[servo-connector-dat]] - [[servo-horn-dat]]
266
+
267
+![](2026-02-28-01-19-43.png)
268
+
269
+
270
+### servo shaft
271
+
272
+#### 1. Standard Servo Shaft (25T Spline)
273
+
274
+The most common standard for hobbyist and robotics servos is the **25T (25-tooth)** spline, often referred to as the "Futaba" or "PowerHD" standard.
275
+
276
+* **Outer Diameter (OD):** **5.90 mm to 6.00 mm** (measured at the peaks of the teeth).
277
+* **Inner Diameter (ID):** Approximately **5.40 mm** (measured at the valleys of the teeth).
278
+* **Spline Count:** **25 Teeth**.
279
+* **Center Screw:** Typically requires an **M3** machine screw.
280
+
281
+
282
+
283
+#### 2. Micro Servo Shaft (e.g., SG90, MG90S)
284
+
285
+If you are using smaller servos for the **Rover V2** (for sensors or light mechanisms), the dimensions are smaller:
286
+
287
+* **Outer Diameter (OD):** **4.80 mm to 4.90 mm**.
288
+* **Spline Count:** Usually **21 Teeth** (21T) or sometimes **20T**.
289
+* **Center Screw:** Typically requires an **M2** or **M2.5** screw.
290
+
291
+
292
+
293
+#### 3. Comparison Table for Design
294
+
295
+| Servo Class | Typical Model | Shaft OD (mm) | Spline Count | Screw Size |
296
+| :--- | :--- | :--- | :--- | :--- |
297
+| **Micro** | SG90 / MG90S | ~4.85 mm | 21T | M2 / M2.5 |
298
+| **Standard** | MG996R / S3003 | ~5.95 mm | 25T | M3 |
299
+| **Large/Giant** | HS-805BB | ~8.00 mm | 15T / 17T | M4 |
300
+
301
+
302
+## code
303
+
304
+- [[code-dat]]
305
+
306
+
307
+## ref
308
+
309
+- [[motor-dat]]
310
+
311
+- [[servo]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-360-dat/servo-360-dat.md
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1
+
2
+# servo-360-dat
3
+
4
+
5
+## servo 360 degree
6
+
7
+360° (continuous-rotation) servo
8
+A 360° servo is effectively a geared DC motor with continuous-variable speed and direction control — it does not provide absolute angle positioning. It uses the same PWM control signal as a regular hobby servo, but the pulse width controls motor speed and direction instead of shaft angle. (Commonly used as a power source for modified robots and drivetrains.)
9
+
10
+Control notes
11
+
12
+- Typical PWM time base: ~20 ms period (50 Hz). Pulse width (high time) is usually in the ~0.5–2.5 ms range; 1.5 ms is the neutral/stop point for many servos.
13
+- Behavior for continuous-rotation servos:
14
+ - Pulse < center (e.g., 0.5 ms → 1.5 ms): forward rotation. The smaller the pulse, the faster the forward speed (0.5 ms → fastest forward).
15
+ - ~1.5 ms: stop / neutral.
16
+ - Pulse > center (e.g., 1.5 ms → 2.5 ms): reverse rotation. The larger the pulse, the faster the reverse speed (2.5 ms → fastest reverse).
17
+- Some servos use narrower ranges (e.g., 1.0–2.0 ms). Always check with a servo-tester or measure the actual response for the specific model.
18
+
19
+Example mapping (typical)
20
+
21
+- 0.5 ms — fastest forward
22
+- 1.0 ms — moderate forward
23
+- 1.5 ms — stop
24
+- 2.0 ms — moderate reverse
25
+- 2.5 ms — fastest reverse
26
+
27
+Arduino tip: use Servo.writeMicroseconds(x) to send precise pulse widths (e.g., 1000–2000 µs) and calibrate the stop point for your servo.
28
+
29
+
30
+- [[N20-motor-dat]]
31
+
32
+| Pulse (ms) | Pulse (µs) | Angle (°) | degree |
33
+| ---------: | ---------: | ---------: | ---------------- |
34
+| 0.5 ms | 500 µs | 0 | fastest forward |
35
+| 1.0 ms | 1000 µs | 45 | moderate forward |
36
+| 1.5 ms | 1500 µs | 90 | stop |
37
+| 2.0 ms | 2000 µs | 135 | moderate reverse |
38
+| 2.5 ms | 2500 µs | 180 or -90 | fastest reverse |
39
+
40
+
41
+
42
+## ref
43
+
44
+- [[servo-dat]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-DSC-dat/servo-DSC-dat.md
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1
+
2
+# servo-DSC-dat
3
+
4
+
5
+
6
+## working product
7
+
8
+- [[RadioMaster-dat]] - [[head-track-dat]]
9
+
10
+
11
+
12
+
13
+## info
14
+
15
+**DSC** = **Direct Servo Control**
16
+
17
+On [[RadioMaster-dat]] radios (TX16S, Boxer, Zorro, etc.), the **DSC port** is a **wired trainer / simulator control port**, not an audio port.
18
+
19
+It outputs **RC control signals** directly from the radio.
20
+
21
+---
22
+
23
+### What the DSC Port Is Used For
24
+
25
+- **RC flight simulators** (wired)
26
+- **Trainer / student mode**
27
+- **Direct control of external devices**
28
+- Legacy wired systems
29
+
30
+👉 It is the **replacement for older trainer ports**.
31
+
32
+---
33
+
34
+### Electrical Signal Type (Important)
35
+
36
+Depending on firmware configuration ([[EdgeTX-dat]] / OpenTX), the DSC port can output:
37
+
38
+- **PPM (Pulse Position Modulation)** – most common - [[PWM-dat]]
39
+- Sometimes **PWM (single-channel test mode)**
40
+
41
+
42
+## Physical Connector
43
+
44
+- [[CONN-audio-dat]]
45
+
46
+Most [[RadioMaster-dat]] transmitters use:
47
+
48
+- **3.5 mm TRS jack**
49
+
50
+- Tip = PPM signal (or DSC signal)
51
+- Ring = +V (trainer power, often 3.3 V or 5 V)
52
+- Sleeve= Ground
53
+
54
+⚠️ Voltage on the Ring pin depends on model and settings.
55
+**Do NOT short Ring to Ground.**
56
+
57
+ ┌──── Tip ──── PPM OUT
58
+ │
59
+ │ ┌── Ring ─── VCC (≈3.3–5 V)
60
+ │ │
61
+ │ │ ┌ Sleeve ─ GND
62
+ ▼ ▼ ▼
63
+ [ T | R | S ]
64
+
65
+
66
+## ref
67
+
68
+- [[servo-dat]] - [[servo-DSC-dat]]
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\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-HDK-dat/2025-12-26-14-01-00.png
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-HDK-dat/servo-HDK-dat.md
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1
+
2
+# servo-HDK-dat
3
+
4
+
5
+![](2025-12-26-14-01-00.png)
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-SDK-dat/servo-RPI-angle0-dat.md
... ...
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1
+# servo-RPI-angle0-dat.md
2
+
3
+A minimal script to hold a hobby servo at 0° (zero degrees) using BCM GPIO5 (physical pin 29).
4
+
5
+Save as `servo_hold_0_gpio5.py` on the Pi and run with `sudo python3 servo_hold_0_gpio5.py`.
6
+
7
+```python
8
+#!/usr/bin/env python3
9
+"""Hold servo at 0° on BCM GPIO5 until Ctrl-C."""
10
+import time
11
+import RPi.GPIO as GPIO
12
+
13
+SERVO_PIN = 5 # BCM numbering
14
+FREQ = 50
15
+
16
+# Tune these for your servo if needed
17
+MIN_DUTY = 2.5
18
+MAX_DUTY = 12.5
19
+
20
+def angle_to_duty(angle: float) -> float:
21
+ a = max(0.0, min(180.0, float(angle)))
22
+ return MIN_DUTY + (a / 180.0) * (MAX_DUTY - MIN_DUTY)
23
+
24
+GPIO.setmode(GPIO.BCM)
25
+GPIO.setup(SERVO_PIN, GPIO.OUT)
26
+
27
+pwm = GPIO.PWM(SERVO_PIN, FREQ)
28
+# Start PWM and keep the duty cycle that corresponds to 0° so the servo actively holds position
29
+duty_0 = angle_to_duty(0)
30
+pwm.start(duty_0)
31
+
32
+try:
33
+ print('Holding 0° on GPIO5 (pin 29). Press Ctrl-C to stop.')
34
+ while True:
35
+ time.sleep(1)
36
+except KeyboardInterrupt:
37
+ pass
38
+finally:
39
+ pwm.stop()
40
+ GPIO.cleanup()
41
+```
42
+
43
+Notes:
44
+- Keep the PWM running (do not set duty to 0) so the servo actively holds position.
45
+- Ensure servo V+ is powered by a suitable 5V supply and servo GND is tied to Pi GND.
46
+- Remove or weaken any external pull-down on the signal line—strong pull-downs prevent the Pi from driving the PWM.
47
+
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-SDK-dat/servo-RPI-dat.md
... ...
@@ -0,0 +1,66 @@
1
+# servo-RPI-dat.md
2
+
3
+A minimal Raspberry Pi Python demo to rotate a standard hobby servo left and right using BCM GPIO5 (physical pin 29).
4
+
5
+Save the script below as `servo_demo_gpio5.py` on your Pi and run it with `sudo python3 servo_demo_gpio5.py`.
6
+
7
+```python
8
+#!/usr/bin/env python3
9
+"""Servo demo on BCM GPIO5 (physical pin 29).
10
+Uses RPi.GPIO to generate 50Hz PWM and maps angle 0-180 to duty cycle.
11
+Adjust MIN_DUTY / MAX_DUTY if your servo needs different values.
12
+"""
13
+import time
14
+import RPi.GPIO as GPIO
15
+
16
+SERVO_PIN = 5 # BCM numbering
17
+FREQ = 50 # 50Hz for standard servos
18
+
19
+# Duty cycle values may need tuning per servo (these are common defaults)
20
+MIN_DUTY = 2.5 # ~0 degrees
21
+MAX_DUTY = 12.5 # ~180 degrees
22
+
23
+GPIO.setmode(GPIO.BCM)
24
+GPIO.setup(SERVO_PIN, GPIO.OUT)
25
+
26
+pwm = GPIO.PWM(SERVO_PIN, FREQ)
27
+pwm.start(0)
28
+
29
+def angle_to_duty(angle: float) -> float:
30
+ """Convert 0-180 angle to duty cycle between MIN_DUTY and MAX_DUTY."""
31
+ if angle < 0:
32
+ angle = 0
33
+ if angle > 180:
34
+ angle = 180
35
+ return MIN_DUTY + (angle / 180.0) * (MAX_DUTY - MIN_DUTY)
36
+
37
+
38
+def set_angle(angle: float, settle: float = 0.5) -> None:
39
+ duty = angle_to_duty(angle)
40
+ pwm.ChangeDutyCycle(duty)
41
+ time.sleep(settle)
42
+ # Stop driving PWM to reduce jitter on some servos
43
+ pwm.ChangeDutyCycle(0)
44
+
45
+
46
+try:
47
+ print('Press Ctrl-C to exit. Sweeping servo by angle: 0 -> 90 -> 180')
48
+ while True:
49
+ set_angle(0)
50
+ time.sleep(1)
51
+ set_angle(90)
52
+ time.sleep(1)
53
+ set_angle(180)
54
+ time.sleep(1)
55
+except KeyboardInterrupt:
56
+ pass
57
+finally:
58
+ pwm.stop()
59
+ GPIO.cleanup()
60
+```
61
+
62
+Notes:
63
+- Use BCM numbering (GPIO5). Physical pin 29 corresponds to BCM GPIO5.
64
+- Run the script on the Pi (not on Windows): `sudo python3 servo_demo_gpio5.py`.
65
+- If the servo jitters or doesn't reach endpoints, adjust `MIN_DUTY` and `MAX_DUTY` slightly.
66
+
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-SDK-dat/servo-sdk-dat.md
... ...
@@ -0,0 +1,83 @@
1
+
2
+# servo-sdk-dat.md
3
+
4
+
5
+
6
+- [[servo-RPI-dat]] - [[servo-RPI-angle0-dat]]
7
+
8
+
9
+- ESP32Servo
10
+
11
+
12
+ESP32 LEDC official libarry
13
+
14
+https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html?highlight=ledcWrite
15
+
16
+
17
+
18
+
19
+## 'ledcSetup' was not declared in this scope
20
+
21
+
22
+If you prefer to use the latest ESP32 core version, you need to update your code to reflect the new LEDC API.
23
+- `ledcSetup() and ledcAttachPin()` are no longer used.
24
+- You can now use `analogWrite(pin, value)` for basic PWM, where value is the duty cycle.
25
+- For more advanced control, use `ledcAttachChannel(pin, freq, resolution, channel)` to attach a pin to a specific PWM channel and then `ledcWrite(pin, duty)` to set the duty cycle. The channel will be automatically attributed if not specified.
26
+
27
+
28
+### New Code (ESP32 Core >= 3.0.0):
29
+
30
+```
31
+const int LED_PIN = 2;
32
+const int FREQ = 5000;
33
+const int RESOLUTION = 8; // Not directly used in ledcWrite(), but useful for calculating duty cycle
34
+
35
+void setup() {
36
+ // Option 1: Use analogWrite for basic PWM
37
+ // analogWrite(LED_PIN, 128); // Sets initial duty cycle
38
+
39
+ // Option 2: Use ledcAttachChannel for more control
40
+ ledcAttachChannel(LED_PIN, FREQ, RESOLUTION, 0); // Attaches pin to channel 0
41
+}
42
+
43
+void loop() {
44
+ // Option 1: Use analogWrite
45
+ // analogWrite(LED_PIN, 128);
46
+ // delay(1000);
47
+ // analogWrite(LED_PIN, 0);
48
+ // delay(1000);
49
+
50
+ // Option 2: Use ledcWrite
51
+ ledcWrite(LED_PIN, 128); // 50% duty cycle for 8-bit resolution
52
+ delay(1000);
53
+ ledcWrite(LED_PIN, 0);
54
+ delay(1000);
55
+}
56
+
57
+```
58
+
59
+### Old Code (ESP32 Core < 3.0.0):
60
+
61
+```
62
+const int LED_PIN = 2;
63
+const int FREQ = 5000;
64
+const int LED_CHANNEL = 0;
65
+const int RESOLUTION = 8;
66
+
67
+void setup() {
68
+ ledcSetup(LED_CHANNEL, FREQ, RESOLUTION);
69
+ ledcAttachPin(LED_PIN, LED_CHANNEL);
70
+}
71
+
72
+void loop() {
73
+ ledcWrite(LED_CHANNEL, 128); // 50% duty cycle for 8-bit resolution
74
+ delay(1000);
75
+ ledcWrite(LED_CHANNEL, 0);
76
+ delay(1000);
77
+}
78
+```
79
+
80
+
81
+## servo 360
82
+
83
+
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-connector-dat/2026-01-09-20-51-21.png
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-connector-dat/servo-connector-dat.md
... ...
@@ -0,0 +1,36 @@
1
+
2
+# servo-connector-dat
3
+
4
+- [[servo-connector-dat]] - [[servo-horn-dat]]
5
+
6
+
7
+normal servo output tooth == 25T
8
+
9
+also in - [[SCU1012-dat]]
10
+
11
+![](2026-01-09-20-51-21.png)
12
+
13
+
14
+![](2026-01-09-20-52-35.png)
15
+
16
+- red == rubber [[spacer-dat]]
17
+- green == [[rivet-dat]]
18
+
19
+
20
+## main flange
21
+
22
+![](2026-01-09-20-58-15.png)
23
+
24
+![](2026-01-09-20-59-00.png)
25
+
26
+
27
+
28
+
29
+
30
+
31
+## ref
32
+
33
+- [[servo-dat]]
34
+
35
+
36
+- [[servo-connector]] - [[servo]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-gimbal-dat/2025-10-02-17-58-58.png
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-gimbal-dat/servo-gimbal-dat.md
... ...
@@ -0,0 +1,34 @@
1
+
2
+# servo-gimbal-dat
3
+
4
+- [[gimbal]]
5
+
6
+![](2025-12-04-01-10-28.png)
7
+
8
+
9
+## installation steps
10
+
11
+![](2025-10-02-17-58-58.png)
12
+
13
+![](2025-10-02-17-59-39.png)
14
+
15
+![](2025-10-02-18-00-30.png)
16
+
17
+
18
+## 2 degree gimbal
19
+
20
+
21
+
22
+![](2026-01-19-19-26-47.png)
23
+
24
+![](2026-01-19-19-27-39.png)
25
+
26
+
27
+
28
+## ref
29
+
30
+- [[servo-dat]]
31
+
32
+- [[servo]]
33
+
34
+
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-horn-dat/2026-02-27-03-26-25.png
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-horn-dat/servo-horn-dat.md
... ...
@@ -0,0 +1,53 @@
1
+
2
+
3
+# servo-horn-dat
4
+
5
+
6
+
7
+- [[servo-connector-dat]] - [[servo-horn-dat]]
8
+
9
+## servo horn types
10
+
11
+![](2026-02-27-03-26-25.png)
12
+
13
+![](2026-02-27-03-32-25.png)
14
+
15
+![](2026-02-27-04-16-14.png)
16
+
17
+## info
18
+
19
+
20
+In the context of servo motors and robotics, the connector that attaches to the output shaft is most commonly called a Servo Horn.
21
+
22
+Depending on the specific part of the linkage you are referring to, here are the standard English terms used in mechanical design and RC hobbyism:
23
+
24
+1. The Main Connector (Attaches to the Shaft)
25
+
26
+Servo Horn: The most common term. These come in various shapes:
27
+
28
+- Single Arm: A straight lever extending in one direction.
29
+- Double Arm: A straight lever extending in two opposite directions.
30
+- Cross / Four-way: Shaped like a "+" for multiple attachment points.
31
+- Circular / Round Horn: A disc shape, often used for mounting larger gears or pulleys.
32
+
33
+Servo Arm: Often used interchangeably with "horn," typically referring to the lever-style connectors.
34
+
35
+2. The Linkage Components (Connecting the Horn to the Load)
36
+If you are looking for the parts that connect the servo horn to the rest of your Rover V2 chassis, you likely need these:
37
+
38
+- Linkage Rod / Pushrod: The metal or plastic rod that transmits the motion.
39
+- Ball Link: A joint that allows for multi-angle rotation, very common in steering assemblies to prevent binding.
40
+- Clevis: A U-shaped fastener that clips onto the holes of the servo horn.
41
+- Turnbuckle: A threaded rod that allows you to adjust the length of the linkage without disconnecting it.
42
+
43
+3. Technical Terms for CAD and Sourcing
44
+
45
+If you are searching for parts or designing a custom 3D-printed attachment, use these technical keywords:
46
+
47
+- Spline: The "teeth" on the servo output shaft. You must match the spline count (e.g., 25T for standard Futaba/MG996R servos or 21T/23T for others).
48
+- Spline Adapter: A component that converts the servo spline into a different mounting interface (like a D-shaft or a hex mount).
49
+- Servo Hub: A heavy-duty aluminum connector, usually circular, used for high-torque applications.
50
+
51
+
52
+## ref
53
+
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-rank-dat/2026-02-28-01-13-38.png
... ...
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-rank-dat/2026-02-28-01-24-21.png
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Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-rank-dat/servo-rank-dat.md
... ...
@@ -0,0 +1,40 @@
1
+
2
+
3
+# servo-rank-dat
4
+
5
+| model | torque KG/CM | LRC | note | order |
6
+| ---------------------- | ---------------------- | -------------------- | ------- | --------------- |
7
+| RDS5180 80KG | 80KG~105KG @ 8.4V | 6.5A | | |
8
+| RDS5160 60KG | 60~70KG @ 8.4V | 6.5A | | |
9
+| RDS3115 15KG | 15~17 @ 8.4V | 2.5A |
10
+| XINHUI | 60 / 45 / 35 / 25 / 20 | 6.2A / 1.25A / 1.13A | unit ?? | |
11
+| XINHUI high-speed | 25 / 10 | | unit ?? | |
12
+| NANGU | 35 @ 8.4V | 0.65A | | |
13
+| MG996R | 9~15 | | | [[SCU1012-DAT]] |
14
+| MG995 / MG946R / MG945 | 9~13 | | | [[SCU1012-DAT]] |
15
+| PTK 7465 7465W | 5.8 @ 8.4V | | | |
16
+| SG92R | 2.5 | | 9g | |
17
+| EMAX ES08MA | 1.8 @ 6V | | 9g | |
18
+| SG90 | 1.6 | | | [[SCU1030-DAT]] |
19
+| MG90S / MG90 | 2.0 | | | [[SCU1031-dat]] |
20
+| PTK 7350MG-D 5.5g |
21
+
22
+
23
+
24
+- [[current-dat]]
25
+
26
+
27
+## nangu
28
+
29
+steel gears, gears number == x4 or x5
30
+
31
+![](2026-02-28-01-13-38.png)
32
+
33
+![](2026-02-28-01-24-21.png)
34
+
35
+
36
+## ref
37
+
38
+- [[servo-dat]] - [[servo]]
39
+
40
+- [[robot]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-servo-dat/servo-waterproof-dat.md
... ...
@@ -0,0 +1,45 @@
1
+
2
+# servo-waterproof-dat.md
3
+
4
+
5
+If you want to use a **servo underwater** and keep it fully waterproof, follow these strategies:
6
+
7
+---
8
+
9
+## 1. Use a Waterproof Servo
10
+- **Buy a commercially waterproof servo** (used in RC boats, submarines, cars).
11
+- These servos are **internally sealed** with rubber gaskets around the motor and gears.
12
+- Check the **IP rating**: IP68 is ideal for full submersion.
13
+
14
+---
15
+
16
+## 2. Encapsulation in a Waterproof Housing
17
+If the servo is not inherently waterproof:
18
+- **Housing:** Use a small **aluminum, plastic, or acrylic canister**.
19
+- **Sealing methods:**
20
+ - **O-rings** at openings (shaft, wires).
21
+ - **Epoxy or silicone sealant** for gaps.
22
+- **Cable entry:** Use **watertight cable glands**.
23
+- **Pressure:** For deep water, the housing must resist **external water pressure** (e.g., 10 m ≈ 1 atm; 100 m ≈ 10 atm).
24
+
25
+---
26
+
27
+## 3. Lubrication and Corrosion Protection
28
+- Apply **marine grease** on gears to prevent rust.
29
+- Prefer **stainless steel or plastic gears**.
30
+- Avoid motors sensitive to water (like uncoated brushed motors).
31
+
32
+---
33
+
34
+- [[shaft-waterproof-dat]]
35
+
36
+## 5. Pressure Considerations
37
+- At **deep depths** (>50 m), water pressure can crush the servo or housing.
38
+- Housing must be **strong enough** (aluminum or thick acrylic).
39
+- Calculate **wall thickness** using:
40
+
41
+ P=ρgh, then choose a material with a safety factor.
42
+
43
+✅ Tip: For shallow water RC boats or ROVs (<10 m), many servos with proper epoxy coating or silicone sealing work. For deeper submersion, you almost always need a sealed housing or a servo designed for underwater use.
44
+
45
+- [[silicon-grease-dat]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/motor-stepper-dat/2025-04-29-13-07-08.png
... ...
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Tech-dat/acturator-dat/motor-dat/motor-stepper-dat/motor-stepper-dat.md
... ...
@@ -0,0 +1,71 @@
1
+
2
+# stepper-dat
3
+
4
+- [[stepper-driver-dat]]
5
+
6
+
7
+
8
+## boards
9
+
10
+- [[SCU1024-dat]]
11
+
12
+[[motor-driver-dat]] - [[SDR1050-dat]]
13
+
14
+
15
+
16
+## tech
17
+
18
+-standard - [[NEMA-dat]] - [[NEMA17-dat]] - [[NEMA-23-dat]]
19
+
20
+
21
+
22
+
23
+## common options
24
+
25
+- dual shaft
26
+
27
+## common motors specs NEMA 23
28
+
29
+![](2025-04-29-13-07-08.png)
30
+
31
+
32
+## How to identify the common port of a 4-wire motor:
33
+
34
+Use the resistance * 1 position of the multimeter to measure the four terminals separately.
35
+
36
+If the resistance value of one terminal is the smallest and equal to that of the other three terminals, then this terminal is the COM terminal, which is the common terminal.
37
+
38
+The driver board automatically identifies 3-wire or 4-wire brushless motors,
39
+
40
+4-wire brushless motors can also be connected without COM lines.
41
+
42
+
43
+## NMEA Series
44
+
45
+- [[NEMA-17-dat]] - [[NEMA-23-dat]]
46
+
47
+| NEMA Size | Faceplate Size (mm) | Typical Torque (N·m) | Typical Current (A) | Common Use Cases |
48
+|-----------|----------------------|----------------------|----------------------|---------------------------------------------|
49
+| NEMA 6 | 15 x 15 | < 0.01 | 0.2 – 0.5 | Tiny devices, precision instruments |
50
+| NEMA 8 | 20 x 20 | 0.01 – 0.03 | 0.3 – 0.8 | Compact medical devices, miniature robotics |
51
+| NEMA 11 | 28 x 28 | 0.04 – 0.1 | 0.6 – 1.2 | Small automation, instrumentation |
52
+| NEMA 14 | 35 x 35 | 0.1 – 0.2 | 0.8 – 1.5 | Light-duty CNC, compact robotics |
53
+| NEMA 16 | 39 x 39 | 0.15 – 0.25 | 1.0 – 1.8 | Slightly more powerful applications |
54
+| **NEMA 17** | 42 x 42 | 0.2 – 0.5 | 1.0 – 2.0 | 3D printers, desktop CNC, hobby electronics |
55
+| **NEMA 23** | 57 x 57 | 0.6 – 3.0 | 2.0 – 3.5 | CNC machines, automation, robotics |
56
+| NEMA 24 | 60 x 60 | 2.0 – 4.0 | 2.0 – 4.0 | Industrial applications |
57
+| NEMA 34 | 86 x 86 | 4.0 – 12.0 | 3.5 – 6.0 | Heavy-duty CNC, automation systems |
58
+| NEMA 42 | 110 x 110 | 10 – 20+ | 5.0 – 10.0 | Large industrial machinery |
59
+
60
+
61
+## apps
62
+
63
+- [[TPlink-dat]]
64
+
65
+[dissembled TP LINK security camera post ](https://www.electrodragon.com/teardown-a-tplink-security-camera-after-oil-soaking/)
66
+
67
+
68
+
69
+## ref
70
+
71
+- [[stepper]]
... ...
\ No newline at end of file
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1
+
2
+# nema-17-dat
3
+
4
+
5
+## dimension
6
+
7
+screw pitching base == 44mm
8
+
9
+![](2025-06-01-18-23-10.png)
10
+
11
+common Specifications
12
+
13
+![](2025-06-01-18-24-29.png)
14
+
15
+
16
+
17
+## ref
18
+
19
+- [[stepper-dat]]
... ...
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1
+
2
+# nema-23-dat
3
+
4
+
5
+
6
+## NEMA 23 Motor
7
+
8
+### NEMA 23 Motor Overview
9
+
10
+A **NEMA 23** motor is a **stepper motor** with a standard **mounting flange size** defined by the **National Electrical Manufacturers Association (NEMA)**. It is widely used in CNC machines, 3D printers, robotics, and automation systems.
11
+
12
+#### Key Features of NEMA 23 Motor
13
+
14
+##### 1. Frame Size
15
+- The **NEMA 23** standard specifies that the motor has a **2.3-inch (57.15mm) x 2.3-inch (57.15mm) faceplate size** for mounting.
16
+- The **length of the motor varies**, affecting torque and power output.
17
+
18
+##### 2. Stepper Type
19
+- Most **NEMA 23 motors are stepper motors**, typically **1.8° per step** (200 steps per revolution), but variations exist.
20
+- Some models have finer step angles (e.g., **0.9° per step**, 400 steps per revolution).
21
+
22
+##### 3. Torque & Power
23
+- The **torque** varies based on the motor length and current rating, typically ranging from **0.3 Nm to over 3.0 Nm**.
24
+- Higher torque versions are often **longer and require higher current**.
25
+
26
+##### 4. Voltage & Current
27
+- Operates typically on **12V to 48V** (varies based on driver and application).
28
+- Current ratings range from **2A to 6A per phase**, depending on the winding configuration.
29
+
30
+##### 5. Shaft & Wiring
31
+- Shaft diameter is usually **6.35mm (1/4 inch) or 8mm**.
32
+- Common wiring configurations: **4-wire, 6-wire, or 8-wire** for unipolar or bipolar operation.
33
+
34
+#### Common Applications of NEMA 23 Stepper Motors
35
+- **CNC Machines** (milling, laser cutters, engraving machines)
36
+- **3D Printers** (especially for larger or industrial-grade machines)
37
+- **Robotics & Automation Systems**
38
+- **Textile and Packaging Machines**
39
+- **Conveyor Belt Systems**
40
+
41
+![](2025-06-01-18-21-25.png)
42
+
43
+## ref
44
+
45
+- [[stepper-dat]]
... ...
\ No newline at end of file
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Tech-dat/acturator-dat/motor-dat/servo-dat/servo-360-dat/servo-360-dat.md
... ...
@@ -1,44 +0,0 @@
1
-
2
-# servo-360-dat
3
-
4
-
5
-## servo 360 degree
6
-
7
-360° (continuous-rotation) servo
8
-A 360° servo is effectively a geared DC motor with continuous-variable speed and direction control — it does not provide absolute angle positioning. It uses the same PWM control signal as a regular hobby servo, but the pulse width controls motor speed and direction instead of shaft angle. (Commonly used as a power source for modified robots and drivetrains.)
9
-
10
-Control notes
11
-
12
-- Typical PWM time base: ~20 ms period (50 Hz). Pulse width (high time) is usually in the ~0.5–2.5 ms range; 1.5 ms is the neutral/stop point for many servos.
13
-- Behavior for continuous-rotation servos:
14
- - Pulse < center (e.g., 0.5 ms → 1.5 ms): forward rotation. The smaller the pulse, the faster the forward speed (0.5 ms → fastest forward).
15
- - ~1.5 ms: stop / neutral.
16
- - Pulse > center (e.g., 1.5 ms → 2.5 ms): reverse rotation. The larger the pulse, the faster the reverse speed (2.5 ms → fastest reverse).
17
-- Some servos use narrower ranges (e.g., 1.0–2.0 ms). Always check with a servo-tester or measure the actual response for the specific model.
18
-
19
-Example mapping (typical)
20
-
21
-- 0.5 ms — fastest forward
22
-- 1.0 ms — moderate forward
23
-- 1.5 ms — stop
24
-- 2.0 ms — moderate reverse
25
-- 2.5 ms — fastest reverse
26
-
27
-Arduino tip: use Servo.writeMicroseconds(x) to send precise pulse widths (e.g., 1000–2000 µs) and calibrate the stop point for your servo.
28
-
29
-
30
-- [[N20-motor-dat]]
31
-
32
-| Pulse (ms) | Pulse (µs) | Angle (°) | degree |
33
-| ---------: | ---------: | ---------: | ---------------- |
34
-| 0.5 ms | 500 µs | 0 | fastest forward |
35
-| 1.0 ms | 1000 µs | 45 | moderate forward |
36
-| 1.5 ms | 1500 µs | 90 | stop |
37
-| 2.0 ms | 2000 µs | 135 | moderate reverse |
38
-| 2.5 ms | 2500 µs | 180 or -90 | fastest reverse |
39
-
40
-
41
-
42
-## ref
43
-
44
-- [[servo-dat]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-DSC-dat/servo-DSC-dat.md
... ...
@@ -1,68 +0,0 @@
1
-
2
-# servo-DSC-dat
3
-
4
-
5
-
6
-## working product
7
-
8
-- [[RadioMaster-dat]] - [[head-track-dat]]
9
-
10
-
11
-
12
-
13
-## info
14
-
15
-**DSC** = **Direct Servo Control**
16
-
17
-On [[RadioMaster-dat]] radios (TX16S, Boxer, Zorro, etc.), the **DSC port** is a **wired trainer / simulator control port**, not an audio port.
18
-
19
-It outputs **RC control signals** directly from the radio.
20
-
21
----
22
-
23
-### What the DSC Port Is Used For
24
-
25
-- **RC flight simulators** (wired)
26
-- **Trainer / student mode**
27
-- **Direct control of external devices**
28
-- Legacy wired systems
29
-
30
-👉 It is the **replacement for older trainer ports**.
31
-
32
----
33
-
34
-### Electrical Signal Type (Important)
35
-
36
-Depending on firmware configuration ([[EdgeTX-dat]] / OpenTX), the DSC port can output:
37
-
38
-- **PPM (Pulse Position Modulation)** – most common - [[PWM-dat]]
39
-- Sometimes **PWM (single-channel test mode)**
40
-
41
-
42
-## Physical Connector
43
-
44
-- [[CONN-audio-dat]]
45
-
46
-Most [[RadioMaster-dat]] transmitters use:
47
-
48
-- **3.5 mm TRS jack**
49
-
50
-- Tip = PPM signal (or DSC signal)
51
-- Ring = +V (trainer power, often 3.3 V or 5 V)
52
-- Sleeve= Ground
53
-
54
-⚠️ Voltage on the Ring pin depends on model and settings.
55
-**Do NOT short Ring to Ground.**
56
-
57
- ┌──── Tip ──── PPM OUT
58
- │
59
- │ ┌── Ring ─── VCC (≈3.3–5 V)
60
- │ │
61
- │ │ ┌ Sleeve ─ GND
62
- ▼ ▼ ▼
63
- [ T | R | S ]
64
-
65
-
66
-## ref
67
-
68
-- [[servo-dat]] - [[servo-DSC-dat]]
... ...
\ No newline at end of file
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... ...
@@ -1,5 +0,0 @@
1
-
2
-# servo-HDK-dat
3
-
4
-
5
-![](2025-12-26-14-01-00.png)
... ...
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Tech-dat/acturator-dat/motor-dat/servo-dat/servo-SDK-dat/servo-RPI-angle0-dat.md
... ...
@@ -1,47 +0,0 @@
1
-# servo-RPI-angle0-dat.md
2
-
3
-A minimal script to hold a hobby servo at 0° (zero degrees) using BCM GPIO5 (physical pin 29).
4
-
5
-Save as `servo_hold_0_gpio5.py` on the Pi and run with `sudo python3 servo_hold_0_gpio5.py`.
6
-
7
-```python
8
-#!/usr/bin/env python3
9
-"""Hold servo at 0° on BCM GPIO5 until Ctrl-C."""
10
-import time
11
-import RPi.GPIO as GPIO
12
-
13
-SERVO_PIN = 5 # BCM numbering
14
-FREQ = 50
15
-
16
-# Tune these for your servo if needed
17
-MIN_DUTY = 2.5
18
-MAX_DUTY = 12.5
19
-
20
-def angle_to_duty(angle: float) -> float:
21
- a = max(0.0, min(180.0, float(angle)))
22
- return MIN_DUTY + (a / 180.0) * (MAX_DUTY - MIN_DUTY)
23
-
24
-GPIO.setmode(GPIO.BCM)
25
-GPIO.setup(SERVO_PIN, GPIO.OUT)
26
-
27
-pwm = GPIO.PWM(SERVO_PIN, FREQ)
28
-# Start PWM and keep the duty cycle that corresponds to 0° so the servo actively holds position
29
-duty_0 = angle_to_duty(0)
30
-pwm.start(duty_0)
31
-
32
-try:
33
- print('Holding 0° on GPIO5 (pin 29). Press Ctrl-C to stop.')
34
- while True:
35
- time.sleep(1)
36
-except KeyboardInterrupt:
37
- pass
38
-finally:
39
- pwm.stop()
40
- GPIO.cleanup()
41
-```
42
-
43
-Notes:
44
-- Keep the PWM running (do not set duty to 0) so the servo actively holds position.
45
-- Ensure servo V+ is powered by a suitable 5V supply and servo GND is tied to Pi GND.
46
-- Remove or weaken any external pull-down on the signal line—strong pull-downs prevent the Pi from driving the PWM.
47
-
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-SDK-dat/servo-RPI-dat.md
... ...
@@ -1,66 +0,0 @@
1
-# servo-RPI-dat.md
2
-
3
-A minimal Raspberry Pi Python demo to rotate a standard hobby servo left and right using BCM GPIO5 (physical pin 29).
4
-
5
-Save the script below as `servo_demo_gpio5.py` on your Pi and run it with `sudo python3 servo_demo_gpio5.py`.
6
-
7
-```python
8
-#!/usr/bin/env python3
9
-"""Servo demo on BCM GPIO5 (physical pin 29).
10
-Uses RPi.GPIO to generate 50Hz PWM and maps angle 0-180 to duty cycle.
11
-Adjust MIN_DUTY / MAX_DUTY if your servo needs different values.
12
-"""
13
-import time
14
-import RPi.GPIO as GPIO
15
-
16
-SERVO_PIN = 5 # BCM numbering
17
-FREQ = 50 # 50Hz for standard servos
18
-
19
-# Duty cycle values may need tuning per servo (these are common defaults)
20
-MIN_DUTY = 2.5 # ~0 degrees
21
-MAX_DUTY = 12.5 # ~180 degrees
22
-
23
-GPIO.setmode(GPIO.BCM)
24
-GPIO.setup(SERVO_PIN, GPIO.OUT)
25
-
26
-pwm = GPIO.PWM(SERVO_PIN, FREQ)
27
-pwm.start(0)
28
-
29
-def angle_to_duty(angle: float) -> float:
30
- """Convert 0-180 angle to duty cycle between MIN_DUTY and MAX_DUTY."""
31
- if angle < 0:
32
- angle = 0
33
- if angle > 180:
34
- angle = 180
35
- return MIN_DUTY + (angle / 180.0) * (MAX_DUTY - MIN_DUTY)
36
-
37
-
38
-def set_angle(angle: float, settle: float = 0.5) -> None:
39
- duty = angle_to_duty(angle)
40
- pwm.ChangeDutyCycle(duty)
41
- time.sleep(settle)
42
- # Stop driving PWM to reduce jitter on some servos
43
- pwm.ChangeDutyCycle(0)
44
-
45
-
46
-try:
47
- print('Press Ctrl-C to exit. Sweeping servo by angle: 0 -> 90 -> 180')
48
- while True:
49
- set_angle(0)
50
- time.sleep(1)
51
- set_angle(90)
52
- time.sleep(1)
53
- set_angle(180)
54
- time.sleep(1)
55
-except KeyboardInterrupt:
56
- pass
57
-finally:
58
- pwm.stop()
59
- GPIO.cleanup()
60
-```
61
-
62
-Notes:
63
-- Use BCM numbering (GPIO5). Physical pin 29 corresponds to BCM GPIO5.
64
-- Run the script on the Pi (not on Windows): `sudo python3 servo_demo_gpio5.py`.
65
-- If the servo jitters or doesn't reach endpoints, adjust `MIN_DUTY` and `MAX_DUTY` slightly.
66
-
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-SDK-dat/servo-sdk-dat.md
... ...
@@ -1,83 +0,0 @@
1
-
2
-# servo-sdk-dat.md
3
-
4
-
5
-
6
-- [[servo-RPI-dat]] - [[servo-RPI-angle0-dat]]
7
-
8
-
9
-- ESP32Servo
10
-
11
-
12
-ESP32 LEDC official libarry
13
-
14
-https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html?highlight=ledcWrite
15
-
16
-
17
-
18
-
19
-## 'ledcSetup' was not declared in this scope
20
-
21
-
22
-If you prefer to use the latest ESP32 core version, you need to update your code to reflect the new LEDC API.
23
-- `ledcSetup() and ledcAttachPin()` are no longer used.
24
-- You can now use `analogWrite(pin, value)` for basic PWM, where value is the duty cycle.
25
-- For more advanced control, use `ledcAttachChannel(pin, freq, resolution, channel)` to attach a pin to a specific PWM channel and then `ledcWrite(pin, duty)` to set the duty cycle. The channel will be automatically attributed if not specified.
26
-
27
-
28
-### New Code (ESP32 Core >= 3.0.0):
29
-
30
-```
31
-const int LED_PIN = 2;
32
-const int FREQ = 5000;
33
-const int RESOLUTION = 8; // Not directly used in ledcWrite(), but useful for calculating duty cycle
34
-
35
-void setup() {
36
- // Option 1: Use analogWrite for basic PWM
37
- // analogWrite(LED_PIN, 128); // Sets initial duty cycle
38
-
39
- // Option 2: Use ledcAttachChannel for more control
40
- ledcAttachChannel(LED_PIN, FREQ, RESOLUTION, 0); // Attaches pin to channel 0
41
-}
42
-
43
-void loop() {
44
- // Option 1: Use analogWrite
45
- // analogWrite(LED_PIN, 128);
46
- // delay(1000);
47
- // analogWrite(LED_PIN, 0);
48
- // delay(1000);
49
-
50
- // Option 2: Use ledcWrite
51
- ledcWrite(LED_PIN, 128); // 50% duty cycle for 8-bit resolution
52
- delay(1000);
53
- ledcWrite(LED_PIN, 0);
54
- delay(1000);
55
-}
56
-
57
-```
58
-
59
-### Old Code (ESP32 Core < 3.0.0):
60
-
61
-```
62
-const int LED_PIN = 2;
63
-const int FREQ = 5000;
64
-const int LED_CHANNEL = 0;
65
-const int RESOLUTION = 8;
66
-
67
-void setup() {
68
- ledcSetup(LED_CHANNEL, FREQ, RESOLUTION);
69
- ledcAttachPin(LED_PIN, LED_CHANNEL);
70
-}
71
-
72
-void loop() {
73
- ledcWrite(LED_CHANNEL, 128); // 50% duty cycle for 8-bit resolution
74
- delay(1000);
75
- ledcWrite(LED_CHANNEL, 0);
76
- delay(1000);
77
-}
78
-```
79
-
80
-
81
-## servo 360
82
-
83
-
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-connector-dat/2026-01-09-20-51-21.png
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Tech-dat/acturator-dat/motor-dat/servo-dat/servo-connector-dat/servo-connector-dat.md
... ...
@@ -1,36 +0,0 @@
1
-
2
-# servo-connector-dat
3
-
4
-- [[servo-connector-dat]] - [[servo-horn-dat]]
5
-
6
-
7
-normal servo output tooth == 25T
8
-
9
-also in - [[SCU1012-dat]]
10
-
11
-![](2026-01-09-20-51-21.png)
12
-
13
-
14
-![](2026-01-09-20-52-35.png)
15
-
16
-- red == rubber [[spacer-dat]]
17
-- green == [[rivet-dat]]
18
-
19
-
20
-## main flange
21
-
22
-![](2026-01-09-20-58-15.png)
23
-
24
-![](2026-01-09-20-59-00.png)
25
-
26
-
27
-
28
-
29
-
30
-
31
-## ref
32
-
33
-- [[servo-dat]]
34
-
35
-
36
-- [[servo-connector]] - [[servo]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-dat.md
... ...
@@ -1,311 +0,0 @@
1
-# servo-dat
2
-
3
-- [[servo-gimbal-dat]]
4
-
5
-- [[peripherals-dat]]
6
-
7
-- [[PWM-dat]] - [[PPM-dat]]
8
-
9
-
10
-- [[servo-connector-dat]] - [[servo-horn-dat]]
11
-
12
-- [[servo-HDK-dat]] - [[servo-SDK-dat]]
13
-
14
-- [[servo-360-dat]] - [[servo-rank-dat]]
15
-
16
-- [[PCA9685-dat]]
17
-
18
-- [[servo]]
19
-
20
-## tech
21
-
22
-- [[servo-DSC-dat]]
23
-
24
-## products
25
-
26
-- [[servo-rank-dat]]
27
-
28
-- Micro servo - [[SCU1030-DAT]] - [[SCU1031-dat]] == SG90 / MG90
29
-
30
-- MG995 / MG996R micro servo - [[SCU1012-DAT]] == 13KG
31
-
32
-
33
-![](2026-02-28-00-57-43.png)
34
-
35
-![](2026-02-28-00-57-59.png)
36
-
37
-
38
-These servo models differ primarily in terms of gear material, torque, and rotation angle.
39
-
40
-The SG90 is the basic widely-used model. The SG90 comes in 90-degree, 180-degree, and 360-degree versions that are identical except for their rotation angles.
41
-
42
-The MG90S is essentially an enhanced version of the SG90 with metal gears, though its mounting dimensions differ slightly from the SG90.
43
-
44
-The 90-degree and 180-degree servos have identical physical dimensions and torque specifications, differing only in their maximum rotation angles. The 360-degree servo allows continuous rotation.
45
-
46
-The fixed-wing S-version servo (with 25cm wire length) is not the helicopter version. Compared to helicopter servos, it has lower pull strength, performance, and motor lifespan. It's suitable for electric fixed-wing aircraft made of foamboard or foam (recommended) and offers good value for money.
47
-
48
-## feature of servos
49
-
50
-- The servo is a device that can control the angle of rotation of the motor shaft. It consists of a DC motor, a gear set, and a position feedback system.
51
-- The servo can be controlled by a PWM signal, which determines the angle of rotation of the motor shaft.
52
-- The servo can be used in various applications, such as robotics, RC vehicles, and automation systems.
53
-- The servo can be classified into different types based on its construction and operation, such as analog servos, digital servos, and continuous rotation servos.
54
-- The servo can be powered by different voltage levels, typically ranging from 4.8V to 6V for standard servos and up to 7.4V for high-performance servos.
55
-- The servo can be controlled by different protocols, such as PWM, I2C, and UART, depending on the application and the controller used.
56
-- The servo can be equipped with different types of gears, such as plastic gears, metal gears, and ceramic gears, depending on the torque and speed requirements of the application.
57
-- The servo can be used in various configurations, such as standard servos, mini servos, micro servos, and high-torque servos, depending on the size and weight constraints of the application.
58
-- The servo can be used in different environments, such as indoor, outdoor, and underwater, depending on the sealing and protection features of the servo.
59
-- The servo can be used in different applications, such as robotics, automation, and control systems, depending on the requirements of the application.
60
-- The servo can be used in different industries, such as automotive, aerospace, and consumer electronics, depending on the requirements of the application.
61
-
62
-
63
-## test note
64
-
65
-- user a [[servo-tester]] to get the range of the servo first
66
-
67
-- test without a load first
68
-
69
-- the internal [[gearbox-dat]] can be burned if too high load used
70
-
71
-
72
-
73
-
74
-## wiring
75
-
76
-![](2025-04-09-15-37-30.png)
77
-
78
-
79
-### servo with five wires
80
-
81
-![](2026-02-28-01-37-32.png)
82
-
83
-A 5-wire servo consists of a **DC Motor** and a **Potentiometer** (feedback sensor) without an internal control board. To use it, you must provide an external motor driver and a microcontroller.
84
-
85
----
86
-
87
-#### 1. Wiring Diagram
88
-
89
-##### The Potentiometer (Feedback)
90
-The three wires connected to the potentiometer act as a **Voltage Divider**.
91
-
92
-* **Wire 1 (Outer):** Connect to **VCC** (3.3V or 5V from MCU).
93
-* **Wire 2 (Center/Wiper):** Connect to an **Analog Input Pin (ADC)** on your Microcontroller.
94
-* **Wire 3 (Outer):** Connect to **GND**.
95
-
96
-##### The DC Motor (Power)
97
-* **Wire 4:** Connect to **Motor Driver Output A** (e.g., OUT1 on DRV8701).
98
-* **Wire 5:** Connect to **Motor Driver Output B** (e.g., OUT2 on DRV8701).
99
-
100
-
101
-
102
-#### 2. Technical Specifications & Calculations
103
-
104
-##### Potentiometer Feedback
105
-The voltage read by the ADC tells you the current position.
106
-$$V_{out} = V_{cc} \times \frac{R_{lower}}{R_{total}}$$
107
-As the motor turns the gears, the resistance changes, and the voltage shifts linearly with the angle.
108
-
109
-##### Control Logic (The Feedback Loop)
110
-Since there is no internal IC, your code must perform **Closed-Loop Control**:
111
-
112
-1. **Read Position:** Get the current analog value ($Current\_Pos$).
113
-2. **Calculate Error:** $Error = Target\_Pos - Current\_Pos$.
114
-3. **Drive Motor:** * If **Error > Threshold**: Drive Motor CW (Clockwise).
115
- * If **Error < -Threshold**: Drive Motor CCW (Counter-Clockwise).
116
- * If **Error ≈ 0**: Stop Motor (Brake).
117
-
118
-
119
-
120
-#### 3. Why Use This Setup?
121
-
122
-| Feature | Standard 3-Wire Servo | Raw 5-Wire Servo |
123
-| :--- | :--- | :--- |
124
-| **Control Board** | Internal (Built-in) | External (MCU + Driver) |
125
-| **Customization** | Limited by internal IC | Fully programmable PID |
126
-| **Current/Torque** | Limited by tiny internal MOSFETs | Limited only by your external driver |
127
-| **Response** | Fixed 50Hz PWM | High-speed real-time control |
128
-
129
-
130
-
131
-## Knowledge
132
-
133
-The control of the steering gear generally requires a time base pulse of about 20ms. The high level part of the pulse is generally the angle control pulse part in the range of 0.5ms-2.5ms, and the total interval is 2ms.
134
-
135
-Taking the 180-degree angle servo as an example, the corresponding control relationship is as follows:
136
-
137
-| Pulse (ms) | Pulse (µs) | Angle (°) |
138
-| ---------: | ---------: | ---------: |
139
-| 0.5 ms | 500 µs | 0 |
140
-| 1.0 ms | 1000 µs | 45 |
141
-| 1.5 ms | 1500 µs | 90 |
142
-| 2.0 ms | 2000 µs | 135 |
143
-| 2.5 ms | 2500 µs | 180 or -90 |
144
-
145
-
146
-![](47-08-17-21-06-2023.png)
147
-
148
-![](2025-06-15-14-21-31.png)
149
-
150
-
151
-
152
-
153
-
154
-## code
155
-
156
-### arduino
157
-
158
-
159
-## servo calibration
160
-
161
-
162
-## Mechanical Calibration
163
-
164
-1. Power the servo and send 1500 µs signal (center pulse).
165
-2. Remove the servo horn (the arm).
166
-3. Reattach the horn so it points exactly to the middle.
167
-
168
-✅ Best method — keeps full 0–180° movement range.
169
-
170
-## FIND A SERVO'S PHYSICAL MIDDLE WITHOUT POWERING IT
171
-
172
-### METHOD 1: Gentle Manual Rotation
173
-
174
-1. Hold the servo body firmly in one hand.
175
-2. Gently rotate the output shaft with your fingers.
176
-
177
-⚠️ IMPORTANT RULES:
178
-- SG90 and most servos are geared; never force rotation beyond stops.
179
-- You will feel two hard mechanical limits (one on each side).
180
-- The total range is usually about 180° or a bit less.
181
-- The *middle* is approximately halfway between those two stops.
182
-
183
-Example steps:
184
- a. Turn fully to one end (gently).
185
- b. Mark that position (e.g., note horn orientation).
186
- c. Turn fully to the other end.
187
- d. Move the horn halfway back to the middle of that range.
188
-
189
-✅ This gives a close estimate of the neutral angle.
190
-
191
-
192
-### 📏 METHOD 2: Remove the Horn and Reinstall at Mid
193
-
194
-1. Unscrew and remove the servo horn (the plastic arm).
195
-2. Rotate the output spline gently until it’s roughly centered
196
- (halfway between stops as found above).
197
-3. Reattach the horn pointing straight (e.g., vertical).
198
-
199
-💡 When you later power the servo, it should be close to neutral.
200
-Fine-tune by sending 1500 µs and adjusting slightly if needed.
201
-
202
-
203
-
204
-
205
-## FAQs
206
-
207
-### Can a Servo Hold Position When Power Is Off?
208
-
209
-**No**, standard servos cannot hold position when powered off — they lose holding torque.
210
-
211
-#### Alternatives:
212
-- **Servos with mechanical brakes** – lock position without power.
213
-- **High gear ratio digital servos** – may resist movement, but not reliable.
214
-- **Stepper motors with brakes** – hold position more effectively.
215
-- **External locking mechanisms** – physical clamps or brakes.
216
-
217
-
218
-## mini-servo
219
-
220
-- used for robot joint
221
-
222
-
223
-
224
-## demo
225
-
226
-https://t.me/electrodragon3/401
227
-
228
-
229
-## unsort
230
-
231
-Hitec 海泰克 HS-5565MH 高压数字标准舵机 速度快 空心杯电机 G1可编程电路 不防水
232
-
233
-
234
-
235
-## Apps
236
-
237
-- [[worm-gear-dat]] - [[servo-gimbal-dat]]
238
-
239
-
240
-
241
-lock and unlock system
242
-
243
-![](2025-12-06-14-23-10.png)
244
-
245
-
246
-to linear output
247
-
248
-![](2026-01-09-21-11-41.png)
249
-
250
-connector to a [[crank-dat]]
251
-
252
-![](2026-01-09-21-12-45.png)
253
-
254
-
255
-
256
-
257
-## high torque servo
258
-
259
-35KG version
260
-![](2025-12-06-14-56-46.png)
261
-
262
-
263
-## servo installation
264
-
265
-- [[servo-connector-dat]] - [[servo-horn-dat]]
266
-
267
-![](2026-02-28-01-19-43.png)
268
-
269
-
270
-### servo shaft
271
-
272
-#### 1. Standard Servo Shaft (25T Spline)
273
-
274
-The most common standard for hobbyist and robotics servos is the **25T (25-tooth)** spline, often referred to as the "Futaba" or "PowerHD" standard.
275
-
276
-* **Outer Diameter (OD):** **5.90 mm to 6.00 mm** (measured at the peaks of the teeth).
277
-* **Inner Diameter (ID):** Approximately **5.40 mm** (measured at the valleys of the teeth).
278
-* **Spline Count:** **25 Teeth**.
279
-* **Center Screw:** Typically requires an **M3** machine screw.
280
-
281
-
282
-
283
-#### 2. Micro Servo Shaft (e.g., SG90, MG90S)
284
-
285
-If you are using smaller servos for the **Rover V2** (for sensors or light mechanisms), the dimensions are smaller:
286
-
287
-* **Outer Diameter (OD):** **4.80 mm to 4.90 mm**.
288
-* **Spline Count:** Usually **21 Teeth** (21T) or sometimes **20T**.
289
-* **Center Screw:** Typically requires an **M2** or **M2.5** screw.
290
-
291
-
292
-
293
-#### 3. Comparison Table for Design
294
-
295
-| Servo Class | Typical Model | Shaft OD (mm) | Spline Count | Screw Size |
296
-| :--- | :--- | :--- | :--- | :--- |
297
-| **Micro** | SG90 / MG90S | ~4.85 mm | 21T | M2 / M2.5 |
298
-| **Standard** | MG996R / S3003 | ~5.95 mm | 25T | M3 |
299
-| **Large/Giant** | HS-805BB | ~8.00 mm | 15T / 17T | M4 |
300
-
301
-
302
-## code
303
-
304
-- [[code-dat]]
305
-
306
-
307
-## ref
308
-
309
-- [[motor-dat]]
310
-
311
-- [[servo]]
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1
-
2
-# servo-gimbal-dat
3
-
4
-- [[gimbal]]
5
-
6
-![](2025-12-04-01-10-28.png)
7
-
8
-
9
-## installation steps
10
-
11
-![](2025-10-02-17-58-58.png)
12
-
13
-![](2025-10-02-17-59-39.png)
14
-
15
-![](2025-10-02-18-00-30.png)
16
-
17
-
18
-## 2 degree gimbal
19
-
20
-
21
-
22
-![](2026-01-19-19-26-47.png)
23
-
24
-![](2026-01-19-19-27-39.png)
25
-
26
-
27
-
28
-## ref
29
-
30
-- [[servo-dat]]
31
-
32
-- [[servo]]
33
-
34
-
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-horn-dat/2026-02-27-03-26-25.png
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@@ -1,53 +0,0 @@
1
-
2
-
3
-# servo-horn-dat
4
-
5
-
6
-
7
-- [[servo-connector-dat]] - [[servo-horn-dat]]
8
-
9
-## servo horn types
10
-
11
-![](2026-02-27-03-26-25.png)
12
-
13
-![](2026-02-27-03-32-25.png)
14
-
15
-![](2026-02-27-04-16-14.png)
16
-
17
-## info
18
-
19
-
20
-In the context of servo motors and robotics, the connector that attaches to the output shaft is most commonly called a Servo Horn.
21
-
22
-Depending on the specific part of the linkage you are referring to, here are the standard English terms used in mechanical design and RC hobbyism:
23
-
24
-1. The Main Connector (Attaches to the Shaft)
25
-
26
-Servo Horn: The most common term. These come in various shapes:
27
-
28
-- Single Arm: A straight lever extending in one direction.
29
-- Double Arm: A straight lever extending in two opposite directions.
30
-- Cross / Four-way: Shaped like a "+" for multiple attachment points.
31
-- Circular / Round Horn: A disc shape, often used for mounting larger gears or pulleys.
32
-
33
-Servo Arm: Often used interchangeably with "horn," typically referring to the lever-style connectors.
34
-
35
-2. The Linkage Components (Connecting the Horn to the Load)
36
-If you are looking for the parts that connect the servo horn to the rest of your Rover V2 chassis, you likely need these:
37
-
38
-- Linkage Rod / Pushrod: The metal or plastic rod that transmits the motion.
39
-- Ball Link: A joint that allows for multi-angle rotation, very common in steering assemblies to prevent binding.
40
-- Clevis: A U-shaped fastener that clips onto the holes of the servo horn.
41
-- Turnbuckle: A threaded rod that allows you to adjust the length of the linkage without disconnecting it.
42
-
43
-3. Technical Terms for CAD and Sourcing
44
-
45
-If you are searching for parts or designing a custom 3D-printed attachment, use these technical keywords:
46
-
47
-- Spline: The "teeth" on the servo output shaft. You must match the spline count (e.g., 25T for standard Futaba/MG996R servos or 21T/23T for others).
48
-- Spline Adapter: A component that converts the servo spline into a different mounting interface (like a D-shaft or a hex mount).
49
-- Servo Hub: A heavy-duty aluminum connector, usually circular, used for high-torque applications.
50
-
51
-
52
-## ref
53
-
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-rank-dat/2026-02-28-01-13-38.png
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@@ -1,40 +0,0 @@
1
-
2
-
3
-# servo-rank-dat
4
-
5
-| model | torque KG/CM | LRC | note | order |
6
-| ---------------------- | ---------------------- | -------------------- | ------- | --------------- |
7
-| RDS5180 80KG | 80KG~105KG @ 8.4V | 6.5A | | |
8
-| RDS5160 60KG | 60~70KG @ 8.4V | 6.5A | | |
9
-| RDS3115 15KG | 15~17 @ 8.4V | 2.5A |
10
-| XINHUI | 60 / 45 / 35 / 25 / 20 | 6.2A / 1.25A / 1.13A | unit ?? | |
11
-| XINHUI high-speed | 25 / 10 | | unit ?? | |
12
-| NANGU | 35 @ 8.4V | 0.65A | | |
13
-| MG996R | 9~15 | | | [[SCU1012-DAT]] |
14
-| MG995 / MG946R / MG945 | 9~13 | | | [[SCU1012-DAT]] |
15
-| PTK 7465 7465W | 5.8 @ 8.4V | | | |
16
-| SG92R | 2.5 | | 9g | |
17
-| EMAX ES08MA | 1.8 @ 6V | | 9g | |
18
-| SG90 | 1.6 | | | [[SCU1030-DAT]] |
19
-| MG90S / MG90 | 2.0 | | | [[SCU1031-dat]] |
20
-| PTK 7350MG-D 5.5g |
21
-
22
-
23
-
24
-- [[current-dat]]
25
-
26
-
27
-## nangu
28
-
29
-steel gears, gears number == x4 or x5
30
-
31
-![](2026-02-28-01-13-38.png)
32
-
33
-![](2026-02-28-01-24-21.png)
34
-
35
-
36
-## ref
37
-
38
-- [[servo-dat]] - [[servo]]
39
-
40
-- [[robot]]
... ...
\ No newline at end of file
Tech-dat/acturator-dat/motor-dat/servo-dat/servo-waterproof-dat.md
... ...
@@ -1,45 +0,0 @@
1
-
2
-# servo-waterproof-dat.md
3
-
4
-
5
-If you want to use a **servo underwater** and keep it fully waterproof, follow these strategies:
6
-
7
----
8
-
9
-## 1. Use a Waterproof Servo
10
-- **Buy a commercially waterproof servo** (used in RC boats, submarines, cars).
11
-- These servos are **internally sealed** with rubber gaskets around the motor and gears.
12
-- Check the **IP rating**: IP68 is ideal for full submersion.
13
-
14
----
15
-
16
-## 2. Encapsulation in a Waterproof Housing
17
-If the servo is not inherently waterproof:
18
-- **Housing:** Use a small **aluminum, plastic, or acrylic canister**.
19
-- **Sealing methods:**
20
- - **O-rings** at openings (shaft, wires).
21
- - **Epoxy or silicone sealant** for gaps.
22
-- **Cable entry:** Use **watertight cable glands**.
23
-- **Pressure:** For deep water, the housing must resist **external water pressure** (e.g., 10 m ≈ 1 atm; 100 m ≈ 10 atm).
24
-
25
----
26
-
27
-## 3. Lubrication and Corrosion Protection
28
-- Apply **marine grease** on gears to prevent rust.
29
-- Prefer **stainless steel or plastic gears**.
30
-- Avoid motors sensitive to water (like uncoated brushed motors).
31
-
32
----
33
-
34
-- [[shaft-waterproof-dat]]
35
-
36
-## 5. Pressure Considerations
37
-- At **deep depths** (>50 m), water pressure can crush the servo or housing.
38
-- Housing must be **strong enough** (aluminum or thick acrylic).
39
-- Calculate **wall thickness** using:
40
-
41
- P=ρgh, then choose a material with a safety factor.
42
-
43
-✅ Tip: For shallow water RC boats or ROVs (<10 m), many servos with proper epoxy coating or silicone sealing work. For deeper submersion, you almost always need a sealed housing or a servo designed for underwater use.
44
-
45
-- [[silicon-grease-dat]]
... ...
\ No newline at end of file
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Tech-dat/acturator-dat/motor-dat/stepper-dat/nema-17-dat/nema-17-dat.md
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-
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-# nema-17-dat
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-
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-
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-## dimension
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-
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-screw pitching base == 44mm
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-
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-![](2025-06-01-18-23-10.png)
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-
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-common Specifications
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-
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-![](2025-06-01-18-24-29.png)
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-
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-
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-
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-## ref
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-
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-- [[stepper-dat]]
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Tech-dat/acturator-dat/motor-dat/stepper-dat/nema-23-dat/nema-23-dat.md
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-# nema-23-dat
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-
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-
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-
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-## NEMA 23 Motor
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-
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-### NEMA 23 Motor Overview
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-
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-A **NEMA 23** motor is a **stepper motor** with a standard **mounting flange size** defined by the **National Electrical Manufacturers Association (NEMA)**. It is widely used in CNC machines, 3D printers, robotics, and automation systems.
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-
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-#### Key Features of NEMA 23 Motor
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-
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-##### 1. Frame Size
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-- The **NEMA 23** standard specifies that the motor has a **2.3-inch (57.15mm) x 2.3-inch (57.15mm) faceplate size** for mounting.
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-- The **length of the motor varies**, affecting torque and power output.
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-
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-##### 2. Stepper Type
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-- Most **NEMA 23 motors are stepper motors**, typically **1.8° per step** (200 steps per revolution), but variations exist.
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-- Some models have finer step angles (e.g., **0.9° per step**, 400 steps per revolution).
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-
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-##### 3. Torque & Power
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-- The **torque** varies based on the motor length and current rating, typically ranging from **0.3 Nm to over 3.0 Nm**.
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-- Higher torque versions are often **longer and require higher current**.
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-
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-##### 4. Voltage & Current
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-- Operates typically on **12V to 48V** (varies based on driver and application).
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-- Current ratings range from **2A to 6A per phase**, depending on the winding configuration.
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-
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-##### 5. Shaft & Wiring
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-- Shaft diameter is usually **6.35mm (1/4 inch) or 8mm**.
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-- Common wiring configurations: **4-wire, 6-wire, or 8-wire** for unipolar or bipolar operation.
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-
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-#### Common Applications of NEMA 23 Stepper Motors
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-- **CNC Machines** (milling, laser cutters, engraving machines)
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-- **3D Printers** (especially for larger or industrial-grade machines)
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-- **Robotics & Automation Systems**
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-- **Textile and Packaging Machines**
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-- **Conveyor Belt Systems**
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-
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-![](2025-06-01-18-21-25.png)
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-
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-## ref
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-
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-- [[stepper-dat]]
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Tech-dat/acturator-dat/motor-dat/stepper-dat/stepper-dat.md
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-# stepper-dat
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-
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-- [[stepper-driver-dat]]
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-
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-
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-
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-## boards
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-
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-- [[SCU1024-dat]]
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-
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-[[motor-driver-dat]] - [[SDR1050-dat]]
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-
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-
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-
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-## tech
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-
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--standard - [[NEMA-dat]] - [[NEMA17-dat]] - [[NEMA-23-dat]]
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-
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-
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-
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-
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-## common options
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-
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-- dual shaft
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-
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-## common motors specs NEMA 23
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-
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-![](2025-04-29-13-07-08.png)
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-
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-
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-## How to identify the common port of a 4-wire motor:
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-
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-Use the resistance * 1 position of the multimeter to measure the four terminals separately.
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-
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-If the resistance value of one terminal is the smallest and equal to that of the other three terminals, then this terminal is the COM terminal, which is the common terminal.
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-
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-The driver board automatically identifies 3-wire or 4-wire brushless motors,
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-
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-4-wire brushless motors can also be connected without COM lines.
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-
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-
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-## NMEA Series
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-
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-- [[NEMA-17-dat]] - [[NEMA-23-dat]]
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-
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-| NEMA Size | Faceplate Size (mm) | Typical Torque (N·m) | Typical Current (A) | Common Use Cases |
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-|-----------|----------------------|----------------------|----------------------|---------------------------------------------|
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-| NEMA 6 | 15 x 15 | < 0.01 | 0.2 – 0.5 | Tiny devices, precision instruments |
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-| NEMA 8 | 20 x 20 | 0.01 – 0.03 | 0.3 – 0.8 | Compact medical devices, miniature robotics |
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-| NEMA 11 | 28 x 28 | 0.04 – 0.1 | 0.6 – 1.2 | Small automation, instrumentation |
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-| NEMA 14 | 35 x 35 | 0.1 – 0.2 | 0.8 – 1.5 | Light-duty CNC, compact robotics |
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-| NEMA 16 | 39 x 39 | 0.15 – 0.25 | 1.0 – 1.8 | Slightly more powerful applications |
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-| **NEMA 17** | 42 x 42 | 0.2 – 0.5 | 1.0 – 2.0 | 3D printers, desktop CNC, hobby electronics |
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-| **NEMA 23** | 57 x 57 | 0.6 – 3.0 | 2.0 – 3.5 | CNC machines, automation, robotics |
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-| NEMA 24 | 60 x 60 | 2.0 – 4.0 | 2.0 – 4.0 | Industrial applications |
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-| NEMA 34 | 86 x 86 | 4.0 – 12.0 | 3.5 – 6.0 | Heavy-duty CNC, automation systems |
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-| NEMA 42 | 110 x 110 | 10 – 20+ | 5.0 – 10.0 | Large industrial machinery |
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-
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-
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-## apps
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-
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-- [[TPlink-dat]]
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-
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-[dissembled TP LINK security camera post ](https://www.electrodragon.com/teardown-a-tplink-security-camera-after-oil-soaking/)
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-
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-
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-
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-## ref
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-
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-- [[stepper]]
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mechanics-dat/mechanism-dat/gearbox-dat/gearbox-dat.md
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![](2025-12-10-15-21-24.png)
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+
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+work with [[motor-stepper-dat]] - [[motor-brushless-dat]] - [[motor-servo-dat]]
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+
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+![](2026-03-02-21-05-32.png)
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+
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+
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## ref
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- [[gearbox]] - [[mechanism]]
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