Servo actuator ID setting method

A servo actuator identity (ID) setting method for a servo actuator controlling system having a master controller and a plurality of servo actuators electrically coupled to the master controller, wherein the master controller comprises a master micro controller unit (MCU) and a plurality of interfaces, each of the plurality of interfaces is electrically coupled to the master MCU via a bus, the plurality of servo actuators are connected in series to one of the plurality of interfaces via a bus;

• each of the plurality of servo actuators comprises a servo MCU, a first interface, a second interface, a first servo switch, and a second servo switch, the first interface and the second interface are connected via a bus which is electrically coupled to the servo MCU;
• the first servo switch and the second servo switch are provided on the bus connected between the first interface and the second interface, the first servo switch is electrically coupled between the first interface and the servo MCU, the second servo switch is electrically coupled between the second interface and the servo MCU;
• a first connection line is provided between the first interface and the first servo switch to electrically couple to the servo MCU, and a second connection line is provided between the second interface and the second servo switch to electrically couple to the servo MCU, the method comprises:
• broadcasting, by the master controller, a message of replacing an ID of the servo actuator with a default disconnected ID to the plurality of servo actuators;
• turning on, by each of the plurality of servo actuators, a servo switch of the servo actuator connected to an input interface in response to the ID of the servo actuator being the default disconnected ID;
• turning off, by each of the plurality of servo actuators, the other servo switch of the servo actuator connected to an output interface in response to the ID of the servo actuator being the default disconnected ID, wherein the input interface is one of the first interface and the second interface, the output interface is the other of the first interface and the second interface, the output interface of each of the plurality of servo actuator is connected to the input interface of a next one of the plurality of servo actuators;
• repeating the following steps to set IDs of the plurality of servo actuators one by one:
• broadcasting, by the master controller, a signal to replace an ID with a target ID;
• replacing, by the servo actuator that receives the signal, the ID of the servo actuator with the target ID according to the received signal;
• and
• turning on, by a corresponding servo actuator, the second servo switch of the servo actuator in response to the ID of the servo actuator being not the default disconnected ID.