Servo actuator default disconnected ID setting method for servo controlling system
AssigneeUbtech Robotics Corp Ltd
InventorsTingshuang Huang, Youjun Xiong
Life of this patent
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Abstract
A servo actuator default disconnected ID setting method is performed by a servo actuator controlling system, which includes a plurality of servo actuators. A first message is broadcasted which indicates that an original ID is replaced with a non-default-disconnected to the plurality of servo actuators. The original ID of each actuator is replaced with the non-default-disconnected according to the first message. A second message is broadcasted which indicates that the non-default-disconnected ID is replaced with a default disconnected ID. And the non-default-disconnected ID of each servo actuator is replaced with the default disconnected ID according to the second message.
Claims5
A computer-implemented identifier (ID) setting method, comprising:
- providing at least two servo actuators comprising a first servo actuator and a second servo actuator connected in sequence, the first servo actuator and the second servo actuator each comprising a first interface and a second interface, the first servo actuator and the second servo actuators coupled to an interface of a master controller of a servo controlling system via a bus, the master controller comprising a micro controller unit (MCU);
- broadcasting, by the master controller, a first message to the servo actuators, the first message indicating that an original ID of the servo actuators is replaced with a non-default-disconnected ID, wherein the non-default-disconnected ID is different from a default-disconnected ID;
- detecting, by the servo actuators, which of the first interface and the second interface of the servo actuators receives the first message;
- when the first interface receives the first message, setting the first interface to be an input interface by the servo actuators, and setting the second interface to be an output interface by the servo actuators;
- turning on the input interfaces and the output interfaces of the servo actuators when a current ID of the servo actuators is same as the non-default-disconnected ID;
- broadcasting a second message to the servo actuators by the master controller, the second message indicating that the non-default-disconnected ID is replaced with the default-disconnected ID;
- replacing the non-default-disconnected ID of the servo actuators with the default-disconnected ID by the servo actuators according to the second message;
- and
- turning on the input interface of the servo actuators and turning off the output interface of the servo actuators when the current ID of the servo actuators is same as the default-disconnected ID.
Dependencies are inferred from the claim text.