Bpod Smart Servo Module

Description

The smart servo module allows the Bpod state machine to control up to 9 Dynamixel X-series servo motors. These "smart" servo motors have many useful features absent on standard hobby servos including precise position readback, current-limited movement, and movement profiles constructed from position, velocity and acceleration parameters. The smart servo module exposes direct movement commands to the Bpod state machine, as well as a programmable library of movement sequences. Three DIO pins are exposed for pushbuttons or external instruments to trigger movement sequences.

Specifications

Processor

• ARM Cortex M7: NXP i.MX RT1060 Crossover as part of the Teensy 4.0 embedded computing platform
• 600MHz Clock Speed
• 1MB RAM
• Programmable in the Arduino language

Compatible Servos

• Dynamixel X-series with TTL interface (Part numbers ending in T)

Motor power supply

• DC wall adapter REQUIRED* (not included)
• 5 - 12V, > 1.5A recommended
• 2.1mm barrel jack, POSITIVE center
• We recommend this DC adapter: (US) (UK) (Europe):
• *For 5V motors (e.g. XC330-M181-T), an internal jumper can be set to power the motors via USB power instead of a wall adapter.

Supported Control Modes

• Position: set a goal position in range (0, 360) deg
• Extended position: set a goal position in range (-91800, 91800) deg
• Current-limited position: set a goal position in range (-91800, 91800) deg and a maximum motor current
• Velocity: set continuous rotation at a target velocity
• Step: Move degrees relative to the current position

Material safety

• All parts are RoHS Compliant in our professional builds

Dimensions

• L: 7.0cm (2 3/4")
• W: 5.0cm (2")
• H: 3.2cm (1 1/8")