DRS - 0101 HerkuleX Smart Servo

1. Example Code for Arduino-UNO

The article offers a comprehensive guide on using Arduino UNO to control servo motor angles, including software setup, wiring instructions, and sample code utilizing the Herkulex library.

2. Example Code for Arduino-Mega

Learn how to set up and utilize the Herkulex library with Arduino IDE for Mega projects, featuring a detailed wiring diagram and sample code to control servo motors effectively.

Reference

This article serves as a reference guide detailing the Arduino library for Herkulex and its communication protocol, including full duplex asynchronous serial links and multi-control capabilities via Servo IDs.

Parameter	Details
Motor Type	Carbon Brush Cored DC Motor
Adapting Pieces	A lot of adapting pieces
Rotation Angle Range	320° Continuous Rotation
Resolution	0.325°
Stall Torque	12kg.cm （7.4v）
Maximum Speed	0.166s/60° (7.4v)
Gear	1:266, Super Engineering Plastic
Size	45mm(W) x 24.0mm(D) x 31mm(H)
Weight	45g

Parameter	Details
Working Voltage	7~12VDC(Optimized 7.4V)
Rated Current	450mA @ 7.4V : 1.7kgf.cm
Communication Link	Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop
Multi control through Servo ID	0 ~ 253, 254(Broadcast only)
Maximum Baud Rate	0.67Mbps
Feedback	Position, Speed, Temperature, Load, Voltage etc.
Various Control Algorithm	PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone

DRS - 0101 HerkuleX Smart Servo

Specification

Pinout