I have a question about the Servo Motor SM-10 .... the can be used in 'wheel mode or joint mode', but in the eManual there is no info that shows how this is possible. I'm guessing that you select a mode with MOD+ & MOD-, can you please provide more info? The section on controlling the servo in RoboPlus TASK gives 3 available address modes (Op mode, Speed & Position) but not the signals use to correspond to these modes. Thanks, Peter.
The Servo Motor can switch its Drive Mode in the TASK code.
Drive mode can only be changed with digital packet.
Please see the description and example code in the eManaual below.
Thanks for your response - if I wanted to control this with the OpenCM9.04 how would I do this? Is the MOD+ and MOD- like D+ and D- on the RS485 Dynamixels?
If you are using other controllers that does not support Servo Motor, you need to provide sufficient power.
The digital packet that I mentioned above only applies when SM-10 is used with controllers such as CM-100, 150, 200(see Controller Compatibility).
Without the controller, you have to provide PWM signal to MOD+/- pins and read position from ADC pin.
You can refer to the OpenCM9.04 PWM example code from Arduino IDE.
However, you need to use proper voltage for the Servo Motor(3V) in order to protect the motor from burning.