Series and Interfaces¶
Bus servo families¶
| Series | Physical layer | SDK layer | Typical positioning |
|---|---|---|---|
| HD | Half-duplex TTL | Use the model-specific integration resources | Compact coreless, metal-gear, dual-shaft servos for Microduck and Open Duck-style lightweight bipeds |
| SCS / SCSCL | Half-duplex TTL | SCSCL |
Common position bus servos; verify model resolution |
| STS | Half-duplex TTL | SMS_STS |
Many magnetic-encoder, high-resolution or continuous models |
| SMS | RS485 | SMS_STS |
Differential communication for more demanding wiring |
| HLS | Half-duplex TTL | HLSCL |
HLS-specific application layer and memory table |
Packet formats can be related while register addresses and capabilities differ. Never apply one series' memory table to another.
PWM servos¶
PWM servos normally receive position pulses without a bus ID. Allowed pulse width, period, voltage, travel and optional feedback vary by exact model. FD discovery and bus SDKs do not apply to ordinary PWM models.
TTL and RS485 are not interchangeable¶
- TTL is commonly single-ended half-duplex and needs a compatible adapter or direction-control circuit.
- RS485 is differential and needs an RS485 transceiver with correct A/B wiring.
- Software baud-rate changes cannot convert one physical layer to the other.
- Keep controller, adapter, servo and power grounds referenced as specified; design RS485 topology and termination for the actual link.
Before support or AI development, record the full model, label, rated voltage, interface, firmware/memory-table version, ID, baud rate, adapter and host platform.