Frame of Reference of a Servo Motor

Basic Definitions

Reference coordinates for servo motors is defined below.

• A normal vector which extends from the side of adding a gear, is defined as a negative vector of y axis.
• Rotation direction for a positive vector of y axis, is subject to the right-hand rule.

An angle of a servo that is controllable by PWM, is defined below.

• Range of movement is defined as differences between an angle when input min PWM and an angle when input max PWM.
• The neutral angle of range of movement, is defined as 0 [deg].

Specifications Each PLEN's Servos Have

• PLEN1.4
  Rotate clockwise by increasing PWM width.
• PLEN2
  Rotate counter clockwise by increasing PWM width.