Pololu Maestro - Manual (Page 30)

• Output specifies that the channel should be used as a simple digital output. Instead of indicating a pulse
width, the position value of the channel is used to control whether the output is low (0 V) or high (VCC).
Specifically, the output is low unless the position value is greater than or equal to 1500.00 μs.
Rate specifies the pulse rate for each Servo channel. On the Micro Maestro 6, all servos must have the same pulse
rate, while on the Mini Maestro 12, 18, an 24, you can have two different rates and choose which rate to use on each
channel. The pulse rates available are controlled by the Period and Period multiplier settings described below.
Min and Max specify the allowed values for the channel’s position. For channels configured as Servo outputs, the
Min and Max settings correspond respectively to the minimum and maximum allowed pulse widths for the servo, in
units of microseconds.
On startup or error. This option specifies what value the target of the channel should have when the device starts up
(power-up or reset) or when there is an error. Note that if there is a speed or acceleration setting for the channel, the
output will smoothly transition to the specified position on an error, but not during start-up, since it has no information
about the previous position of the servo in this case.
• Off specifies that the servo should initially be off (have a value of 0), and that it should be turned off whenever
an error occurs.
• Ignore specifies that the servo should initially be off, but that its value should not change on error.
• Go to specifies a default position for the servo. The servo target will be set to this position on start-up or when
an error occurs.
Speed. This option specifies the speed of the servo in units of 0.25 μs / (10 ms). For example, with a speed of 4, the
position will change by at most 1 μs per 10 ms, or 100.00 μs/s. Mini Maestro 12, 18, and 24 only: If you use a period
other than the default 20 ms, the units of speed are different. See below for more information.
Acceleration. This option specifies the acceleration of the servo in units of (0.25 μs) / (10 ms) / (80 ms). For
example, with an acceleration of 4, the speed of the servo will change by a maximum of 1250 μs/s every second. Mini
Maestro 12, 18, and 24 only: If you use a period other than the default 20 ms, the units of acceleration are different.
See below for more information.
8-bit neutral. This option specifies the target value, in microseconds, that corresponds to 127 (neutral) for 8-bit
commands.
8-bit range. This option specifies the range of target values accesible with 8-bit commands. An 8-bit value of 0 results
in a target of neutral – range, while an 8-bit value of 254 results in a target value of neutral + range.
Advanced pulse control options are available:
Period is an advanced option that sets the period of all of the servo pulses, in milliseconds. This is the amount of time
between successive pulses on a given channel. If you are unsure about this option, leave it at the default of 20 ms.
Mini Maestro 12, 18, and 24 only: the units of speed and acceleration depend on the pulse rate. The units depend
only on Period, not on Period multiplier. Please refer to the following table for the relationship between Period and
speed/acceleration units:
Pololu Maestro Servo Controller User's Guide © 2001–2014 Pololu Corporation
4. Using the Maestro Control Center Page 30 of 73