HOWTO control servo motors

[TrDA-hab]

Using Servo Motor

Servo controlled by PWM pulses. The angle to which the servo should be set is regulated by the pulse width.
The servo has no direction of rotation (clockwise or counterclockwise), but only the rotation angle of the output shaft.

To operate a servo requires signal uses:

• EN (enable) turn on / off servo.
• PLS (pulse) for controls rotation angl.
• DIR (direction) only shows the direction of rotation, but does not control it.

More information:

• About shutter
• Shutter commands
• Wikipedia
• How to Mod a Servo to Get Closed Loop Feedback
• as5600 + Servo motor

Example configuration

EN and DIR are on Relay1 and Relay2 respectively. Remember to use a non-inverse relay for the enable signal.
The PLS signal is assigned as a PWM<x> component where <x> matches the number of the shutter (e.g., PWM1 for Shutter1).

The PWM frequency must be set with the PWMfrequency 200 command. The frequency setting is a global setting all PWM components on the device. This means that all shutters on the device will operate at the same speed.

Using the ShutterMotorDelay command to provide a slow increase / decrease in speed. This causes the driver to ramp the speed up and down during the defined duration. The change of the ShutterMotorDelay does NOT change the distance the shutter makes. This is very convinent to trim the accelerate and decelerate rate without changeing the distance.

ShutterOpenDuration and ShutterCloseDuration define the open / close time. By changing the times you adjust the speed of the servo output shaft. ShutterOpenDuration and ShutterCloseDuration can be different.

Using the ShutterPwmRange command to set the pulse width range. The calculation of parameters for ShutterPwmRange is obtained by dividing by 5 the minimum and maximum values of the pulse width range.

Note!

Even within the same servo model, there may be manufacturing tolerances that result in a different operating range of pulse lengths. For accurate operation, each specific servo must be calibrated: through experiments, it is necessary to select the correct range that is specific to it.

For example the pulse width range for different servos:

• Servo MG90 (180°): pulse width range 544 - 2400ms, ShutterPwmRange 109, 480
• Servo TD-8130MG (180°): pulse width range 500 - 2500ms, ShutterPwmRange 100, 500

Servo datasheet:

• Servo MG90
• Servo TD-8130MG
• Servo DS5160ssg

How to use it:

Wemos Pin	GPIO	Component	Servo Signal
D3	0	Relay1	EN
D4	2	PWM1	PLS
D5	14	Relay2	DIR

• You must add support for Shutter in my_user_config.h file (оr flash your ESP8266 module with tasmota.bin file).

• Run commands in the console to run the "Shutter" mode (you must first configure the GPIO!):
  SetOption80 1 // enable Shutters support.
  Shuttermode 5 // enable Shutter mode for servo.
  PWMfrequency 200 // this is a global variable for all Servos.
  SetOption15 0 // to control the storage of values.

• Run commands in the console to configure the motor operation:
  ShutterPwmRange1 100, 500 //this is a global variable for all Servos.
  ShutterOpenDuration1 0.5 // define the open time, in seconds.
  ShutterCloseDuration1 0.5 // define the close time, in seconds.
  ShutterMotorDelay1 0.2 // servo does not like abrupt start / stop.
  Restart 1

• Run commands in the consolee to test the motor operation:
  ShutterOpen1 // to open the SERVO#1.
  ShutterStop1 // to stop the SERVO#1.
  ShutterClose1 // to close the SERVO#1.

• Perform the shutter calibration (optional).

Motor Wiring Diagrams

One Shutter

• Diagram v512: Minimum configuration for one servo, power on continuously.
  

Dual Shutter

• Diagram v522: Optimal configuration for two servos, power is supplied through the relay.
  
• Diagram v532: Maximum configuration for two servos, power is supplied via the relay only if the servo is running. Current control for each servo drive via INA219.
  

Additional Information:

##Best regards,
TrDA.##

[elik745i]

Superb, thanks for contribution!

[elik745i]

"You must add support for Shutter in my_user_config.h file" How? example would be perfect..what to uncomment/include/define

[TrDA-hab]

If you have questions about how Tasmota software works, visit the Tasmota Discord chat room for a discussion:
https://discordapp.com/invite/Ks2Kzd4

[bilogic]

@TrDA-hab I asked there, and was referred here. LOL

[TrDA-hab]

Can I make it go from 0deg to 90deg, wait for 5 seconds and go back to 0deg?

Yes it is possible, use the Timer.

[bilogic]

@TrDA-hab no joy at discord.. hmm following yours steps, the servo moves erratically..
I'm not trying to use it for a shutter. More for opening a lid (90deg), hold it for 5 seconds, then close it (0deg).

Any idea what I can try? I don't fully understand the parameters, what's ShutterOpen and ShutterClose, do you mean the tilter of blinds?

[TrDA-hab]

@TrDA-hab no joy at discord..

@trda

[mocozos]

my servo is mg995 360°, I can't control it, something is missing but i dont know what, it works from nodered changing the PWM1 values between 100 and 400 and sending MQTT message. I tried to follow this instructions but doesn't work. any ideas

[iragm]

For me, I could happily move the servo from 0 to 180 (full range for mine, not sure if this is the same as your 360 servo), but I couldn't move smaller amounts (0-10 degrees or so) I realized that this command seems to set the range ShutterPwmRange1 100, 500

I changed it to ShutterPwmRange1 100, 150 and now my servo moves 15 degrees when opened just as I would like it to.

[stefanbode]

The small amount is limited by the time the servo needs to get to the new position. Tasmota granularity is 0.05seconds. I have a hard limit, that the move at least must last 0.10sec (2 loops). 1 Loop to start and the next loop to stop. This is hard coded from the shutters with the on/off. The PWM servo indeed does not need this hard limit. All others need it. If you change the shutteropenduration/closeduration the servo will operate slower, but now the minimum angle is lower. I will check the code if I can make a smart change for the PWM servo

[timaseth]

Dear Dmitry,

You post the most interesting motion control topics - Excellent quality of work!
Do post something on control of Curtains and Blinds using Stepper motors - you has posted them on the Tasmota Discord but now, due to the server change, I can not find them.

Thanks for your contributions! Spasibo!

[TrDA-hab]

Dear Dmitry,

You post the most interesting motion control topics - Excellent quality of work!
Do post something on control of Curtains and Blinds using Stepper motors - you has posted them on the Tasmota Discord but now, due to the server change, I can not find them.

Thanks for your contributions! Spasibo!

Yes, I'll do it (!), But don't be quick!

[Gifford47]

@TrDA-hab thanks for your tut!
however, i just tried more or less unsuccessfully to control an MG90S servo with it. unfortunately, positions with "ShutterPosition " e.g. below 50% are not approached at all with it. furthermore, the motor does not reach full 180deg with it, but rather 170deg.
i have now tried all possible settings (pwmfrequency, shutterrange, etc.), but either i can't set 180deg or i can't set small changes.

Is the problem in the code or in the parameters?

[stefanbode]

If you have problems with 20 and 30. Maybe you decrease the pwmfrequency to 100. Looks like the servo cannot catch up with the PWM signal. If you miss 2° you should be able to get this by changing the PWM min. If this does not help see the above pwmfrquency as one possible root cause. Normally for PWM servos, there is no calibration required, but you have the option to do a calibration. Check the documentation for shuttercallibration. Maybe set50percent is already enough. Otherwise you can do a fine granular calibration

[stefanbode]

I developed and tested the driver with a TD-8130MG. I assume no issue with the driver itself. maybe you define a shuttermotordelay 0.5 to allow a little smooth start.

[Gifford47]

ok, i changed several parameters, this is my result:
after:

backlog gpio0 224;gpio2 416;gpio14 225
backlog SetOption80 1;Shuttermode 5;PWMfrequency 200;SetOption15 0;ShutterPwmRange1 109, 480;ShutterOpenDuration1 0.5;ShutterCloseDuration1 0.5;ShutterMotorDelay1 0.2;Restart 1

i get:

12:48:36.491 CMD: ShutterPosition1 10
12:48:36.499 RSL: RESULT = {"POWER2":"ON"}
12:48:36.500 RSL: POWER2 = ON
12:48:36.504 RSL: RESULT = {"POWER1":"ON"}
12:48:36.506 RSL: POWER1 = ON
12:48:36.507 RSL: RESULT = {"ShutterPosition1":10}
12:48:36.542 RSL: RESULT = {"Shutter1":{"Position":73,"Direction":-1,"Target":10}}
12:48:37.031 RSL: RESULT = {"POWER1":"OFF"}
12:48:37.033 RSL: POWER1 = OFF
12:48:37.036 RSL: RESULT = {"POWER2":"OFF"}
12:48:37.038 RSL: POWER2 = OFF
12:48:37.046 RSL: RESULT = {"PWM":{"PWM1":143}}
12:48:37.049 RSL: SHUTTER1 = 9
12:48:37.051 RSL: RESULT = {"Shutter1":{"Position":9,"Direction":0,"Target":10}}
12:48:39.443 CMD: ShutterPosition1 20
12:48:39.449 RSL: RESULT = {"Shutter1":{"Position":9,"Direction":0,"Target":20}}
12:48:39.451 RSL: RESULT = {"ShutterPosition1":9}
12:48:51.133 CMD: ShutterPosition1 30
12:48:51.139 RSL: RESULT = {"Shutter1":{"Position":9,"Direction":0,"Target":30}}
12:48:51.141 RSL: RESULT = {"ShutterPosition1":9}
12:48:54.860 CMD: ShutterPosition1 50
12:48:54.868 RSL: RESULT = {"POWER2":"OFF"}
12:48:54.870 RSL: POWER2 = OFF
12:48:54.874 RSL: RESULT = {"POWER1":"ON"}
12:48:54.876 RSL: POWER1 = ON
12:48:54.878 RSL: RESULT = {"ShutterPosition1":50}
12:48:54.908 RSL: RESULT = {"Shutter1":{"Position":12,"Direction":1,"Target":50}}
12:48:55.259 RSL: RESULT = {"POWER1":"OFF"}
12:48:55.261 RSL: POWER1 = OFF
12:48:55.266 RSL: RESULT = {"PWM":{"PWM1":301}}
12:48:55.269 RSL: SHUTTER1 = 52
12:48:55.271 RSL: RESULT = {"Shutter1":{"Position":52,"Direction":0,"Target":50}}
12:48:59.371 CMD: ShutterPosition1 70
12:48:59.377 RSL: RESULT = {"Shutter1":{"Position":52,"Direction":0,"Target":70}}
12:48:59.380 RSL: RESULT = {"ShutterPosition1":52}
12:49:02.867 CMD: ShutterPosition1 90
12:49:02.875 RSL: RESULT = {"POWER2":"OFF"}
12:49:02.877 RSL: POWER2 = OFF
12:49:02.881 RSL: RESULT = {"POWER1":"ON"}
12:49:02.884 RSL: POWER1 = ON
12:49:02.886 RSL: RESULT = {"ShutterPosition1":90}
12:49:02.917 RSL: RESULT = {"Shutter1":{"Position":54,"Direction":1,"Target":90}}
12:49:03.241 RSL: RESULT = {"POWER1":"OFF"}
12:49:03.244 RSL: POWER1 = OFF
12:49:03.251 RSL: RESULT = {"PWM":{"PWM1":448}}
12:49:03.255 RSL: SHUTTER1 = 92
12:49:03.257 RSL: RESULT = {"Shutter1":{"Position":92,"Direction":0,"Target":90}}
12:49:07.338 CMD: ShutterPosition1 100
12:49:07.345 RSL: RESULT = {"Shutter1":{"Position":92,"Direction":0,"Target":100}}
12:49:07.348 RSL: RESULT = {"ShutterPosition1":92}

is there a little automation that helps me to find the correct pwmfrequency and duty cycle?
I also tried successfully: 'https://znil.net/index.php/ESP8266_Wemos_D1_Mini_mit_Servo_Motor_SG90_Beispiel#Sketch'.

[stefanbode]

The "problem" of your configuration is the 0.5 sec duration for open and close. Those cause the Limitation to set smaller values. Just for testing change both open and close to 2.0 sec. And let me know the result . Then we can look for a solution.

[stefanbode]

I also see that the requested position and the reported position are far from same. O.5 seconds are 10 steps in tasmota loop services. In 10 steps you cannot do much. Tasmota is not faster than 0.05sec. With this hard limit you cannot set 0..100 with a granularity of 1 or 10. will currenty not work. The Pwm change from one step to another is quite high. 30 or something. Also this can generate quite a lot of stress to the servo. My only workaround is to let the servo move slower.

[Gifford47]

i just noticed that the pwm is held and this causes the motor to "twitch" continuously in the end position. is it possible to detach the servo after the pwm has been set?

[stefanbode]

The first relay is on/off. This is intended to detach the relay

[Gifford47]

ok, thanks!

[Gifford47]

furthermore, it would be good if a "status 10" would be sent as soon as the servo (as shuttermode 5) has moved. this would then display the current data in hassio

[stefanbode]

There is a Shutterposition reported during and after move. You should check the binding

[stefanbode]

RESULT = {"Shutter1":{"Position":9,"Direction":0,"Target":30}}

[Gifford47]

that's right, thank you!
The RESULT = {"Shutter1":{"Position":9, "Direction":0, "Target":30}} is unfortunately not used in the mqtt subscription of home assistant.
You could just use the shuttermode 5 in home assistant if a 'status 10' would be sent after changing the position.
How can i trigger a rule after the servo position was changed?

[stefanbode]

There is a event shutter#moved triggered after stopping the shutter. You can use this for any action. Similar AFTER start the event is shutter#moving.

[Gifford47]

ok, now i have set ShutterOpen/CloseDuration1 = 5 and it works (slowly) for positions >1 %.
thank you @stefanbode for the understanding explanation! this makes sense if the tasmota code cannot be executed faster than 0.05s.
with your agreement i would like to write this in the docs.

[Gifford47]

It would be great if the code could be optimised for servos. For higher loads on the servo it means more mechanical stress on such slow movements i.e. my usecase with a big air flap.
I you have improvements please share it.

[stefanbode]

Can you check this Version: https://github.com/stefanbode/Sonoff-Tasmota/tree/PWM-small-step-enhancement

I removed some limitations from the PWM Servo driver. Still need to do some regression. Let me know, if you need a binary

[Gifford47]

thanks for the great improvements!! the servo now moves much faster and more accurately with respect to position. here are my test resutls with a MG90S Servo:
backlog gpio0 224;gpio2 416;gpio14 225 backlog SetOption80 1;Shuttermode 5;PWMfrequency 200;SetOption15 0;ShutterPwmRange1 109, 520;ShutterOpenDuration1 0.5;ShutterCloseDuration1 0.5;ShutterMotorDelay1 0.2;Restart 1

15:09:16.452 CMD: shutterposition<\r>
<\n>
15:09:16.458 RSL: RESULT = {"Shutter1":{"Position":0,"Direction":0,"Target":0,"Tilt":0}}<\r>
<\n>
15:09:16.461 RSL: RESULT = {"ShutterPosition1":0}<\r>
<\n>
15:09:24.324 CMD: shutterposition1 10<\r>
<\n>
15:09:24.332 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:24.334 RSL: POWER2 = OFF<\r>
<\n>
15:09:24.338 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:24.341 RSL: POWER1 = ON<\r>
<\n>
15:09:24.343 RSL: RESULT = {"ShutterPosition1":10}<\r>
<\n>
15:09:24.372 RSL: RESULT = {"Shutter1":{"Position":3,"Direction":1,"Target":10,"Tilt":0}}<\r>
<\n>
15:09:24.377 RSL: RESULT = {"Shutter1":{"Position":3,"Direction":1,"Target":10,"Tilt":0}}<\r>
<\n>
15:09:24.473 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:24.475 RSL: POWER1 = OFF<\r>
<\n>
15:09:24.480 RSL: RESULT = {"PWM":{"PWM1":150}}<\r>
<\n>
15:09:24.483 RSL: SHUTTER1 = 10<\r>
<\n>
15:09:24.486 RSL: RESULT = {"Shutter1":{"Position":10,"Direction":0,"Target":10,"Tilt":0}}<\r>
<\n>
15:09:29.389 CMD: shutterposition1 20<\r>
<\n>
15:09:29.397 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:29.400 RSL: POWER2 = OFF<\r>
<\n>
15:09:29.403 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:29.406 RSL: POWER1 = ON<\r>
<\n>
15:09:29.409 RSL: RESULT = {"ShutterPosition1":20}<\r>
<\n>
15:09:29.437 RSL: RESULT = {"Shutter1":{"Position":13,"Direction":1,"Target":20,"Tilt":0}}<\r>
<\n>
15:09:29.537 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:29.539 RSL: POWER1 = OFF<\r>
<\n>
15:09:29.544 RSL: RESULT = {"PWM":{"PWM1":191}}<\r>
<\n>
15:09:29.548 RSL: SHUTTER1 = 20<\r>
<\n>
15:09:29.550 RSL: RESULT = {"Shutter1":{"Position":20,"Direction":0,"Target":20,"Tilt":0}}<\r>
<\n>
15:09:37.555 CMD: shutterposition1 30<\r>
<\n>
15:09:37.563 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:37.565 RSL: POWER2 = OFF<\r>
<\n>
15:09:37.569 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:37.572 RSL: POWER1 = ON<\r>
<\n>
15:09:37.575 RSL: RESULT = {"ShutterPosition1":30}<\r>
<\n>
15:09:37.604 RSL: RESULT = {"Shutter1":{"Position":23,"Direction":1,"Target":30,"Tilt":0}}<\r>
<\n>
15:09:37.704 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:37.706 RSL: POWER1 = OFF<\r>
<\n>
15:09:37.713 RSL: RESULT = {"PWM":{"PWM1":232}}<\r>
<\n>
15:09:37.717 RSL: SHUTTER1 = 30<\r>
<\n>
15:09:37.720 RSL: RESULT = {"Shutter1":{"Position":30,"Direction":0,"Target":30,"Tilt":0}}<\r>
<\n>
15:09:41.307 CMD: shutterposition1 40<\r>
<\n>
15:09:41.315 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:41.318 RSL: POWER2 = OFF<\r>
<\n>
15:09:41.321 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:41.324 RSL: POWER1 = ON<\r>
<\n>
15:09:41.327 RSL: RESULT = {"ShutterPosition1":40}<\r>
<\n>
15:09:41.354 RSL: RESULT = {"Shutter1":{"Position":33,"Direction":1,"Target":40,"Tilt":0}}<\r>
<\n>
15:09:41.405 RSL: RESULT = {"Shutter1":{"Position":38,"Direction":1,"Target":40,"Tilt":0}}<\r>
<\n>
15:09:41.519 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:41.522 RSL: POWER1 = OFF<\r>
<\n>
15:09:41.528 RSL: RESULT = {"PWM":{"PWM1":284}}<\r>
<\n>
15:09:41.532 RSL: SHUTTER1 = 43<\r>
<\n>
15:09:41.534 RSL: RESULT = {"Shutter1":{"Position":43,"Direction":0,"Target":40,"Tilt":0}}<\r>
<\n>
15:09:45.435 CMD: shutterposition1 50<\r>
<\n>
15:09:45.443 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:45.445 RSL: POWER2 = OFF<\r>
<\n>
15:09:45.449 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:45.451 RSL: POWER1 = ON<\r>
<\n>
15:09:45.453 RSL: RESULT = {"ShutterPosition1":50}<\r>
<\n>
15:09:45.484 RSL: RESULT = {"Shutter1":{"Position":45,"Direction":1,"Target":50,"Tilt":0}}<\r>
<\n>
15:09:45.534 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:45.537 RSL: POWER1 = OFF<\r>
<\n>
15:09:45.542 RSL: RESULT = {"PWM":{"PWM1":315}}<\r>
<\n>
15:09:45.546 RSL: SHUTTER1 = 50<\r>
<\n>
15:09:45.548 RSL: RESULT = {"Shutter1":{"Position":50,"Direction":0,"Target":50,"Tilt":0}}<\r>
<\n>
15:09:49.315 CMD: shutterposition1 70<\r>
<\n>
15:09:49.323 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:49.325 RSL: POWER2 = OFF<\r>
<\n>
15:09:49.329 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:49.331 RSL: POWER1 = ON<\r>
<\n>
15:09:49.334 RSL: RESULT = {"ShutterPosition1":70}<\r>
<\n>
15:09:49.363 RSL: RESULT = {"Shutter1":{"Position":53,"Direction":1,"Target":70,"Tilt":0}}<\r>
<\n>
15:09:49.414 RSL: RESULT = {"Shutter1":{"Position":58,"Direction":1,"Target":70,"Tilt":0}}<\r>
<\n>
15:09:49.514 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:49.517 RSL: POWER1 = OFF<\r>
<\n>
15:09:49.522 RSL: RESULT = {"PWM":{"PWM1":397}}<\r>
<\n>
15:09:49.525 RSL: SHUTTER1 = 70<\r>
<\n>
15:09:49.528 RSL: RESULT = {"Shutter1":{"Position":70,"Direction":0,"Target":70,"Tilt":0}}<\r>
<\n>
15:09:52.650 CMD: shutterposition1 80<\r>
<\n>
15:09:52.657 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:52.660 RSL: POWER2 = OFF<\r>
<\n>
15:09:52.664 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:52.666 RSL: POWER1 = ON<\r>
<\n>
15:09:52.668 RSL: RESULT = {"ShutterPosition1":80}<\r>
<\n>
15:09:52.698 RSL: RESULT = {"Shutter1":{"Position":73,"Direction":1,"Target":80,"Tilt":0}}<\r>
<\n>
15:09:52.798 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:52.800 RSL: POWER1 = OFF<\r>
<\n>
15:09:52.805 RSL: RESULT = {"PWM":{"PWM1":438}}<\r>
<\n>
15:09:52.809 RSL: SHUTTER1 = 80<\r>
<\n>
15:09:52.812 RSL: RESULT = {"Shutter1":{"Position":80,"Direction":0,"Target":80,"Tilt":0}}<\r>
<\n>
15:09:55.625 CMD: shutterposition1 90<\r>
<\n>
15:09:55.633 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:55.635 RSL: POWER2 = OFF<\r>
<\n>
15:09:55.639 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:55.642 RSL: POWER1 = ON<\r>
<\n>
15:09:55.645 RSL: RESULT = {"ShutterPosition1":90}<\r>
<\n>
15:09:55.674 RSL: RESULT = {"Shutter1":{"Position":83,"Direction":1,"Target":90,"Tilt":0}}<\r>
<\n>
15:09:55.774 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:55.777 RSL: POWER1 = OFF<\r>
<\n>
15:09:55.785 RSL: RESULT = {"PWM":{"PWM1":479}}<\r>
<\n>
15:09:55.789 RSL: SHUTTER1 = 90<\r>
<\n>
15:09:55.791 RSL: RESULT = {"Shutter1":{"Position":90,"Direction":0,"Target":90,"Tilt":0}}<\r>
<\n>
15:09:58.331 CMD: shutterposition1 95<\r>
<\n>
15:09:58.338 RSL: RESULT = {"POWER2":"OFF"}<\r>
<\n>
15:09:58.341 RSL: POWER2 = OFF<\r>
<\n>
15:09:58.345 RSL: RESULT = {"POWER1":"ON"}<\r>
<\n>
15:09:58.348 RSL: POWER1 = ON<\r>
<\n>
15:09:58.350 RSL: RESULT = {"ShutterPosition1":95}<\r>
<\n>
15:09:58.383 RSL: RESULT = {"Shutter1":{"Position":93,"Direction":1,"Target":95,"Tilt":0}}<\r>
<\n>
15:09:58.388 RSL: RESULT = {"Shutter1":{"Position":93,"Direction":1,"Target":95,"Tilt":0}}<\r>
<\n>
15:09:58.433 RSL: RESULT = {"POWER1":"OFF"}<\r>
<\n>
15:09:58.435 RSL: POWER1 = OFF<\r>
<\n>
15:09:58.441 RSL: RESULT = {"PWM":{"PWM1":510}}<\r>
<\n>
15:09:58.444 RSL: SHUTTER1 = 98<\r>
<\n>
15:09:58.447 RSL: RESULT = {"Shutter1":{"Position":98,"Direction":0,"Target":95,"Tilt":0}}<\r>
<\n>
15:10:01.668 CMD: shutterposition1 100<\r>
<\n>
15:10:01.674 RSL: RESULT = {"ShutterPosition1":100}

however, it would still be necessary to switch off the pwm after reaching the end position. otherwise, the motor will permanent twitch minimally. this is not visible, but you hear it close to the motor. switching power1 and/or power2 off is not a solution.
since the servos usually have self-locking gears, the missing pwm should not be a problem.

[stefanbode]

I just recently submitted the change to the main project. Now every position can be directly reached. No matter how fast you try it. O overcome the issue by removing the requirement of a minimum movement based on the velocity and the 0.05 fix time slice of TASMOTA. Additionally, I set at the end of the movement the PWM to the desired value, even if it overruns a little bit because of time slices. Regarding your request: "Set PWM to 0" after movement. Someone added a Compiler Option:

#ifdef SHUTTER_CLEAR_PWM_ONSTOP
      // free the PWM servo lock on stop.
      snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d 0" ), i+1);
  #else
      snprintf_P(scmnd, sizeof(scmnd), PSTR(D_CMND_PWM "%d %d" ), i+1,Shutter[i].pwm_value);
  #endif
      ExecuteCommand(scmnd, SRC_BUTTON);
      break;

It wasn't me and I assume that #define SHUTTER_CLEAR_PWM_ONSTOP will do exactly what you need

[stefanbode]

#13677 thats the pull request with the change

[ropelletier]

I am trying to control a small servo using this FS90r, but failing miserably. Though I am not really new to tasmota, I am new to using servos, so I appreciate your patience.

SetOption80 1 
Shuttermode 5 
PWMfrequency 50
SetOption15 0 

Run commands in the console to configure the motor operation:
The pulse width range of this servo is reported to be 700 to 2300 µs, so I set it as below, but this does not seem right.

ShutterPwmRange1 .7, 2.3 
ShutterOpenDuration1 0.5 
ShutterCloseDuration1 0.5 
ShutterMotorDelay1 0.2

Running the command ShutterOpen1 starts the server, but it simply never stops until I restart the ESP.

ShutterStop1 // this does nothing
ShutterClose1 // this also does nothing

I would be grateful for any help/advice.

[stefanbode]

The pwmrange is wrong as far as I can see. Just as a statt use the example values.

[stefanbode]

With Pwmfrequency 50 you set the cycle time to 20ms. This should be fine for most servos. Higher frequencies often do not work

[stefanbode]

According to documentation pwm range is an integer between 0..1023 limiting the duty cycle 0% to 100%. E.g. pwmrange 102,921 Limits Duty cycle from 10% to 90%

[TrDA-hab]

@ropelletier

You are not using the values for ShutterPwmRange correctly - the values must be divided by five!

For the range 700 to 2300 µs:
ShutterPwmRange 140, 460

For the range 900 to 2100 µs:
ShutterPwmRange 180, 420

!!!And be sure to set this parameter correctly!!!:
PWM frequency 200

[roy13]

PowerRetain 1 not storing Shutter position
I have it working almost perfectly in HASSIO trouble is if you open the shutter to any number such as 100 it displays the below in the console
MQT: stat/changeover/SHUTTER1 = 100 (retained)
but apon power cycle
MQT: stat/changeover/RESULT = {"Shutter1":{"Position":0,"Direction":0,"Target":0,"Tilt":0}}
MQT: stat/changeover/RESULT = {"Position1":0}
back to position 0 which means no matter how many times you try to close it, it already thinks its closed so you can't.
Try using the HASS gui because its MQTT state is still open & your completely stuck.
I tried Tasmota 12 & 9.5

[stefanbode]

The shutter position is normally saved without any additional commands required. Powerretain is not required. But maybe you have played with savedata. This must be default. In this case the shutterposition is saved after operating to the flash.

[stefanbode]

Additional I clearly advise to store nothing at mqtt. You get unexpected behavior if saved values will be overwritten by mqtt data.

[roy13]

Your a life saver, savedata was set to off cleared mosquitto data base & PowerRetain off & now all functions correctly.

[dim2112]

tell me how to add a second scale for the second servo? i added pwm2 and a relay for it, but the second scale does not appear in the interface, is it possible at all?

[stefanbode]

No this is not working. There is only one scaler that applies to all servos

[dim2112]

Ok, thanks, it's a pity (although if you send PWM1 xxx and PWM2 xxx to the console, then the Servo responds one at a time

[stefanbode]

You should keep a look at the shutter&blinds section. This does not only support shutters but also stepper motors and servos. great benetit of this driver is the smooth start and stop of the servo. Anyhow the MIN/MAX is the same for all servos. It was never intended to have different types of servos. if you want to operate the servo with buttons you can use the command "shutterbutton" and define your open and close position. This might overcome your requirements of MIN/MAX

[dim2112]

From the very beginning, I use the "shutters and blinds" mode configured according to the instructions from the beginning of the article. I am completely satisfied with this, I only lack the second scale for the second servo so that it can be fully controlled from the interface

[Gifford47]

For anyone who does not know the tasmota commands, does not find them or wants to write new values, I recommend this program:
TasmoEditor -> latest release
with this you can display all tasmota commands and their docs and change their parameters via mqtt.

[wjflier2]

Following you instructions, I can get a MG995 to turn clockwise, and counter clockwise, but can't get it to stop.
Any ideas?
Thanks

[stefanbode]

Can you share some logs? Maybe also some configs.

[wjflier2]

Relay1 d3, PWM d4, Relay 2 D5

SetOption80 1 // enable Shutters support.
Shuttermode 5 // enable Shutter mode for servo.
PWMfrequency 200 // this is a global variable for all Servos. tried 100 and 50
SetOption15 0 // to control the storage of values.

Run commands in the console to configure the motor operation:
ShutterPwmRange1 100, 500 //this is a global variable for all Servos.
ShutterOpenDuration1 2.0 // define the open time, in seconds.
ShutterCloseDuration1 2.0 // define the close time, in seconds.
ShutterMotorDelay1 0.2 // servo does not like abrupt start / stop.
Restart 1

o AP1 ASUS_D8_2G Channel 6 BSSId 0C:9D:92:B8:19:D8 in mode 11n as tasmota-9C637A-0890...
00:00:02.426 WIF: Connected
00:00:02.678 HTP: Web server active on tasmota-9C637A-0890 with IP address 192.168.50.107
19:07:09.157 RSL: INFO1 = {"Info1":{"Module":"Generic","Version":"11.0.0.7(tasmota)","FallbackTopic":"cmnd/DVES_9C637A_fb/","GroupTopic":"cmnd/tasmotas/"}}
19:07:09.162 RSL: INFO2 = {"Info2":{"WebServerMode":"Admin","Hostname":"tasmota-9C637A-0890","IPAddress":"192.168.50.107"}}
19:07:09.172 RSL: INFO3 = {"Info3":{"RestartReason":"External System","BootCount":13}}
19:07:09.180 RSL: RESULT = {"POWER1":"OFF"}
19:07:09.183 RSL: POWER1 = OFF
19:07:09.186 RSL: RESULT = {"POWER2":"OFF"}
19:07:09.190 RSL: POWER2 = OFF
19:07:12.426 QPC: Reset
19:07:14.420 RSL: STATE = {"Time":"2022-11-19T19:07:14","Uptime":"0T00:00:10","UptimeSec":10,"Heap":28,"SleepMode":"Dynamic","Sleep":50,"LoadAvg":19,"MqttCount":0,"POWER1":"OFF","POWER2":"OFF","PWM":{"PWM1":0},"Wifi":{"AP":1,"SSId":"ASUS_D8_2G","BSSId":"0C:9D:92:B8:19:D8","Channel":6,"Mode":"11n","RSSI":78,"Signal":-61,"LinkCount":1,"Downtime":"0T00:00:04"}}
19:07:14.445 RSL: SENSOR = {"Time":"2022-11-19T19:07:14","Shutter1":{"Position":0,"Direction":0,"Target":0,"Tilt":0}}
19:08:31.327 RSL: RESULT = {"POWER2":"OFF"}
19:08:31.329 RSL: POWER2 = OFF
19:08:31.433 RSL: RESULT = {"POWER1":"ON"}
19:08:31.435 RSL: POWER1 = ON
19:08:31.437 RSL: RESULT = {"ShutterPosition1":98}
19:08:31.512 RSL: RESULT = {"Shutter1":{"Position":2,"Direction":1,"Target":98,"Tilt":0}}
19:08:31.517 RSL: RESULT = {"Shutter1":{"Position":2,"Direction":1,"Target":98,"Tilt":0}}
19:08:32.369 RSL: RESULT = {"Shutter1":{"Position":44,"Direction":1,"Target":98,"Tilt":0}}
19:08:33.398 RSL: RESULT = {"Shutter1":{"Position":94,"Direction":1,"Target":98,"Tilt":0}}
19:08:33.598 RSL: RESULT = {"POWER1":"OFF"}
19:08:33.600 RSL: POWER1 = OFF
19:08:34.112 RSL: SHUTTER1 = 98
19:08:34.114 RSL: RESULT = {"Shutter1":{"Position":98,"Direction":0,"Target":98,"Tilt":0}}
19:08:36.124 RSL: RESULT = {"POWER2":"ON"}
19:08:36.126 RSL: POWER2 = ON
19:08:36.230 RSL: RESULT = {"POWER1":"ON"}
19:08:36.233 RSL: POWER1 = ON
19:08:36.235 RSL: RESULT = {"ShutterPosition1":0}
19:08:36.309 RSL: RESULT = {"Shutter1":{"Position":96,"Direction":-1,"Target":0,"Tilt":0}}
19:08:36.417 RSL: RESULT = {"Shutter1":{"Position":92,"Direction":-1,"Target":0,"Tilt":0}}
19:08:37.418 RSL: RESULT = {"Shutter1":{"Position":42,"Direction":-1,"Target":0,"Tilt":0}}
19:08:38.394 RSL: RESULT = {"POWER1":"OFF"}
19:08:38.396 RSL: POWER1 = OFF
19:08:38.399 RSL: RESULT = {"POWER2":"OFF"}
19:08:38.401 RSL: POWER2 = OFF
19:08:38.907 RSL: SHUTTER1 = 0
19:08:38.910 RSL: RESULT = {"Shutter1":{"Position":0,"Direction":0,"Target":0,"Tilt":0}}

[wjflier2]

Also tried tasmota bin 9.4, 12.2

[belveder79]

I was not able to get this to work at all on latest 12.3.1... all the

ShutterPwmRange1 1, 304 //this is a global variable for all Servos.
ShutterOpenDuration1 2.0 // define the open time, in seconds.
ShutterCloseDuration1 2.0 // define the close time, in seconds.
ShutterMotorDelay1 0.2 // servo does not like abrupt start / stop

commands don't work at all.

I have an Amewi servo from a toy car, which is supposed to turn between -90-90 degrees. Looking at the docs of the other servos, it should work with 2us...1520us @330Hz, which should translate to somewhat 1...304 for ShutterPwmRange1 in Tasmota world if I am not mistaken...

even with a 12.0.2 I can't get it to turn plausibly. Did anyone experience this as well?

PS: actually 12.0.2 with pwmfrequency set to 330Hz and ShutterPWMRange1 160, 840 seems to work but I can't make sense out of the values for the range...

[stefanbode]

Pwmfrequency lower always make sense. The servo use the duty cycle and higher frequencies are often not working. For initial testing you can disable all the shutter stuff an just define a dimmer. With PWM commands you can check that the base is working. After this you can enable shutter and work with the findings regarding min max and frequency.

[belveder79]

ok, it seems to work fine with the following settings (just to share them in case anyone else works with these as well);

PWMFrequency 330
ShutterPWMRange1 164, 824

PWMFrequency 200
ShutterPwmRange1 60, 500

PWMFrequency 100
ShutterPwmRange1 24, 308

now the next question is: how do I add a second one?

[stefanbode]

Thanks for sharing. I would go with the 330Hz because this give you the biggest range and therefore the maximum precision. To add additional servos you need pwm2 and another relay for on/off. Up to four servos should be supported. The pwmrange is for all the same.

[belveder79]

Playing around with it, I think that the Shutter control is probably the wrong way to do what I want.

I want to control an RC car by directly setting the servo position and the speed controller over PWM. Because this involves MQTT, I settled on a different approach using Berry and just setting gpio.set_pwm(XX, 400) for example over a Br command. This works pretty fine and the latency of around 50ms with an MQTT broker running on the iPhone and the MQTT client in the app itself is already quite ok. However lower is always better ;-)

Still I wonder what the main source of latency is, and while this is probably the wrong discussion thread to ask this, is there anything known about this? Here are my considerations:

1. the MQTT part itself; this won't easily become faster given that it's almost a peer2peer connection between the ESP32 and the phone, but would it help to make that uni-directional without having the ESP report back after receiving commands? Is that possible through a SetOption command?
2. the Berry compiler/interpreter; does running Br and the underlying interpreter add a plausible amount of time, and would it help to do something like load servoControl(XX), given that I use a persistent pre-interpreted Berry script?
3. would instead a RULE set do better? To my understanding it likely won't?
4. is there a way to set the PWM on a particular gpio with a direct CMD, rather than using Berry and Br? I did not yet find a way to do this.
5. what about the LOG to console? Would it make sense to turn this off?
6. I did not consider compiling a custom Tasmota version, but I would if there is any hint that something scheduled in the main loop of Tasmota would be unnecessary (like the web server?).

[stefanbode]

Tasmota is a software that runs on a device called the ESP (ESP8266 or ESP32). It has a loop that runs every 50 milliseconds (ms) for different tasks. This means that there is usually a delay of around 25 ms before an action starts, and it may take some time to complete the action. The ESP is not a real-time processor, which means it is not designed to handle tasks that require very precise timing, such as controlling a RC car. Tasmota is mostly used for home automation and internet of things (IoT) devices, which do not usually require precise timing. There are some cases, such as fading lights or controlling stepper motors, where precise timing may be needed

[belveder79]

Yes I know, and 25 Tasmota-driven devices at home for exactly that purpose :-)

However, from your explanation I understand that I could run the loop at a faster pace at the downside of it being less responsible on the webserver (that I don't use anyway), right?

[sfromis]

For speed, I'd normally prefer MQTT and registering command names without using Br. The Tasmota web server code is not at all optimized to be a "good API", and has flaws if things happen quickly.

Benefit of MQTT depends on the alternative, but expect http requests to be slower due to having to create/destroy a connection every time, with MQTT keeping the same connection open, to reduce number of round-trips needed. Obviously your broker should be allowed a high priority, but it is quite lightweight.

UDP could also be an option, but gets a bit more complex to do well.

Berry has less inherent delays than rules, and by registering a command name, you can get more directly to your code, without so much parsing needed. Not a big difference, but if you are looking for tweaks....

[belveder79]

always looking for tweaks :-)
thx for the hints!

[vic130]

Hi!

Thanks to this walkthrough I was able to control my servo motor.
However I'm having an issue where the PWM is constant even after reaching position, creating noise.

Anyway I could stop the PWM automatically when calling ShutterOpen1 or ShutterClose1?
PWM1 0 fixes it, but I need it right after reaching final position.

[stefanbode]

There is a compiler option that you can use to build your own version: SHUTTER_CLEAR_PWM_ONSTOP
If you set this to "1" the relay that power the servo will be shut off after the movement avoiding the small stutter. Be aware that in this case the servo must be self locking because there is no power anymore to keep the servo in the position.
https://tasmota.github.io/docs/Blinds-and-Shutters/#specific-configuration

[stefanbode]

there is another way, if you do not like to compile your verision. You can use rules to send the "pwm1 0" to the device.

rule1 on shutter#moved do pwm1 0 endon
rule1 1

For sure this only works if there is only ONE shutter defined because the "moved" event does not give you the shutter number as a variable. Maybe the next enhancement...

[ggodart]

I was having trouble configuring a servo using Tasmota 12.3.1. The answer is that it is mandatory to set ShutterRelay e.g.

ShutterRelay1 1

Could someone please add this to the instructions above - THX

[alexandermishin13]

thank you, kind man

[montyfert]

hi it will not let me enter ShutterPWMRange1 100, 500
i just get
21:27:31.147 RSL: RESULT = {"Command":"Error"}
any help would be much apreciated.
thanks
martin

[montyfert]

no worries ive sorted it
thanks

[smai86]

What have you done to resolve the error? I got the same...

[stefanbode]

You first need to set Setoption80 on to enable the general shutter options. Then the command should be enabled

[ryancasler]

Does tasmota only allow a servo to exist in two states, open or closed? There's no way to dynamically control what angle the servo is rotated to?

[Gifford47]

if your servo is configured correctly you can use ShutterPositionX to set the right angle. Smaller angle changes (~varies 1-2deg) could be not very accurate depending on acceleration.

[ryancasler]

Okay. Then I am not understanding what relay1 and relay2 are used for. You don't enable the direction of a servo. You merely call the angle you want set. So, I'm not following what that is set up for.
Also, it is posted earlier that the first relay is intended to be for enable/disable? So, powering off relay 1 will detach the servo? So, before moving the servo, I would have to power relay1 too, right? Or will that happen automatically?

[stefanbode]

the shutterdriver has its origin in normal shutters where you have two relays. one for up and one for down. Therefore keep in mind that might cause some overhead. relay1 detaches the servo from power. correct. you can configure if you want to have this. not required on self locking servos. relay is automatically set. relay2 up/down is from historic reason of shutters. should be no problem if it does not exist on pwm. There is a good documentation also explaining the stuff I'm writing here: https://tasmota.github.io/docs/Blinds-and-Shutters/#servo-motors

[Gifford47]

@stefanbode could it be, that with 13.0.0 the shutterinvert command doesn´t work?

[stefanbode]

Surely not. What in detail does not work? Invert just flips 0 and 100. open close and all this stay the same.

[ulfwin]

This guide does not appear to work for the latest tasmota version (13.1.0). The official documentation works however:
https://tasmota.github.io/docs/Blinds-and-Shutters/#servo-motors

The difference is an extra shutterrelay1 1 command. For some reason the shuttermode setting does not stick without that command.

[stefanbode]

It should stick if the interlock is defined correctly. If not for security reasons there is a "auto disable" you see it in the logs.

[sag007]

Hey Guys,

Just wondering if anyone has had any issues using the pwm for shutters on the ESP32 WROOM module. I'm trying to setup a chicken coop controller to control the door of the coop at sunrise and sunset and some lights inside and out of the coop but the pwm shutter doesnt seem to want to work. I have used the settings specified in the instructions but nothing happens when I try to open or close the shutter. The servo is a linear servo Firgelli L12-100-100-6-R

[stefanbode]

Can you share some settings like the pwm range and the frequency. Also Shutteropenduration and closeduration. Motordelay if defined. Most common error on servos are to short open and closetimes. The controller need some time to operate on. Start with 5sec and the looking fast you can go. Also interested in the value of shuttermode. And a log during the opening is also helpful. Cu.

[sag007]

Hey Stefanbode,

Thanks for the reply, the settings I used were as above;

SetOption80 1
Shuttermode 5
PWMfrequency 200
SetOption15 0

ShutterPwmRange1 100, 500.
ShutterOpenDuration1 22.0
ShutterCloseDuration1 22.0
ShutterMotorDelay1 1.0
Restart 1

On shutter1close I get the following result in the console;
03:53:31.752 MQT: stat/Chicken_Coop/RESULT = {"POWER2":"ON"}
03:53:31.763 MQT: stat/Chicken_Coop/POWER2 = ON
03:53:31.879 MQT: stat/Chicken_Coop/RESULT = {"POWER2":"OFF"}
03:53:31.882 MQT: stat/Chicken_Coop/POWER2 = OFF
03:53:31.943 MQT: stat/Chicken_Coop/RESULT = {"POWER1":"ON"}
03:53:31.949 MQT: stat/Chicken_Coop/POWER1 = ON
03:53:31.957 MQT: stat/Chicken_Coop/RESULT = {"Shutter1":{"Position":100,"Direction":-1,"Target":100,"Tilt":0}}
03:53:31.970 MQT: stat/Chicken_Coop/RESULT = {"POWER1":"OFF"}
03:53:31.972 MQT: stat/Chicken_Coop/POWER1 = OFF
03:53:31.978 MQT: stat/Chicken_Coop/SHUTTER1 = 100
03:53:31.985 MQT: stat/Chicken_Coop/RESULT = {"Shutter1":{"Position":100,"Direction":0,"Target":100,"Tilt":0}}

The actuator is in the open position after boot, if I hit down on the right this actually causes the esp32 to reboot. I monitored the power supply rails on the pcb and there are not obvious issues there. Pressing open does nothing.
I find this weird cause I have had these linear servos working on a sonoff sv before. I have also moved the servo from gpio 17 to 18 to 19 and nothing changed.

Thanks again for your time replying.

Nathan

[stefanbode]

Thanks for sharing will be on a business trip until Wednesday. For sure it worked for esp8266. Let me check if there is something missing. The position is only set by the pwm duty cycle. Therefore not a big deal. Normally.

[stefanbode]

I am able to reproduce,but have no idea why it went wrong. The calculated PWM values are correct. Ok the domain was 0..1023 and now it looks 0..255. but this should not be a problem. Anyhow the oscilloscope show totally strange PWM. Also the frequency changes from 200 to 1000 and I do not know why. I assume it will take a while to get this repaired on esp32.

[stefanbode]

Looks like a found a possible solution. Pls wait until merged into the development branch. #19878

[sag007]

Hey Stefan,

So, I set the values in the examples at the top of this outside shuttermode so just in dimmer mode and the servo moves with pwm frequency of 200. Its drives full out 410 and full in at 210.
Once I enable shutter mode and set the pwmrange1 210, 410, I get no movement.
Not sure if I was good to test it yet or not but this was also with the stock version of tasmota 13.2.0

Nathan

[stefanbode]

Are you sure you use the version from the latest development branch. The fix is only in the newest development branch. The version here is 13.2.0.1. at least this number you should see. My guess would be you're on the old release without the fix.

[stefanbode]

If you are in debug log then there is during operation in the lines "Shtr1 Timexxxx" at the end a new log named "PWM: xxxx"
This is an easy indicator at least if the version is correct.

[sag007]

Hey Stefan,

Yep, it was still on 13.2.0, I had moved over to using the web flasher and didn't see the option at the bottom for flashing the development versions. I upgrade the board reconfigured the shutter settings and now she is working very well.

Awesome job, thanks for finding the issue and rectifying it so quickly.

Kind Regards,

Nathan