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Models and hardware

Match the selected configuration to your physical assembly.

Checked 2026-10-16

Model selection

The wizard offers SO-ARM101 and SO-ARM101-Robonine. SO-ARM101 is selected by default. The model determines geometry, joint mapping and gripper behavior; similar names do not make models interchangeable.

Minimum checks

  • Mechanical assembly and base mounting.
  • Lab model matches the real assembly.
  • Expected motor IDs, controller and data cable.
  • Correct voltage and polarity according to the labels on your kit.
  • Camera, force sensor or leader arm only when required by the task.

Encoder and mechanical range

Encoder counts are not degrees. STS3215 uses 4096 counts per revolution, while permitted joint travel depends on assembly and calibration. The 36-step teaching encoder illustrates the principle and is not the actual motor resolution.

Power

USB communication and motor power are separate circuits. Do not choose a power supply from a register value or a universal instruction: verify servo and board labels and the supplied power unit. Disconnect power before changing wiring.

Waveshare ST3215 specification; SO-ARM101 assembly guide.

Controls

Button or field Action and result
Robot model in the wizard Choose the exact assembled model. Do not continue with a default that does not match your gripper and arm geometry.
ID table after connecting Check addresses and responses for all expected devices. A sensor with its own status does not replace a missing motor.
Set motor IDs Use to address one motor at a time. Do not try to change IDs of an entire connected chain with one Assign ID click.
Feetech bus → Read all Reads registers for the specified ID. Keep your first inspection read-only; writing a service register may change motor behaviour.

The Lab model description defines software correspondence; hardware markings define power requirements. Connecting does not check that your power supply voltage is correct.