Before you start
Result: identify whether the selected image matches your servo and whether you can proceed with tool installation.
Check compatibility
The project targets GD32F130-based STS3215 servos using the STS TTL interface. An arm name such as SO-ARM100, SO-ARM101 or SO-ARM102 does not establish which motors are fitted. Calibration illustrations and recorded demonstrations cover SO-101 and SO-102; this documentation does not claim a separate SO-ARM100 hardware validation.
This setup path uses v0.1-preview, archive custom-v9-e44c0e6.zip. Its manifest permits [9, 3] in model registers 3 and 4 and declares Extension 9.0. This is the selected image’s compatibility condition, not permission to flash every servo in the family. Before writing, the flasher compares the actual registers with the manifest. Do not edit model_bytes to bypass a mismatch.
The release is a research preview. Its notes identify temperature/protection issues during movement and differences from factory behavior for some commands. Flashing can damage the device or erase calibration; recovery is not guaranteed. Validate the actual hardware before relying on it in an application.
Prepare the hardware
- A compatible USB-to-STS TTL adapter and a data cable.
- Motor power with voltage and current appropriate for the actual servos. A connected USB adapter does not establish that the motor bus is powered.
- A secured mechanism, clear travel space and a way to support links when torque is released.
- An accessible way to disconnect motor power. Support the mechanism before removing power if it can fall.
- Unique IDs and a known bus baud rate. Examples use IDs 1–6 at 1,000,000 baud; substitute your actual values.
Normal addressed flashing allows multiple motors with unique IDs on one bus. Recovery requires only one connected servo. If IDs are missing or duplicated, configure devices individually using the appropriate manufacturer tool first.
Prepare the computer
| Component | Purpose |
|---|---|
| Git | Obtain the documented source revision |
| Node.js 20+ and npm | Settings, recording, replay, teleoperation and tuning |
| Python 3.10+ | Flashing and settings recovery |
| Python 3.12, optional | 3D telemetry viewer |
Installing a published image does not require a firmware compiler. Use one controller process per serial port. Close other tools, including any browser connection to that adapter.
Ready to continue
You know the hardware revision, have a suitable power supply and unique IDs, and can support the mechanism without motor torque. Resolve an unknown item before attempting a flash.
Next: install the tools.
Documentation home · Source revision: a995f77. Extension 9.0.