# Documentation

Welcome! Thank you for joining us on our mission to make the next generation of high performance robotics parts accessible and affordable. Please [contact us](https://axon-robotics.com/support) if you have any questions. 

### Quick Links

[Servo Quickstart](/servos/quickstart)

[Axon MAX MK2](/servos/max)

[Axon MINI MK2](/servos/mini)

[Programmer MK2](/servos/programmer)


# Servo Quickstart

Received your servos? Don't know what to do? Look no further

### Unboxing

All servos come configured ready to use out of the box. Also included in the box is an aluminum servo horn, and a bag with some mounting accessories. However, to unlock the full potential of MK2 series servos, you will need the [Programmer MK2](/servos/programmer)

### Usage

#### 4.8v operation

They are directly compatible with the REV Robotics Control or Expansion Hub and can be used just like any other servo.

{% hint style="warning" %}
Axon servos have a stall current greater than the REV Robotics Control hub and Expansion hub can supply. Make sure to lower the maximum power of your servos if you plan on using them in this configuration.
{% endhint %}

#### 6.0v operation (recommended)

To get the most performance out of your Axon servos, we recommend using the REV Robotics SPM, Servo Hub, or other similar power injector. This bumps the voltage from 4.8V to 6V and mostly eliminates the concern surrounding current limitation.


# Programmer MK2

How to use Programmer MK2

{% hint style="success" %}
The Programmer MK2 **IS** compatible with the [Axon MAX MK2](/servos/max) and [Axon MINI MK2](/servos/mini)
{% endhint %}

{% hint style="danger" %}
The Programmer MK2 is **NOT** compatible with the [Axon MAX+](/archive/max) [Axon MINI+](/archive/mini) and [Axon MICRO+](/archive/micro)
{% endhint %}

### Overview

The Programmer MK2 can be used to do the following:

* Configure the [#parameters](#parameters "mention") of compatible MK2 series servos
* Change between Servo Mode,  CR Mode, and Swerve Mode (coming soon!)
* Act as a standalone tester using joystick input to control a servo
* Measure power supply voltage and power consumption
* Measure input PWM signal duty cycle, frequency, and jitter

### Features

* Physical enable/disable button
* Status LEDs and Joystick
* Female USB-C port (data/power, recommended 5.0v 3.0A)
* Female XT60 port (maximum 9V DC)
* Female 3-pin JST XH port (for 2S LiPo or LiFe battery)
* 2x Male 3-pin 0.1" pitch pin headers (data/power)
* Billet aluminum case

{% hint style="warning" %}
An alarm will play if the input voltage exceeds 9V DC, and the programmer will disable
{% endhint %}

### Getting Started 

Download the Axon Software MK2 (from [#software-download](#software-download "mention")). Once installed, restart your device and open the program. It should look like this:

{% hint style="warning" %}
Axon Software MK2 is in beta. Please email <support@axon-robotics.com> if you experience any issues or have any questions.
{% endhint %}

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2FpFkGon4WQU7eHDp160c3%2FImage.png?alt=media&amp;token=7f15cf49-9f90-4c7a-b88c-66cece2a54e2" alt=""><figcaption></figcaption></figure>

Connect the Programmer MK2 to your computer using a USB-A to USB-C cable. Wait for Axon Software MK2 to detect it. The icon on the bottom left should change to connected, and a message will be displayed in the log.&#x20;

{% hint style="info" %}
If Axon Software MK2 is not recognizing your Programmer MK2, verify that the cable you are using is not charge-only (and that it can transfer data).
{% endhint %}

Plug in a compatible MK2 series servo into the Programmer MK2, with the grey signal wire on the right-hand side of the top row of pins on the left of the programmer. Wait for Axon Software MK2 to display a success message in the log. Once successful, click "Read" to load your servo's current settings into the software. You are now ready to modify the parameters.

### Switching to CR Mode

Download the CR Mode firmware (from [#software-download](#software-download "mention")). Click "UPF" in the Axon Software MK2, and select the file you downloaded. Wait for the log to indicate that the change was successful.&#x20;

### Switching to Servo Mode

Download the Servo Mode firmware (from [#software-download](#software-download "mention")). Click "UPF" in the Axon Software MK2, and select the file you downloaded. Wait for the log to indicate that the change was successful.&#x20;

### Switching to Swerve Mode

Swerve mode coming soon!

### Parameters

The following parameters can be adjusted:

* Left and right limit
* Neutral position
* Power limit
* Sensitivity
* Soft start
* Damping
* Model name
* Refresh rate
* 3-stage overload protection
* Lose PPM protection (behavior of the servo when it loses signal but retains power)
* Enable/disable power on sound (bottom right next to "Upgrade" button)
* Inversion (switch between CCW and CW)

You can also click the button next to the "Pulse" label to switch from Joystick input to using the slider and nearby buttons in order to control the servo.

{% hint style="success" %}
If the Joystick and slider are both not doing anything, the programmer's output might be disabled. Click the radio button next to the "Signal Output" label to enable it. If that does not work, detach the programmer from your computer, reconnect it, and try again.
{% endhint %}

If you want to reset to default settings, click "Default" in the menu at the top. You can also save your settings as a file by clicking "Save," and import saved settings by clicking "Open."

### Adjusting a Parameter

Once you have modified the parameters to your liking, press "Write" and wait for the log to indicate the write was successful.&#x20;

### Using Programmer MK2 Standalone

Programmer MK2 can be used without a computer attached in order to test servos. First, power it via one of the following options: USB-C (5.0V, recommended 3A), XT60 (up to 9V DC), or JST XH (2S LiPo or LiFe battery).&#x20;

Next, connect a servo to the top row of pins on the left side of Programmer MK2 with the signal wire from the servo on the right side (if the connector is facing away from you). Hold down the enable button (bottom left of the joystick) for 4 seconds until you hear it beep. You can now move the joystick left/right to control the servo.

### Measuring Input Signals

Programmer MK2 can be used to display information about a PWM signal. Open Axon Software MK2 and connect Programmer MK2 to your computer using a USB-A to USB-C cable. Connect the PWM wire to the bottom row of pins on the left side of Programmer MK2, with the signal wire on the right side (if the connector is facing away from you). Click the radio button next to the "Signal Test" label in Axon Software MK2 to start the measurement. It will update live in the readouts below.

### Software Download

[Axon Software MK2 v1.1.2](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Software_MK2_v1.1.2.exe?v=1758604512)

[Axon MAX MK2 Servo Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_MAX_MK2_Servo_Mode.sfm?v=1758606422)

[Axon MAX MK2 CR Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_MAX_MK2_CR_Mode.sfm?v=1758606422)

[Axon MINI MK2 Servo Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_MINI_MK2_Servo_Mode.sfm?v=1758606431)

[Axon MINI MK2 CR Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_MINI_MK2_CR_Mode.sfm?v=1758606431)


# Axon MAX MK2

The Axon MAX MK2 is a general purpose high torque servo. Common use cases include arms and linkages.

{% hint style="success" %}
Compatible with [Programmer MK2](/servos/programmer)
{% endhint %}

### Features

* Startup sound (can be disabled)
* Configurable Modes
  * Servo Mode
  * Continuous Rotation Mode
  * Swerve Mode (coming soon!)
* Adjustable Settings
  * Left and right limits
  * Power limits/Failsafes
  * Deadband/Sensitivity
  * Soft start/Damping
* Billet aluminum case (anodized black)
* Heat treated stainless steel gears

### Wiring

3-pin servo connector (300mm, 22awg) and additional [Analog Output](/servos/analog-output)

### Specs

85g, H25T spline, 4.8V to 8.4V operating voltage, 500us to 2500us PWM Range, 360° max range

<table><thead><tr><th width="136">Voltage (V)</th><th width="128">Idle (mA)</th><th width="128">Stall (mA)</th><th>Speed (sec/60°)</th><th>Torque (kgf·cm)</th></tr></thead><tbody><tr><td>4.8 *</td><td>280</td><td>3600</td><td>0.140</td><td>28</td></tr><tr><td>6.0 ** </td><td>320</td><td>4000</td><td>0.115</td><td>34</td></tr><tr><td>7.4</td><td>360</td><td>4300</td><td>0.100</td><td>39</td></tr><tr><td>8.4</td><td>400</td><td>4600</td><td>0.085</td><td>45</td></tr></tbody></table>

\*REV Control/Expansion Hub operating voltage        \*\*REV SPM/Servo Hub Operating Voltage


# Axon MINI MK2

The Axon MINI MK2 is a compact and lightweight alternative to the [Axon MAX MK2](/servos/max). Common use cases include claws and wrists/pivots.

{% hint style="success" %}
Compatible with [Programmer MK2](/servos/programmer)
{% endhint %}

### Features

* Startup sound (can be disabled)
* Configurable Modes
  * Servo Mode
  * Continuous Rotation Mode
  * Swerve Mode (coming soon!)
* Adjustable Settings
  * Left and right limits
  * Power limits/Failsafes
  * Deadband/Sensitivity
  * Soft start/Damping
* Billet aluminum case (anodized black)
* Heat treated stainless steel gears

### Wiring

3-pin servo connector (300mm, 22awg) and additional [Analog Output](/servos/analog-output)

### Specs

65g, H25T spline, 4.8V to 8.4V operating voltage, 500us to 2500us PWM Range, 360° max range

<table><thead><tr><th width="136">Voltage (V)</th><th width="128">Idle (mA)</th><th width="128">Stall (mA)</th><th>Speed (sec/60°)</th><th>Torque (kgf·cm)</th></tr></thead><tbody><tr><td>4.8 *</td><td>300</td><td>3200</td><td>0.110</td><td>20</td></tr><tr><td>6.0 ** </td><td>350</td><td>3800</td><td>0.090</td><td>25</td></tr><tr><td>7.4</td><td>380</td><td>4300</td><td>0.080</td><td>30</td></tr><tr><td>8.4</td><td>420</td><td>4400</td><td>0.068</td><td>33</td></tr></tbody></table>

\*REV Control/Expansion Hub operating voltage        \*\*REV SPM/Servo Hub Operating Voltage


# Analog Output

Ever wondered how to use that pesky fourth wire?

The analog output from Axon servos allows you to read the position of the servo with high precision in realtime. It is useful for custom feedback controllers and validation logic.

Docs coming soon!


# Bevel Quickstart

Axon Bevels Usage Tips

**Mechanical Specifications**

* Material: Hardened Steel
* Finish: Black Zinc Plated
* Hub Bevel Weight: 14g
* Pinion Bevel Weight: 3.5g
* Gear ratio: 52:18 (2.88:1)&#x20;
* Module: 0.8&#x20;
* Hub Bevel OD: 41.8mm
* Pinion Bevel OD: 15.6mm

**In the Box**

* 1x Pinion Bevel Gear
* 1x Hub Mount Bevel Gear

**CAD Download**

[Axon Bevels Hub Gear](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/AXON-ROBOTICS_HUB_BEVEL.step?v=1693714737)

[Axon Bevels Pinion Gear](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/AXON-ROBOTICS_PINION_BEVEL.step?v=1693714736)

## Spacing Bevel Gears

For bevel gears, the smoothest operation does not always occur at the nominal center-to-center distance. This can be due to:

* Axis Misalignment
* Runout&#x20;
* Tolerance Stack-up

To mitigate these issues, we recommend offsetting the Hub Bevel 0.5mm away from the center axis to allow some space between the teeth when they mesh.

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2F7wNjKV1gHabnBtfUSOUO%2FAxon-Robotics_Bevels_Assembly_9mm.png?alt=media&amp;token=d7509b12-47fd-4a99-a304-d3d093b9d48e" alt="" width="375"><figcaption><p>Axon Bevels Recommended Center to Center Offsets</p></figcaption></figure>

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2FNJpPv2Ig7hMR5o8BUpSi%2FAxon-Robotics_Bevels_Assembly_8.5mm.png?alt=media&amp;token=5a25cfa7-627e-42a6-b700-3dfd48717a3c" alt="" width="375"><figcaption><p>Axon Bevels Nominal Center to Center Offsets</p></figcaption></figure>

## Usage Examples

### Mecanum Drivetrain

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2FHyKWMVFMkf0wvgFzZERw%2FAxon-Robotics_Bevels_Mecanum_Assembly.png?alt=media&amp;token=24fb3119-e065-429e-9fdd-a521309df735" alt="" width="375"><figcaption><p>Mecanum Wheel Power Transmission</p></figcaption></figure>

### Swerve Drivetrain

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2FdfsUDcmw0FRjHO6xYMxm%2FAxon-Robotics_Bevels_Swerve_Assembly.png?alt=media&amp;token=c7978cbc-c1eb-47a1-a525-ea7b16c0ffa3" alt="" width="375"><figcaption><p>Swerve Module Power Transmission</p></figcaption></figure>

### Intake Power Transmission&#x20;

Coming Soon!

### Lift Power Transmission

Coming Soon!


# Servo Programmer

How to use the Servo Programmer

{% hint style="danger" %}
The Servo Programmer is **NOT** compatible with the [Axon MAX MK2](/servos/max) and [Axon MINI MK2](/servos/mini)
{% endhint %}

{% hint style="success" %}
The Servo Programmer **IS** compatible with the [Axon MAX+](/archive/max) [Axon MINI+](/archive/mini) and [Axon MICRO+](/archive/micro)
{% endhint %}

### Getting Started&#x20;

Download the Axon Programming Software (from [#software-download](#software-download "mention")). It should look like this:

<figure><img src="https://2269588985-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9eh1a50wToy49XgPSa8i%2Fuploads%2F0WXSiMdOyfqqr82mPrKC%2Fservo%20programming%20software.png?alt=media&amp;token=e79e8b01-a5a8-4e57-a41d-db3bd0c73e8c" alt=""><figcaption><p>Axon Servo Programming Software v1.0.5</p></figcaption></figure>

Once installed, restart your device, open the software, and plug in the Axon Servo Programmer into a USB port on your computer. Wait for the Axon Servo Programming Software to detect it. The icon on the bottom left should change to connected, and a message will be displayed in the log.&#x20;

Plug in a compatible Axon Robotics Servo into the Servo Programmer, with the grey signal wire on the right hand side. Wait for the Axon Servo Programming Software to say "Servo Plugged In." Once successful, click "Read" to load your servos current settings into the software. You are now ready to modify the parameters.

### Switching from Servo to CR Mode

Download the CR Mode firmware (from [#software-download](#software-download "mention")). Click "Mode" on the Axon Servo Programming Software, and locate the file you downloaded. Hit "Ok," and wait for the log to indicate that the change was successful.&#x20;

### Switching from CR Mode to Servo Mode

The process for switching from CR Mode to Servo Mode is the same. Download the Servo Mode firmware (from [#software-download](#software-download "mention")) and follow the same steps as above.&#x20;

### Parameters

Here is a brief description of what each of the parameters do:

* Servo Angle: Operating travel of the servo, scaled from 0->255 to 0->355
* Servo Neutral: Offsets the Neutral Position of the servo (in us)

{% hint style="warning" %}
Significant adjustments to the servo neutral position can cause unintended side affects. Proceed with caution.&#x20;
{% endhint %}

* Dampening Factor: Adjusts the D coefficient in the servo PID loop

{% hint style="warning" %}
It is not recommended to adjust Dampening Factor. It is tuned to work out of the box, and should not need to be modified.&#x20;
{% endhint %}

* PWM Power: Allows you to set a cap on the maximum power output power of the servo. Useful for use on current limited devices. 0% = no power, 100% = max power

{% hint style="success" %}
For 4.8v operation on a REV Robotics Control or Expansion Hub, the recommended value for PWM Power is 66% for the Axon MAX/MAX+ and 75% for the Axon MINI/MINI+. For 6.0v operation using the REV Robotics Servo Power Modules, the recommended value is 85%, however it can be used at 100%. If at 100%, be mindful of the temperature of the servo, and do not allow it to get too hot, or it will shut down to protect itself from burning out.&#x20;
{% endhint %}

* Sensitivity: Dead-band of the servo. Ultra high = 1us
* Soft Start: Limits acceleration on startup
* Inversion: Reverses the direction of the servo (CCW default)&#x20;
* Loose PWM Protection: Servo behavior when it looses signal
  * Release: Acts as if the servo wasn't powered
  * Hold: Holds the last position it was set to
  * Neutral: Goes to the middle position
* Overload Protection: Reduces the power output of the servo when stalled (to avoid burning out the motor)
  * Sets max power to a certain percent after a stalling for a specified number of seconds

{% hint style="success" %}
It is highly recommended to leave Overload Protection at the default (or more conservative) settings to avoid damaging your servos
{% endhint %}

{% hint style="warning" %}
There is no 3-stage Overload Protection in CR Mode. Be careful when operating servos in high load scenarios in CR Mode.&#x20;
{% endhint %}

#### Adjusting a parameter

Once you have modified the parameters to your liking, press "write" and wait for the log to indicate the write was successful.&#x20;

### Software Download

[Axon Programming Software](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Servo_Programming_Software_v1.0.5.exe?v=1679586956)

[Axon MAX+ Servo Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Max_Servo_Mode.sfw?v=1679588434)

[Axon MAX+ CR Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Max_Modified_CR_Mode.sfw?v=1679588434)

[Axon MINI+ Servo Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Mini_Servo_Mode.sfw?v=1679588434)

[Axon MINI+ CR Mode](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_Mini_Modified_CR_Mode.sfw?v=1679588434)


# Axon MAX+

Description of Axon MAX servos

{% hint style="warning" %}
The Axon MAX+ has been discontinued and replaced by the [Axon MAX MK2](/servos/max)
{% endhint %}

{% hint style="success" %}
Compatible with [Servo Programmer](/archive/programmer)
{% endhint %}

The Axon MAX+ is a high torque brushless servo suited for high torque applications such as arms, linkages, turrets, and 1/10-1/8 RC steering.&#x20;

### Features

* Heat treated 416 and 303 stainless steel gears
* 6061 T6 Case
* Dual 6x10mm ball bearing output shaft
* Hall effect encoder
* 64% efficiency at peak power output
* \*Dual Mode
* Programmable&#x20;
* H25T spline

\*If Purchased after Sep 25 2022

### Specs

Weight: 85g

<table><thead><tr><th width="136">Voltage (V)</th><th width="128">Idle (mA)</th><th width="128">Stall (mA)</th><th>Speed (sec/60°)</th><th>Torque (kgf·cm)</th></tr></thead><tbody><tr><td>4.8 *</td><td>280</td><td>3600</td><td>0.140</td><td>28</td></tr><tr><td>6.0 ** </td><td>320</td><td>4000</td><td>0.115</td><td>34</td></tr><tr><td>7.4</td><td>360</td><td>4300</td><td>0.100</td><td>39</td></tr><tr><td>8.4</td><td>400</td><td>4600</td><td>0.085</td><td>45</td></tr></tbody></table>

\*REV Control/Expansion Hub operating voltage        \*\*REV Servo Power Module Operating Voltage


# Axon MINI+

Description of Axon MINI Servos

{% hint style="warning" %}
The Axon MINI+ has been discontinued and replaced by the [Axon MINI MK2](/servos/mini)
{% endhint %}

{% hint style="success" %}
Compatible with [Servo Programmer](/archive/programmer)
{% endhint %}

The Axon MINI+ is a high speed brushless servo suited for high-speed applications such as mid-size pivoting mechanisms such as claws and buckets, swerve modules, and drift RC high-response steering.&#x20;

### Features

* Heat treated 416 and 303 stainless steel gears
* 6061 T6 Case
* Dual 6x10mm ball bearing output shaft
* Hall effect encoder
* 64% efficiency at peak power output
* Dual Mode
* Programmable
* H25T spline

### Specs

Weight: 65g&#x20;

<table><thead><tr><th width="136">Voltage (V)</th><th width="128">Idle (mA)</th><th width="128">Stall (mA)</th><th>Speed (sec/60°)</th><th>Torque (kgf·cm)</th></tr></thead><tbody><tr><td>4.8 *</td><td>300</td><td>3200</td><td>0.110</td><td>20</td></tr><tr><td>6.0 ** </td><td>350</td><td>3800</td><td>0.090</td><td>25</td></tr><tr><td>7.4</td><td>380</td><td>4300</td><td>0.080</td><td>30</td></tr><tr><td>8.4</td><td>420</td><td>4400</td><td>0.068</td><td>33</td></tr></tbody></table>

\*REV Control/Expansion Hub operating voltage        \*\*REV Servo Power Module Operating Voltage


# Axon MICRO+

Description of Axon MICRO+ Servos

{% hint style="warning" %}
The Axon MICRO+ has been discontinued
{% endhint %}

{% hint style="success" %}
Compatible with [Servo Programmer](/archive/programmer)
{% endhint %}

The Axon MICRO+ is a new breed of actuator that enables unparalleled power density in a package 4 times smaller than standard sized servos. Perfect for latches, low to medium load linkages, and claws.&#x20;

{% hint style="warning" %}
Due to the size of the gearbox, the Axon MICRO+ will not withstand impacts as well as other Axon Robotics servos. If you anticipate excessive load, consider using an Axon MAX+ or Axon MINI+ instead.&#x20;
{% endhint %}

### Features

* Heat treated 416 and 303 stainless steel gears
* 6061 T6 Case
* Analog feedback&#x20;
* Brushless Motor&#x20;
* Dual Mode
* Programmable
* B25T Spline&#x20;

### Specs

Weight: 21g&#x20;

[CAD Download](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/Axon_MICRO.step?v=1698605324)

[B25T Servo Arm](https://cdn.shopify.com/s/files/1/0657/9182/0008/files/B25T_Servo_Arm_V2.step?v=1704863246)

<table><thead><tr><th width="136">Voltage (V)</th><th width="128">Idle (mA)</th><th width="128">Stall (mA)</th><th>Speed (sec/60°)</th><th>Torque (kgf·cm)</th></tr></thead><tbody><tr><td>4.8 *</td><td>150</td><td>1900</td><td>0.085</td><td>6.5</td></tr><tr><td>6.0 ** </td><td>180</td><td>2200</td><td>0.075</td><td>7.8</td></tr><tr><td>7.4</td><td>240</td><td>2600</td><td>0.062</td><td>9.2</td></tr><tr><td>8.4</td><td>300</td><td>3000</td><td>0.055</td><td>10.4</td></tr></tbody></table>

\*REV Control/Expansion Hub operating voltage        \*\*REV Servo Power Module Operating Voltage