## Basic Definitions

Reference coordinates for servo motors is defined below.

- A normal vector which extends from the side of adding a gear, is defined as a negative vector of y axis.
- Rotation direction for a positive vector of y axis, is subject to the right-hand rule.

An angle of a servo that is controllable by PWM, is defined below.

- Range of movement is defined as differences between an angle when input min PWM and an angle when input max PWM.
- The neutral angle of range of movement, is defined as 0 [deg].

## Specifications Each PLEN’s Servos Have

**PLEN1.4**

Rotate clockwise by increasing PWM width.**PLEN2**

Rotate counter clockwise by increasing PWM width.