Servo Speed Not Affecting PCA9685

Yes - the servo Speed/servo ramping behavior won’t directly apply to the PCA9685 servo Driver skill the way you’re expecting.

Why

The PCA9685 servo Driver exposes its outputs as virtual servo ports (V0-V15 by default), not D ports.
So if you’re using the PCA9685 servo Driver robot skill to move the servos, ARC is sending commands to virtual ports, and the older Servo Speed skill you added is looking at physical PWM ports (D0-D23) on the EZB.

That means:

• PCA9685 servo Driver uses V ports
• Servo Speed skill targets D ports
• Those are not the same path, so the speed setting won’t affect the PCA9685 output

What to do instead

If you want smooth motion on the PCA9685, use ARC’s newer approach for ramping PWM servos:

• PWM servo Ramping Robot Skill
  https://synthiam.com/Support/Skills/Servo/PWM-Servo-Ramping?id=23255

That skill is designed to:

• map Vx virtual ports to Dx physical PWM ports
• apply smooth ramping based on acceleration

However, that skill is for PWM hobby servos connected to EZB digital ports, not for PCA9685 channels directly.

For PCA9685 specifically

The PCA9685 skill itself is not using the older servo Speed control. If you need smoother motion, the practical options are:

1. Use the PCA9685 skill’s servo position changes with smaller incremental steps in a script
2. Create a custom robot skill to wrap PCA9685 moves with ramping logic
   https://synthiam.com/Support/Create-Robot-Skill/Overview
3. Switch to a setup that supports the ramping path natively, if your servos are physically on EZB PWM ports

Important note

If you are trying to use Servo Speed by selecting D0, D1, etc., that only affects servos physically driven by those D ports, not the PCA9685 board.

Recommended workaround

If you want, I can help you write a JavaScript ramp script that moves a PCA9685 channel in small steps with delays, which will give you smooth motion even though the PCA9685 skill itself doesn’t expose a speed setting.

For example, a script can do something like:

• read current position
• step toward target by 1-2 degrees
• sleep a few ms between steps

That is often the cleanest solution in ARC for PCA9685-based servos.

Quick question

Are you currently moving the PCA9685 servos only through the PCA9685 servo Driver skill UI, or are you open to controlling them from a script/auto-position so we can add smooth ramping there?