User`s manual

ROBOT . HEAD to TOE
Product User’s Manual – SC08A
0 = 0.3 seconds 40 = 3.60 seconds
1 = 2.0 minutes 50 = 2.80 seconds
10 = 14 seconds 60 = 2.2 seconds
20 = 7.0 seconds 63 = 1.9 seconds
30 = 4.14 seconds
d) For more details, user may refer to sample source code provided. Comments are being
provided in the sample code to help user understanding.
Servo position reportingCommand
This section explains the position reporting command.
a) If position report is needed, the host (computer or microcontroller) should send this
command to SC08A. The command is being sent in packet format. Each packet
consists of a byte.
i. 1
st
byte: Mode + Servo motor channel
0b 1 0 1 x x x x x
b) After receive reporting command, SC08A will reply the position for the regarding
servo channel in 2 bytes. Please refer back to Position and Speed Command section
(b)ii for the description of these 2 bytes.
i. 1
st
bye: Position (Higher 7 bit)
ii. 2
nd
byte: Position (Lower 6 bit)
c) User is requires to receive and process these 2 bytes. User may refer to sample source
code provided. Comments are being provided in the sample code to help user
understanding. Please refer to sample program named “SK40C_16F877A_SC08A.c”.
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 25
Mode for position
reporting command
Servo motor channel
(1-16).If '0' SC08A
will ignore this
command