User`s manual

ROBOT . HEAD to TOE
Product User’s Manual – SC08A
Servo starting position Command
a) This command useful for users to initialize the starting position for servo motors. To
initialize starting position, the command is being sent in packet format. Each packet
consists of 3 bytes.
i. 1
st
byte: Mode + Servo motor channel
ii. 2
nd
byte: Position (Higher 7 bit)
iii. 3
rd
byte: Position (Lower 6 bit)
b) 1
st
byte is combination from mode and servo motor channel. Servo starting position
command mode is '100' which is 3 MSB bits from 1
st
byte. Servo motor channel is
from 0-16. Select '0' to activate all servo motor from channel 1 to 8(if single SC08A
used) or 1 to 16 (if double SC08A used).
0b 1 0 0 x x x x x
c) 2
nd
and 3
rd
byte is combined to provide 13 bit servo position. Please refer back
Position and Speed command section (b)ii for description for these 2
nd
and 3
rd
byte.
d) After received starting position command, SC08A will reply one byte (0x04) to
microcontroller.
Created by Cytron Technologies Sdn. Bhd. – All Rights Reserved 26
Mode for servo starting
position command
Servo motor channel