SSC-32 Ver 2.0 Manual written for firmware version SSC32-1.06XE Range is 0.50mS to 2.50mS Lynxmotion, Inc. PO Box 818 Pekin, IL 61555-0818 Tel: 309-382-1816 (Sales) Tel: 309-382-2760 (Support) Fax: 309-382-1254 E-m: sales@lynxmotion.com E-m: tech@lynxmotion.com Web: http://www.lynxmotion.com Users Manual SSC-32 Ver 2.
Things that go Boom! B Caution! Read this quick start guide completely before wiring and applying power to the board! Errors in wiring can damage the SSC-32 board, Atmel or EEPROM Chip, and any attached servos or peripherals. B Caution! Never reverse the power coming in to the board. Make sure the black wire goes to (-) ground, and the red wire goes to (+) Vlogic, or Vservo. Never connect peripherals when the board is powered on. B Caution! The onboard regulator can provide 250mA total.
is where you connect the servos or other output devices. Use caution 8 This and remove power when connecting anything to the I/O bus. is the Processor Good LED. It will light steady when power is applied 9 This and will remain lit until the processor has received a valid serial command. It will then go out and then blink whenever it is receiving serial data. Note, this feature may not be used on user-submitted firmware for the SSC-32. two BAUD inputs allow configuring the baud rate.
Getting Started What is a Servo? Before we illustrate how to use the servo controller we need to explain what a servo is, and define the control methodology. Pulse-proportional servos are designed for use in radio-controlled (R/C) cars, boats and planes. They provide precise control for steering, throttle, rudder, etc. using a signal that is easy to transmit and receive. The signal consists of positive going pulses ranging from 0.9 to 2.1mS (milliseconds) long, repeated 50 times a second (every 20mS).
Command Formatting for the SSC-32 Command Types and Groups 1) Servo Movement. 2) Discrete Output. 3) Byte Output. 4) Query Movement Status. 5) Query Pulse Width. 6) Read Digital Inputs. 7) Read Analog Inputs. 8) 12 Servo Hexapod Gait Sequencer. 9) Query Hex Sequencer. 10) Get Version. 11) Go To Boot. 12) MiniSSC-II Compatibility. With the exception of MiniSSC-II mode, all SSC-32 commands must end with a carriage return character (ASCII 13).
You can combine the speed and time commands if desired. The speed for each servo will be calculated according to the following rules: 1. All channels will start and end the move simultaneously. 2. If a speed is specified for a servo, it will not move any faster than the speed specified (but it might move slower if the time command requires). 3. If a time is specified for the move, then the move will take at least the amount of time specified (but might take longer if the speed command requires).
Byte Output: # : = (0 = Pins 0-7, 1 = Pins 8-15, 2 = Pins 16-23, 3 = Pins 24-31.) = Decimal value to output to the selected bank (0-255). Bit 0 = LSB of bank. This command allows 8 bits of binary data to be written at once. All pins of the bank are updated simultaneously. The banks will be updated within 20mS of receiving the CR. Bank Output Example: "#3:123 " This example will output the value 123 (decimal) to bank 3.
This example returns 4 characters with the values of A, B, C, and D-Latch. If A=0, B=1, C=1, and DL=0, the return value will be "0110". Read Analog Inputs: VA VB VC VD VA, VB, VC, VD reads the value on the input as analog. It returns a single byte with the 8bit (binary) value for the voltage on the pin. When the ABCD inputs are used as analog inputs the internal pullup is disabled. The inputs are digitally filtered to reduce the effect of noise.
XL , XR Set the travel percentage for left and right legs. The valid range is -100% to 100%. Negative values cause the legs on the side to move in reverse. With a value of 100%, the legs will move between the front and rear positions. Lower values cause the travel to be proportionally less, but always centered. The speed for horizontal moves is adjusted based on the XL and XR commands, so the move time remains the same. XS Set the horizontal speed percentage for all legs.
5) When a horizontal servo is moving, its speed will be adjusted based on the Front/Rear pulse widths, the XL/XR percentage, and the XS percentage. Regardless of the travel distance from front to rear (adjusted by XL/XR), the total move time will be the HT divided by the XS percentage. 6) When a vertical servo is moving from Low to Mid or from Mid to Low, it will move at the speed specified by the VS command.
Testing the Controller The easiest way to test the controller is to use the Lynx SSC-32 Terminal. It's a free download from the website. Once installed click on the Port Drop Down and select your com port. This will work with USB to serial port adaptors. Install the jumpers for 115.2k baud and the two DB9 serial port enable jumpers. Plug a straight through DB9 M/F cable from the PC to the controller. Install two servos, one on channel 0 and one on channel 1.
This will move the servo from 750 to 2250 (around 170°) in 2.0 seconds. 2250uS-750uS (travel distance) = 2.0 Sec. 750uS/Sec. (speed value) Speed values above around 3500 will move the servo as quickly as the servo can move. Updating the SSC-32 firmware From the SSC-32 Terminal main screen click on Firmware. This will show the current version of the firmware at the top, and allow you to browse and open the new *.abl firmware file. Click Begin Update to finish the update process.
Basic Atom Programming Examples for the SSC-32 ' Atom / SSC-32 Test ' Configure the SSC-32 for 38.4k baud.
Copyright © 2005 by Lynxmotion, Inc.
