Manual

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LynxmotionSSC32UServoControllerBoard
ElectronicsGuide
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Example2willmoveservo3toposition1600.Itwilltake1secondtocompletethemove
regardlessofhowfartheservohastotraveltoreachthedestination.
Multiple servo command (a.k.a. “Command Group”)
TheSSC32Uallowsformultiplecommandstobereceivedinthesamestring.Forservo
position,thismaylooklike:
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#<ch>P<pw>S<spd>  ...#<ch>P<pw>S<spd>  T<time><cr>
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Commandsofdifferenttypescannotbemixedinthesamecommandgroup.Notethatthe
<time>functionshouldbeplacedattheendofthelineandisassociatedwiththeentiremove,
whereasthe<speed>commandcanbeassociatedwitheachservo.
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Example1:#5P1600#10P750T2500<cr>
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Theexampleabovewillmoveservo5toposition1600,servo10toposition750,anditwilltake
2500milliseconds(2.5seconds)tocompletethemove,evenifoneservohasfarthertotravel
thananother.Theservoswillbothstartandstopmovingatthesametime.Thisisavery
powerfulcommand.Forexample,bycommandingallthelegsinawalkingrobotwith“Group
Move”itiseasytosynchronizecomplexgaits.Thesamesynchronizedmotioncanbenefitthe
controlofaroboticarmaswell.
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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).
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Example2:#5P1600#17P750S500#2P2250T2000<cr>
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Theexampleprovides1600uSonch5,750uSonch17,and2250uSonch2.Theentiremove
willtakeatleast2seconds,butch17willnotmovefasterthan500uSpersecond.Theactual
timeforthemovewilldependontheinitialpulsewidthforch17.Supposech17startsatposition
2000.Thenithastomove1250uS.Sinceitislimitedto500uSpersecond,itwillrequireatleast
2.5seconds,sotheentiremovewilltake2.5seconds.Ontheotherhand,ifch17startsat
position1000,itonlyneedstomove250uS,whichitcandoin0.5seconds,sotheentiremove
willtake2seconds.
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Important!Thefirstpositioningcommandshouldbeanormal"#<ch>P<pw>"command.
Becausethecontrollerdoesn'tknowwheretheservoispositionedonpowerup,itwillignore
speedandtimecommandsuntilthefirstnormalcommandhasbeenreceived.
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