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ServoCenter 4.1 Manual Volume 2: Protocol

1. Function QuickMove Raw Command Value 0 0x00 Data Bytes 3 Data Format SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 Description The QuickMove Raw command provides a method of instantly moving a single servo specified by SvNum to a specified raw position specified by SvPosMSB and SvPosLSB This function is useful when it is desired to move a servo to a position as quickly as possible Raw movement modes do not use the set minimum and maximum points to determine the servo s position With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Function QuickMove Scaled Command Value 0x01 Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Description The QuickMove Scaled command provides a method of instantly moving a single servo specified by SvNum to a specified position specified by SvPosMSB and SvPosLSB This function is useful when it is desired to move a servo to a position as quickly as possible With Scaled QuickMove no servo position interpolation is performed and the control signal for that specified servo is immediately modified when the command is issued Scaled movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The Scaled position value can be thoug
2. Function Set Servo Disabled State Low Command Value 68 0x44 Data Bytes 1 Data Format SvNum 0 15 Description The Set Servo Disabled State Low command sets the servo channel specified by the first data byte SvNum to have its disabled state set to low This means that when the servo channel is disabled the pin will output a low 0 volt level This can be useful for using the servo channels as additional digital outputs by forcing the servo output to a specific digital level Function Set Servo Disabled State High Command Value 69 0x45 Data Bytes 1 Data Format SvNum 0 15 Description The Set Servo Disabled State High command sets the servo channel specified by the first data byte SvNum to have its disabled state set to high This means that when the servo channel is disabled the pin will output a high 0 volt level This can be useful for using the servo channels as additional digital outputs by forcing the servo output to a specific digital level Function Set Minimum Command Value 70 0x46 Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Description The Set Minimum command sets the minimum raw servo position set point specified by SvPosMSB and SvPosLSB of the specified servo specified by SvNum This minimum position is used in all scaled movement modes of operation Setting the minimum position above the start position
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4. 25 5 7 Input Output Comnmanmnils o Ce aS o bU Ces ATP EDU VER RR PUR ME eR i DURS 27 5 8 Servo Group Mask Commands eee eere eee esee e eene esee ee teen assets 29 5 9 Preset Commands iis eonsicosc 31 5 10 General OmimManGs esr 32 ADDOHODG oi 33 6 1 Hexadecimal Decimal Binary Nibble Conversion 22 2 6 33 6 1 Hexadecimal Decimal ASCH 34 User s Manual ServoCenter 4 1 Serial Communication Protocol Reference This document is intended to explain communication protocol and command details of the ServoCenter4 1 controller board 1 Protocol Overview The ServoCenter 4 1 controller receives messages from the controlling system in the form of sequences of serial communication bytes called packets Each byte is serial encoded using 8N1 serial encoding 8 data bits no parity and 1 stop bit For ease of use and flexibility of operation two methods of encoding commands is provided binary and text Binary encoding is more compact more efficient and easier to access programmatically ASCII text encoding is more verbose and less efficient yet is easier to read and easier to access via a traditional terminal interface Both binary and ASCII text encoding methods share an identical command str
5. Command Value 161 Oxal Data Bytes Varies 3 18 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData Description The Group Mask QuickMove Scaled function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel 50 bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The remaining 1 16 GroupData values are used as the position data for each of the respective servo channels that have a 1 bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact QuickMove Scaled function and has a valid range of 0 127 For example A command issued such that GmaskMSB 0 GmaskLSB 15 Data 10 20 30 40 would indicate a group mask of 15 or 0000000000001111 in binary This indicates that four servos 50 51 52 53 are to be moved the remaining data indicates the positions to which each of the four servos in the group to be moved Thus the four servos would be moved as follows SO to 10 51 to 20 S2 to 30 S3 to 40 The main advantage of the Group Mask commands is to reduce
6. 0 100 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group Move Raw Command Value 56 0x38 Data Bytes 17 Data Format 16 x SVPosMSB 0 127 SvSpeedOnes 1 100 Description The Compact Group Move Raw command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosMSB values followed by a single value Y SvSpeedOnes specifying the movement speed Servo SO is the first value received and S15 the last value received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With Move commands servo position interpolation is performed causing the servos to move at a percentage of their full speed Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group Move Scaled Command Value 57 0x39 Data Bytes 17 Data Format 16 x SvPosMSB 0 127 SvSpeedOnes 1 100 Description The Compact Group Move Scaled command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosMSB values followed by a single byte V6SvSpeedOnes specifying the movement speed Servo SO is the first value recieved
7. 0x82 1 DIONum 0 15 Read Digital I O Pin Direction 31 0x83 1 DIONum 0 15 Read Digital I O Pin Change Flag 32 0x84 1 DIONum 0 15 Read Digital I O Pin Start State Direction 133 0x85 1 DIONum 0 15 Set Digital I O Pin Low 34 0x86 1 DIONum 0 15 Set Digital I O Pin High 35 0x87 1 DIONum 0 15 Set Digital I O Pin as Input 36 0x88 1 DIONum 0 15 Set Digital I O Pin as Output 37 0x89 1 DIONum 0 15 Set Digital I O Pin Start State Direction 138 Ox8a 2 DIONum 0 15 State Direction 0 3 Set All Digital I O Start States Directions 39 0x8b 0 4 8 Servo Group Mask Commands Servo group commands allow multiple servos to be controlled with one single command The servos that are affected are selected by using a binary servo mask that uses 1 to indicate a servo that is in the group and a 0 to indicate a servo that isn t in the group The primary use of the servo group mask commands is to allow the reduction of command latency between servo movements Since the ServoCenter 4 1 can perform multiple operations simultaneously by simply sending multiple commands quickly the use of the more complex servo group commands should only be used in cases where command communication latency is critical For more information about the group commands see the detailed command description Description Command Data Len Data Descriptions Group Mask Quick Move Raw 160 0xa0 3
8. 127 TimeTenths 0 239 Compact Timed Move Scaled CW 16 0x10 3 SvNum 0 15 ASvPosMSB 0 127 TimeTenths 0 239 Compact Timed Move Scaled CCW 17 0x11 3 SvNum 0 15 ASvPosMSB 0 127 TimeTenths 0 239 Compact Timed Move Percent 18 0x12 3 SvNum 0 15 A SvPosOnes 0 100 TimeTenths 0 239 Compact Timed Move Percent CW 19 0x13 3 SvNum 0 15 A SvPosOnes 0 100 TimeTenths 0 239 Compact Timed Move Percent CCW 20 0x14 3 SvNum 0 15 A SvPosOnes 0 100 TimeTenths 0 239 User s Manual 4 4 Compact Movement Group Commands Compact movement group commands provide a way to roughly position all 16 servos simultaneously The 16 servo positions are encoded as a 16 byte message with servo SO as the first byte S2 the second etc Values that are outside of the specified range are ignored this can be useful for allowing a group movement command to effectively skip servos thus leaving them in their current position rather than updating them with the rest of the group Description Command Data Len Data Descriptions Compact Group QuickMove Raw 21 0 15 16 6 x SvPosMSB 0 127 Compact Group QuickMove Scaled 22 0x16 16 6 x SvPosMSB 0 127 Compact Group QuickMove Percent 23 0x17 16 x SvPosOnes 0 100 Compact Group Move Raw 24 0x18 17 6 x SVPosMSB 0 127 SvSpeedOnes 0 100 Compact Group Move Scaled 25 0x19 17 6 x SVPosMSB 0 127 SvSpeedOnes 0 100 Compact
9. 18 GrpMaskMSB 0 255 GrpMaskLSB 0 255 1 16 x SVPosMSB 0 127 Group Mask Quick Move Scaled 161 Oxal 3 18 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvPosMSB 0 127 Group Mask Quick Move Percent 162 0xa2 3 18 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvPosOnes 0 100 Group Mask Move Raw 163 0xa3 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvPosMSB 0 127 SvSpeedOnes 0 99 Group Mask Move Scaled 164 0xa4 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvVPosMSB 0 127 SvSpeedOnes 0 99 Group Mask Move Percent 165 0 5 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 x SvPosOnes 0 100 SvSpeedOnes 0 99 Group Mask Timed Move Raw 166 0xa6 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvPosMSB 0 127 TimeTenths 0 239 Group Mask Timed Move Scaled 167 0xa7 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 6 x SvPosMSB 0 127 TimeTenths 0 239 Group Mask Timed Move Percent 168 0xa8 3 19 GrpMaskMSB 0 255 GrpMaskLSB 0 255 x SvPosOnes 0 100 TimeTenths 0 239 10 User s Manual 4 9 Preset Commands Servo Presets allow a particular set of servo positions settings and digital I O states settings to be saved and reloaded at a later time with a simple command There are 64 preset storage locations numbered 0 to 63 Each Preset saves the following information Servo Positions encoded as either percent positions or binary positions servo skip flags encoded with the positions servo
10. ASCII text packet the ASCII comma character acts as a value delimiter when multiple values are specified the ASCII period character may also be used as a delimiter 2 0 9 the ASCII digits 0 through 9 are used to create decimal integer values n the ASCII newline character is used to signify the end of an ASCII command packet Wb the ASCII backspace character can be used to backup through the partially completed line to correct errors Other all other characters are ignored and may be included to add comments or other additional information within the command stream Additionally in ASCII mode command values that are omitted from the ASCII text packet are assumed to have a value of 0 ASCII Return Values Most ServoCenter 4 1 commands return no result data Certain commands however are designed to return status information about the current servo status amp positions as well as other board settings All values are returned in ASCII text format when an ASCII format command is issued User s Manual The Checksum Value The checksum is computed as an arithmetic summation of all of the characters in the packet except the checksum value itself modulus 239 plus one This gives a resulting checksum in the range 1 to 239 The checksum will be ignored if a 0 byte value is sent in the checksum position of the packet The checksum for ASCII packets is transmitted as an ASCII encoded dec
11. Compact Timed Move Scaled CW command is used to move a servo s position clockwise over the specified time The timed move scaled CW command moves a servo specified by SvNum clockwise by a number of scaled 7 bit units specified by ASvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move The value indicated by ASvPosMSB is based upon a scaled distance between the minimum position and the maximum position Thus a distance of 32 units would move the servo clockwise by a distance of 1 4t of the min to max travel range a distance of 1 units would move the servo by 1 128 of the min to max travel range etc The specified travel time is in tenths of a second 20 User s Manual Function Compact Timed Move Scaled CCW Counter Clockwise Command Value 49 0x31 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Timed Move Scaled CCW command is used to move a servo s position counter clockwise over the specified time The timed move scaled CCW command moves a servo specified by SvNum counter clockwise by a number of scaled 7 bit units specified by ASvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move The value indicated by ASvPosMSB is based upon a scaled distance between the minimum position and the maximum position Thus a distance of 3
12. Group Move Percent 26 0x1a 17 x SvPosOnes 0 100 SvSpeedOnes 0 100 Compact Group Timed Move Raw 27 0x1b 17 6 x SvPosMSB 0 127 SvTimeTenths 0 239 Compact Group Timed Move Scaled 28 0 1 17 6 x SvPosMSB 0 127 SvTimeTenths 0 239 Compact Group Timed Move Percent 29 0 14 17 6 x VoSvPosOnes 0 100 SvTimeTenths 0 239 4 5 Set Servo Settings Commands Set servo setting commands allow the configuration of the parameters associated with servo control Each command sets a parameter for one individual servo channel except for the set pulse width min max commands which affect all channels Description Command Data Len Data Descriptions Servo Enable 64 0x40 1 SvNum 0 15 Servo Disable 65 0x41 1 SvNum 0 15 Servo Invert 66 0x42 1 SvNum 0 15 Servo Uninvert 67 0x43 1 SvNum 0 15 Set Servo Disabled State Low 68 0x44 1 SvNum 0 15 Set Servo Disabled State High 69 0x45 1 SvNum 0 15 Set Min 70 0x46 3 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Set Max 71 0x47 3 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Set Start 72 0x48 3 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Set Smoothing Factor 73 0x49 2 SvNum 0 15 SmoothFactor 0 127 Set Max Speed 74 0x4a 2 SvNum 0 15 SvMaxSpeed 1 200 in centi seconds 60 degrees Set Min to Current 75 0x4b 1 SvNum 0 15 Set Max to Current 76 0x4c 1 SvNum 0 15 Set Start to Current
13. SvNum 0 15 Description The Get Servo Enable Status command causes the ServoCenter board to transmit a one byte message corresponding to the enable status of a particular servo specified by SvNum The returned value will be 0 if the servo is disabled and a 1 if the servo is enabled Function Get Servo Invert Status Command Value 97 0x61 Data Bytes 1 Data Format SvNum 0 15 Description The Get Servo Invert Status command causes the ServoCenter board to transmit a one byte message corresponding to the invert status of a particular servo specified by SvNum The returned value will be 0 if the servo is non inverted and a 1 if the servo is inverted 25 User s Manual Function Get Servo Disabled State Command Value 98 0x62 Data Bytes 1 Data Format SvNum 0 15 Description The Get Servo Disabled State command causes the ServoCenter board to transmit a one byte message corresponding to the disabled state of a particular servo specified by SvNum The returned value will be 0 if the servo disabled state is low and a 1 if the servo disabled state is high Function Get Current Position Raw Command Value 99 0x63 Data Bytes 1 Data Format SvNum 0 15 Description The Get Current Position Raw command causes the ServoCenter board to transmit a two byte
14. a servo specified by SvNum This function is used to remove the control signal for a servo channel With the control signal disabled the servo will not actively hold its position This can be useful for disabling a servo without having to physically disconnect it from the board A disabled servo can generally be moved by hand and will draw significantly less power than an enabled servo Function Servo Invert Command Value 66 0x42 Data Bytes 1 Data Format SvNum 0 15 Description The Servo Invert command causes the servo channel specified by the first data byte SvNum to have its positions seek in an inverted manner This means that a raw position value of 0 is the servo s extreme counter clockwise rotational position and 16383 is the extreme clockwise position This function can be useful for dealing with paired servos or with servos that are mounted in such a way that an inverted positional system is more natural Function Servo Normal UnInvert Command Value 67 0x43 Data Bytes Data Format SvNum 0 15 Description The Servo Normal command causes the servo channel specified by the first data byte SvNum to have its positions seek in the normal non inverted manner This means that a raw position value of 0 is the servo s extreme clockwise rotational position and 16383 is the extreme counter clockwise position 23 User s Manual
15. and S15 the last value received Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position values can be thought of as 7 bit values between the minimum and the maximum Thus 0 is the minimum 127 is the maximum and 63 is the midpoint between the set minimum and maximum With Move commands servo position interpolation is performed causing the servos to move at a percentage of their full speed Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group Move Percent Command Value 58 0x3a Data Bytes 17 Data Format 16 x SvPosOnes 0 100 SvSpeedOnes 1 100 Description The Compact Group Move Percent command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosOnes values followed by a single value YoSvSpeedOnes specifying the movement speed Servo SO is the first value received and S15 the last value received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum 50 is the midpoint between the set minimum and maximum etc With Move commands s
16. and takes the amount of time specified by SvTimeTenths to complete the move The value indicated by A oSvPosOnes is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 1 unit would move the servo by 1 100 of the min to max travel range etc The specified travel time is in tenths of a second Function Compact Timed Move Percent CCW Counter Clockwise Command Value 52 0x34 Data Bytes 3 Data Format SvNum 0 15 A SvPosOnes 0 100 SvTimeTenths 0 239 Description The Compact Timed Move Percent CCW command is used to move a servo s position counter clockwise over the specified time The compact timed move percent CCW command moves a servo specified by SvNum counter clockwise by a number of percentage units specified by SvPosOnes and takes the amount of time specified by SvTimeTenths to complete the move The value indicated by A SvPosOnes is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 1 unit would move the servo by 1 100 of the min to max travel range etc The specified travel time is in tenths of a second 5 4 Compact Movement Group Commands Fun
17. enabled flags digital I O directions digital I O state values digital skip flags and a preset name up to 16 characters Below is a summary of each of the preset data fields Servo Data Servo data consists of 32 bytes of data organized as 16 groups of SvPositionMSB followed by SvPositionLSB Each byte uses the 7 least significant bits b0 b6 to encode the position while the most significant bits have special meanings described below The most significant bit of SvPositionMSB b7 is used to select the encoding of the SvPositionMSB SvPositionLSB data as follows 0 14 bit binary scaled encoding 1 percentage scaled encoding The most significant bit of SvPositionLSB b7 is used to select servo skipping as follows 0 servo 15 updated 1 servo is skipped Servo skipping allows a preset to load while leaving some servo positions untouched This allows servo presets to be effectively masked and layered Servo Enabled Flags The servo enabled flags is a 16 bit value sent as SvEnabledFlagsMSB followed by SvEnabledFlagsLSB with each bit corresponding to the enabled state of a servo Thus bO is servo SO s enabled state b1 is servo 515 enabled state etc Digital I O Skip Flags The DIO Skip Flags is a 16 bit value sent as DIOSkipFlagsMSB followed by DIOSkipFlagsLSB with each bit corresponding to the skip state of a digital I O channel Thus b0 is DIOO s skip state b1 is DIOI s skip state etc When the skip state bit is high for a cha
18. immediately modified when the command is issued Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 16 User s Manual Function Group QuickMove Percent Command Value 23 0x17 Data Bytes 32 Data Format 16 x SvPosOnes 0 100 SvPosHundredths 0 99 Description The Group QuickMove Percent command provides a method of instantly positioning all 16 servos with a single command This command expects 32 bytes of data to be sent as sixteen SvPosOnes SvPosHundredths pairs Servo SO is the first pair received and S15 the last pair received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum 50 00 is the midpoint between the set minimum and maximum etc With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updat
19. message corresponding to the raw 14 bit servo position of a particular servo channel specified by SvNum The value is returned as two 7 bit values in the SvPosMSB SvPosLSB order that combine to form the 14 bit raw position Function Get Current Position Scaled Command Value 100 0x64 Data Bytes 1 Data Format SvNum 0 15 Description The Get Current Position Scaled command causes the ServoCenter board to transmit a two byte message corresponding to the scaled 14 bit servo position of a particular servo channel specified by SvNum The value is returned as two 7 bit values SvPosMSB followed by SvPosLSB These combine to form the 14 bit scaled position Function Get Current Position Percent Command Value 101 0x65 Data Bytes 1 Data Format SvNum 0 15 Description The Get Current Position Percent command causes ServoCenter board to transmit a two byte message corresponding to the servo percent position 0 00 through 100 00 between the set minimum and maximum positions of a particular servo channel specified by SvNum The value is returned in two bytes SvPositionOnes followed by SvPositionHundredths Function Get Min Position Command Value 102 0x66 Data Bytes 1 Data Format SvNum 0 15 Description The Get Min Position command causes the ServoCenter board to transmit a two byte message corresponding to the currently set minimum raw position of a particular servo specified by SvNum Function Get Max Pos
20. move the servo clockwise by a distance of 1 4 of the entire scaled travel range a distance of 1 units would move the servo by 1 128 of the entire scaled travel range etc Function Compact Move Percent Command Value 41 0x29 Data Bytes 3 Data Format SvNum 0 15 SvPosOnes 0 100 SvSpeedOnes 0 100 Description The Compact Move Percent command is used to move a servo s position at a specified speed The move percent command moves a servo specified by SvNum to a percentage position specified by SvPosOnes at a particular speed specified by SvSpeedOnes Percent movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum and 50 is the midpoint between the set minimum and maximum The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 is half as fast as a speed of 100 a speed of 1 is 1 100 as fast as a speed of 100 etc Function Compact Move Percent CW Clockwise Command Value 42 0x2a Data Bytes 3 Data Format SvNum 0 15 A SvPosOnes 0 100 SvSpeedOnes 0 100 Description The Compact Move Percent CW command is used to move a servo s position clockwise at a specified speed The move percent clockwise command moves a servo specified by SvNum clockwise a certain
21. percentage specified by A SvPosOnes at a particular speed specified by SvSpeedOnes The value indicated by the A SvPosOnes value is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 units would move the servo clockwise by a distance of 1 10 of the max to min travel range a distance of 1 unit would move the servo by 1 100 of the min to max travel range etc 19 User s Manual Function Compact Move Percent CCW Counter Clockwise Command Value 43 0x2b Data Bytes 3 Data Format SvNum 0 15 A SvPosOnes 0 100 SvSpeedOnes 0 100 Description The Compact Move Percent CCW command is used to move a servo s position counter clockwise at a specified speed This command moves a servo specified by SvNum counter clockwise by a certain percentage specified by A SvPosOnes at a particular speed specified by SvSpeedOnes The value indicated by the A SvPosOnes value is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 1 unit would move the servo by 1 100 of the min to max travel range etc Function Compact Timed Move Raw Command Value 44 0x2c Data Bytes 3 Data Format S
22. servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum 50 is the midpoint between the set minimum and maximum etc Function Compact Move Raw Command Value 35 0x23 Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Raw command is used to change a servo s position at a specified speed The move raw command moves a servo specified by SvNum to a raw position specified by SvPosMSB at a particular speed specified by SvSpeedOnes Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 is half as fast as a speed of 100 a speed of 1 is 1 100 as fast as a speed of 100 etc 18 User s Manual Function Compact Move Raw CW Clockwise Command Value 36 0x24 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Raw CW command is used to move a servo s position clockwise by a certain amount at a specified speed This command moves a servo specified by SvNum clockwi
23. the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move Scaled movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a 14 bit number between the minimum and maximum positions Thus 0 is the minimum 16383 is the maximum and 8191 is the midpoint between the set minimum and maximum The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths Function Timed Move Scaled CW Clockwise Command Value 16 0x10 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 AsvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Scaled CW command is used to move a servo s position clockwise over the specified time This command moves a servo specified by SvNum clockwise by a number of scaled 14 bit units specified by ASvPosMSB and ASvPosLSB and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move The value indicated by the ASvPosMSB and ASvPosLSB bytes is based upon a scaled distance between the minimum position and the maximum position Thus a distance of 1638 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 163 units would move the servo by 1 100 of the min to max travel range etc The specified time in seconds is calculated by adding SvTimeOnes and SvTimeHundredths Function Timed Mo
24. to be modified The preset name is a place where a name or description string up to 16 characters can be stored as a way to identify the preset This field has no functionality other than as a reminder as to the use of the preset 31 User s Manual Function Get Preset Name Command Value 197 0 5 Data Bytes 1 Data Format PresetSlot 0 63 Description The Get Preset Name function causes the board to transmit the name portion of a preset specified by PresetSlot The transmitted name will be 16 characters long Function Quickload Preset Command Value 198 0xc6 Data Bytes 1 Data Format PresetSlot 0 63 Description The QuickLoad Preset function causes the preset specified by PresetSlot to be loaded Loading a preset causes the servo positions servo enabled states and digitial I O directions and states to be modified according to the preset s stored positions and values Ifa skip flag value is set for a servo or digital I O channel then that channel s position or value is left unchanged Function Cross fade Preset Command Value 199 0xc7 Data Bytes 2 Data Format PresetSlot 0 63 XfadeTimeTenths 0 239 Description The Croseefade Preset function causes the preset specified by PresetSlot to be cross faded from the current positions over an amount of time specified by XfadeTimeTenths Digital I
25. to max travel range etc The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths Function Timed Move Percent CCW Counter Clockwise Command Value 20 0x14 Data Bytes 5 Data Format SvNum 0 15 A SvPosOnes 0 100 AY SvPosHundredths 0 99 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Percent CCW command is used to move a servo s position counter clockwise over the specified time The timed move percent CCW command moves a servo specified by SvNum counter clockwise by a number of percentage units specified by SvPosOnes and SvPosHundredths and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move The value indicated by A SvPosOnes and A SvPosHundredths bytes is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 00 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 1 00 unit would move the servo by 1 100 of the min to max travel range etc The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths 5 2 Normal Movement Group Commands Function Group QuickMove Raw Command Value 21 0x15 Data Bytes 32 Data Format 16 x SVPosMSB 0 127 SvPosLSB 0 127 Description The Group QuickMove Raw command provides a method of instant
26. 1 6F 16 10 DLE 48 30 0 80 50 P 112 70 p 17 11 DCI 49 31 1 81 51 Q 113 71 4 18 12 DC2 50 32 2 82 52 R 114 72 19 13 DC3 51 33 3 83 53 5 115 73 S 20 14 DC4 52 34 4 84 54 T 116 74 t 21 15 NAK 53 35 5 85 55 U 117 75 u 22 16 SYN 54 36 6 86 56 V 118 76 v 23 17 ETB ES 37 7 87 57 W 119 7 w 24 18 CAN 56 38 8 88 58 X 120 78 X 25 19 EM 57 39 9 89 59 Y 121 79 y 26 1A SUB 58 3A 90 5 Z 122 2 27 ESC 59 3B 91 5 123 7B 28 FS 60 3C lt 92 5 124 7 29 1 GS 61 3D 93 5D 125 7D 30 1E RS 62 3E gt 94 SE 126 7E 31 1F US 63 3F 95 SF 127 TF DEL 35
27. 16 x SvPositionMSB SvPositionLSB Get Preset Servo Data 93 1 1 PresetSlot 0 63 Set Preset Control Data 94 0xc2 9 PresetSlot 0 63 SvEnabledFlagsMSB SvEnabledFlagsLSB DIOSkipFlagsMSB DIOSkipFlagsLSB DIODirectionsMSB DIODirectionsLSB DIOValuesMSB DIOValuesLSB Get Preset Control Data 95 0xc3 PresetSlot 0 63 Set Preset Name 96 Oxc4 1 17 PresetSlot 0 63 1 16 Character Name Get Preset Name 97 0 5 PresetSlot 0 63 QuickLoad Preset 98 0xc6 PresetSlot 0 63 Cross fade Preset 99 0 7 2 PresetSlot 0 63 XfadeTimeTenths 0 239 Store Current as Preset 200 0xc8 PresetSlot 0 63 Initialize Preset 201 0 9 PresetSlot 0 63 11 User s Manual 4 10 General Commands General commands allow the reading and setting of various controller parameters Description Command Data Len Data Descriptions Set LED Display Mode 234 Oxea 1 LedMode 0 7 Set Watchdog Time 235 Oxeb 1 WdTimeTenths 1 239 Commit Settings 236 Oxec 0 Load Factory Settings 237 Oxed 0 Reset as Startup 238 Oxee 0 Display Version 239 Oxef 0 12 User s Manual 5 Command Details 5 1 Normal Movement Servo Commands In the tables below you ll find a description of each of the ServoCenter 4 1 commands and a brief explanation of how and where each command would be used
28. 2 units would move the servo clockwise by a distance of 1 4t of min to max travel range a distance of 1 units would move the servo by 1 128 of the min to max travel range etc The specified travel time is in tenths of a second Function Compact Timed Move Percent Command Value 50 0x32 Data Bytes 3 Data Format SvNum 0 15 SvPosOnes 0 100 SvTimeTenths 0 239 Description The Compact Timed Move Percent command is used to move a servo s position over the specified time The timed move percent command moves a servo specified by SvNum to a percentage position specified by SvPosOnes and takes the amount of time specified by SvTimeTenths to complete the move Percentage movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum and 50 is the midpoint between the set minimum and maximum The specified travel time is in tenths of a second Function Compact Timed Move Percent CW Clockwise Command Value 51 0x33 Data Bytes 3 Data Format SvNum 0 15 A SvPosOnes 0 100 SvTimeTenths 0 239 Description The Compact Timed Move Percent CW command is used to move a servo s position clockwise over the specified time The compact timed move percent CW command moves a servo specified by SvNum clockwise by a number of percentage units specified by SvPosOnes
29. 3 0x21 Data Bytes 2 Data Format SvNum 0 15 SvPosMSB 0 127 Description The Compact QuickMove Scaled command provides a method of instantly moving a single servo specified by SvNum to a specified position specified by SvPosMSB This function is useful when it is desired to move a servo to a position as quickly as possible With Scaled QuickMove no servo position interpolation is performed and the control signal for that specified servo is immediately modified when the command is issued Scaled movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The Scaled position value can be thought of as a 7 bit value calculated between the minimum and the maximum Thus 0 is the minimum 127 is the maximum 63 is the midpoint between the set minimum and maximum etc Function Compact QuickMove Percent Command Value 34 0x22 Data Bytes 2 Data Format SvNum 0 15 SvPosOnes 0 100 Description The Compact QuickMove Percent command provides a method of instantly moving a single servo specified by SvNum to a specified position specified by SvPosOnes This function is useful when it is desired to move a servo to a position as quickly as possible With Percent QuickMove no servo position interpolation is performed and the control signal for that specified servo is immediately modified when the command is issued Percent movement modes use the set minimum and maximum points for the given
30. 77 0x4d 1 SvNum 0 15 Set Pulse Width Min 78 0 4 1 PwValue 1 239 in 10 micro second units Set Pulse Width Max 79 0x4f 1 PwValue 1 239 in 10 micro second units 4 6 Get Servo Settings Commands Get servo setting commands allow the reading of parameters associated with servo control For the details of the return format see the detailed command descriptions Description Command Data Len Data Descriptions Get Servo Enable Status 96 0x60 SvNum 0 15 Get Servo Invert Status 97 0x61 SvNum 0 15 Get Servo Disabled State 98 0x62 SvNum 0 15 Get Current Position Raw 99 0x63 SvNum 0 15 Get Current Position Scaled 100 0x64 SvNum 0 15 Get Current Position Percent 101 0x65 SvNum 0 15 Get Min Position 102 0x66 SvNum 0 15 Get Max Position 103 0x67 SvNum 0 15 Get Start Position 104 0x68 SvNum 0 15 Get Smoothing Factor 105 0x69 SvNum 0 15 Get Max Speed 106 0x6a SvNum 0 15 Get Pulse Width Min 107 0x6b 0 Get Pulse Width Max 108 0x6c 0 User s Manual 4 7 Input Output Commands Input Output commands allow interaction with the 16 general purpose I O channels that are available on the controller Description Command Data Len Data Descriptions Read A D 8 bit resolution 28 0x80 1 ADNum 0 7 Read A D 10 bit resolution 29 0x81 1 ADNum 0 7 Read Digital I O Pin State 30
31. B at a particular speed specified by SvSpeedOnes and SvSpeedHundredths Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 00 is half as fast as a speed of 100 00 a speed of 1 is 1 100 as fast as a speed of 100 etc Function Move Raw CW Clockwise Command Value 4 0x04 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Raw CW command is used to move a servo s position clockwise by a certain amount at a specified speed The move raw clockwise command moves a servo specified by SvNum clockwise by a certain number of units specified by ASvPosMSB and ASvPosLSB at a particular speed specified by SvSpeedOnes and SvSpeedHundredths Function Move Raw CCW Counter Clockwise Command Value 5 0x05 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 AS VPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Raw CCW command is used to move a servo s position counter clockwise by a certain amount at a specified speed The move raw counter clockwise command moves a servo specified by SvNum clockwise by a certain number of units specified by ASvPosMSB and ASvPosLSB at a particular speed specified by SvSpeedOnes and SvSpe
32. O changes are made instantly while servo positions are cross faded over the time specified If a skip flag value is set for a servo or digital I O channel then that channel s position or value is left unchanged Function Store Current as Preset Command Value 200 0xc8 Data Bytes 1 Data Format PresetSlot 0 63 Description The Store Current as Preset function causes the preset specified by PresetSlot to be modified according to the current board configuration The board s current servo positions and the digital I O directions and states are stored The skip flags are all initialized to zero The preset name is left unchanged Function Initialize Preset Command Value 201 0 9 Data Bytes 1 Data Format PresetSlot 0 63 Description The Initialize Preset function causes the preset specified by PresetSlot to be initialized to a default setup as follows servo positions are set to binary mode and centered with a value of 8191 the digital I O directions are set as inputs with the internal pull up voltages activated the skip flags are all initialized to zero and the name is initialized to the PresetSlot number 5 10 General Commands Function Set LED Mode Command Value 234 0xea Data Bytes 1 Data Format LedMode 0 7 Description The Set LED mode command specifies the LED display mode for LED and LED2 This be useful for troubleshooting purposes specifying a desired LED o
33. User s Manual ServoCenter 4 1 Volume 2 Protocol Reference Yost Engineering Inc 630 Second Street Portsmouth Ohio 45662 www YostEngineering com 2002 2009 Yost Engineering Inc Printed in USA User s Manual Table of Contents ServoCenter 4 1 Serial Communication Protocol 3 De Protocol OV OF VIECW A 3 2 Protocol Packet Format c scssiseexsesecscatsessscasscateserssacthcoteacanassvaseasacaastdcsseevaagdasssdesadsavanseass 4 2 1 Binary Packet E Eae En ew ela pas an dU a enn eue 900090806 NR eaa qu oU 4 Reti V aue Shoe ec A EEE E eM ade 4 BER I CUR ETT r 4 2 2 ASCI Text Packet 40 urs a Fi ce 5 Ni SIR TII m 5 ASCH Return ACS RHET ER RE 5 The Checksum teer eec eeu to Bude etiaai Geo b Deu 6 3 Command Message Te iren ete pata coa E RU eR 6 4 Command OVerView PNE Eee 7 4 1 Normal Movement Servo Commands ee eeeee eee etes eee eee en eene 7 4 2 Normal Movement Group 8 4 3 Compact Movement Servo Commands
34. and mode the result is returned as a single byte value where 0 indicates that the pin has not changed and 1 indicates that the pin has changed In ASCII command mode the result is returned as a single ASCII encoded integer string that is either 0 or 1 Function Read Digital I O Pin Start State and Direction Command Value 133 0x85 Data Bytes 1 Data Format DIONum 0 15 Description The Read Digital I O Pin Start State and Direction command causes the ServoCenter4 1 board to transmit a value corresponding to the starting state and direction that is configured for the I O pin specified by DIONum Possible return values are defined as 0 input no internal pull up 1 input with internal pull up 2 output low 3 output high In binary command mode the result is returned as a single byte value in the range 0 through 3 In ASCII command mode the result is returned as a single ASCII encoded integer string that is in the range 0 through 3 Function Set Digital I O Pin Low Command Value 134 0x86 Data Bytes 1 Data Format DIONum 0 15 Description The Set Digital I O Pin Low command s action depends on whether the digital I O pin specified by DIONum is configured as an input or an output When the pin is configured as an output the Set Digital I O Pin Low command sets it to a logic low state 0 volts When the pin is configured as an input the Set Digital I O Pin Low command deactivates the internal pull up resistor for the input pin In
35. ard to transmit a single value that specifies the minimum control pulse width that the ServoCenter 4 1 board uses for all raw position commands This minimum value is applied globally to all servo channels of the board The pulse width value is measured in 10 microsecond units thus allowing the board to produce any range of pulses in the range of 10 to 2390 microseconds Function Get Pulse Width Max Command Value 108 0x6c Data Bytes 0 Data Format n a Description The Get Pulse Width Max command causes the ServoCenter 4 1 board to transmit a single value that specifies the maximum control pulse width that the ServoCenter 4 1 board uses for all raw position commands This maximum value is applied globally to all servo channels of the board The pulse width value is measured in 10 microsecond units thus allowing the board to produce any range of pulses in the range of 10 to 2390 microseconds 5 7 Input Output Commands Function Read A D Pin 8 bit Resolution Command Value 128 0x80 Data Bytes 1 Data Format ADNum 0 7 Description The Read A D 8 bit Resolution command causes the ServoCenter 4 1 board to transmit a value in the range 0 255 that specifies the currently read voltage that is present on an analog to digital input pin specified by ADNum In binary command mode the result is returned as a single byte value In ASCII command mode the resul
36. as an output Initial pin conditions are determined by the stored start state and start direction for the pin Function Set Digital I O Pin Start State and Direction Command Value 138 0 8 Data Bytes 2 Data Format DIONum 0 15 StateDirection Val 0 3 Description The Set Digital I O Pin Start State and Direction command configures the initial pin state and pin direction specified by for StateDirectionVal of the I O pin specified by DIONum StateDirectionVal allows for four possible pin configurations 0 input no internal pull up 1 input with internal pull up 2 output low 3 output high For the pins settings to be stored through a reset or power cycling the settings must be stored using the Commit Settings function 28 User s Manual Function Set All Digital I O Pin Start States and Directions Command Value 139 0x8b Data Bytes 0 Data Format Description The Set All Digital I O Pin Start States and Directions command configures the initial pin state and pin direction for all pins to the current settings To use this command a user would generally set all pin directions and states as desired then call this command to make those the default settings for the digital I O pins For the pins settings to be stored through a reset or power cycling the settings must be stored using the Commit Settings function 5 8 Servo Group Mask Commands Function Group Mask QuickMov
37. ata Bytes 1 Data Format PwValue 1 239 Description The Set Pulse Width Minimum command lets the user specify the minimum value of the range of control pulses that are produced by the ServoCenter 4 1 board for all raw position modes This minimum value is applied globally to all servo channels of the board Since some servos have slightly different control pulse width ranges this value may have to be tweaked to get a full servo motion range out of all raw position modes The PwValue is measured in 10 microsecond units thus allowing the board to produce any range of pulses in the range of 10 to 2390 microseconds Function Set Pulse Width Max Command Value 79 0x4f Data Bytes 1 Data Format PwValue 1 239 Description The Set Pulse Width Maximum command lets the user specify the maximum value of the range of control pulses that are produced by the ServoCenter4 1 board for all raw position modes This maximum value is applied globally to all servo channels of the board Since some servos have slightly different control pulse width ranges this value may have to be tweaked to get a full servo motion range out of all raw position modes The PwValue is measured in 10 microsecond units thus allowing the board to produce any range of pulses in the range of 10 to 2390 microseconds 5 6 Get Servo Settings Commands Function Get Servo Enable Status Command Value 96 0x60 Data Bytes 1 Data Format
38. ated by either an ASCII comma character or an ASCII period character Thus legal command characters are the colon the comma the period the digits 0 through 9 and the new line All other ASCII characters may be included within the command message string but are ignored by the controller For simplicity the ASCII encoded commands follow the same format as the binary encoded commands but ASCII text encodings of values are used rather than raw binary encodings Each ASCII packet is from 3 to 38 comma separated values in length and is formatted as shown in figure 2 Boardid Command Datal Data2 DataN A qos Verses End of Packet ASCII newline character Packet Checksum See the checksum description below for specific calculation information Command Data Command Parameters Varies from zero to thirty five comma separated values depending upon the command specified See the command table for specific command data format and specification Command Value Selected from one of the possible control commands Board ID Value ASCII encoded decimal value Range of 0 15 Start of ASCII Packet Indicated by the colon character Figure 2 Typical ASCII Command Packet Format Thus the ASCII packet consists of the the following characters the ASCII colon character signifies the start of an
39. by SvNum The smoothing factor is applied to the output motion of the servos to produce smoother less jerky motions Higher values result in smoother servo motion outputs but can introduce a sluggish or delayed response at high levels A Smoothing Factor of 0 or 1 effectively disables the smoothing algorithm Function Set Maximum Speed Command Value 74 0x4a Data Bytes 2 Data Format SvNum 0 15 SvMaxSpeed 1 200 Description The Set Maximum Speed command sets the maximum speed as specified by SvMaxSpeed and measured in centi seconds per 60 of travel that is allowed for a particular servo channel specified by SvNum This maximum speed is used to calculate all speed related seek commands Different servos have different rated travel speeds depending upon the manufacturer model and power supply voltage These speeds are generally rated in seconds per 60 of travel so the programmer will have to convert the rated speed in seconds to centi seconds by multiplying by 10 The ServoCenter 4 1 controller allows the maximum allowable travel speed to be set independently for each of the 16 servo channels 24 User s Manual Function Set Minimum to Current Command Value 75 0x4b Data Bytes 1 Data Format SvNum 0 15 Description The Set Minimum to Current command sets the minimum raw servo position set point to the
40. cent CCW 1 Ox0b 5 SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Timed Move Raw 2 0x0c 5 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Raw CW 3 Ox0d 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Raw CCW 4 0x0e 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Scaled 5 Ox0f SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Scaled CW 6 0x10 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Scaled CCW 7 0x11 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Percent 8 0x12 5 SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Percent CW 9 0x13 5 SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 TimeOnes 0 239 TimeHundredths 0 99 Timed Move Percent CCW 20 0x14 gt SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 TimeOnes 0 239 TimeHundredths 0 99 User s Manual 4 2 Normal Movement Group Commands Normal movement group commands provide a way to precisely position the all 16 servos simultaneously using the full 14 bit precision of the controller All 16 servo positions are encoded as a 32 byte messa
41. communication latency when moving many servos simultaneously using a single command packet Function Group Mask QuickMove Percent Command Value 162 Oxa2 Data Bytes Varies 3 18 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData Description The Group Mask QuickMove Percent function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel 50 bit 1 servo channel S1 etc A value of in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The remaining 1 16 GroupData values are used as the position data for each of the respective servo channels that have a 1 bit set in the group ask Each of the GroupData values has the same meaning as SvPosOnes in the Compact QuickMove Scaled function and has a valid range of 0 99 See Command 160 0 0 for a group mask example Function Group Mask Move Raw Command Value 163 0xa3 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvSpeedOnes 1 99 Description The Group Mask Move Raw function al
42. ction Compact Group QuickMove Raw Command Value 53 0x35 Data Bytes 16 Data Format 16 x SvVPosMSB 0 127 Description The Compact Group QuickMove Raw command provides a method of instantly positioning all 16 servos with a single command This command expects 16 bytes of data to be sent as sixteen SvPosMSB values Servo SO is the first value received and S15 the last value received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group QuickMove Scaled Command Value 54 0x36 Data Bytes 16 Data Format 16 x SvPosMSB 0 127 Description The Compact Group QuickMove Scaled command provides a method of instantly positioning all 16 servos with a single command This command expects 16 bytes of data to be sent as sixteen SvPosMSB values Servo SO is the first value received and S15 the last value received Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position values can be thought of as 7 bit values between the minimum and the maximum Thus 0 is the minimum 127 is the
43. current raw position of the servo of the specified servo specified by SvNum This minimum position is used in all scaled movement modes of operation Setting the minimum position above the start position will cause the start position to be set equal to the minimum Setting the minimum position above the maximum will cause the maximum position to be set equal to the minimum Function Set Maximum to Current Command Value 76 0x4c Data Bytes Data Format SvNum 0 15 Description The Set Maximum to Current command sets the maximum raw servo position set point to the current raw position of the specified servo specified by SvNum This maximum position is used in all scaled movement modes of operation Setting the maximum position below the start position will cause the start position to be set equal to the maximum Setting the maximum position below the minimum will cause the minimum position to be set equal to the maximum Function Set Start to Current Command Value 77 0x4d Data Bytes 1 Data Format SvNum 0 15 Description The Set Start to Current command sets the startup raw servo position set point to the current raw position of the specified servo specified by SvNum The start position is the position that the servo will assume when the system is powered up or reset The start position is capped and cannot be set greater than the maximum or less than the minimum Function Set Pulse Width Min Command Value 78 0x4e D
44. d by another value of 127 1111111 binary To send a value of 5 000 01001110001000 in binary a value of 39 0100111 in binary would be sent followed by another value of 8 0001000 in binary A similar concept is used to send other multi value parameters such as percentages and times In these instances the values are divided up into ones place values and hundredths place values that are combined to form one complete decimal number For example to send a percentage value of 50 25 a value of 50 would be transmitted followed by a value of 25 To send time of 22 50 seconds the user would transmit a value of 22 followed by a value of 50 Some commands encode additional information in use specific ways The details of these encodings are described with the details of each command in the command details section of this document User s Manual 4 Command Overview There are over 130 different command messages that are grouped numerically by function Unused command message bytes are reserved for future expansion When looking at the following command message tables note the following Ranges shown are inclusive Items marked with a indicate a percentage value Items marked with a A indicate a change value Raw positions are always referenced as a 14 bit value that determines a position between the globally defined raw Minimum Pulse Width and Maximum Pulse Width settings Scaled
45. d is used to move a servo s position counter clockwise over the specified time The timed move raw CCW command moves a servo specified by SvNum a number of units specified by ASvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified movement time is in tenths of a second For example a values of SvTimeTenths 25 would yield a travel time of 2 5 seconds Function Compact Timed Move Scaled Command Value 47 0x2f Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Timed Move Scaled command is used to move a servo s position over the specified time The timed move scaled command moves a servo specified by SvNum to a scaled 7 bit position specified by SvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move Scaled movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a 7 bit number between the minimum and maximum positions Thus 0 is the minimum 127 is the maximum and 63 is the midpoint between the set minimum and maximum The specified travel time is in tenths of a second Function Compact Timed Move Scaled CW Clockwise Command Value 48 0x30 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvTimeTenths 0 239 Description The
46. e Raw Command Value 160 Oxa0 Data Bytes Varies 3 18 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData Description The Group Mask QuickMove Raw function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit groupmask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel 50 bit 1 servo channel S1 etc A value of in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The remaining 1 16 GroupData values are used as the data for each of the respective servo channels that have a 1 bit set in the group ask For example A command issued such that GmaskMSB 0 GmaskLSB 15 Data 10 20 30 40 would indicate a group mask of 15 or 0000000000001111 in binary This indicates that four servos 50 51 52 53 are to be moved the remaining data indicates the positions to which each of the four servos in the group are to be moved Thus the four servos would be moved as follows SO to 10 S1 to 20 S2 to 30 S3 to 40 The main advantage of the Group Mask commands is to reduce communication latency when moving many servos simultaneously using a single command packet Function Group Mask QuickMove Scaled
47. e position specified by SvPosOnes and SvPosHundredths and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move Percentage movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum and 50 00 is the midpoint between the set minimum and maximum The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths Function Timed Move Percent CW Clockwise Command Value 19 0x13 Data Bytes 5 Data Format SvNum 0 15 A SvPosOnes 0 100 AY oSvPosHundredths 0 99 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Percent CW command is used to move a servo s position clockwise over the specified time The timed move percent CW command moves a servo specified by SvNum clockwise by a number of percentage units specified by SvPosOnes and SvPosHundredths and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move The value indicated by the A SvPosOnes and A SvPosHundredths bytes is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 00 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 1 00 unit would move the servo by 1 100 of the min
48. eTenths 0 239 Description The Compact Group Move Scaled command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosMSB values followed by a single value SvTimeTenths specifying the time in 1 10 second units that the movement will take to complete Servo 50 is the first value received and S15 the last value received Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position values can be thought of as 14 bit values between the minimum and the maximum Thus 0 is the minimum 127 is the maximum and 63 is the midpoint between the set minimum and maximum With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group Timed Move Percent Command Value 61 0x3d Data Bytes 17 Data Format 16 SvPosOnes 0 100 SvTimeTenths 0 239 Description The Compact Group Move Percent command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosOnes values followed by a single value SvTimeTenths specifying the time in 1 10 s
49. econd units that the movement will take to complete Servo SO is the first value received and S15 the last value received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum 50 is the midpoint between the set minimum and maximum etc With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 100 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 5 5 Set Servo Settings Commands Function Servo Enable Command Value 64 0x40 Data Bytes 1 Data Format SvNum 0 15 Description The Servo Enable command provides a method of enabling a servo specified by SvNum This function is used to enabled a servo channel that has been previously disabled With the control signal enabled the servo will actively hold its position Enabled servos will draw significantly more power than disabled servos Function Servo Disable Command Value 65 0x41 Data Bytes 1 Data Format SvNum 0 15 Description The Servo Disable command provides a method of disabling
50. ed Function Group Move Raw Command Value 24 0x18 Data Bytes 33 Data Format 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 1 100 Description The Group Move Raw command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosMSB SvPosLSB pairs followed by a single byte Y SvSpeedOnes specifying the movement speed Servo SO is the first pair received and S15 the last pair received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With Move commands servo position interpolation is performed causing the servos to move at a percentage of their full speed Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Group Move Scaled Command Value 25 0x19 Data Bytes 33 Data Format 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 1 100 Description The Group Move Scaled command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosMSB SvPosLSB pairs followed by a single byte VoSvSpeedOnes specifying the movement speed Servo SO is the first pair received and S15 the last pair received Scaled movement modes use the set minimum and maximum points to determine the s
51. ed to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel 50 bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective servo channels that have a bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact Move Scaled function and has a valid range of 0 127 The remaining value has the same meaning as SvSpeedOnes in the Compact Move Scaled function and is applied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example Function Group Mask Move Percent Command Value 165 0 5 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvSpeedOnes 0 99 Description The Group Mask Move Percent function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel SO bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channe
52. edHundredths 13 User s Manual Function Move Scaled Command Value 6 0x06 Data Bytes 5 Data Format SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Scaled command is used to move a servo s position at a specified speed The move scaled command moves a servo specified by SvNum to a 14 bit scaled position specified by SvPosMSB and SvPosLSB at a particular speed specified by SvSpeedOnes and SvSpeedHundredths Scaled movement modes use set minimum and maximum points to determine the servo s position The scaled position value can be thought of as a 14 bit value between the minimum and the maximum Thus 0 is the minimum 16383 is the maximum and 8191 is the midpoint between the set minimum and maximum The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 00 is half as fast as a speed of 100 00 a speed of 1 is 1 100 as fast as a speed of 100 etc Function Move Scaled CW Clockwise Command Value 7 0x07 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Scaled CW command is used to move a servo s position clockwise at a specified speed The move scaled c
53. eed of 100 etc Function Compact Move Scaled CW Clockwise Command Value 39 0x27 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Scaled CW command is used to move a servo s position clockwise at a specified speed This command moves a servo specified by SvNum clockwise a certain amount specified by ASvPosMSB at a particular speed specified by SvSpeedOnes The position indicated by ASvPosMSB values can be thought of as a 7 bit distance based on the range between the minimum position and the maximum position Thus a distance of 32 units would move the servo clockwise by a distance of 1 4 of the entire scaled travel range a distance of 1 units would move the servo by 1 128 of the entire scaled travel range etc Function Compact Move Scaled CCW Counter Clockwise Command Value 40 0x28 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Scaled CCW command is used to move a servo s position counter clockwise at a specified speed The move scaled counter clockwise command moves a servo specified by SvNum counter clockwise by a certain amount specified by ASvPosMSB at a particular speed specified by SvSpeedOnes The position indicated by the ASvPosMSB values can be thought of as a 7 bit distance based on the range between the minimum position and the maximum position Thus a distance of 32 units would
54. ercentage of their full speed Servo positions outside of the specified rage 0 10000 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Group Timed Move Raw Command Value 27 0x1b Data Bytes 33 Data Format 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvTimeTenths 0 239 Description The Group Move Raw command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosMSB SvPosLSB pairs followed by a single byte SvTimeTenths specifying the time in 1 10 second units that the movement will take to complete Servo 50 is the first pair received and S15 the last pair received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 17 User s Manual Function Group Timed Move Scaled Command Value 28 0x1c Data Bytes 33 Data Format 16 x 5 5 0 127 SvPosLSB 0 127 SvTimeTenths 0 239 Description The Group Move Sca
55. ervo channels that have a 1 bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact Timed Move Raw function and has a valid range of 0 127 The remaining value SvTimeTenths is the amount of time that the move should take as measured in 1 10 second increments The single SvTimeTenths value is applied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example Function Group Mask Timed Move Scaled Command Value 167 0xa7 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvTimeTenths 0 239 Description The Group Mask Timed Move Raw function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel SO bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective servo channels that have a 1 bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact Timed Move Scaled function and has a valid range o
56. ervo position interpolation is performed causing the servos to move at a percentage of their full speed Servo positions outside of the specified rage 0 100 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Compact Group Timed Move Raw Command Value 59 0x3b Data Bytes 17 Data Format 16 x SVPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Group Move Raw command provides a method of positioning all 16 servos with a single command This command expects 16 bytes of servo data to be sent as sixteen SvPosMSB values followed by a single value SvTimeTenths specifying the time in 1 10 second units that the movement will take to complete Servo SO is the first value received and S15 the last value received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 22 User s Manual Function Compact Group Timed Move Scaled Command Value 60 0x3c Data Bytes 17 Data Format 16 x SvPosMSB 0 127 SvTim
57. ervo s position The scaled position values can be thought of as 14 bit values between the minimum and the maximum Thus 0 is the minimum 16383 is the maximum and 8191 is the midpoint between the set minimum and maximum With Move commands servo position interpolation is performed causing the servos to move at a percentage of their full speed Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Group Move Percent Command Value 26 0x1a Data Bytes 33 Data Format 16 x SvPosOnes 0 100 SvPosHundredths 0 99 SvSpeedOnes 1 100 Description The Group Move Percent command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosOnes SvPosHundredths pairs followed by a single byte YoSvSpeedOnes specifying the movement speed Servo 50 is the first pair received and S15 the last pair received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum 50 00 is the midpoint between the set minimum and maximum etc With Move commands servo position interpolation is performed causing the servos to move at a p
58. f 0 127 The remaining value SvTimeTenths is the amount of time that the move should take as measured in 1 10 second increments The single SvTimeTenths value is applied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example Function Group Mask Timed Move Percent Command Value 168 0xa8 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvTimeTenths 0 239 Description The Group Mask Timed Move Percent function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel SO bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective servo channels that have a 1 bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact Timed Move Percent function and has a valid range of 0 99 The remaining value SvTimeTenths is the amount of time that the move should take as measured in 1 10 second increments The single SvTimeTenths value is app
59. ge grouped as 16 two byte pairs Servo SO is sent as the first pair of bytes S2 the second pair etc Each pair is encoded with the more significant value first Values that are outside of the specified range are ignored this can be useful for allowing a group movement command to effectively skip servos thus leaving them in their current position rather than updating them with the rest of the group Description Command Data Len Data Descriptions Group QuickMove Raw 21 0x15 32 16 x SvPosMSB 0 127 SvPosLSB 0 127 Group QuickMove Scaled 22 0x16 32 16 x SvPosMSB 0 127 SvPosLSB 0 127 Group QuickMove Percent 23 0x17 32 16 x SvPosOnes 0 100 SvPosHundredths 0 99 Group Move Raw 24 0x18 33 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 Group Move Scaled 25 0x19 33 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 Group Move Percent 26 0x1a 33 16 x SvPosOnes 0 100 SvPosHundredths 0 99 SvSpeedOnes 0 100 Group Timed Move Raw 27 0x1b 33 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvTimeTenths 0 239 Group Timed Move Scaled 28 0 33 16 x SvPosMSB 0 127 SvPosLSB 0 127 SvTimeTenths 0 239 Group Timed Move Percent 29 0 14 33 16 x SvPosOnes 0 100 SvPosHundredths 0 99 SvTimeTenths 0 239 4 3 Compact Movement Servo Commands Compact movement commands provide a way to roughly position servos using 7 bit accuracy bu
60. ht of as a 14 bit value calculated between the minimum and the maximum Thus 0 is the minimum 16383 is the maximum 8191 is the midpoint between the set minimum and maximum etc Function QuickMove Percent Command Value 2 0x02 Data Bytes 3 Data Format SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 Description The QuickMove Percent command provides a method of instantly moving a single servo specified by SvNum to a specified position specified by SvPosOnes and SvPosHundredths This function is useful when it is desired to move a servo to a position as quickly as possible With Percent QuickMove no servo position interpolation is performed and the control signal for that specified servo is immediately modified when the command is issued Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum 50 00 is the midpoint between the set minimum and maximum etc Function Move Raw Command Value 3 0x03 Data Bytes 5 Data Format SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Raw command is used to change a servo s position at a specified speed The move raw command moves a servo specified by SvNum to a raw position specified by SvPosMSB and SvPosLS
61. imal value in the range 1 to 239 The purpose of the checksum is to minimize the chances of the ServoCenter 4 1 board receiving and acting upon corrupted or erroneous control messages In most instances the checksum should be used to enhance the reliability and robustness of the control system but as noted above a zero value can be placed in the checksum byte position to ignore the checksum calculation This placing a 0 value in the checksum position can free the sender from having to worry about calculating the actual checksum This is useful in situations where simplicity of implementation is necessary and reliable communication is not a requirement 3 Command Message Format The ServoCenter 4 1 controller offers 14 bit values to be used to control a servo throughout its range of motion This allows the range of motion of a servo to be divided up into 16384 distinct positions 0 16383 thus allowing very precise positioning and smooth transitions Since the protocol is based upon 8 bit values the transmission of 14 bit values is achieved by sending two values each containing 7 bits of the 14 bit message For multi byte value transmission the the most significant portion MSB is always sent first and the least significant portion LSB is sent second The MSB is composed of bits 7 13 and the LSB is composed of bits 0 6 For example to send a value of 16 383 11111111111111 in binary a value of 127 1111111 binary would be sent followe
62. ire scaled travel range etc Function Move Percent Command Value 9 0x09 Data Bytes 5 Data Format SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Percent command is used to move a servo s position at a specified speed The move percent command moves a servo specified by SvNum to a percentage position specified by SvPosOnes and SvPosHundredths at a particular speed specified by SvSpeedOnes SvSpeedHundredths Percent movement modes use the set minimum and maximum points to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum and 50 00 is the midpoint between the set minimum and maximum The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 00 is half as fast as a speed of 100 00 a speed of 1 is 1 100 as fast as a speed of 100 etc Function Move Percent CW Clockwise Command Value 10 0x0a Data Bytes 5 Data Format SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Percent CW command is used to move a servo s position clockwise at a specified speed The move percent clockwise command moves a servo specified by SvNum clockwise by a certain percentage specified b
63. itial pin conditions are determined by the stored start state and direction for the pin Function Set Digital I O Pin High Command Value 135 0x87 Data Bytes 1 Data Format DIONum 0 15 Description The Set Digital I O Pin High command s action depends on whether the digital I O pin specified by DIONum is configured as an input or an output When the pin is configured as an output the Set Digital I O Pin High command sets it to a logic high state 5 volts When the pin is configured as an input the Set Digital I O Pin High command activates the internal pull up resistor for the input pin Initial pin conditions are determined by the stored start state and direction for the pin Function Set Digital I O Pin as Input Command Value 136 0x88 Data Bytes 1 Data Format DIONum 0 15 Description The Set Digital I O Pin as Input command configures the pin specified by DIONum as an input Input pins can have be affected by the state of the internal pull up resistor for that input pin The internal pull up resistor is activated by using the Set Digital I O Pin High function and deactivated by using the Set Digital I O Pin Low function Initial pin conditions are determined by the stored start state and direction for the pin Function Set Digital I O Pin as Output Command Value 137 0x89 Data Bytes 1 Data Format DIONum 0 15 Description The Set Digital I O Pin as Output command configures the pin specified by DIONum
64. ition Command Value 103 0x67 Data Bytes 1 Data Format SvNum 0 15 Description The Get Max Position command causes ServoCenter board to transmit two byte message corresponding to the currently set maximum raw position of a particular servo specified by SvNum Function Get Start Position Command Value 104 0x68 Data Bytes 1 Data Format SvNum 0 15 Description The Get Start Position command causes the ServoCenter board to transmit a two byte message corresponding to the currently set starting raw position of a particular servo specified by SvNum Function Get Smooth Factor Command Value 105 0x69 Data Bytes 1 Data Format SvNum 0 15 Description The Get Smooth Factor command causes the ServoCenter board to transmit a one byte message corresponding to the currently set smooht factor setting of a particular servo channel specified by SvNum 26 User s Manual Function Get Max Speed Command Value 106 0 Data Bytes 1 Data Format SvNum 0 15 Description The Get Max Speed command causes the ServoCenter board to transmit a one byte message corresponding to the currently set maximum speed setting of a particular servo channel specified by SvNum Function Get Pulse Width Min Command Value 107 0x6b Data Bytes 0 Data Format n a Description The Get Pulse Width Min command causes the ServoCenter 4 1 bo
65. l will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective servo channels that have a bit set in the group ask Each of the GroupData values has the same meaning as SvPosMSB in the Compact Move Percent function and has a valid range of 0 99 The remaining value has the same meaning as SvSpeedOnes in the Compact Move Percent function and is applied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example Function Group Mask Timed Move Raw Command Value 166 0xa6 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvTimeTenths 0 239 Description The Group Mask Timed Move Raw function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel SO bit 1 servo channel S1 etc A value of in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective s
66. led command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosMSB SvPosLSB pairs followed by a single byte SvTimeTenths specifying the time in 1 10 second units that the movement will take to complete Servo SO is the first pair received and S15 the last pair received Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position values can be thought of as 14 bit values between the minimum and the maximum Thus 0 is the minimum 16383 is the maximum and 8191 is the midpoint between the set minimum and maximum With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Group Timed Move Percent Command Value 29 0x1d Data Bytes 33 Data Format 16 x SvPosOnes 0 100 SvPosHundredths 0 99 SvTimeTenths 0 239 Description The Group Move Percent command provides a method of positioning all 16 servos with a single command This command expects 32 bytes of servo data to be sent as sixteen SvPosOnes SvPosHundredths pairs followed by a single byte SvTimeTenths specifying the time in 1 10 second units that
67. lied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example 30 User s Manual 5 9 Preset Commands Function Set Preset Servo Data Command Value 192 0 0 Data Bytes 33 Data Format PresetSlot 0 63 16 x SvPositionMSB SvPositionLSB Description The Set Preset Servo Data function allows the servo data section of a preset specified by PresetSlot to be modified The servo data section of a preset consists of 32 bytes of data organized as 16 groups of SvPositionMSB followed by SvPositionLSB Each byte uses the 7 least significant bits b0 b6 to encode the position while the most significant bits have special meanings described below The most significant bit of SvPositionMSB b7 is used to select the encoding of the SvPositionMSB SvPositionLSB data as follows 0 14 bit binary scaled encoding 1 percentage scaled encoding The most significant bit of SvPositionLSB b7 is used to select servo skipping as follows 0 servo is updated 1 servo is skipped Servo skipping allows a preset to load while leaving some servo positions untouched This allows servo presets to be effectively masked and layered Function Get Preset Servo Data Command Value 193 0xc1 Data Bytes Data Format PresetSlot 0 63 Description The Get Preset Servo Data function causes the board to transmit the 32 b
68. lockwise command moves a servo specified by SvNum clockwise by a certain amount specified by ASvPosMSB and ASvPosLSB at a particular speed specified by SvSpeedOnes and SvSpeedHundredths The position indicated by the ASvPosMSB and ASvPosLSB values can be thought of as a 14 bit distance based on the range between the minimum position and the maximum position Thus a distance of 1638 units would move the servo clockwise by a distance of 1 10 of the entire scaled travel range a distance of 163 units would move the servo by 1 100 of the entire scaled travel range etc Function Move Scaled CCW Counter Clockwise Command Value 8 0x08 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Scaled CCW command is used to move a servo s position counter clockwise at a specified speed The move scaled counter clockwise command moves a servo specified by SvNum counter clockwise by a certain amount specified by ASvPosMSB and ASvPosLSB at a particular speed specified by SvSpeedOnes and SvSpeedHundredths The position indicated by the ASvPosMSB and ASvPosLSB values can be thought of as a 14 bit distance based on the range between the minimum position and the maximum position Thus a distance of 1638 units would move the servo clockwise by a distance of 1 10 of the entire scaled travel range a distance of 163 units would move the servo by 1 100 of the ent
69. lows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combined to form a 16 bit group mask Each of the 16 bits in the group mask correspond to an individual servo channel where bit 0 servo channel SO bit 1 servo channel S1 etc A value of 1 in a bit position of the group mask indicates that the channel will be affected by the command whereas a value of 0 in a bit position of the group mask indicates that the channel will not be affected by the command The next 1 16 GroupData values are used as the position data for each of the respective servo channels that have a 1 bit set in the group ask Each of GroupData values has the same meaning as SvPosMSB the Compact Move Raw function and has a valid range of 0 127 The remaining value has the same meaning as SvSpeedOnes in the Compact Move Raw function and is applied to all servos specified in the Group Mask See Command 160 0xa0 for a group mask example 29 User s Manual Function Group Mask Move Scaled Command Value 164 0xa4 Data Bytes Varies 4 19 Data Format GmaskMSB 0 255 GMaskLSB 0 255 1 16 bytes of GroupData SvSpeedOnes 1 99 Description The Group Mask Move Raw function allows a single command to be applied to multiple servo channels simultaneously The GmaskMSB and GmaskLSB values are combin
70. ly positioning all 16 servos with a single command This command expects 32 bytes of data to be sent as sixteen SvPosMSB SvPosLSB pairs Servo SO is the first pair received and S15 the last pair received Raw movement modes do not use the set minimum and maximum points to determine the servo s position With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Servo positions outside of the specified rage 0 16383 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated Function Group QuickMove Scaled Command Value 22 0x16 Data Bytes 32 Data Format 16 x SvPosMSB 0 127 SvPosLSB 0 127 Description The Group QuickMove Scaled command provides a method of instantly positioning all 16 servos with a single command This command expects 32 bytes of data to be sent as sixteen SvPosMSB SvPosLSB pairs Servo SO is the first pair received and S15 the last pair received Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position values can be thought of as 14 bit values between the minimum and the maximum Thus 0 is the minimum 16383 is the maximum and 8191 is the midpoint between the set minimum and maximum With QuickMove no servo position interpolation is performed and the control signal for the specified servo is
71. maximum and 63 is the midpoint between the set minimum and maximum With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Servo positions outside of the specified rage 0 127 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 21 User s Manual Function Group QuickMove Percent Command Value 55 0x37 Data Bytes 16 Data Format 16 x SvPosOnes 0 100 Description The Compact Group QuickMove Percent command provides a method of instantly positioning all 16 servos with a single command This command expects 16 bytes of data to be sent as sixteen SvPosOnes values Servo 50 is the first value received and S15 the last value received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 is the minimum 100 is the maximum 50 is the midpoint between the set minimum and maximum etc With QuickMove no servo position interpolation is performed and the control signal for the specified servo is immediately modified when the command is issued Servo positions outside of the specified rage
72. ngs are stored in the EEPROM settings of the ServoCenter they will be restored every time the board is either reset or powered up This allows the configuration to be saved thus avoiding a configuration process every time the board is reset Note the EEPROM storage of the ServoCenter board has a limited endurance of rewritability about 100 000 rewrites so avoid writing a programmatic loop that continuously commits the settings of the board The current rewrite count can be viewed by using the Show Settings command A user can prevent board settings from being written by using jumper JP3 position 1 Function Load Factory Settings Command Value 237 0xed Data Bytes 0 Data Format None Description The Load Factory Settings command causes all of the board s settings to revert to the state that they were in when shipped as new This command only loads the settings and doesn t commit the settings to the EEPROM of the board To restore the settings and save these settings the user should perform a Commit Settings command following the Load Factory Settings command Function Reset as Startup Command Value 238 0xee Data Bytes 0 Data Format None Description The Reset as Startup command causes the board to perform a software reset of the control software This command is functionally equivalent to resetting or cycling the power ofthe board All EEPROM settings are loaded and all servo channels are modified according to the
73. nnel the state and direction for that digital I O channel is unmodified This allows digital I O presets to be effectively masked and layered Digital I O Directions The DIO Directions value is a 16 bit value sent as DIODirectionsMSB followed by DIODirectionsLSB with each bit corresponding to the pin direction of a digital I O channel Thus 60 is DIOO s direction value b1 is DIOI s direction value etc When the direction bit is 0 the direction for that digital I O channel is set as an input When the direction bit is 1 the direction for that digital I O channel is set as an output Digital I O Values The DIO Values value is a 16 bit value sent as DIOValuesMSB followed by DIOValuesLSB with each bit corresponding to the pin state of a digital I O channel Thus bO is DIO0 s state value b1 is DIOI s state value etc When the state bit is 0 the state for that digital I O channel is set low When the state bit is 1 the state for that digital I O channel is set high When a pin is configured as an input the value bit controls the application of an internal pull up resistance for each channel Preset Name The preset name is a place where a name or description string up to 16 characters can be stored as a way to identify the preset This field has no functionality other than as a reminder as to the use of the preset Description Command Data Len Data Descriptions Set Preset Servo Data 92 0 0 33 PresetSlot 0 63
74. ponding to the direction state of the digital I O pin specified by DIONum binary command mode the result is returned as a single byte value where 0 indicates that the pin is configured as an input and 1 indicates that the pin is configured as an output In ASCII command mode the result is returned as a single ASCII encoded integer string that is either 0 for input or 1 for output 27 User s Manual Function Read Digital I O Pin Change Flag Command Value 132 0x84 Data Bytes 1 Data Format DIONum 0 15 Description The Read Digital I O Pin Change Flag command causes the ServoCenter 4 1 board to transmit a value corresponding to the state of the internally monitored pin change flag for the pin specified by DIONum The pin change flag is used to indicate that a pin has changed state at some point since the change flag was last read pins are automatically polled every 2500 microseconds for a change of logic state Ifa state change is detected then the change flag for that pin is set The change flag for the specified pin is only cleared when it is read with this command This command is useful when you want to detect an I O event such as a key press or switch activation and want to avoid the complexity and overhead associated with constant polling via the serial interface In binary comm
75. position servos using the full 14 bit precision of the controller but have a longer command length than the corresponding compact movement commands Description Command Data Len Data Descriptions Quick Move Raw 0 0x00 3 SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 Quick Move Scaled 1 0x01 3 SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 Quick Move Percent 2 0x02 3 SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 Move Raw 3 0x03 5 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Raw CW 4 0x04 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Raw CCW 5 0x05 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Scaled 6 0x06 5 SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Scaled CW 7 0x07 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Scaled CCW 8 0x08 5 SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Percent 9 0x09 5 SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Percent CW 0 0 5 SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Move Per
76. positions are referenced between a channel s particularly set minimum and maximum position This allows a user to set up min max stops and the specify subsequent positions as a simple 14 bit number that is translated into an actual position between the currently set min and max position Thus a value of 0 would move the servo to the minimum position a value of 16383 would move the servo to the maximum position a value of 8191 would move the servo to the position precisely between the min and max position etc Percent positions are also scaled to be between the currently set min max position for the channel but are specified as a percentage Thus a value of 0 00 would move the servo to the minimum position a value of 100 00 would move the servo to the maximum position a value of 50 00 would move the servo to the position precisely between the min and max position etc Percentage values are often encoded as two bytes with the first indicating the ones place of the value and the second indicating the hundredths place of the value Data field indicates the number of additional data bytes the command expects to follow the command byte itself This number doesn t include the Board ID Command ID or Checksum bytes Thus the total message size can be calculated by adding three bytes to the Data Len listed in the table 4 1 Normal Movement Servo Commands Normal movement commands provide a way to precisely
77. s Manual Function Timed Move Raw Command Value 12 0x0c Data Bytes 5 Data Format SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Raw command is used to move a servo s position over the specified time The timed move raw command moves a servo specified by SvNum to a raw position specified by SvPosMSB and SvPosLSB and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths For example values of SvTimeOnes 5 and SvTimeHundredths 40 would yield a travel time of 5 40 seconds Function Timed Move Raw CW Clockwise Command Value 13 0x0d Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 ASvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Raw CW command is used to move a servo s position clockwise over the specified time The timed move raw CW command moves a servo specified by SvNum a number of units specified by ASvPosMSB and ASvPosLSB and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move Raw movement modes do not use the set minimum and ma
78. se by a certain number of units specified by ASvPosMSB at a particular speed specified by SvSpeedOnes Function Compact Move Raw CCW Counter Clockwise Command Value 37 0x25 Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Raw CCW command is used to move a servo s position counter clockwise by a certain amount at a specified speed This command moves a servo specified by SvNum clockwise by a certain number of units specified by ASvPosMSB at a particular speed specified by SvSpeedOnes Function Compact Move Scaled Command Value 38 0x26 Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvSpeedOnes 0 100 Description The Compact Move Scaled command is used to move a servo s position at a specified speed The move scaled command moves a servo specified by SvNum to a 7 bit scaled position specified by SvPosMSB at a particular speed specified by SvSpeedOnes Scaled movement modes use the set minimum and maximum points to determine the servo s position The scaled position value can be thought of as a 7 bit value between the minimum and the maximum Thus 0 is the minimum 127 is the maximum and 63 is the midpoint between the set minimum and maximum The specified speed is calculated as a percentage of the preset maximum servo speed for the specified servo channel Thus a speed of 50 is half as fast as a speed of 100 a speed of 1 is 1 100 as fast as a sp
79. se stored settings Function Display Version Command Value 239 0xef Data Bytes 0 Data Format None Description The Display Version command simply displays the version of the firmware embedded within your ServoCenter board This can be useful for allowing software to query the board s version to ensure interoperability between this and other future YEI products 33 User s Manual 6 Appendix 6 1 Hexadecimal Decimal Binary Nibble Conversion Chart Decimal Hex Binary 0 0 0000 1 1 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 7 0111 8 8 1000 9 9 1001 10 1010 11 B 1011 12 C 1100 13 D 1101 14 E 1110 15 F 1111 34 User s Manual 6 2 Hexadecimal Decimal ASCII Chart 1 1 SOH 33 21 65 41 A 97 61 a 2 2 STX 34 2 66 42 98 62 b 3 3 ETX 35 23 67 43 99 63 4 4 36 24 5 68 44 100 64 5 5 37 25 69 45 101 65 6 6 38 26 amp 70 46 F 102 66 f 7 7 BEL 39 27 71 47 G 103 67 g 8 8 BS 40 28 72 48 H 104 68 h 9 9 TAB 41 29 73 49 I 105 69 i 10 A LF 42 2A 74 4 1 106 6A j 11 B VT 43 2B ar 75 4B K 107 6B k 12 C FF 44 2C 5 76 4 L 108 6C 13 CR 45 2D 77 4D M 109 6D m 14 E SO 46 2E 78 4E N 110 6E n 15 F SI 47 2F 79 4F 11
80. sponding to the pin direction of a digital I O channel Thus b0 is DIOO s direction value b1 is DIOI s direction value etc When the direction bit is 0 the direction for that digital I O channel is set as an input When the direction bit is 1 the direction for that digital I O channel is set as an output Digital I O Values The DIO Values value is a 16 bit value sent as DIOValuesMSB followed by DIOValuesLSB with each bit corresponding to the pin state of a digital I O channel Thus b0 is DIOO s state value b1 is DIOI s state value etc When the state bit is 0 the state for that digital I O channel is set low When the state bit is 1 the state for that digital I O channel is set high When a pin is configured as an input the value bit controls the application of an internal pull up resistance for each channel Function Get Preset Control Data Command Value 195 0 3 Data Bytes 1 Data Format PresetSlot 0 63 Description The Get Preset Control Data function causes the board to transmit the 8 byte servo data section of a preset specified by PresetSlot For a more detailed description of the Control Data Section bytes see the command details for the Set Preset Control Data command 194 details above Function Set Preset Name Command Value 196 0 4 Data Bytes 1 17 Data Format PresetSlot 0 63 1 16 Character Name Description The Set Preset Name function allows the name portion of a preset specified by PresetSlot
81. ssued The Checksum Value The checksum is computed as an arithmetic summation of all of the characters in the packet except the checksum value itself modulus 239 plus one This gives a resulting checksum in the range 1 to 239 The checksum will be ignored if a 0 byte value is sent in the checksum position of the packet The checksum for binary packets is transmitted as a single 8 bit byte value The purpose of the checksum is to minimize the chances of the ServoCenter 4 1 board receiving and acting upon corrupted or erroneous control messages In most instances the checksum should be used to enhance the reliability and robustness of the control system but as noted above a zero value can be placed in the checksum byte position to ignore the checksum calculation This placing a 0 value in the checksum position can free the sender from having to worry about calculating the actual checksum This is useful in situations where simplicity of implementation is necessary and reliable communication is not a requirement User s Manual 2 2 ASCII Text Packet Format ASCII text command packets are similar to binary command packets but are received as a single formatted line of text Each text line consists of the following an ASCII colon character followed by a list of ASCII encoded integer command values followed by a terminating newline character The ASCII encoded command values are all interpreted as integer values and must be separ
82. t have a shorter command length and thus exhibit lower communication latency Description Command Data Len Data Descriptions Compact Quick Move Raw 32 0x20 2 SvNum 0 15 SvPosMSB 0 127 Compact Quick Move Scaled 33 0x21 2 SvNum 0 15 SvPosMSB 0 127 Compact Quick Move Percent 34 0x22 2 SvNum 0 15 SvPosOnes 0 100 Compact Move Raw 35 0x23 3 SvNum 0 15 SvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Raw CW 36 0x24 3 SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Raw CCW 37 0x25 3 SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Scaled 38 0x26 3 SvNum 0 15 SvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Scaled CW 39 0x27 3 SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Scaled CCW 40 0x28 3 SvNum 0 15 ASvPosMSB 0 127 SvSpeedOnes 0 100 Compact Move Percent 41 0x29 3 SvNum 0 15 SvPosOnes 0 100 SvSpeedOnes 0 100 Compact Move Percent CW 42 0x2a 3 SvNum 0 15 A SvPosOnes 0 100 SvSpeedOnes 0 100 Compact Move Percent CCW 43 0x2b 3 SvNum 0 15 A SvPosOnes 0 100 SvSpeedOnes 0 100 Compact Timed Move Raw 44 0x2c 3 SvNum 0 15 SvPosMSB 0 127 TimeTenths 0 239 Compact Timed Move Raw CW 45 0x2d 3 SvNum 0 15 ASvPosMSB 0 127 TimeTenths 0 239 Compact Timed Move Raw CCW 14 0x0e 3 SvNum 0 15 ASvPosMSB 0 127 TimeTenths 0 239 Compact Timed Move Scaled 15 Ox0f 3 SvNum 0 15 SvPosMSB 0
83. t is returned as an ASCII encoded integer string Function Read A D Pin 10 bit Resolution Command Value 129 0x81 Data Bytes 1 Data Format ADNum 0 7 Description The Read A D 10 bit Resolution command causes the ServoCenter 4 1 board to transmit a value in the range 0 1023 that specifies the currently read voltage that is present on an analog to digital input pin specified by ADNum In binary command mode the result is returned as a two consecutive byte values The first byte contains the eight most significant bits the second byte contains the two least significant bits In ASCI command mode the result is returned as a single ASCII encoded integer string Function Read Digital I O Pin State Command Value 130 0x82 Data Bytes 1 Data Format DIONum 0 15 Description The Read Digital I O Pin command causes the ServoCenter4 1 board to transmit a value corresponding to the current state of the digital I O pin specified by DIONum This command works regardless of whether a pin is configured as an input or an output In binary command mode the result is returned as a single byte value of 0 or 1 In ASCII command mode the result is returned as a single ASCII encoded integer string that is either 0 or 1 Function Read Digital I O Pin Direction Command Value 131 0x83 Data Bytes 1 Data Format DIONum 0 15 Description The Read Digital I O Pin Direction command causes the ServoCenter 4 1 board to transmit a value corres
84. teen bytes in length depending upon the nature of the command being sent to the controller Each packet consists of an initial start of packet byte which includes a board ID specifier followed by a command value specifier byte followed by zero to thirty five command data bytes and terminated by a packet checksum value byte Each binary packet is from 3 to 35 bytes in length and is formatted as shown in figure 1 First Byte Start of Packet Calculated by adding 240 0xF0 Board ID 240 to the desired board ID Second Byte Command Value Selected from one of the possible control commands amp Command Data Command Data Command Parameters Varies from zero to thirty five bytes depending upon 22 the command specified in the second byte position Command See the table below for specific command data format and specification Command Data Last Byte Packet Checksum See the checksum heck Aot mE scenes description below for specific calculation information Figure 1 Typical Binary Command Packet Format Binary Return Values Most ServoCenter 4 1 commands return no result data Certain commands however are designed to return status information about the current servo status amp positions as well as other board settings Most values are returned in binary format when a binary command is i
85. the movement will take to complete Servo 50 is the first pair received and S15 the last pair received Percent movement modes use the set minimum and maximum points for the given servo channel to determine the servo s position The position value can be thought of as a percentage of the range from the minimum to the maximum Thus 0 00 is the minimum 100 00 is the maximum 50 00 is the midpoint between the set minimum and maximum etc With Timed commands servo position interpolation is performed causing the servos to take the specified amount of time to reach the specified goal position Servo positions outside of the specified rage 0 10000 are ignored This feature can be used to allow specific servos to be masked or skipped when the group s positions are updated 5 3 Compact Movement Servo Commands Function Compact QuickMove Raw Command Value 32 0x20 Data Bytes 2 Data Format SvNum 0 15 SvPosMSB 0 127 Description The Compact QuickMove command provides a method of instantly moving a single servo specified by SvNum to a specified raw position specified by SvPosMSB This function is useful when it is desired to move a servo to a position as fast as possible since no servo position interpolation is performed and the control signal for that specified servo is immediately modified when the command is issued Function Compact QuickMove Scaled Command Value 3
86. ucture and support the entire ServoCenter 4 1 command set The ServoCenter 4 1 controller buffers the incoming command stream and will only take an action once the entire packet has been received and the checksum has been verified as correct Incomplete packets packets with inappropriate board IDs and packets with incorrect checksums will be ignored This allows the controlling system to send command data at leisure without loss of function The command buffer will however be cleared whenever the ServoCenter controller is either reset or powered off on Most ServoCenter 4 1 commands return no result data Certain commands however are designed to return status information about the current servo status amp positions as well as other board settings ServoCenter 4 1 allows multiple boards to be daisy chained together and all be able to send and receive messages The transmit receive functionality is controlled by the various jumper settings of jumper block JP1 Specific details of the ServoCenter 4 1 protocol and its control commands are discussed in the following pages Further information pertaining to the connection configuration and programming of the controller board can be found in the ServoCenter User s Manual and on the Yost Engineering Inc web page at http www YostEngineering com ServoCenter User s Manual 2 Protocol Packet Format 2 1 Binary Packet Format The binary packet size can range from three to nine
87. utput The default settings is mode 4 Mode values are as follows Mode 0 LED2 off LED1 off Mode 1 LED2 off LED1 on Mode 2 LED2 on LED1 off Mode 3 LED2 on LED1 on Mode 4 LED2 statAction LED1 statRx Mode 5 LED2 statServoAction LED1 statRx Mode 6 LED2 statServoAction LED1 statAction Mode 7 reserved 32 User s Manual Function Set Watchdog Time Command Value 235 0xeb Data Bytes 1 Data Format WdTimeTenths 0 239 Description The Set Watchdog Time command sets the internal watchdog time to the value specified by WdTimeTenths as measured in 1 10 second increments The watchdog feature when enabled causes the board to revert to a startup condition if no serial communication has been received during the specified watchdog time This is usually used in systems that require a fail safe condition if communication is interrupted or the controlling system fails When the watchdog time is set to a value of 0 the watchdog feature is disabled For the watchdog time setting to be stored through a reset or power cycling the settings must be stored using the Commit Settings function Function Commit Settings Command Value 236 0xec Data Bytes 0 Data Format None Description The Commit Settings command causes the board to save the current settings into the EEPROM storage Once the board s setti
88. vNum 0 15 SvPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Timed Move Raw command is used to move a servo s position over the specified time This command moves a servo specified by SvNum to a raw position specified by SvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified movement time is in tenths of a second For example a value of SvTimeTenths 25 would yield a travel time of 2 5 seconds Function Compact Timed Move Raw CW Clockwise Command Value 45 0x2d Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Timed Move Raw CW command is used to move a servo s position clockwise over the specified time The timed move raw CW command moves a servo specified by SvNum a number of units specified by ASvPosMSB and takes the amount of time specified by SvTimeTenths to complete the move Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified movement time is in tenths of a second For example a values of SvTimeTenths 25 would yield a travel time of 2 5 seconds Function Compact Timed Move Raw CCW Counter Clockwise Command Value 46 0x2e Data Bytes 3 Data Format SvNum 0 15 ASvPosMSB 0 127 SvTimeTenths 0 239 Description The Compact Timed Move Raw CCW comman
89. ve Scaled CCW Counter Clockwise Command Value 17 0x11 Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 AsvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Scaled CCW command is used to move a servo s position counter clockwise over the specified time The timed move scaled CCW command moves a servo specified by SvNum counter clockwise by a number of scaled 14 bit units specified by ASvPosMSB and ASvPosLSB and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move The value indicated by the ASvPosMSB and ASvPosLSB bytes is based upon a scaled distance between the minimum position and the maximum position Thus a distance of 1638 units would move the servo clockwise by a distance of 1 10 of the min to max travel range a distance of 163 units would move the servo by 1 100 of the min to max travel range etc The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths 15 User s Manual Function Timed Move Percent Command Value 18 0x12 Data Bytes 5 Data Format SvNum 0 15 SvPosOnes 0 100 SvPosHundredths 0 99 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Percent command is used to move a servo s position over the specified time The timed move percent command moves a servo specified by SvNum to a percentag
90. will cause the start position to be set equal to the minimum Setting the minimum position above the maximum will cause the maximum position to be set equal to the minimum Function Set Maximum Command Value 71 0x47 Data Bytes 3 Data Format SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 Description The Set Maximum command sets the maximum raw servo position set point specified by SvPosMSB and SvPosLSB of the specified servo specified by SvNum This maximum position is used in all scaled movement modes of operation Setting the maximum position below the start position will cause the start position to be set equal to the maximum Setting the maximum position below the minimum will cause the minimum position to be set equal to the maximum Function Set Start Command Value 72 0x48 Data Bytes 3 Data Format SvNum 0 15 SvVPosMSB 0 127 SvPosLSB 0 127 Description The Set Start command sets the starting raw servo position set point specified by SvPosMSB and SvPosLSB of the specified servo specified by SvNum The start position is the position that the servo will assume when the system is powered up or reset The start position is capped and cannot be set greater than the max or less than the min Function Set Smoothing Factor Command Value 73 0x49 Data Bytes 2 Data Format SvNum 0 15 SvSmoothFactor 0 127 Description The Set Smoothing Factor command sets the Smoothing Factor for the specified servo specified
91. ximum points to determine the servo s position The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths For example values of SvTimeOnes 5 and SvTimeHundredths 40 would yield a travel time of 5 40 seconds Function Timed Move Raw CCW Counter Clockwise Command Value 14 0x0e Data Bytes 5 Data Format SvNum 0 15 ASvPosMSB 0 127 AsvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Raw CCW command is used to move a servo s position counter clockwise over the specified time This command moves a servo specified by SvNum a number of units specified by ASvPosMSB and ASvPosLSB and takes the amount of time specified by SvTimeOnes and SvTimeHundredths to complete the move Raw movement modes do not use the set minimum and maximum points to determine the servo s position The specified time is in seconds and is calculated by adding SvTimeOnes and SvTimeHundredths For example values of SvTimeOnes 5 and SvTimeHundredths 40 would yield a travel time of 5 40 seconds Function Timed Move Scaled Command Value 15 0x0f Data Bytes 5 Data Format SvNum 0 15 SvPosMSB 0 127 SvPosLSB 0 127 SvTimeOnes 0 239 SvTimeHundredths 0 99 Description The Timed Move Scaled command is used to move a servo s position over the specified time The timed move scaled command moves a servo specified by SvNum to a scaled 14 bit position specified by SvPosMSB and SvPosLSB and takes
92. y A SvPosOnes and A SvPosHundredths at a particular speed specified by SvSpeedOnes and SvSpeedHundredths The value indicated by the A SvPosOnes and A SvPosHundredths values is based upon a percentage of the distance between the minimum position and the maximum position Thus distance of 10 00 units would move the servo clockwise by a distance of 1 10 of the entire scaled travel range a distance of 1 00 unit would move the servo by 1 100 of the entire min to max travel range etc Function Move Percent CCW Counter Clockwise Command Value 11 0x0b Data Bytes 5 Data Format SvNum 0 15 A SvPosOnes 0 100 A SvPosHundredths 0 99 SvSpeedOnes 0 100 SvSpeedHundredths 0 99 Description The Move Percent CCW command is used to move a servo s position counter clockwise at a specified speed The move percent counter clockwise command moves a servo specified by SvNum counter clockwise by a certain percentage specified by A SvPosOnes and A SvPosHundredths at a particular speed specified by SvSpeedOnes and SvSpeedHundredths The value indicated by the A SvPosOnes and A SvPosHundredths values is based upon a percentage of the distance between the minimum position and the maximum position Thus a distance of 10 00 units would move the servo clockwise by a distance of 1 10 of the entire scaled travel range a distance of 1 00 unit would move the servo by 1 100 of the entire min to max travel range etc 14 User
93. yte servo data section of a preset specified by PresetSlot For a more detailed description of the Servo Data Section bytes see the command details for the Set Preset Servo Data command 192 details above Function Set Preset Control Data Command Value 194 0xc2 Data Bytes 9 Data Format PresetSlot 0 63 SvEnabledFlagsMSB SvEnabledFlagsLSB DIOSkipFlagsMSB DIOSkipFlagsLSB DIODirectionsMSB DIODirectionsLSB DIOValuesMSB DIOValuesLSB Description The Set Preset Control Data function allows the control data section of a preset specified by PresetSlot to be modified The Preset Control Data elements are as follows Servo Enabled Flags The servo enabled flags is a 16 bit value sent as SvEnabledFlagsMSB followed by SvEnabledFlagsLSB with each bit corresponding to the enabled state of a servo Thus bO is servo S0 s enabled state b1 is servo S1 s enabled state etc Digital I O Skip Flags The DIO Skip Flags is a 16 bit value sent as DIOSkipFlagsMSB followed by DIOSkipFlagsLSB with each bit corresponding to the skip state of a digital I O channel Thus b0 is DIOO s skip state b1 is DIOI s skip state When the skip state bit is high for a channel the state and direction for that digital I O channel is unmodified This allows digital I O presets to be effectively masked and layered Digital I O Directions The DIO Directions value is a 16 bit value sent as DIODirectionsMSB followed by DIODirectionsLSB with each bit corre

ServoCenter 4.1 Manual Volume 2: Protocol

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