Servo Commander™ 8 User`s Guide
Contents
1. 0 to 7 for operation The target position is set by Pos ranging from 499 2500 in us unit and traveling at a speed of Spd ranging 0 65535 with unit us s The larger the Spd value is the faster the servo travels Note that the Spd with value 0 will be regarded as full speed Same as command above Except after settings are done the servo will start to move Sets the servo with ID ranging from 0 to 7 for operation The target position is set by Pos ranging from 499 2500 in us unit and traveling to the target position in Time ranging from 0 gt 65535 milliseconds Note that if the value of Time is too short including 0 the servo will travel at full speed SetPosTimeAndRun I D Pos Time Servo Start Commands Run1Servo ID1 Run2Servo ID1 ID2 Run3Servo ID1 ID3 Run7Servo ID1 ID7 RunAllServo Run1ServoWithEventA ID1 Run2ServoWithEventA ID1 ID2 Run3ServoWithEventA D1 ID3 Run7ServoWithEventA ID1 ID7 RunAllServoWithEventA Same as command above Except after settings are done the servo will start to move According to the set value of servo IDs ranging from 0 to 7 each corresponding servo will perform the preset operation If the servo starts without the speed or time settings but only the position setting the servo will travel at the maximum speed If any D value is out of its range this command will not be executed Same as above except that the event A will be triggere2. Capable of controlling up to 8 servos for position ranging from 0 5 ms to 2 5 ms with 2us resolution gt Software fine tune commands in the range of 128 127 us gt Amaximum of 60 frames to store the positions speeds or the time parameters up to 8 servos gt 4events available notifying the completion of servo travel gt Module Dimensions 40 5 mm x 50 5 mm Product Specifications NIA fo 4 9 Fig 1 Servo Commander 8 Description 1 Eight Servo Connectors numbering from 0 through 7 Please check the pin label on the board incorrect servo pin insertion may cause device damages 6 12V Power Input It will be regulated to 5V for the electronics on the board and unregulated for direct servo power use Make sure the input voltage range is within the servo input voltage rating otherwise the servos will be easily damaged A cmdBUS connector for other Innovati s Smart module connection Please check the label on board when connecting the cmdBUS cable incorrect insertion may damage the modules Same as item 2 May be used as power input or output pins Regulated 5V 200mA output pin and ground pin for power in your application Eight general purpose digital I Os with labeled pin numbers on the board Through the built in software commands they can be used as 12C or UART Red LED will be lit when power is on Yellow LED will be lit when Master Slave is in communication Green LED will be lit when U
3. Programs Ex 1 Control Servo Movement by Frames cc ccc Ex 2 Control Servo Movement by Commands 11 12 Product Overview Innovati s Servo Commander 8 SC8 module incorporates the BASIC Commander and a ServoRunner8 module with 8 general purpose I Os controlling up to 8 servos simultaneously The simple and integrated software functions enable users to directly control the servo movement by fixed speed or common time There are up to 60 frames for storing the positions and motion configurations speed or time thus various ways of motions can be achieved through the combinations of actions Note that this manual mainly describes the functionality of the servo control For details of the BASIC Commander system and usage of the innoBASIC language please refer to BASIC Commander amp innoBASIC Workshop User s Manual Applications gt Upto 8 Degree of Freedom RC servo applications gt Upto 8 General purpose digital I Os applications gt Upto 31 CmdBUS smart modules applications gt Combinations of above applications Product Features gt Using the BASIC Commander as controller users can modify their program and download to the Servo Commander 8 board via a USB cable gt Built in ServoRunner8 cmdBUS module with ID number 0 gt CmdBUS connectors for additional Innovati s Smart Peripheral modules gt
4. 1 O Sink Current Vioap 0 1Von 10 20 mA lou 1 O Source Current Vioap 0 9Von 5 10 mA INL Operating Current No Servo Connected 33 mA Table 2 DC Characteristics VIN 7 5V Ta 25 C Absolute Maximum Ratings Operating Temperature of the Module 0 C 70 C Storage Temperature of the Module 50 C 125 C Please check servo manufacturer s related datasheets for their servo s absolute maximum ratings Command Set The following table lists all the unique commands provided with the ServoRunner8 Module Note that essential words in the commands will be written in bold type and italics in bold type The bold type word must be written exactly as shown whereas the italic bold type words must be replaced with the user values Note that the innoBASIC language is case insensitive To execute functions related to ServoRunner8 module please declare the module ID number as 0 in the program i e Peripheral ModuleName As ServoRunner8A 0 Servo Position Commands Sets the servo with ID ranging from 0 to 7 for operation The target position is set SetPos ID Pos by Pos ranging from 499 2500 in us unit If the given value is out of this range the command will not be executed Same as command above Except after SetPosAndRun ID Pos settings are done the servo will start to move SetPosSpd D Pos Spd SetPosSpdAndRun D Pos Spd SetPosTime D Pos Time Sets the servo with ID ranging from
5. SB is in communication 10 Mini USB connector via a USB cable connecting to computer for downloading and debugging programs RESET Button To restart the program while the program is in execution Note that it is prohibited to press this button during downloading which will result in download failure Table 1 Servo Commander 8 Description Servo and Power Connection The module has 8 servo connectors with 3 pins for each connector The servo connectors provide power and control signals to the servos and are placed in two groups labeled 0 through 3 and 4 through 7 To control the servos connect the proper pins from of servo s connector cable to these connectors The power supply connection is shown in Figures 2 Before connecting the power please check the servo operating voltage and current ratings to avoid damages to the servos mo Servo Commander 8 www inno vall com tw Fig 2 Servo and power connection Precautions for Operations Please make sure of the voltage and current ranges required for the servos before connecting them Select a suitable power supply ranging 6V 12V and connect correctly to green terminal block The Pulse pins of the servos should be connected to the module in a way complying with the requirements shown in Table 2 scram con Mn ne va i 1 O Output High Voltage No Load mm 1 O Output Low Voltage No Load 0 V lo
6. Servo Commander 8 User s Guide Document Rev 1 11 Mar 30 2011 Passion fer Apmnodalion Trademark eo Innovati na and BASIC Commander are registered trademarks of Innovati Inc InnoBASIC cmdBUS and Servo Commander are trademarks of Innovati Inc Copyright 2011 by Innovati Inc All Rights Reserved Due to continual product improvements Innovati reserves the right to make modifications to its products without prior notice Innovati does not recommend the use of its products for application that may present a risk to human life due to malfunction or otherwise No part of this publication may be reproduced or transmitted in any form or by any means without the expressed written permission of Innovati Inc Disclaimer Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be held responsible for any damages that may occur when using Innovati products This includes damage to equipment or property personal damage to life or health damage caused by loss of profits goodwill or otherwise Innovati products should not be used for any life saving applications as Innovati s products are designed for experimental or prototyping purposes only Innovati is not responsible for any safety communication or other related regulations It is advised that children under the age of 14 should only conduct experiments under parental or adult supervis
7. cal offset of 30us mySer SetPosAndRun 0 1500 move servo 0 to position 1500 us Pause 1000 pause 1 second for the servo to travel mySer SetPos 0 2200 set the target position of servo as 2200 mySer Run1Servo 0 move servo 0 to current settings Pause 1000 pause 1 second for the servo to travel mySer SetPosSpdAndRun 0 700 1000 move to position 700us at speed 1000us s Pause 2000 mySer SetPosTimeAndRun 0 2200 1000 move to position 2200us in 1 second End Sub 12
8. d when all the indicated servos reach their target positions Run1ServoWithEventB D1 Run2ServoWithEventB D1 D2 Run3ServoWithEventB D1 D3 Run7ServoWithEventB ID1 ID7 RunAllServoWithEventB Run1ServoWithEventC ID1 Run2ServoWithEventC D1 ID2 Run3ServoWithEventC DZ D3 Run7ServoWithEventC D1 ID7 RunAllServoWithEventC Run1ServoWithEventD ID1 Run2ServoWithEventD ID1 ID2 Run3ServoWithEventD D1 ID3 Run7ServoWithEventD ID1 ID7 RunAllServoWithEventD Servo Stop Commands Pause1Servo ID1 Pause2Servo ID1 ID2 Pause3Servo ID1 ID3 Pause7Servo ID1 ID7 PauseAllServo Stop1Servo ID1 Stop2Servo ID1 ID2 Stop3Servo ID1 ID3 Stop7Servo ID1 ID7 StopAllServo Same as above except that the event B will be triggered when all the indicated servos reach their target positions Same as above except that the event C will be triggered when all the indicated servos reach their target positions Same as above except that the event D will be triggered when all the indicated servos reach their target positions According to the set value of servo IDs ranging from 0 to 7 each corresponding servo will stop and hold at the present position If any ID value is out of its range this command will not be executed Same as above except that the module will cease sending control signal to the servo As a result the servo will stop but
9. ion Errata We hope that our users will find this user s guide a useful easy to use and interesting publication as our efforts to do this have been considerable Additionally a substantial amount of effort has been put into this user s guide to ensure accuracy and complete and error free content however it is almost inevitable that certain errors may have remained undetected As Innovati will continue to improve the accuracy of its user s guide any detected errors will be published on its website If you find any errors in the user s guide please contact us via email service innovati com tw For the most up to date information please visit our web site at http www innovati com tw Table of Contents PROCUC TV GIO Wer caciecss sapiacincasscuutaccenseueiuheeundacesdantucndeehuedteicemunbsteadenyaseneacersannes ApphCatIONS suntuingi06 0 esnuesn iostsanoiabrtBbsbgin l00rSeeugiearltassstyliet93SgIAS0Rg8EA4328A50lbiegiagupidl Prod ct FBRIHIEES nsina ear E EE Product SISEIIIGSIEIIE sniesgaeissaes03102432043818000055030838230x63uE8nEidshfookskEkdt teole9YEGasktte Servo and Power C iTiIEERIIDusesstouapanediathustbiisdhs6sstssftslas6s42sbi4a0fftsapuit6se Precautions for Operations sssssssssssessssessssrssssseessssseresresesesrerssesresesesesesns Absolute Maximum Ratings csscssssessececseeeesseeeseeeseeeeesseeeeeeaeceeseeseaees Command SER tnsczccecasceneciotytuniauansese oe iaaa a eE ER EEEE GREE Appendix A Tutorial
10. n the returned value for Type will be 0 LoadFrame FramelD Loads the servo operation settings from the frame memory block indicated by FramelD ranging from 0 to 59 as the current target position and motion type of the servos LoadOffset Loads the servo offset settings from EEPROM SaveFrame FramelD Saves the current settings of servo operations into the frame indicated by FramelD ranging from 0 to 59 SaveOffset Saves the servo offset settings into EEPROM SetPosOffset D Offset Sets the offset of the servo indicated by ID with the value Offset ranging from 128 to 127 Events Name ServoPosReadyEventA ServoPosReadyEventB Description Executes the RunNServoWithEventA command where N can be literally 1 7 or All When all the indicated servos reach their target positions event A will be triggered Executes the RunNServoWithEventB command where N can be literally 1 7 or All When all the indicated servos reach their target positions event B will be triggered ServoPosReadyEventC ServoPosReadyEventD Executes the RunNServoWithEventC command where N can be literally 1 7 or All When all the indicated servos reach their target positions event C will be triggered Executes the RunNServoWithEventD command where N can be literally 1 7 or All When all the indicated servos reach their target positions event D will be triggered 10 Appendix A Tutorial Programs To help y
11. not hold at the present position External force might be able to change its position Servo Status and Setting Commands Get1ServoReadyStatus D1 Status Get2ServoReadyStatus ID1 ID2 Status Get3ServoReadyStatus ID1 ID3 Status Get7ServoReadyStatus ID1 ID7 Status GetAllServoReadyStatus Status Gets the operation status of the servo s indicated by IDs ranging from 0 to 7 and stores the status in Status When all the servos reach their target positions the returned status will be 1 otherwise value 0 will be returned GetNowPos ID Pos Gets the current position of the servo indicated by ID ranging from 0 to 7 and then stores it in the variable Pos of type Word Note that the position returned is an estimated position GetPos D Pos Gets the target position of the servo indicated by ID ranging from 0 to 7 and then stores it in the variable Pos of type Word GetPosOffset ID Offset Gets the offset position of the servo indicated by ID ranging from 0 to 7 and then stores it in the variable Offset of type Short ranging form 128 to 127 us GetSpdAndTime ID Type Value Gets the motion type of the servo indicated by ID ranging from 0 to 7 and stores the values in Type The corresponding setting values are stored in the variable Value of type Word If the servo travel type is set as speed then the returned value for Type will be 1 If the servo travel type is set as time the
12. ou be familiar with the Servo Commander 8 module some tutorial programs with brief introduction are provided in this section To maintain the tutorial programs free of error and up to date they are subject to change without notice For new users who are not familiar with the BASIC Commander please refer to the BASIC Commander and innoBASIC Workshop User s Manual for more detailed information Ex 1 Control Servo Movement by Frames For multiple servo applications the related positions of each servo become abstract and difficult to understand when designing the motion control To solve this problem the frame scheme is the widely employed This program gives the basics of servo control by using the frames The frame feature is supported on the Servo Commander 8 module The innoBASIC Workshop provide a software utility called Motion Editor which helps you set up the positions of the servos You can access this tool from the Tools menu in innoBASIC Workshop Assuming you have designed three frames with frame ID 0 1 and 2 The execution time between each movement is set to 1 second in the frame Now let s see how to invoke the frame in the program Note that the frame scheme is the easiest and fastest way to make your multiple servo applications work Peripheral mySer As ServoRunner8A 0 Set the module ID as 0 Sub Main mySer LoadFrame 0 load frame 0 data from the EEPROM on the mod
13. ule mySer RunAllServo let all servos to execute frame 0 Pause 1000 wait 1 second for servo traveling mySer LoadFrame 1 load frame 1 data from the EEPROM on the module mySer RunAllServo let all servos travel to frame 1 position Pause 1000 wait 1 second for servo traveling 11 mySer LoadFrame 2 load frame 2 data from the EEPROM on the module mySer RunAllServo let all servos to execute frame 2 Pause 1000 wait 1 second for servo traveling End Sub The program shown above is very straight forward which helps you understand how the frames work intuitively Nevertheless you may add your own code in the program to make it run more efficiently more flexible motion or function combination Ex 2 Control Servo Movement by commands Instead of using the pre defined movement frames you may assign the positions of the servos at run time such as the robot arm application This program shows the usages of the basic commands This program might not be very meaningful in application but it shows you the differences among the commands in their performance In this example program the position value is set according to the range of the majority of the servos Please adjust the allowed position range for the servos that have a narrower travel range to avoid the damage to the servos Peripheral mySer As ServoRunner8A 0 Set the module ID as 0 Sub Main mySer SetPosOffset 0 30 set servo 0 mechani
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