User Guide

Lynxmotion SSC-32U Servo Controller Board

Electronics Guide

This example will output the value 123 (decimal) to bank 3. 123 (dec) = 01111011 (bin), and

bank 3 is associated with pins 24-31. So this command will output a "0" to pins 26 and 31, and

will output a "1" to all other pins.

Query Movement Status

Q <cr>

This will return a "." if the previous move is complete, or a "+" if it is still in progress.

There will be a delay of 50uS to 5mS before the response is sent.

Query Pulse Width

QP <arg> <cr>

This will return a single byte (in binary format) indicating the pulse width of the selected servo

with a resolution of 10uS. For example, if the pulse width is 1500uS, the returned byte would be

150 (binary).

Multiple servos may be queried in the same command. The return value will be one byte per

servo. There will be a delay of at least 50uS to 5mS before the response is sent Typically the

response will be started within 100uS.

Digital Input

A B C D E F AL BL CL DL EL FL<cr>

A, B, C, D, E, F are normal input reads. They read the value on the input as a binary value. It

returns ASCII "0" if the input is a low (0V) or an ASCII "1" if the input is a high (+5V). As you can

see, pins G and H are not included (they are only analog).

AL, BL, CL, DL, EL, FL are latching input reads. They return the value on the input as an ASCII

"0" if the input is a low (0v) or if it has been low since the last *L command. It returns a high

(+5v) if the input is high and never went low since the last *L command. Simply stated, it will

return a low if the input ever goes low. Reading the status simply resets the latch.

These inputs have a weak pullup (~50k) that is enabled when used as inputs. They are checked

approximately every 1mS, and are debounced for approximately 15mS. The logic value for the

read commands will not be changed until the input has been at the new logic level continuously

for 15mS. The Read Digital Input Commands can be grouped in a single read, up to 8 values

per read. They will return a string with one character per input with no spaces.

Example: A B E DL <cr>