User Guide

Lynxmotion SSC-32U Servo Controller Board
Electronics Guide
Startup Strings
Command
Argument
Description / Examples
Delete
characters:
SSDEL <n>
<cr>
0-255
Deletes <n> characters from the end of the startup string. If
<n> is greater than the length of the startup string, then
SSDEL deletes the entire string.
SSDEL 5 <cr>
- Deleted the last 5 characters of the startup string
SSDEL 255 <cr>
- Deletes the entire startup string
Concatenate:
SSCAT
<string> <cr>
Up to 100
ASCII
characters
Concatenates <string> to the current startup string. The blank
space immediately following "SSCAT" is ignored, but all other
spaces are part of the string. The string is terminated by a
carriage return, and may not contain embedded carriage
returns. Commands in the startup string are terminated with a
semicolon (including the last command).
SSCAT #0P1000#1P2000T3000;<cr>
SSCAT PL0 SQ5 SM50;<cr>
Display startup
string:
SS <cr>
none
Displays the entire startup string, surrounded by quotation
marks and followed by a carriage return.
SS <cr>
result: "#0P1000#1P2000T3000;PL0 SQ5 SM50;"<cr>
The programmed startup string is executed at powerup of the SSC-32, if the Startup String
Enable bit is set in the Enable register. The Startup String is executed after any register values
are applied (e.g. initial pulse width). The maximum total length of the startup string is 100 ASCII
characters. Any additional characters will be ignored.
The following commands should not be used in a startup string: EER, EEW, R=, SSCAT,
SSDEL. The SS command may take hundreds of milliseconds to execute, depending on baud
rate. It should not be invoked while a timed move or sequence player is active.
The SSCAT command may take hundreds of milliseconds to execute. It should not be invoked
while a timed move or sequence player is active.
If an SSDEL or SSCAT command is executing, do not power down the SSC-32 until the
command has been completed. To determine whether the command has completed, send an
SS command and wait for the response. Each time the startup string is changed the EEPROM
locations used to store the value experience a small amount of wearout. The typical maximum
number of writes is 100,000. Do not write your software to rapidly change the startup string, or
you might cause permanent wearout of the EEPROM in the ATmega168 processor.
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