Innovati Servo Commander 8 Manual de usuario

Servo Commander™ 8

User’s Guide

Document Rev 1.0

Mar. 7, 2011

Trademark

Innovati®, , and BASIC Commander® are registered trademarks of Innovati, Inc

InnoBASIC™, cmdBUS™ and Servo Commander™ are trademarks of Innovati, Inc

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 supervision

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

Product Overview ……………………………………… ………… ………… ……………… 3

Product Features …………………………………………… …………… ………… ……… 3

Applications …… …………………… ……… …… … … ………… 3

Product Specifications … …………………… ……… …………… 4

Servo Connection ………………………… ……… …… … … …………… 5

Precautions for Operations …………… ……… …… … … …………… 5

Absolute Maximum Ratings …………… ……… …… … …………… 6

Command Set … … … … … 6

Appendix A --- Tutorial Programs

Ex 1 --- Control Servo Movement by Frames …………………………… … 11

Ex 2 --- Control Servo Movement by Commands ………… … …… … 12

Product Overview

Innovati’s Servo CommanderTM 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 & innoBASIC Workshop User’s Manual ”

Product Features

Using the BASIC Commander® as controller, users can modify their program and

download to the Servo CommanderTM 8 board via a USB cable

Built-in ServoRunner8 cmdBUS™ module with ID number 0

CmdBUS™ connector for additional Innovati’s Smart Peripheral modules

Capable of controlling up to 8 servos for position ranging from 0 5 ms to 2 5 ms with

2μs resolution

Software fine-tune commands in the range of -128~127 μs

A maximum of 60 frames to store the positions, speeds or the time parameters up to

8 servos

4 events available notifying the completion of servo travel

Module Dimensions: 46 8 mm x 54 8 mm

Applications

Up to 8 Degree of Freedom RC servo applications

Up to 8 General-purpose digital I/Os applications

Up to 32 CmdBUS™ smart modules applications

Combination of above applications

Product Specifications

Fig 1 Servo Commander™ 8

Item 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

2 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

3 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

5 Regulated 5V 200mA output pin and ground pin for power in your

application

6 Eight general-purpose digital I/Os with labeled pin numbers on the board

Through the built-in software commands, they can be used as I2C or UART

pins

7 Red LED will be lit when power is on

8 Yellow LED will be lit when Master/Slave is in communication

9 Green LED will be lit when USB is in communication

10 Mini USB connector: via a USB cable connecting to computer for

downloading and debugging programs

11 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 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

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 and connect correctly to the Vser

The Pulse pins of the servos should be connected to the module in a way complying with the

Connectors for

the Servos

6~12V power

supply

requirements shown in Table 2

Symbol

Parameter Test Conditions Min

Typ Max

Unit

VOH I/O Output High Voltage

No Load - 5 - V

VOL I/O Output Low Voltage No Load - 0 - V

IOL I/O Sink Current VLOAD=0 1VOH 10 20 - mA

IOH I/O Source Current VLOAD=0 9VOH -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

Command Syntax Description

Servo Position Commands

SetPos (ID, Pos)

Sets the servo with ID, ranging from 0 to 7, for

operation The target position is set by Pos

ranging from 499~2500 in μs unit If the given

value is out of this range, the command will not

be executed

SetPosAndRun(ID, Pos) Same as command above Except after settings

are done, the servo will start to move

SetPosSpd(ID, Pos, Spd)

Sets the servo with ID, ranging from 0 to 7, for

operation The target position is set by Pos

ranging from 499~2500 in μs unit and traveling

at a speed of Spd ranging 0~65535 with unit

μs/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

SetPosSpdAndRun(ID, Pos, Spd) Same as command above Except after settings

are done, the servo will start to move

SetPosTime(ID, Pos, Time)

Sets the servo with ID, ranging from 0 to 7, for

operation The target position is set by Pos

ranging from 499~2500 in μs unit and traveling

to the target position in Time ranging from

0~65535 milliseconds Note that if the value of

Time is too short, including 0, the servo will

travel at full speed

SetPosTimeAndRun(ID, Pos, Time) Same as command above Except after settings

are done, the servo will start to move

Servo Start Commands

Run1Servo(ID1)

Run2Servo(ID1, ID2)

Run3Servo(ID1, …, ID3)

Run Servo(ID1, …, ID4)

Run5Servo(ID1, …, ID5)

Run6Servo(ID1, …, ID6)

Run7Servo(ID1, …, ID7)

RunAllServo()

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 ID value is out of its

range, this command will not be executed

Run1ServoWithEventA(ID1)

Run2ServoWithEventA(ID1, ID2)

Run3ServoWithEventA(D1, …, ID3)

Run ServoWithEventA(D1, …, ID4)

Run5ServoWithEventA(D1, …, ID5)

Run6ServoWithEventA(ID1, …, ID6)

Run7ServoWithEventA(ID1, …, ID7)

RunAllServoWithEventA()

Same as above, except that the event A will be

triggered when all the indicated servos reach

their target positions

Run1ServoWithEventB(ID1)

Run2ServoWithEventB(ID1, ID2)

Run3ServoWithEventB(D1, …, ID3)

Run ServoWithEventB(D1, …, ID4)

Run5ServoWithEventB(D1, …, ID5)

Run6ServoWithEventB(ID1, …, ID6)

Run7ServoWithEventB(ID1, …, ID7)

RunAllServoWithEventB()

Same as above, except that the event B will be

triggered when all the indicated servos reach

their target positions

Run1ServoWithEventC(ID1)

Run2ServoWithEventC(ID1, ID2)

Run3ServoWithEventC(D1, …, ID3)

Run ServoWithEventC(D1, …, ID4)

Run5ServoWithEventC(D1, …, ID5)

Run6ServoWithEventC(ID1, …, ID6)

Run7ServoWithEventC(ID1, …, ID7)

RunAllServoWithEventC()

Same as above, except that the event C will be

triggered when all the indicated servos reach

their target positions

Run1ServoWithEventD(ID1)

Run2ServoWithEventD(ID1, ID2)

Run3ServoWithEventD(D1, …, ID3)

Run ServoWithEventD(D1, …, ID4)

Run5ServoWithEventD(D1, …, ID5)

Run6ServoWithEventD(ID1, …, ID6)

Run7ServoWithEventD(ID1, …, ID7)

RunAllServoWithEventD()

Same as above, except that the event D will be

triggered when all the indicated servos reach

their target positions

Servo Stop Commands

Pause1Servo(ID1)

Pause2Servo(ID1, ID2)

Pause3Servo(ID1, …, ID3)

Pause Servo(ID1, …, ID4)

Pause5Servo(ID1, …, ID5)

Pause6Servo(ID1, …, ID6)

Pause7Servo(ID1, …, ID7)

PauseAllServo()

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

Stop1Servo(ID1)

Stop2Servo(ID1, ID2)

Stop3Servo(ID1, …, ID3)

Stop Servo(ID1, …, ID4)

Stop5Servo(ID1, …, ID5)

Same as above, except that the module will

cease sending control signal to the servo As a

result, the servo will stop but not hold at the

present position External force might be able

to change its position

Stop6Servo(ID1, …, ID6)

Stop7Servo(ID1, …, ID7)

StopAllServo()

Servo Status and Setting Commands

Get1ServoReadyStatus(ID1, Status)

Get2ServoReadyStatus(ID1, ID2, Status)

Get3ServoReadyStatus(ID1, …, ID3, Status)

Get ServoReadyStatus(ID1, …, ID4, Status)

Get5ServoReadyStatus(ID1, …, ID5, Status)

Get6ServoReadyStatus(ID1, …, ID6, 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(ID, 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 μs

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, then the returned

value for Type will be 0

LoadFrame( rameID) Loads the servo operation settings from the

frame memory block indicated by rameID,

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( rameID) Saves the current settings of servo operations

into the frame indicated by rameID, ranging

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