So I bought myself an AL5B and it’s awesome! Great work Lynxmotion, I can tell you this thing is going to make my career.
Anyhow, I’m aware this has been asked before on these forums, I have done a bit of searching but I can’t seem to find a definite answer or method for controlling the speed of these servo motors without using the software.
To my understanding the speed is determined purely on the manufacturing spec of the servo, i.e. these model servos are designed to reach their position in the shortest time possible. Unfortunately that doesn’t go well with a robotic arm, it keeps overshooting on the shoulder servo and whacking my desk or the object its trying to pick up.
On the other hand, am I correct in saying the SSC-32 is capable of controlling the speed of the servos by splitting the whole move down into sub-movements making it noticeably slower and smoother?
Currently I’ve been using LynxTerm and the Simple Sequencer to control the arm, they work great at controlling the speed.
I was wondering how exactly this is working, I mean how is LynxTerm sending this information to the SSC-32, I understand PWM but how exactly is the move (and the Pulse width) broken down into sub steps, can anyone explain? I plan on using a PIC16F819 to control it soon, and I need to find a way of controlling its speed without software.
I need to find a way of controlling its speed without software.
You control the servo speed using the speed or timed movement commands from whatever device is controlling the ssc-32. Often microcontrollers have code that sends the desired commands to the ssc-32. The ssc-32 is commanded by other devices and just acts on those commands.
There is a lot going on under the hood of the SSC-32. The program incorporates machine language routines to ensure no servo pulse jitter. The author of the program had to resort to counting machine cycles in certain loops for it to work properly.
I assume you understand how the servo is slowed using SSC-32 commands. The group move is what makes all the magic happen, whether by S or T modifier.
