Hi, I just bought a Lynx 5 robotic arm, and i’m trying to write some assembly language code to control the SSC-32 through a CML-12SDP256 microcontroller. Basically it works fine when I use the 3-bytes technique: first send 255(sync byte), then servo number, then servo position. The problem with this is that I want to control the servo speed. I know that the SSC-12 had the option of including it in the servo number, however, the SSC-32 doesn’t have this option. Does anyone know the commands in assembly language so that I can include the servo speed as well? Thank you!
What Anita is wanting is an explaination of how to use the SSC-32’s native ASCII commands from assembly for the 68HC12. She knows how to send binary data to a pin serialy, but not sure how to convert the ASCII commands to binary format. (I think) 
It seems that the Mini-SSC emulation in the SSC32 code does not support what you are looking for directly. The upper 4 bits of the servo number byte do not correspond to servo speed as they did with the SSC12.
The SSC32 supports other commands allowing the control of speed, but you’ll have to get out of mini-scc emulation mode and use the new protocols.
I was told that there is a way to convert the entire command to a sequence of ASCII characters then send it to the controller. Does anyone know anything about this? Thanks again!