Hi,
I use a modified AL5D with one of the latest serial SSC-32 controller.
When the arm moves the inertia of the arm+load causes the hand to move past the destination and the hand swings a moment until it settles at the final destination.
This could be avoided with introducing a deceleration ramp.
Can this be somehow realized with the SSC-32?
I tried to solve this externally, using the QP command to determine the start position and divide the distance into parts.
Unfortunately the QP command does not provide the full resolution, so it is not usable for this purpose.
Because of the limitation I tried to use the binary equivalent which should support the full resoultion. But the SSC-32 just ignores the command.
How can I make sure that the firmware does support the binary command?
Is there a human readable Query Pulse command returning the position in full resolution?
Thx,
adventuretour
Hi adventuretour,
Since the SSC-32/SSC-32U only returns 1 byte per QP command, it cannot return the position with a resolution other than 10 us. There is no human readable command that does this at this moment. We will take note of this for future updates to the SSC-32U firmware.
Sincerely,
Hi Scharette,
thank you for your quick response.
Is it possible that my firmware does not support the binary commands?
Also the simple “stop all” command has no effect.
Or is there anything to be considered before using those binary commands?
Hi,
Some of the commands are not available in binary mode, but this is not clear in the manual. You can simply try them quickly and see if they produce a response or not. We are aware of this issue and are planing an update to the manuals.
Concerning stop commands, if you wish to stop a servo (no power/signal), simply send the position 0. ex: “#10P0****” to stop sending a signal to channel 10.
Sincerely,
[font=Arial]Hi Scharette,[/font]
[font=Arial][/font]
[font=Arial]Let’s make sure we have the same understanding.[/font]
[font=Arial][/font]
[font=Arial]On lynxmotion.com/images/html/build177.htm, dated -WEBKIT-CENTER]Apr 25, 2011 a set of binary SSC-32 commands are described including a “query position” and “stop all” command.[/font][font=Arial]As this is the latest available document and I bought the SSC-32 this year I expected that this functionality is available.[/font]
[font=Arial]Do I understand you correctly that:[/font]
-[font=Arial]those binary functionalities are not (officially) supported anymore[/font]
[font=Arial]- there is currently no way to retrieve the exact position[/font]
[font=Arial]?[/font]
[font=Arial][/font]
[font=Arial]That would be bad news.[/font]
[font=Arial][/font]
[font=Arial]Not only that I wasted a whole day debugging our soft- and hardware, but also for our project.[/font]
[font=Arial]We had planned to deploy the SSC-32 in a small batch. The current one is only our pretest device.[/font]
[font=Arial][/font]
[font=Arial]Is there any other documented functionality also missing?[/font]
[font=Arial]Is there any option to upgrade the firmware in near time?[/font]
[font=Arial][/font]
[font=Arial]Best regards,[/font]
[font=Arial]adventuretour[/font]
[font=Arial][/font]
Hi adventuretour,
The binary commands / guide you linked to is related to the SSC-32, not the SSC-32U. Indeed, the current firmware of the SSC-32U does not officially support the binary commands, which is why it is not listed in the SSC-32U manual, available here.
These commands may be supported again with an update to the firmware. While this is a possibility, there is not ETA for it right now. But, the 10 us resolution of the QP command should be more than enough to estimate the position of the servomotors as they tend to have more tolerance than this in their control electronics and mechanical assembly (i.e.: they “wobble” more than the 10 us resolution).
Sincerely,
Hi Sébastian,
Pleas note, the topic is about the SSC-32 not the SSC-32U.
So, does the SSC-32 officially support the binary commands?
I double checked it with another PC a hex-compatible terminal program and had no success.
But good to know, that the command set of the SSC-32 and SSC-32U differ. Are there also other differences in the control logic I should no about?
But, the 10 us resolution of the QP command should be more than enough to estimate the position of the servomotors as they tend to have more tolerance than this in their control electronics and mechanical assembly (i.e.: they “wobble” more than the 10 us resolution).
I don’t agree on that. 10 us with a range from around 500 to 2500 is around 0,5% and around 1/360 rotation.
1/360 of the base rotation is a significant distance and must not be ignored.
Best regards,
Ralf
Hi,
Please connect to your SSC-32 using the free Lynxterm utility, available here. Once connected to your board, type “VER” followed by return in the black text box.
The board should respond with the firmware version. Which version do you have installed?
Sincerely,
Hi Scharette,
sorry for the delayed reply, I had been abroad without access to the SSC32.
The controller returns SSC32-V2.03XE.
Best regards,
Ralf
Hi Ralf,
You can obtain the alpha firmware with extended binary command support here. Since this support was never completed without bugs, this firmware version does not ship by default with the SSC-32.
You can try the alpha firmware by uploading it to the board using the Lynxterm tool. Please note that this alpha firmware is not officially supported and will not be updated as the SSC-32 is a discontinued product (replaced with the SSC-32U).
At this time, the default firmware on the SSC-32U does not support the extended binary commands because it is not stable. A future update to the SSC-32U firmware may contain support for them.
Sincerely,
Hi Sébastien,
thank you. I will have a look.
However it does not sound like the reliable solution I am looking for.
Best regards,
Ralf
Hi Ralf,
Please note that the SSC-32 is a legacy product that has been discontinued and is replaced by the SSC-32U. There will not be any updates to the SSC-32 firmware.
Sincerely,
