SSC-32 Commands

[tripodsan]

Hi,
is there a comprehensive documentation about the available serial commands of the SSC-32 Servo Controller?
The linked manual doesn’t explain all the commands, as far as I can see.
For example, how to read the firmware version? what does PL do ?

Thanks.

[scharette]

Hi @tripodsan!

@tripodsan

is there a comprehensive documentation about the available serial commands of the SSC-32 Servo Controller?

Yes there is. Now, I assume you are actually using the SSC-32U and not an SSC-32 (older, non USB model) since the previous model has been discontinued for a bit. That being said, they are nearly identical when it comes to protocol so it shouldn’t be much of an issue.

You can find most of the relevant information in the SSC-32U manual. That document is full of helpful information! For commands specifically, the main ones can be found on pages 24-26. Pages 27-31 have information on the onboard hexapod sequencer and pages 32-35 contain the advanced functions.

@tripodsan

The linked manual doesn’t explain all the commands, as far as I can see.

Yes, the SSC-32U manual does not cover all commands. This is mostly because it is focused on its core use in Lynxmotion kits (such as hexapods, quads, arms, etc.) and not all commands were relevant to its core use.

@tripodsan

For example, how to read the firmware version?

You can read the firmware with command VER. If you are using a SSC-32U you will get version 2.5 USB since that is the only version that was released.

@tripodsan

what does PL do ?

The details of the general purpose sequencer are not in the SSC-32U manual. You can find more information about it here. The command PL can be found under the Sequencer Command and state the following:

@SSC-32 General Purpose Sequencer manual

Start a player

The following command starts a player playing a specified sequence, with several parameters.

(The notation indicates a number that is one of the parameters to the command. The notation “[xxx]” indicates an optional part of the command.)

PL

SQ <s> [SM ] [IX ] [PA ] [ONCE]

PL <p> Specifies player p, either 0 or 1
SQ <s> Specifies sequence number s, from 0 to 127
SM <m> Specifies speed multiplier m, from -200 to 200
IX <i> Specifies starting index i (a.k.a. step number), from 0 to 255
PA <a> Specifies pause between steps, a, in milliseconds from 0 to 65535
ONCE Specifies that the sequence is played only one time

The SM value is a percentage of the speed based on the move times in the programmed sequence. The larger the number the faster the sequence plays, up to 2 times the speed of the programmed sequence (for a speed multiplier of 200%). If the SM value is negative, the sequence is played in reverse. The SM value does NOT affect the maximum speeds for the servos. If SM is not specified, it defaults to 100%.

The IX value specifies which step should be first when the sequence is started. The player will attempt to move the servos gradually to the starting position. If IX is not specified, it defaults to 0.

The PA value specifies the length of a pause that is inserted between steps in the sequence. The value is in milliseconds. If PA is not specified, it defaults to 0.

The ONCE option specifies that the sequence is played only one time, and then the player stops. The servos will start and end at the position specified by the IX parameter (or 0 if IX is not specified). If ONCE is not specified, the sequence will repeat continuously until the player is stopped by a user command.

I hope this information helps!

Sincerely,

[tripodsan]

thanks a bunch…I also found the manual for the binary commands:
http://www.lynxmotion.com/images/html/build177.htm