SSC-32 Help for Hexapod

[pyrrhicpk]

Hello guys,

I have built a SES-Hexapod with SSC-32, I have powered it with a single 7.2v 2800 NiCd battery pack.

Whenever I turn on the power, it makes all the servos to move and it always does like this irrespective of its last state. I was expecting the initial startup of SSC-32 to centre the servos but it always move them arbitarirly.Should’nt it be the way that, whenever the power is turned on, servos move to their centre position and if, they are already aligned they remain stationary?

When I used to press “All 1500”, then it aligns the legs except one leg that is some steps offset from the centre position.As a result when i set XL and XR to 100% and XS to 50% for forward walk, during the motion that mis-aligned leg obstructs the rear leg motion.

Kindly assist me in my queries.

Thanks for your assistance

[kurte]

@pyrrhicpk

Hello guys,
When I used to press “All 1500”, then it aligns the legs except one leg that is some steps offset from the centre position.As a result when i set XL and XR to 100% and XS to 50% for forward walk, during the motion that mis-aligned leg obstructs the rear leg motion.

I am not sure I can help with the SSC32 specific questions as although my hex has one, it is controlled by an ATOM pro on a AAB board.

However it sounds from your description like maybe you did not zero your servos before you installed them. You may need to do it. When I built me Hex maybe 2 or 3 of the 18 servos needed a little adjustment.

There are several tutorials up on their site that discuss this, including:
lynxmotion.com/images/html/build111.htm

Good luck

[robotdude]

@pyrrhicpk

Hello guys,

I have built a SES-Hexapod with SSC-32, I have powered it with a single 7.2v 2800 NiCd battery pack.

Whenever I turn on the power, it makes all the servos to move and it always does like this irrespective of its last state. I was expecting the initial startup of SSC-32 to centre the servos but it always move them arbitarirly.Should’nt it be the way that, whenever the power is turned on, servos move to their centre position and if, they are already aligned they remain stationary?

Ok the SSC-32 does not turn on the servos automatically. When you turn on the servo power it makes the servos jump a bit, but not hold position. (the only exception to that is digital servos) You can make the SSC-32 move all the servos you use to any position you want if you attach a microcontroller or some other programmable device to it. You can then set everything up with a single serial command. If you want you can write a macro for this using the LynxTerm program.

@pyrrhicpk

When I used to press “All 1500”, then it aligns the legs except one leg that is some steps offset from the centre position.As a result when i set XL and XR to 100% and XS to 50% for forward walk, during the motion that mis-aligned leg obstructs the rear leg motion.

Kindly assist me in my queries.

Thanks for your assistance

Yes it sounds like you may have had one servo horn off a bit. If the servo is off by more than 15° then remove the center servo horn screw and pull the horn off the servo, rotate it to the closest position, then press it back on. Then replace the screw.

Now an SES Hexapod requires you to calculate each servos offset in order to calibrate the servo to the mechanics. Look at the H3 tutorials for an idea of how it works. For example if you command servo 5 to 1525uS (P1525) to make it propperly centered you send a pulse offset command like this. #5 po25 After you send this command, sending #5 p1500 will move the servo to it’s correct center. Put all of the servo offsets into a single command to automatically set up the legs when the robot is turned on.