Hi
I am running a LynxMotion robot arm using a SSC-32 V1 (Atmega 8-16) controller with firmware version SSC32-1.06XE. Is there any way to slow down the initial full speed motion to the 1st position?
Regards,
Joe
Hi Joe,
The SSC-32 (and SSC-32U) control RC servomotors. Since these have no feedback on their position, the SSC-32 cannot know what there initial position is. Therefore, there is no way to “slow down” the motion, since that would require knowing both the starting and ending position of the first motion.
Fortunately, there is a solution that is possible. If your setup has a known rest position between resets/power-ups, you can program the SSC-32’s firmware settings to initialize on power-up to that position.
Since the motors will then already be powered to that position, all future commands send to the controller will be able to use S (speed) & T (time) parameters, which would normally be ignored by the first command because the position is normally unknown.
You can change these settings using our free utility Lynxterm. Please see the attached image for details. You will only need the Initial pulse width for an initial position. The Initial pulse offset is used for calibration (-100 to 100 us).
Please note that if you activate an initial pulse offset or width, it applies to all channels, not just one. If you only wish to apply this to one or a few, you can use instead the Startup string setting instead, which allows you to set up to 255 characters of commands to be done on power-up (such as initial P commands or offset commands for a few key channels, instead of all of them at once!).
We hope this helps!
Sincerely,
Some high torque digital servos has this feature built in for safety, like the discontinued HSR-5990TG. Or else Scharette’s solution is the best option for analog servos.
Thanks for both suggestions. For now I will use the 1st strategy. If I replace the servos in the future I will get servos that have this feedback feature.
Joe