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)
© 1997-2013 Designer Systems Page 3 of 8
INTERFACE 13.04.13 Revision 1.00
Servo 7 position
R13 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 7 control
R14 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 8 position
R15 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 8 control
R16 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 9 position
R17 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 9 control
R18 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 10 position
R19 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 10 control
R20 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 11 position
R21 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 11 control
R22 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 12 position
R23 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 12 control
R24 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 13 position
R25 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 13 control
R26 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 14 position
R27 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 14 control
R28 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 15 position
R29 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 15 control
R30 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 16 position
R31 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 16 control
R32 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 17 position
R33 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 17 control
R34 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo 18 position
R35 P P P P P P P P
P..P = Servo position 0 to 255 (0.5mS to 2.50mS)
Servo 18 control
R36 A B C D S S S S
A = Operate (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start control (0 – Disabled 1 – Enabled)
D = Speed control (0 – Disabled 1 – Enabled)
S..S = Servo speed value 0 to 15 (0 = slowest)
Servo global enable register
R37 X X X X X X X X
X..X = Any value
Each control register consists of four
control bits and a four bit speed con-
trol value defined as follows:
Bit (A) 128decimal is the operate bit
which when set activates the servo
being controlled.
Bit (B) 64decimal is the reverse bit
which reverses the position value for
the servo being controlled.
Bit (C) 32decimal is the soft-start bit
which when set on servo first activa-
tion, see operate bit above, feeds
position pulses to the servo in a
ramping manner until position is
attained.
Bit (D) 16decimal is the speed control
enable bit which when set applies
the speed value 0 to 15, contained in
the four bits (SSSS) 1,2,4,8 decimal , to
the servo being controlled.
Once all the required position &
control registers have been set a
write to the R37 (Global enable reg-
ister) must be made to activate all
the new positions.
Example.
To set the first nine servos to new positions
with servos 1 to 4 running at speed 0 and
servos 5 to 8 running at speed 5 in reverse
mode, first write:
Byte 1 (SCX18 Adr) 11101000binary
Byte 2 (Register 0) 0decimal
Byte 3 (Register 1) 30decimal
Byte 4 (Register 2) 144decimal, 90hex
Byte 5 (Register 3) 35decimal
Byte 6 (Register 4) 144decimal, 90hex
Byte 7 (Register 5) 40decimal
Byte 8 (Register 6) 144decimal, 90hex
Byte 9 (Register 7) 45decimal
Byte 10 (Register 8) 144decimal, 90hex
Byte 11 (Register 9) 127decimal
Byte 12 (Register 10) 213decimal, D5hex
Byte 13 (Register 11) 130decimal
Byte 14 (Register 12) 213decimal, D5hex
Byte 15 (Register 13) 140decimal
Byte 16 (Register 14) 213decimal, D5hex
Byte 17 (Register 15) 150decimal
Byte 18 (Register 16) 213decimal, D5hex
then to activate write:
Byte 1 (SCX18 Adr) 11101000binary
Byte 2 (Register 0) 37decimal
Byte 3 (Register 37) 0decimal
To read the status registers a device
write then read must be undertaken
by the OOPic / I2C Master. The
write consists of a Start condition,
device ID (‘D’ bit cleared), register
to start read and a Stop condition.
This is followed by a read, which
consists of a Start condition, device
ID (‘D‘ bit set), followed by data
from the status register and termi-
nated with a Stop condition (see
Figure 1.1 for I2C read protocol).
Status registers
There are 18 registers that can be
read within the SCX18 as follows:
7
6
5
4
3
2
1
0
SCX I2C Address
1. 1 1 1 0 1 X X 1
XX = SCX18 address
Servo 1 status
R0 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 2 status
R1 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 3 status
R2 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 4 status
R3 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 5 status
R4 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)
Servo 6 status
R5 A B C D 0 0 0 0
A = Operation (0 – Servo disabled 1 – Servo enabled)
B = Reverse (0 – Servo normal 1 – Servo reversed)
C = Soft-start (0 – Complete 1 – In-progress)
D = Movement (0 – Complete 1 – In-progress)