Sharp Actius PC-MV14 Manual de usuario

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10 ASC16 Users Manualoccur To move a servo to its new position on its new coordinate polarity without changing theposition value, do a move relative 0

ASC16 Users Manual 11lm(253 DEC) (FD HEX)Loop MarkerFormat: lm lm = 253Description: Used as a place-mark in the command cache of where execution of co

12 ASC16 Users Manualmk(221-228 DEC) (DD-E4 HEX)MarkerFormat: mk# mk# = 221 to 228 for marker numbers 1(mk1) through 8(mk8)Description: The purpose o

ASC16 Users Manual 13mv(1-16 DEC) (01-0F HEX)Move servo absoluteFormat: mv$ position mv$ = 1-16 for servo 1(mv1) to 16 (mv16)position = 0-4000Descrip

14 ASC16 Users Manualop(110 DEC) (6E HEX)OutputFormat: op value op=110value = an 8bit value (0 - 255)Description: Sends a value to the output port. Wh

ASC16 Users Manual 15ra(141-148 DEC) (8D-94 HEX)Read Input as AnalogFormat: ra# ra# = 141 to 148 for analog input 1(ra1) through 8(ra8)Description: S

16 ASC16 Users Manualrs(117 DEC) (75 HEX)Report SpeedFormat: rs servo rs = 117servo = 1 to 16Description: Sends the present servo speed. See the Repor

ASC16 Users Manual 17sp(61-76 DEC) (3D-4C HEX)SpeedFormat: sp$ speed sp$ = 61-76 for servos 1(sp1) to 16 (sp16)speed = 0-255 for speeds of 0 to 255cou

18 ASC16 Users Manualst(151- 168 DEC) (97 - A8 HEX)StopFormat: st$ st$ = 151 to 168 for servo 1 (st1) to servo 16 (st16)Description: This command caus

ASC16 Users Manual 19tl(119 DEC) (77 HEX)Trigger LevelFormat: tl level tl = 119level = 1, 2, or 3Description: Sets the event trigger level. Once the l

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20 ASC16 Users ManualASC16 waits, no other commands in the command cache are processed until the trigger is satisfied.The trigger in this case is the

ASC16 Users Manual 213. HARDWAREFigure 23.1. Servo PortsThe servo port connectors P1 through P16 are wired for Futaba-compatible servo connectors. You

22 ASC16 Users ManualNiCd batteries have a lower internal resistance, making them ideal for motor/servo applications. The servoscan have tighter (stif

ASC16 Users Manual 233.3. OUTPUTSThe ASC16 output port includes an 8-bit high current sinking output driver. A Darlington transistor array -ULN2803 -

24 ASC16 Users ManualOutput Port P21 Pin-outPin Description Pin Description1 Output 1 6 Output 62 Output 2 7 Output 73 Output 3 8 Output 84 Output 4 9

ASC16 Users Manual 25Input Port P17 Pin-outPin Description Pin Description1 +5Volts Out 8 Input Channel / bit 72 All Stop 9 Input Channel / bit 43 Inp

26 ASC16 Users ManualSchematic of RS-232 level converter. (±12Volt to TTL)Here are the construction details for this converter. This converter fits in

ASC16 Users Manual 27figure 9Part placement drawing of RS232 converterPart list for RS232 ConverterQuantity Description Value ReferenceDesignator2 Res

28 ASC16 Users Manual3.6. Auto testThe auto-test feature helps to determine if a board is functioning properly, helps troubleshoot a non-workingboard,

ASC16 Users Manual 294. ASC16 Assembly InstructionsInstall and solder components onto the printed circuit board in the same order shown on the list b

ASC16 Users Manual 31. IntroductionThe ASC16 is a servo motion controller that controls R/C type servo motors from a host computers serialport. The AS

30 ASC16 Users Manual5. Command Summary Chart $= Servo number, # = 8bit value, ##= 16bit val.NumberCodeASCIICodeOperandLengthDescriptionOperan

ASC16 Users Manual 31181 - 196 tm$ 0Trigger on motion complete Servo number implied(sending 0,0,0 aborts)201 - 216 tp$ 0Trigger on servo position Serv

32 ASC16 Users Manual6. Using SCEditThe SCEdit program is a Visual Basic 3.0 program written to ease the development and testing of motionscripts for

4 ASC16 Users ManualHere are the steps it takes to get an ASC16 up and running on a PC for the first time.1. If purchased as a kit, build the ASC16 c

ASC16 Users Manual 52. COMMAND SETThe ASC16 has 34 different commands. There are 1-2-and 3-byte commands. The 2nd and 3rd bytes in amultiple byte comm

6 ASC16 Users ManualA good application for acceleration control is to lessen the forces created by an accelerating robotarm. Newton’s Law states that

ASC16 Users Manual 7at(249 DEC) (F9 HEX)Abort TriggersFormat: at at = 249Description: Abort all pending event triggers. Only works when the trigger le

8 ASC16 Users Manualen(121 DEC) (79 HEX)Enable ModuleFormat: en address en = 121address = 0 to 255Description: Enables a module for receiving commands

ASC16 Users Manual 9f-(252 DEC) (FC HEX)Freeze Motion OffFormat: f- f- = 252Description: Resume the motion of all servos previously held by a Freeze M