Innovati Servo Commander 8 User manual

Servo Commander™ 8
User’s Guide
Document Rev 1.0
Mar. 7, 2011

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Trademark
Innovati®, , and BASIC Commander® are registered trademarks of Innovati, Inc
InnoBASIC™, cmdBUS™ and Servo Commander™ are trademarks of Innovati, Inc
Copyright © 2011 by Innovati, Inc All Rights Reserved
Due to continual product improvements, Innovati reserves the right to make modifications to its products without prior
notice Innovati does not recommend the use of its products for application that may present a risk to human life due
to malfunction or otherwise
No part of this publication may be reproduced or transmitted in any form or by any means without the expressed
written permission of Innovati, Inc
Disclaimer
Full responsibility for any applications using Innovati products rests firmly with the user and as such Innovati will not be
held responsible for any damages that may occur when using Innovati products This includes damage to equipment or
property, personal damage to life or health, damage caused by loss of profits, goodwill or otherwise Innovati products
should not be used for any life saving applications as Innovati’s products are designed for experimental or prototyping
purposes only Innovati is not responsible for any safety, communication or other related regulations It is advised that
children under the age of 14 should only conduct experiments under parental or adult supervision
Errata
We hope that our users will find this user’s guide a useful, easy to use and interesting publication, as our efforts to do
this have been considerable Additionally, a substantial amount of effort has been put into this user’s guide to ensure
accuracy and complete and error free content, however it is almost inevitable that certain errors may have remained
undetected As Innovati will continue to improve the accuracy of its user’s guide, any detected errors will be published
on its website If you find any errors in the user’s guide, please contact us via email service@innovati com tw For the
most up-to-date information, please visit our web site at http://www innovati com tw

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Table of Contents
Product Overview ……………………………………… ………… ………… ……………… 3
Product Features …………………………………………… …………… ………… ……… 3
Applications …… …………………… ……… …… … … ………… 3
Product Specifications … …………………… ……… …………… 4
Servo Connection ………………………… ……… …… … … …………… 5
Precautions for Operations …………… ……… …… … … …………… 5
Absolute Maximum Ratings …………… ……… …… … …………… 6
Command Set … … … … … 6
Appendix A --- Tutorial Programs
Ex 1 --- Control Servo Movement by Frames …………………………… … 11
Ex 2 --- Control Servo Movement by Commands ………… … …… … 12

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Product Overview
Innovati’s Servo CommanderTM 8 (SC8) module incorporates the BASIC Commander® and
a ServoRunner8 module with 8 general purpose I/Os controlling up to 8 servos
simultaneously The simple and integrated software functions enable users to directly
control the servo movement by fixed speed or common time There are up to 60 frames
for storing the positions and motion configurations (speed or time), thus various ways of
motions can be achieved through the combinations of actions
Note that this manual mainly describes the functionality of the servo control For
details of the BASIC Commander® system and usage of the innoBASIC™ language, please
refer to “BASIC Commander & innoBASIC Workshop User’s Manual ”
Product Features
Using the BASIC Commander® as controller, users can modify their program and
download to the Servo CommanderTM 8 board via a USB cable
Built-in ServoRunner8 cmdBUS™ module with ID number 0
CmdBUS™ connector for additional Innovati’s Smart Peripheral modules
Capable of controlling up to 8 servos for position ranging from 0 5 ms to 2 5 ms with
2μs resolution
Software fine-tune commands in the range of -128~127 μs
A maximum of 60 frames to store the positions, speeds or the time parameters up to
8 servos
4 events available notifying the completion of servo travel
Module Dimensions: 46 8 mm x 54 8 mm
Applications
Up to 8 Degree of Freedom RC servo applications
Up to 8 General-purpose digital I/Os applications
Up to 32 CmdBUS™ smart modules applications
Combination of above applications

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Product Specifications
Fig 1 Servo Commander™ 8
Item Description
1 Eight Servo Connectors numbering from 0 through 7 Please check the pin
label on the board, incorrect servo pin insertion may cause device damages
2 6~12V Power input: It will be regulated to 5V for the electronics on the board
and unregulated for direct servo power use Make sure the input voltage
range is within the servo input voltage rating, otherwise the servos will be
easily damaged
3 A cmdBUS™ connector for other Innovati’s Smart module connection
Please check the label on board when connecting the cmdBUS cable,
incorrect insertion may damage the modules
Same as item 2 May be used as power input or output pins
5 Regulated 5V 200mA output pin and ground pin for power in your
application
6 Eight general-purpose digital I/Os with labeled pin numbers on the board
Through the built-in software commands, they can be used as I2C or UART
pins
7 Red LED will be lit when power is on
8 Yellow LED will be lit when Master/Slave is in communication
9 Green LED will be lit when USB is in communication
10 Mini USB connector: via a USB cable connecting to computer for

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downloading and debugging programs
11 RESET Button To restart the program while the program is in
execution Note that it is prohibited to press this button during
downloading, which will result in download failure
Table 1 Servo Commander™ 8 Description
Servo Connection
The module has 8 servo connectors with 3 pins for each connector The servo connectors
provide power and control signals to the servos, and are placed in two groups labeled 0
through 3 and 4 through 7 To control the servos, connect the proper pins from of servo’s
connector cable to these connectors The power supply connection is shown in Figures 2
Before connecting the power, please check the servo operating voltage and current
ratings to avoid damages to the servos
Fig 2 Servo and power connection
Precautions for Operations
Please make sure of the voltage and current ranges required for the servos before connecting
them Select a suitable power supply and connect correctly to the Vser
The Pulse pins of the servos should be connected to the module in a way complying with the
Connectors for
the Servos
6~12V power
supply

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requirements shown in Table 2
Symbol Parameter Test Conditions Min Typ Max Unit
VOH I/O Output High Voltage No Load - 5 - V
VOL I/O Output Low Voltage No Load - 0 - V
IOL I/O Sink Current VLOAD=0 1VOH 10 20 - mA
IOH I/O Source Current VLOAD=0 9VOH -5 -10 - mA
INL Operating Current No Servo Connected - 33 - mA
Table 2 DC Characteristics (VIN=7.5V, Ta=25°C)
Absolute Maximum Ratings
Operating Temperature of the Module: 0 °C ~ 70 °C
Storage Temperature of the Module: -50 °C ~ 125 °C
Please check servo manufacturer’s related datasheets for their servo’s absolute
maximum ratings
Command Set
The following table lists all the unique commands provided with the ServoRunner8
Module Note that essential words in the commands will be written in bold type and
italics in bold type The bold type word must be written exactly as shown, whereas the
italic bold type words must be replaced with the user values Note that the innoBASIC™
language is case-insensitive
To execute functions related to ServoRunner8 module, please declare the module ID
number as 0 in the program, i e Peripheral ModuleName As ServoRunner8A @ 0
Command Syntax Description
Servo Position Commands
SetPos (ID, Pos)
Sets the servo with ID, ranging from 0 to 7, for
operation The target position is set by Pos
ranging from 499~2500 in μs unit If the given
value is out of this range, the command will not

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be executed
SetPosAndRun(ID, Pos) Same as command above Except after settings
are done, the servo will start to move
SetPosSpd(ID, Pos, Spd)
Sets the servo with ID, ranging from 0 to 7, for
operation The target position is set by Pos
ranging from 499~2500 in μs unit and traveling
at a speed of Spd ranging 0~65535 with unit
μs/s The larger the Spd value is, the faster the
servo travels Note that the Spd with value 0
will be regarded as full speed
SetPosSpdAndRun(ID, Pos, Spd) Same as command above Except after settings
are done, the servo will start to move
SetPosTime(ID, Pos, Time)
Sets the servo with ID, ranging from 0 to 7, for
operation The target position is set by Pos
ranging from 499~2500 in μs unit and traveling
to the target position in Time ranging from
0~65535 milliseconds Note that if the value of
Time is too short, including 0, the servo will
travel at full speed
SetPosTimeAndRun(ID, Pos, Time) Same as command above Except after settings
are done, the servo will start to move
Servo Start Commands
Run1Servo(ID1)
Run2Servo(ID1, ID2)
Run3Servo(ID1, …, ID3)
Run Servo(ID1, …, ID4)
Run5Servo(ID1, …, ID5)
Run6Servo(ID1, …, ID6)
Run7Servo(ID1, …, ID7)
RunAllServo()
According to the set value of servo IDs, ranging
from 0 to 7, each corresponding servo will
perform the preset operation If the servo starts
without the speed or time settings but only the
position setting, the servo will travel at the
maximum speed If any ID value is out of its
range, this command will not be executed
Run1ServoWithEventA(ID1)
Run2ServoWithEventA(ID1, ID2)
Run3ServoWithEventA(D1, …, ID3)
Run ServoWithEventA(D1, …, ID4)
Run5ServoWithEventA(D1, …, ID5)
Run6ServoWithEventA(ID1, …, ID6)
Run7ServoWithEventA(ID1, …, ID7)
RunAllServoWithEventA()
Same as above, except that the event A will be
triggered when all the indicated servos reach
their target positions

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Run1ServoWithEventB(ID1)
Run2ServoWithEventB(ID1, ID2)
Run3ServoWithEventB(D1, …, ID3)
Run ServoWithEventB(D1, …, ID4)
Run5ServoWithEventB(D1, …, ID5)
Run6ServoWithEventB(ID1, …, ID6)
Run7ServoWithEventB(ID1, …, ID7)
RunAllServoWithEventB()
Same as above, except that the event B will be
triggered when all the indicated servos reach
their target positions
Run1ServoWithEventC(ID1)
Run2ServoWithEventC(ID1, ID2)
Run3ServoWithEventC(D1, …, ID3)
Run ServoWithEventC(D1, …, ID4)
Run5ServoWithEventC(D1, …, ID5)
Run6ServoWithEventC(ID1, …, ID6)
Run7ServoWithEventC(ID1, …, ID7)
RunAllServoWithEventC()
Same as above, except that the event C will be
triggered when all the indicated servos reach
their target positions
Run1ServoWithEventD(ID1)
Run2ServoWithEventD(ID1, ID2)
Run3ServoWithEventD(D1, …, ID3)
Run ServoWithEventD(D1, …, ID4)
Run5ServoWithEventD(D1, …, ID5)
Run6ServoWithEventD(ID1, …, ID6)
Run7ServoWithEventD(ID1, …, ID7)
RunAllServoWithEventD()
Same as above, except that the event D will be
triggered when all the indicated servos reach
their target positions
Servo Stop Commands
Pause1Servo(ID1)
Pause2Servo(ID1, ID2)
Pause3Servo(ID1, …, ID3)
Pause Servo(ID1, …, ID4)
Pause5Servo(ID1, …, ID5)
Pause6Servo(ID1, …, ID6)
Pause7Servo(ID1, …, ID7)
PauseAllServo()
According to the set value of servo IDs, ranging
from 0 to 7, each corresponding servo will stop
and hold at the present position If any ID value
is out of its range, this command will not be
executed
Stop1Servo(ID1)
Stop2Servo(ID1, ID2)
Stop3Servo(ID1, …, ID3)
Stop Servo(ID1, …, ID4)
Stop5Servo(ID1, …, ID5)
Same as above, except that the module will
cease sending control signal to the servo As a
result, the servo will stop but not hold at the
present position External force might be able
to change its position

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Stop6Servo(ID1, …, ID6)
Stop7Servo(ID1, …, ID7)
StopAllServo()
Servo Status and Setting Commands
Get1ServoReadyStatus(ID1, Status)
Get2ServoReadyStatus(ID1, ID2, Status)
Get3ServoReadyStatus(ID1, …, ID3, Status)
Get ServoReadyStatus(ID1, …, ID4, Status)
Get5ServoReadyStatus(ID1, …, ID5, Status)
Get6ServoReadyStatus(ID1, …, ID6, Status)
Get7ServoReadyStatus(ID1, …, ID7, Status)
GetAllServoReadyStatus(Status)
Gets the operation status of the servo(s)
indicated by IDs, ranging from 0 to 7, and stores
the status in Status When all the servos reach
their target positions, the returned status will
be 1, otherwise value 0 will be returned
GetNowPos (ID, Pos) Gets the current position of the servo indicated
by ID, ranging from 0 to 7, and then stores it in
the variable Pos of type Word Note that the
position returned is an estimated position
GetPos(ID, Pos) Gets the target position of the servo indicated
by ID, ranging from 0 to 7, and then stores it in
the variable Pos of type Word
GetPosOffset(ID, Offset) Gets the offset position of the servo indicated
by ID, ranging from 0 to 7, and then stores it in
the variable Offset of type Short, ranging form
-128 to 127 μs
GetSpdAndTime(ID, Type, Value) Gets the motion type of the servo indicated by
ID, ranging from 0 to 7, and stores the values in
Type The corresponding setting values are
stored in the variable Value of type Word If the
servo travel type is set as speed, then the
returned value for Type will be 1 If the servo
travel type is set as time, then the returned
value for Type will be 0
LoadFrame( rameID) Loads the servo operation settings from the
frame memory block indicated by rameID,
ranging from 0 to 59, as the current target
position and motion type of the servos
LoadOffset() Loads the servo offset settings from EEPROM
SaveFrame( rameID) Saves the current settings of servo operations
into the frame indicated by rameID, ranging

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from 0 to 59
SaveOffset() Saves the servo offset settings into EEPROM
SetPosOffset(ID, Offset) Sets the offset of the servo indicated by ID with
the value Offset, ranging from -128 to 127
Events Name Description
ServoPosReadyEventA
Executes the RunNServoWithEventA command, where N can be
literally 1~7 or All When all the indicated servos reach their target
positions, event A will be triggered
ServoPosReadyEventB
Executes the RunNServoWithEventB command, where N can be
literally 1~7 or All When all the indicated servos reach their target
positions, event B will be triggered
ServoPosReadyEventC
Executes the RunNServoWithEventC command, where N can be
literally 1~7 or All When all the indicated servos reach their target
positions, event C will be triggered
ServoPosReadyEventD
Executes the RunNServoWithEventD command, where N can be
literally 1~7 or All When all the indicated servos reach their target
positions, event D will be triggered

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Appendix A --- Tutorial Programs
To help you be familiar with the Servo CommanderTM 8 module, some tutorial programs
with brief introduction are provided in this section
To maintain the tutorial programs free of error and up-to-date, they are subject to
change without notice For new users, who are not familiar with the BASIC Commander®,
please refer to the “BASIC Commander® and innoBASICTM Workshop User's Manual” for
more detailed information
Ex. 1 --- Control Servo Movement by Frames
For multiple-servo applications, the related positions of each servo become abstract and
difficult to understand when designing the motion control To solve this problem, the
frame scheme is the widely employed This program gives the basics of servo control by
using the frames
, The frame feature is supported on the Servo CommanderTM 8 module The
innoBASICTM Workshop provide a software utility called “Motion Editor” which helps you
set up the positions of the servos You can access this tool from the Tools menu in
innoBASICTM Workshop
Assuming you have designed three frames with frame ID 0, 1 and 2 The execution
time between each movement is set to 1 second in the frame Now let’s see how to
invoke the frame in the program Note that the frame scheme is the easiest and fastest
way to make your multiple-servo applications work
Peripheral mySer As ServoRunner8A @ 0 ‘ Set the module to 0
Sub Main()
mySer LoadFrame(0) ‘ load frame 0 data from the EEPROM on the module
mySer RunAllServo() ‘ let all servos to execute frame 0
Pause 1000 ‘ wait 1 second for servo traveling
mySer LoadFrame(1) ‘ load frame 1 data from the EEPROM on the module
mySer RunAllServo() ‘ let all servos travel to frame 1 position
Pause 1000 ‘ wait 1 second for servo traveling

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mySer LoadFrame(2) ‘ load frame 2 data from the EEPROM on the module
mySer RunAllServo() ‘ let all servos to execute frame 2
Pause 1000 ‘wait 1 second for servo traveling
End Sub
The program shown above is very straight forward, which helps you understand how
the frames work intuitively Nevertheless, you may add your own code in the program to
make it run more efficiently, more flexible motion or function combination
Ex. 2 --- Control Servo Movement by commands
Instead of using the pre-defined movement frames, you may assign the positions of the
servos at run-time, such as the robot arm application This program shows the usages of
the basic commands This program might not be very meaningful in application, but it
shows you the differences among the commands in their performance
In this example program, the position value is set according to the range of the
majority of the servos Please adjust the allowed position range for the servos that have a
narrower travel range to avoid the damage to the servos
Peripheral mySer As ServoRunner8A @ 0 ‘ Set the module to 0
Sub Main()
mySer SetPosOffset(0, 30) ‘set servo 0 mechanical offset of 30us
mySer SetPosAndRun(0, 1500) ‘ move servo 0 to position 1500 us
Pause 1000 ‘ pause 1 second for the servo to travel
mySer SetPos(0, 2200) ‘ set the target position of servo as 2200
mySer Run1Servo(0) ‘move servo 0 to current settings
Pause 1000 ‘ pause 1 second for the servo to travel
mySer SetPosSpdAndRun(0, 700, 1000) ‘move to position 700us, at speed 1000us/s
Pause 2000
mySer SetPosTimeAndRun(0, 2200, 1000) ‘ move to position 2200us in 1 second
End Sub