Sharp Actius PC-MV14 Uživatelský manuál stáhnout pdf (Strana 28)

28 ASC16 Users Manual

3.6. Auto test

The auto-test feature helps to determine if a board is functioning properly, helps troubleshoot a non-working

board, and helps test board communications. It is also handy to test servos. To activate the auto-test

function, install JP1 on the ASC16 before applying power to the unit. When power is applied, the auto-test

motion script will automatically load into the ASC16’s command cache. The ASC16 will automatically

become enabled and start processing the motion script. An abbreviated listing of the built-in motion script

that is automatically loaded is listed below.

en ?? ‘the ASC16 will enable itself regardless of current address. 121, ??

tl3 ‘trigger level 3 to allow servo to go full excursion before 119, 3

‘the next move is executed to feed the serial port some

‘data to transmit, for testing and verifying hardware

s+ ‘turn servos on 245

tt 200 ‘wait 2 seconds before beginning 111, 200

lm ‘mark beginning of loop 253

mv1, 0 ‘move all servos to position 0 1,0,0

mv2,0 2,0,0

⇓ ‘move servos 3 through 15 here ⇓

mv16,0 16,0,0

tm 1 ‘wait till servo 1 is done moving (they all have the same profile) 181

tt 50 ‘wait a ½ Second 11, 50

mv1, 4000 ‘now move all servos back 1, 15, 160

mv2, 4000 2, 15, 160

⇓ ‘move servos 3 through 15 here ⇓

mv16, 4000 16, 15, 160

lp ‘continue this loop endlessly until terminate command sequence is

‘ received, which is also a test of serial reception.

What you should notice is that your servos are moving from one position limit to the other. You should also

observe data transmitting to the host at the end of each move segment. These actions verify the ASC16

operation and serial transmission.

After sending the Terminate command sequence, the servos should stop moving and the received data

should stop coming. This verifies that the ASC16 is receiving data.

Don’t forget to remove the jumper across JP1 before reapplying power to the ASC16 or it will re-enter this

auto-test function.

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Sharp Actius PC-MV14 Uživatelský manuál Strana 28