umbratek ADRA DD Series, User Manual

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EN Ver. 0.2.0
18 / 52 © 2022 Umbratek All Rights Reserved.
RX: TTL input mode, controls actuator enable status. High level enables actuator, low level disables
actuator.
TX: TTL output mode, debugging information output serial port.
For details, see “debugging COM
Information”.
2. Position/
S
pee
d
/Torque Mode (Not released yet, need to update the firmware)
IO1: TTL output mode, encoder ABZ output phase A.
IO2: TTL output mode, encoder ABZ output phase B.
RX: TTL output mode. High level indicates that the actuator is enabled, and low level indicates that the
actuator is disabled.
TX: TTL output mode. debugging info
rmation output serial port. For details, see “debugging COM
Information”.
3. Debug Mode (Not released yet, need to update the firmware)
IO1: TTL output mode, test the current sampling time of the current loop. High level indicates the start
of sampling, low level indicates the end of sampling.
IO2: TTL output mode, test the calculation start and end time of position/speed loop. High level
indicates the start of calculation, low level indicates the end of calculation.
RX: TTL output mode, test the encoder sampling time. High level indicates the start of sampling, low
level indicates the end of sampling.
TX: TTL output mode. debugging information output serial port. For details, see “debugging COM
Information”.