umbratek ADRA DD Series, User Manual

Page: 22 / 52

EN Ver. 0.2.0
22 / 52 © 2022 Umbratek All Rights Reserved.
Position Mode
Function: When the target position is set, the actuator will move to the target position at the maximum
speed that has been set. If multiple target points are set, regardless of whether the actuator moves to
the previously set target position, it will abandon the previous target point and move to the last set
target position at the maximum speed that has been set.
Velocity planning: acceleration and deceleration planning is similar to s-curve at start and stop, and
the acceleration is proportional to the parameter "acceleration coefficient".
Max speed: The factory default value is the maximum speed of the actuator. You need to adjust this
parameter based on your requirements.
Assistant Quick Test
①
Select position mode =>
②
Enable the current mode =>
③
Enable actuator =>
④
Input target
position =>
⑤
Set the target position
Assistant Position Mode
Steps for API usage
1. Set motion mode to position mode set_motion_mode()
2. Enable the actuator set_motion_enable()
3. Set target position set_pos_target()
Note: See "SDK API" for details. There are routines in source code and documentation for reference.
Control Algorithms
The position loop of the ADRA series actuators supports Active Disturbance Rejection Control (ADRC)