umbratek ADRA DD Series, User Manual

Page: 37 / 52

EN Ver. 0.2.0
37 / 52 © 2022 Umbratek All Rights Reserved.
robots and help improving the control performance of robots.
Broadcast Mode Reads / Writes Multiple Actuator Rules
1. When reading/writing actuators in broadcast mode, the actuators ID that are concatenated on the
bus must be unique and contiguous. For example, if three actuators are connected in series, the ID
cannot be 1, 6, or 7. The ID must be 1, 2, or 3, or 6, 7, or 8, or other consecutive IDs.
2.
If only one actuator is used, set the start ID and end ID to the actuator ID.
3. In broadcast mode, after receiving the broadcast write command, the actuator would not respond
and would record the number of received broadcast write commands.
4.
In broadcast mode, after receiving the broadcast read command, the actuator replies the data to
the host in ascending order based on the ID. The reply data includes: requested data and the number
of received broadcast write commands. After replying, the recorded number of broadcast write
commands will be cleared.
5.
The host can check whether the number of broadcast write commands is correct based on Rules 3
and 4, and determine whether the broadcast write commands are lost.
Broadcast Mode Sets Multiple Actuator Target Positions
* Register address is 0x60, API function set_cpos_target(uint8_t sid, uint8_t eid, float* pos)
* Broadcast mode (a packet) sets the target position of multiple actuators (sequential ids). For
example, if the target positions of the three actuators ID1, ID2, and ID3 are set at the same time, the
three actuators will parse data according to their IDS to obtain the target positions and execute the
broadcast commands after receiving the broadcast commands. All actuators that receive broadcast
commands do not reply, but will record the number of broadcast write commands that has been
received.
* Example of setting the target position of actuators 1 to 6.
AdraApiSerial *adra = new AdraApiSerial( "/dev/ttyUSB0", 921600);
adra->into_motion_mode_pos(1);
adra->into_motion_enable(id);
float pos[6] = {1, 2, 3, 6, 7, 2};
adra->set_cpos_target(1,6, pos);
Broadcast Mode Sets Multiple Actuator Target Torque
* Register address is 0x61, API function set_ctau_target(uint8_t sid, uint8_t eid, float* tau)
* Broadcast mode (a packet) sets the target torque of multiple actuators (sequential ids). For example,
if the target torque of the three actuators ID1, ID2, and ID3 are set at the same time, the three
actuators will parse data according to their IDS to obtain the target torque and execute the broadcast
commands after receiving the broadcast commands. the three actuators will parse data according to
their IDS to obtain the target positions and execute the broadcast commands after receiving the