umbratek ADRA DD Series, User Manual

Page: 39 / 52

EN Ver. 0.2.0
39 / 52 © 2022 Umbratek All Rights Reserved.
pos, float* tau, int* ret)
7.
* Broadcast mode (a packet) gets the current position and torque of multiple actuators (sequential
IDs). After receiving the broadcast read command, the actuator replies data to the host in ascending
order based on the ID. The returned data includes the current position, current torque, and number of
received broadcast write commands. At the same time, the recorded number of broadcast write
commands will be cleared.
* Example of getting the current position and torque of actuators 1 through.
AdraApiSerial *adra = new AdraApiSerial( "/dev/ttyUSB0", 921600);
float pos[6] = {0};
float tau[6] = {0};
Int num[6] = {0};
adra->get_cpostau_current(1, 6, num, pos, tau);
Communication Detection Cycle
* Register address is 0x12, API function set_iwdg_cyc(int id, int cyc)
* Set the maximum interval between broadcast read commands. The unit is torque loop cycle time.
When reading actuator data in broadcast mode, you must send a broadcast read command within a
specified period. If the communication interruption period exceeds the specified period, the actuator
reports an error. If this function is not required, set it to 0 to disable it.
* For example, because the control cycle of the torque loop is 20KHz, if the communication detection
cycle is set to 10000 and the actuator data is obtained by broadcasting, the instruction of actuator
data must be obtained by broadcasting continuously, and the interval must be less than 0.5 seconds
(10000/20khz). If the communication detection period is set to 0, the data of the actuator can be
obtained in a discontinuous broadcast mode.
Debug COM Data
debug mode register is 0x79,API function set_debug_mode().
1. Debug Mode 51
Set the debug mode to 51 and output the data of position loop ADRC control algorithm.
2. Debug Mode 52
Set the debug mode to 52 and output the data of speed loop ADRC control algorithm.
3. Debug Mode 53
Set the debug mode to 53 and output the data of torque loop ADRC control algorithm 1.