umbratek ADRA HR Series, User Manual

Page: 23 / 52

EN Ver. 0.2.0
23 / 52 © 2022 Umbratek All Rights Reserved.
and Proportion Integration Differentiation (PID) control algorithms. The factory default algorithm is
ADRC algorithm.
Position Loop ADRC Algorithms
Parameters Bar
1. Display and set motion/general parameters of the position loop.
2. All parameters of the actuator will be refreshed every time you enter the "Position Mode" interface.
3. The parameters will take effect immediately after being set. Please pay attention to whether the
parameters are reasonable. If the parameters are inappropriate, the actuator will vibrate violently or
even break.
4.
Click save after parameter setting, otherwise the setting will be lost after power off.
Parameter Description
Acceleration Coefficient
Acceleration coefficient of position loop. The smaller the value, the smaller the
acceleration, the gentler the start and stop. The acceleration and deceleration of
actuator motion will carry out speed planning similar to S curve, and this
coefficient adjusts the magnitude of acceleration and deceleration of S curve
speed planning.
Speed Compensation
Coefficient
Velocity compensation coefficient of position loop. The higher the value, the
stronger the velocity tracking, and the more pronounced the vibration/jitter may
be
Interference
Compensation
Disturbance compensation coefficient of position loop. The higher the value, the
stronger the position rigidity, and the more pronounced the vibration/jitter may
be.
Position Tracking Time
Position tracking time of position loop. The higher the value, the slower the
position tracking, the weaker the position rigidity. Similar to the PID parameter P
(ratio), but opposite to the polarity of P (larger P, more rigid).
Position Tracking
Differential
Position tracking differential of position loop. D, like PID.
KP
Proportional parameters of the current loop. (The activation button needs to be
enabled for setting operation)