umbratek ADRA HR Series User Manual Download Page 5

Page: 5 / 52

EN Ver. 0.2.0

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Features

Characteristics

High precision, zero backlash, complete models

Hollow design

Optional light weight, high rigidity or compact harmonic reducer

Drive, brake, servo motor, reducer integrated design (Customizable)

Umbratek Assistant

Online parameter setting

Calibration encoder

Test of each mode

Upgrade firmware online or offline

Real-time graphical curve and data display

Data Bus

(RS485/CAN)

Up to 32 actuators can be connected on a Bus

RS485 up to 12us communication response time, up to 11.25Mbps communication rate (adjustable)

RS485 supports broadcast mode at the same time to send instructions to control multiple actuators

RS485 can simultaneously obtain feedback data from multiple actuators in broadcast mode

CAN interface up to 1Mbps communication rate

Development (open source)

SDK (Python, C/C++, C#)

ROS, ROS2

Arduino SDK

STM32 SDK

Summary of Contents for ADRA HR Series

Page 1: ...ADRA ACTUATOR USER MANUAL HR DD Type...

Page 2: ...power s polarity before wiring CAUTION May cause injury or damage to product Do not operate the product at a temperature exceeding 5 55 C range Do not insert sharp blades nor pins during product opera...

Page 3: ...__________________________________________15 Rotation Direction ________________________________________________________________________17 Status Led___________________________________________________...

Page 4: ...Register _________________________________________________________________36 Advanced API Features ___________________________________________________________________36 Debug COM Data ________________...

Page 5: ...mode Upgrade firmware online or offline Real time graphical curve and data display Data Bus RS485 CAN Up to 32 actuators can be connected on a Bus RS485 up to 12us communication response time up to 11...

Page 7: ...ower Voltage Rated DC48V Operating Range DC19 52V Backup Battery 16bit Encoder Battery DC3V 19bit Encoder Battery DC3 6V Standby Current Driver 35mA Encoder Battery 2 9uA Pole Pairs 7 Backlash 0 007 2...

Page 8: ...le 7 Power Voltage Rated DC48V Operating Range DC19 52V Backup Battery 16bit Encoder Battery DC3V 19bit Encoder Battery DC3 6V Standby Current Driver 35mA Encoder Battery 2 9uA Pole Pairs 10 Backlash...

Page 9: ...615 Size mm Motor d72 Flange D93 Height H101 Hole 10 Power Voltage Rated DC48V Operating Range DC19 52V Backup Battery 16bit Encoder Battery DC3V 19bit Encoder Battery DC3 6V Standby Current Driver 35...

Page 10: ...Brake g 2500 2900 2500 2900 2500 2900 2500 2900 2500 2900 Size mm Motor d86 Flange D107 Height H136 Hole 10 Power Voltage Rated DC48V Operating Range DC38 52V Backup Battery 16bit Encoder Battery DC3V...

Page 11: ...5800 4800 5800 Weight No Brake g 4400 5400 4400 5400 4400 5400 4400 5400 4400 5400 Size mm Motor d113 Flange D138 Height H147 Hole 10 Power Voltage Rated DC48V Operating Range DC38 52V Backup Battery...

Page 12: ...Pole Pairs 7 10 10 Power Voltage Rated DC48V Operating Range DC38 52V Backup Battery 16bit Encoder Battery DC3V 19bit Encoder Battery DC3 6V Standby Current Driver 35mA Encoder Battery 2 9uA Backlash...

Page 13: ...d72 D93 H64 d85 H95 d86 D107 H90 d112 H96 3 d113 D138 H91 Hole Diameter mm 7 7 10 10 10 Axial Radial Load kN 1 26 1 26 1 26 1 26 2 47 2 47 2 95 2 95 2 95 2 95 Power Voltage Rated DC48V Range DC19 52V...

Page 14: ...current overload motor over temperature motor under temperature reverse connection short circuit blocking and other protection functions Warning 1 Do not charge the battery 2 Ensure all the cables are...

Page 15: ...actuator away from strong magnetic environment iron products and other magnetic materials when installing or using otherwise the actuator may start to vibrate violently 9 Store the actuator and acces...

Page 16: ...ces and multiple actuators can be used in series The model of the interface seat is BM03B GHS TBT Battery Interfaces Through this interface an external battery can be used to power the multi turn enco...

Page 17: ...s Description Breathing Normal Standby Always on Normal Enabled Blinks 3Hz Fault Error check error code Blinks 10Hz Normal Boot mode Extended I O The interfaces are IO1 IO2 RX TX and GND from left to...

Page 18: ...tor is disabled TX TTL output mode debugging information 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...

Page 19: ...Umbratek 3 Start Umbratek Assistant 4 Scan and connect the ADRA actuator to enter the control interface see actuator connection for details 5 Use Assistant to test tune calibrate or upgrade the actuat...

Page 20: ...l be reminded that the multi turn encoder is abnormal when connecting to Assistant You only need to calibrate the encoder as prompted by the software and power on the actuator again after calibration...

Page 21: ...actuator voltage current temperature torque speed position and reduction ratio The data will be refreshed at a frequency of 2Hz 2 The oscilloscope button is in the upper right corner of the status bar...

Page 22: ...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...

Page 23: ...t 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...

Page 24: ...the planned position is greater than this value the actuator will report an error Smooth Cycle Position command smoothing cycle If set to N after a new target position is set each position control pe...

Page 25: ...the acceleration is proportional to the parameter acceleration coefficient Assistant Quick Test Select speed mode Enable the current mode Enable actuator Input target velocity Set the target velocity...

Page 26: ...cient Acceleration coefficient of speed 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...

Page 27: ...tivation button needs to be enabled for setting operation Smooth Cycle Speed command smoothing cycle If set to N after a new target speed is set each speed control period only takes effect for 1 N rel...

Page 28: ...an error is reported Assistant Quick Test Select torque mode Enable the current mode Enable actuator Input target torque Set the target torque Assistant Torque Mode Steps for API Usage 1 Set motion mo...

Page 29: ...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...

Page 30: ...erface Parameter Description Min Position Limit Position minimum value This applies to position mode but not to speed and torque mode Max Position Limit Position maximum value This applies to position...

Page 31: ...rror Maximum temperature error If the temperature is higher than this value the actuator reports an error Min Voltage Error Minimum voltage error If the voltage is lower than this the actuator will re...

Page 32: ...LED will blink quickly After about 3 seconds the LED will blink slowly indicating that the upgrade is in progress After the upgrade is complete the indicator turns to breathing If the indicator still...

Page 33: ...returned to factory calibration The encoder of the actuator has been calibrated and strictly tested before delivery Normally users do not need to perform encoder calibration However if the actuator is...

Page 34: ...1 Click Zero calibration and the calibration time is about 5 seconds according to the software prompt 2 After the software prompts completion of calibration please power on again before use 3 Do not p...

Page 35: ...ght corner otherwise the parameters will be lost after the shutdown The factory default reduction ratio is 1 1 Reset Error Code On the Settings interface Actuator errors can be reset without restart F...

Page 36: ...uators support standard RS485 and CAN electrical interfaces The RS485 port uses the UTRC protocol and the CAN port uses the UTCC protocol Document UTRC https umbratek com wiki en adra utrc_communicati...

Page 37: ...dress 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 o...

Page 38: ...e commands that has been received Example of setting the target position and feedforward torque of actuators 1 through 6 AdraApiSerial adra new AdraApiSerial dev ttyUSB0 921600 adra into_motion_mode_p...

Page 39: ...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 re...

Page 40: ...bratek All Rights Reserved 4 Debug Mode 54 Set the debug mode to 54 and output the data of torque loop ADRC control algorithm 2 5 Debug Mode 63 Set the debug mode to 63 and output the data of torque l...

Page 41: ...les service 11 electrical angle error Use the assistant to calibrate encoder 12 Encoder linear error Use the assistant to calibrate encoder 13 Multi turn calibrate error Use the assistant to calibrate...

Page 42: ...ad is consistent Control parameter matching 33 Current power out of range 1 Check whether the load and speed are within the normal range 2 Check whether the power supply voltage is stable 3 Check whet...

Page 43: ...tuator which will detect the voltage of the power in real time When the voltage of the power supply is higher than the rated voltage the part of excessive energy will be released through the brake res...

Page 44: ...EN Ver 0 2 0 44 52 2022 Umbratek All Rights Reserved Mechanical Mounting The 3D model of this product can be downloaded from the official website https www umbratek com download center...

Page 51: ...ponsible or liable for any such statements Buyer acknowledges and agrees that it is solely responsible for compliance with all legal regulatory and safety related requirements concerning its products...

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