umbratek ADRA HR Series User Manual
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umbratek ADRA HR Series User Manual

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ADRA ACTUATOR
USER MANUAL
HR / DD Type

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Summary of Contents for umbratek ADRA HR Series

  • Page 1 ADRA ACTUATOR USER MANUAL HR / DD Type...

  • Page 2: Warnings And Note

    Limitation of Liability Any information given in this manual regarding safety must not be construed as a warranty by Umbratek that the ADRA actuator will not cause injury or damage even if all safety instructions are complied with. 2 / 52...

  • Page 3: Table Of Contents

    Extended I/O ______________________________________________________________________________ 17 Umbratek Assistant _______________________________________________________________________ 19 Preparations ______________________________________________________________________________ 19 Actuator Connection ______________________________________________________________________ 19 Indicator __________________________________________________________________________________ 21 Position Mode _____________________________________________________________________________ 22 Speed Mode _______________________________________________________________________________ 25 Torque Mode ______________________________________________________________________________ 28 Security Parameters ______________________________________________________________________ 30 3 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 4 Advanced API Features ___________________________________________________________________ 36 Debug COM Data _________________________________________________________________________ 39 Error Code ________________________________________________________________________________ 41 Electrical ___________________________________________________________________________________ 43 Regenerative Braking Module ____________________________________________________________ 43 Brake ______________________________________________________________________________________ 43 Mechanical ________________________________________________________________________________ 44 Mounting __________________________________________________________________________________ 44 4 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 5: Features

    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 5 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 6: Selection And Specification

    EN Ver. 0.2.0 Selection and Specification HR Series Model Rule DD Series Model Rule 6 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 7 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 7 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 8 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 8 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 9 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 9 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 10 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 10 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 11 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 11 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 12 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 12 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 13 Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection, Safety Design Torque / Velocity / Position Protection Materials Aviation Aluminum, Steel Ambient Conditions Operation 5 to 40℃, Storage 0 to 45℃, Humidity 20 to 75% (non-condensing) Protection Rating IP30 13 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 14: Introduction

    Please use the actuator strictly in accordance with the operating environment and the maximum allowable temperature range specified in this document DO NOT disassemble the actuator, as this may negatively affect the accuracy of the motor and may lead to permanent malfunction. 14 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 15: Packing List

    10. Avoid impact and dramatic vibration during transportation, loading and unloading. Packing List 2. Power Cable (Red) 3. Power Cable (Black) 4. Dual-plug Data Cable x1 5. Single-plug Data Cable x1 6. Backup Battery Define of Interface 15 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 16 Through this interface, an external battery can be used to power the multi-turn encoder. Note that you need to use Umbratek Assistant to calibrate the encoder every time you plug in the battery (Assistant will automatically prompt you to connect the actuator, just follow the prompts). The model of the interface seat is BM02B-GHS-TBT.

  • Page 17: Rotation Direction

    IO1: TTL input mode, controls the actuator movement direction. High level is in the positive direction and low level is in the opposite direction. IO2: TTL input mode, controls the actuator movement Angle. Each pulse movement 360/65535 degrees. 17 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 18 RX: TTL output mode, test the encoder sampling time. High level indicates the start of sampling, low level indicates the end of sampling. TX: TTL output mode. debugging information output serial port. For details, see “debugging COM Information”. 18 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 19: Umbratek Assistant

    EN Ver. 0.2.0 Umbratek Assistant Preparations As an app dedicatedly designed for Umbratek Components. Compatible with the ADRA Series, FLXI Series, Communication Modules and more. Umbratek Assistant is compatible with a variety of operating systems, including Windows, MacOS and Linux.
  • Page 20 Assistant. You only need to calibrate the encoder as prompted by the software, and power on the actuator again after calibration. Assistant Connection Interface 1 Assistant Connection Interface 2 20 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 21: Indicator

    2. The oscilloscope button is in the upper right corner of the status bar. Click it to display the current position, speed and torque of the actuator in real time in the form of curves. Assistant Actuator Status Assistant Status Oscillograph 21 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 22: Position Mode

    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) 22 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 23 (ratio), but opposite to the polarity of P (larger P, more rigid). Position Tracking Position tracking differential of position loop. D, like PID. Differential Proportional parameters of the current loop. (The activation button needs to be enabled for setting operation) 23 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 24 Electron deceleration ratio N. The default value is 1. If set to N, the actual moving Electronic Ratio position = target position *N. 24 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 25: Speed Mode

    1. Set motion mode to speed mode set_motion_mode() 2. Enable the actuator set_motion_enable() Set target velocity set_vel_target() Note: See "SDK API" for details. There are routines in source code and documentation for reference. 25 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 26 Similar to the PID parameter P (ratio), but opposite to the polarity of P (larger P, more rigid). Speed Tracking Differential Speed tracking differential of position loop. D, like PID. 26 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 27 Electron deceleration ratio N. The default value is 1. If set to N, the actual Electronic Ratio moving speed = target speed *N. 27 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 28: Torque Mode

    1. Set motion mode to torque mode set_motion_mode() 2. Enable the actuator set_motion_enable() 3. Set target torque set_tau_target() Note: See "SDK API" for details. There are routines in source code and documentation for reference. 28 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 29 Torque command smoothing cycle. If set to N, after a new target torque is set, Smooth Cycle each torque control period only takes effect for 1/N relative target torque. The larger the value, the smoother the motion and slower the response. 29 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 30: Security Parameters

    Torque minimum value. This applies to position, speed and torque modes. (This Min Torque Limit parameter has not been published yet) Max Torque Limit Torque maximum value. This applies to position, speed and torque modes. (This 30 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 31 Maximum voltage error. If the voltage is higher than this, the actuator will report an Max Voltage Error error. Maximum torque error. If the torque is higher than this, the actuator will report an Max Torque Error error. 31 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 32: Firmware Update

    Abnormal situation 1. If the online upgrade fails due to an interruption during the upgrade, you can use the local upgrade 32 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 33: Actuator Calibration

    3. After the software prompts completion of calibration, please power on again before use. 4. Do not power off or cut off communication during the upgrade. Otherwise, the encoder calibration 33 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 34 3. Do not power off or cut off communication during the upgrade. Otherwise, memory malfunction may occur. 4. If the calibration fails or other interruptions occur during the calibration, power on and calibrate again until the software prompts that the calibration succeeds. 34 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 35: Other Settings

    In the Position/Velocity/Torque Mode" interface, turn off "Enable" in the upper right corner and turn on "Brake" in the upper right corner. At this time, the actuator will be in the state of free dragging. When there is a load, be careful about falling. 35 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 36: Software Functions

    Refer to the Assistant section and the API documentation for basic functions, but only the advanced functions are described here. Currently, only the RS485 actuator supports the following advanced functions, but the CAN interface does not. These functions are added for the application scenarios of 36 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 37 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 37 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 38 Int num = 0; adra->get_spostau_current(1, &num, &pos, &tau); Broadcast Mode Gets Multiple Actuators Current Position and Torque * Register address is 0x69, API function get_cpostau_current(uint8_t sid, uint8_t eid, int* num, float* 38 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 39: Debug Com Data

    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. 39 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 40 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 loop PID control algorithm. 40 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 41: Error Code

    1. Whether the ambient temperature is within the normal working current temperature out of range range 2. Check whether the load and speed are within the normal range current voltage out of range 1.Check for missing brake resistance modules 41 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 42 1. The broadcast communication cycle time is set to a larger value timed out 2. The broadcast communication cycle time is set to a larger value. Encoder speed error Contact after-sales service 42 / 52 © 2022 Umbratek All Rights Reserved.

  • Page 43: Electrical

    When the voltage of the power supply is higher than the rated voltage, the part of excessive energy will be released through the brake resistance, and so the voltage is stabilized. The module is available for purchase at the Umbratek website. 2. Use Battery Power Battery can absorb the excessive power and thus to stabilize the voltage.

  • Page 44: Mechanical

    EN Ver. 0.2.0 Mechanical Mounting The 3D model of this product can be downloaded from the official website: https://www.umbratek.com/download-center 44 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 45 EN Ver. 0.2.0 45 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 46 EN Ver. 0.2.0 46 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 47 EN Ver. 0.2.0 47 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 48 EN Ver. 0.2.0 48 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 49 EN Ver. 0.2.0 49 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 50 EN Ver. 0.2.0 50 / 52 © 2022 Umbratek All Rights Reserved.
  • Page 51 Resale of Umbratek components or services with statements different from or beyond the parameters stated by Umbratek for that component or service voids all express and any implied warranties for the associated Umbratek component or service and is an unfair and deceptive business practice.
  • Page 52 EN Ver. 0.2.0 Copyright © 2022 Umbratek All Rights Reserved. 52 / 52 © 2022 Umbratek All Rights Reserved.

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