umbratek ADRA HR Series User manual

ADRA ACTUATOR
USER MANUAL
HR / DD Type

EN Ver. 0.2.0
2 / 52 © 2022 Umbratek All Rights Reserved.
Warnings and Note
DANGER
(May cause serious injury or death)
•Never place items containing water, flammables, and solvents near product.
•Never place fingers, arms, toes, and other body parts near product during operation.
•Cut power off if product emits strange odors or smoke.
•Keep product out of reach of children.
•Check the 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 operation.
ATTENTION
(May cause injury or damage to product)
•Do not disassemble or modify product.
•Do not drop or apply strong shock to product.
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.

EN Ver. 0.2.0
3 / 52 © 2022 Umbratek All Rights Reserved.
Catalogue
Warnings and Note_________________________________________________________________________ 2
Catalogue __________________________________________________________________________________ 3
Features ____________________________________________________________________________________ 5
Selection and Specification_________________________________________________________________ 6
Introduction _______________________________________________________________________________ 14
Description________________________________________________________________________________14
Warning ___________________________________________________________________________________14
Packing List _______________________________________________________________________________15
Define of Interface ________________________________________________________________________15
Rotation Direction ________________________________________________________________________17
Status Led_________________________________________________________________________________17
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

EN Ver. 0.2.0
4 / 52 © 2022 Umbratek All Rights Reserved.
Firmware Update _________________________________________________________________________32
Actuator Calibration ______________________________________________________________________33
Other Settings ____________________________________________________________________________35
Software Functions________________________________________________________________________ 36
SDK API____________________________________________________________________________________36
Communication Protocol _________________________________________________________________36
Communication Register _________________________________________________________________36
Advanced API Features ___________________________________________________________________36
Debug COM Data _________________________________________________________________________39
Error Code ________________________________________________________________________________41
Electrical___________________________________________________________________________________ 43
Regenerative Braking Module ____________________________________________________________43
Brake ______________________________________________________________________________________43
Mechanical ________________________________________________________________________________ 44
Mounting__________________________________________________________________________________44

EN Ver. 0.2.0
5 / 52 © 2022 Umbratek All Rights Reserved.
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

EN Ver. 0.2.0
6 / 52 © 2022 Umbratek All Rights Reserved.
Selection and Specification
HR Series Model Rule
DD Series Model Rule

EN Ver. 0.2.0
7 / 52 © 2022 Umbratek All Rights Reserved.
HR-A056 Technical Data (L/S Type Flange Reducer)
Ratio
50:1
80:1
100:1
Reducer Type
Light Weight
High Strength
Light Weight
High Strength
Light Weight
High Strength
MAX Torque (N·m)
18
18
23
28
28
35
AVG Torque (N·m)
6.9
9
11
14
11
14
Rated Velocity (RPM)
68
43
34
Inertia (kg·m²)
0.000014
Rated Current (A RMS)
2.5
2.8
2.1
2.6
2.0
2.5
MAX Current (A RMS)
5.2
6.0
4.6
5.8
4.5
5.5
Weight - Brake (g)
790
990
790
990
790
990
Weight - No Brake (g)
695
895
695
895
695
895
Size (mm)
Motor d56, Flange D73, Height H86, Hole 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
7
Backlash
±0.007° (±25 Arcsec)
Encoder & Resolution
Multi-turn Absolute Magnetic Encoder, 65536 x Ratio (16bit) / 524288 x Ratio (19bit) Pulse/Rev.
Interfaces
RS485 / CAN / Pulse / EtherNet (Add an External Module)
Feedback
Position / Speed / Current / Voltage / Temperature
Operating Mode
Torque / Velocity / Position
Safety Design
Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection,
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

EN Ver. 0.2.0
8 / 52 © 2022 Umbratek All Rights Reserved.
HR-A063 Technical Data (L/S Type Flange Reducer)
Ratio
50:1
80:1
100:1
Reducer Type
Light Weight
High Strength
Light Weight
High Strength
Light Weight
High Strength
MAX Torque (N·m)
34
35
43
56
54
70
AVG Torque (N·m)
26
34
27
35
39
51
Rated Velocity (RPM)
50
31
25
Inertia (kg·m²)
0.000028
Rated Current (A RMS)
5.2
5.5
4.1
5.3
4.0
5.2
MAX Current (A RMS)
10.9
11.5
8.6
11.2
8.5
11.0
Weight - Brake (g)
1030
1250
1030
1250
1030
1250
Weight - No Brake (g)
900
1120
900
1120
900
1120
Size (mm)
Motor d63, Flange D79, Height H94, Hole 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
±0.007° (±25 Arcsec)
Encoder & Resolution
Multi-turn Absolute Magnetic Encoder, 65536 x Ratio (16bit) / 524288 x Ratio (19bit) Pulse/Rev.
Interfaces
RS485 / CAN / Pulse / EtherNet (Add an External Module)
Feedback
Position / Speed / Current / Voltage / Temperature
Operating Mode
Torque / Velocity / Position
Safety Design
Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection,
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

EN Ver. 0.2.0
9 / 52 © 2022 Umbratek All Rights Reserved.
HR-A072 Technical Data (L/S Type Flange Reducer)
Ratio
50:1
80:1
100:1
120:1
Reducer Type
Light
Weight
High
Strength
Light
Weight
High
Strength
Light
Weight
High
Strength
Light
Weight
High
Strength
MAX Torque (N·m)
50
50
74
80
82
100
87
110
AVG Torque (N·m)
34
44
47
61
49
64
49
64
Rated Velocity (RPM)
40
25
20
17
Inertia (kg·m²)
0.000061
Rated Current (A RMS)
7.4
7.6
6.9
7.4
6.0
7.3
5.5
6.9
MAX Current (A RMS)
15.6
15.8
14.6
15.5
12.7
15.4
11.5
14.6
Weight - Brake (g)
1450
1790
1450
1790
1450
1790
1450
1790
Weight - No Brake (g)
1275
1615
1275
1615
1275
1615
1275
1615
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 < 35mA, Encoder Battery < 2.9uA
Pole Pairs
10
Backlash
±0.007° (±25 Arcsec)
Encoder & Resolution
Multi-turn Absolute Magnetic Encoder, 65536 x Ratio (16bit) / 524288 x Ratio (19bit) Pulse/Rev.
Interfaces
RS485 / CAN / Pulse / EtherNet (Add an External Module)
Feedback
Position / Speed / Current / Voltage / Temperature
Operating Mode
Torque / Velocity / Position
Safety Design
Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection,
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

EN Ver. 0.2.0
10 / 52 © 2022 Umbratek All Rights Reserved.
HR-A086 Technical Data (L/S Type Flange Reducer)
Ratio
50:1
80:1
100:1
120:1
160:1
Reducer Type
Light
Weight
High
Strength
Light
Weight
High
Strength
Light
Weight
High
Strength
Light
Weight
High
Strength
Light
Weight
High
Strength
MAX Torque (N·m)
98
100
137
160
157
200
167
217
176
229
AVG Torque (N·m)
55
72
87
113
108
140
108
140
108
140
Rated Velocity (RPM)
40
25
20
17
13
Inertia (kg·m²)
0.000181
Rated Current (A RMS)
14.5
15.0
12.6
14.7
11.5
14.6
10.4
13.5
8.1
10.5
MAX Current (A RMS)
30.1
31.7
26.6
31.0
24.2
31.0
22.0
28.5
17.1
22.2
Weight - Brake (g)
2800
3200
2800
3200
2800
3200
2800
3200
2800
3200
Weight - No 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, 19bit Encoder Battery DC3.6V
Standby Current
Driver < 35mA, Encoder Battery < 2.9uA
Pole Pairs
10
Backlash
±0.007° (±25 Arcsec)
Encoder & Resolution
Multi-turn Absolute Magnetic Encoder, 65536 x Ratio (16bit) / 524288 x Ratio (19bit) Pulse/Rev.
Interfaces
RS485 / CAN / Pulse / EtherNet (Add an External Module)
Feedback
Position / Speed / Current / Voltage / Temperature
Operating Mode
Torque / Velocity / Position
Safety Design
Overload Protection, Over/Low voltage Protection, Temperature Protection, ESD Protection,
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