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Summary of Contents for ElectroCraft CompletePower Plus
- Page 1 CPP-A12V80A-SA-CAN Drive User Manual ElectroCraft CompletePower™ Plus Universal Servo Drive ElectroCraft document number 198-0000083 © ElectroCraft 2022...
- Page 2 While ElectroCraft believes that the information and guidance given in this manual is correct, all parties must rely upon their own skill and judgment when making use of it. ElectroCraft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work, whether such error or omission is the result of negligence or any other cause.
- Page 3 • Ask questions about product operation or report suspected problems • Make suggestions or report errors in documentation Contact ElectroCraft … For regional technical, application and sales support for ElectroCraft and Hansen Products: North America / USA / Mexico / South America / Central America Contact: (844) 338-8114, sales@electrocraft.com...
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Page 4: Table Of Contents
Environmental Protection ....................8 Installation ........................9 Wiring ..........................9 Life Support Policy .......................10 Checking Product on Delivery ..................11 Introduction to ElectroCraft CompleteArchitect™ PC Software ....... 11 Product Overview ....................12 Key Features ........................12 Simplified System Block Diagram .................12 Hall Sensor Feedback ....................13 Stepper motor Phase Current Waveforms for Different Step values ......15... - Page 5 9.4.2 Analog Output Circuit ......................35 Communication ....................36 10.1 Connecting CAN .......................36 10.1.1 I/O Description ........................36 10.1.2 CAN Physical Layer Circuit ....................36 10.1.3 CAN Input & Output Circuits ....................36 © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual...
- Page 6 Calculating power value of the braking resistor ..............42 13.4 Minimum external bulk capacitance ................43 13.5 Connecting External Brake Resistor and Bulk Capacitor ...........43 13.6 ElectroCraft Braking Module Assembly ..............44 Troubleshooting ....................45 14.1 Status LED (Red) ......................45 14.2 Power LED (Green) ....................46 ©...
- Page 7 FIGURE 33: EBRAKE CONTROL INTERFACE ..................39 FIGURE 34: BRAKE RESISTOR OPERATION GRAPH ................40 FIGURE 35: EXTERNAL BRAKE RESISTOR AND BULK CAPACITOR CONNECTION TO THE DRIVE ................................43 FIGURE 36: ELECTROCRAFT BRAKING MODULE ................. 44 © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual...
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Page 8: Product Safety Precautions
GIVE SPECIAL ATTENTION TO ALL BOLD PRINT ITEMS. WARNING! ElectroCraft products are not authorized for use in safety critical applications. To operate the drive safely, these minimum precautions MUST be followed to insure proper performance without injury to the operator and damage to motor or drive. -
Page 9: Storage And Transportation
19. Safe use of this product depends on factors specific to the end application. These factors are outside of ElectroCraft knowledge and control. The installer of this servo drive must have a thorough knowledge of safety precautions and practices relevant to the specific application of this drive. -
Page 10: Installation
6. Use twisted-pair wires for CAN-H & CAN-L. See sections 5.4.8 & 5.4.9 for pinout information. 7. Always use the specified power supply voltage. An incorrect power supply may result in damage to the drive. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 11: Life Support Policy
Life Support Policy READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE CPP-A12V80A-SA-CAN DRIVE! ElectroCraft products are not authorized for use as critical components in life support devices or systems without the express written approval from ElectroCraft, Incorporated. 1. Life support devices or systems are intended for surgical implant into the body, or support or... -
Page 12: Checking Product On Delivery
Check the overall appearance. Check for damage or scratches that may have occurred during shipping. If any damage is noted, or if the unit is the wrong type, contact your ElectroCraft sales representative immediately. Your CPP-A12V80A-SA-CAN has arrived carefully packaged from ElectroCraft, in an antistatic bag. As you unseal this bag, inspect the contents carefully. -
Page 13: Product Overview
Product Overview This manual describes the installation and operation of the CPP-A12V80A-SA-CAN digital servo-amplifier manufactured by ElectroCraft Inc. Key Features Features of CPP-A12V80A-SA-CAN drive: • +12 to +80 VDC power supply input. • 12 Amps Continuous, 30 Amps Peak (2 seconds). -
Page 14: Hall Sensor Feedback
360° 60° 120° 180° 240° 300° 360° Hall Sensor 1 Hall Sensor 2 Hall Sensor 3 Motor Phase A Motor Phase B Motor Phase C Figure 2: Trapezoidal Commutation with Hall sensor feedback © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 15: Figure 3: Sinusoidal Commutation With Hall Sensor Feedback
360° 60° 120° 180° 240° 300° 360° Hall Sensor 1 Hall Sensor 2 Hall Sensor 3 Motor Phase A Motor Phase B Motor Phase C Figure 3: Sinusoidal commutation with Hall sensor feedback © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 16: Stepper Motor Phase Current Waveforms For Different Step Values
Motor Phase B Quarter Step / 4 Microsteps per Step Motor Phase A Motor Phase B 256 Microsteps per Step Motor Phase A Motor Phase B Figure 4: Stepper motor Phase Current Waveform © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 17: Encoder Feedback
LED will be ON indicating that power has been applied. The Red LED should be Off, meaning no errors or faults. The Enable input is used to switch between “Enabled” and “Disabled” states. Refer to section 14 for LED flash codes and possible causes. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 18: Drive Specifications
Min. Typical Max. Units Continuous with no additional heatsink Peak Current Output Phase Current Peak Duration maximum (See I t section 4.5) PWM Frequency Configured by software * Values are peak of Sine © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 19: Hall Sensor Inputs
Brake, Limit +, Limit - Pulse Width µs Input Frequency Frequency Step, Direction (Push-Pull Driver) Pulse Width (1) Note: The drive registers a step pulse on the rising edge of the input pulse. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 20: Digital Output
CAN Enable Out Output Voltage External Supply Absolute Maximum 5.25 CAN Enable Out Sinking Absolute Maximum Output Current Logic High CAN Enable In- CAN Enable In+ Logic Low Input Voltage pulled to GND Absolute maximum © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 21: Rating
The drive does not have any temperature or output PWM frequency derating in the ambient temperature range of 0 to 40°C when mounted according to ElectroCraft recommendations as specified in section 5.1. Operating the drive outside ElectroCraft recommendations or in a closed box and stagnant air may limit maximum performance. -
Page 22: Peak Current Fold-Back (I 2 T)
If the entered time value is longer than the computed time limit, the software defaults to the computed time limit. Additionally, there is a preset maximum I t time limit of 30 seconds. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 23: Hardware Installation
43030-0007 Encoder Adam Tech DMT-2-10 DMT-B-C-F-T-R Molex 43025-1600 43030-0007 Adam Tech DMT-2-16 DMT-B-C-F-T-R Micro USB Type B - Male CAN Input RJ45 CAN Output RJ45 Crimp tool for J3, J4, J5 Molex 0638190000 © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 24: Connector Locations And Pin Numbers
Temp+ Input Motor Temperature Sensor Positive; Analog input. Frame Connected to drive chassis Output +5 Volts DC Power; Internally generated. Digital Ground; Return for hall signals. Temp- Input Return for Motor Temperature Sensor. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 25: J4 Encoder Connector Pinout
(1) Note: Pins 3 & 11 are configurable in CompleteArchitect to be either digital or analog inputs. 5.4.7 J6 USB Communications Connector Pinout Pin # Name Description In/Out USB 2.0 compatible communications interface for drive. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 26: J7 Can Communications Input Pinout
+5 Volts DC Power; Internally generated. EN Out Output Digital output for CAN enable Shield CAN Shield (pass thru to J8 pin 6) CAN GND (digital GND) CAN V+ Pass thru (no connection). © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 27: Connecting Power
Figure 11: Brushless DC motor connection to the drive Permanent Magnet DC (PMDC) Motor Drive Motor Positive PMDC Motor Negative Motor Motor Shield Figure 12: Permanent Magnet DC motor connection to the drive © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 28: Stepper Motor
Hall Sensor Signal Input Circuit The Hall sensor inputs are limited to +5V logic levels. Use the drive supplied +5V to supply power to the motor’s hall sensors. Figure 15: Hall sensor signal input circuit © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 29: Incremental Encoder
Incremental Encoder 8.2.1 Differential Encoder Figure 16: Differential encoder connection to the drive 8.2.2 Single-Ended Encoder Figure 17: Single-ended encoder connection to the drive © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 30: Encoder Input Circuit
(an encoder or other sensor) is unavailable. The drive estimates the speed of the motor using the Motor’s Resistance and Ke. Refer CompleteArchitect software manual for more information about calibrating the IxR Speed Feedback Estimator. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 31: Motor Temperature Sensor
For both NTC & PTC applications the drive system will have up to 6% error in accuracy for sensing resistance. This error will be increased further by error in the temperature sensor. The user should factor this in when considering the sensor to be used with the drive. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 32: Temperature Sensor Connections
Drive Temp Sensor Motor Temp Sensor Figure 19: Temperature sensor connection to the drive 8.4.2 Temperature Sensor Signal Input Circuit 3.3V 3.3V BAV99 Motor Temp Input Figure 20: Temperature sensor signal input circuit © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 33: Connecting I/O
This will inhibit the torque in the negative direction. Internally generated +5 volts for customer use. Refer to section +5 Vout Output Error! Reference source not found.. Ground Referenced to supply ground. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 34: I/O Connections
A basic example using a switch for the Enable signal and digital pulse input for Step and Direction from a controller is shown in Figure 22. Drive Step (From Controller) Drive Enable Direction (From Controller) Figure 22: Typical drive I/O connection needed to operate stepper motor © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 35: Digital Inputs And Outputs
See section 4.3.7 for more information regarding electrical specifications. +3.3V +3.3V BAS16 100K Digital Input Figure 24b: Digital input circuit for Step & Direction Inputs 9.3.2 Digital Output Circuit Digital Output Figure 25: Digital output circuit © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 36: Analog Inputs And Outputs
The primary analog output circuit is limited to pin 9 on connector J5. A secondary analog output circuit is available on pin 6 of J5, however this is factory enabled only and requires a special order. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 37: Communication
For high speed CAN this termination is required on each end of the network. 10.1.3 CAN Input & Output Circuits Enable In+ BAS16 Enable In- 220pF Figure 29: CAN Enable (High and Low) Input Interface © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 38: Figure 30: Can Enable (Low) Output Interface
30 below. Note that the 5V external supply is provided from the first drive to the second drive for CAN enable high input. The second drive (and subsequent drives) can also be pulled up by an external source. See section 4.3.11 for electrical specifications. Figure 31: Drive Daisy Chain Operation © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 39: Can Address Settings
Dynamically assigned at power up over the CAN bus. As shipped from the factory, standard ElectroCraft drives are configured with the hardware CAN address switch set to 0 and a software AXIS-ID of 0. This is a null AXIS-ID and means the drive will not respond to any Axis Messages until either a non-zero AXIS-ID is set per one of the above methods. -
Page 40: First Time Operation
First Time Operation To get started, proceed as follows: 1. Install ElectroCraft CompletePower Plus Universal Drive Configuration Tool onto user PC and open the software window. 2. Connect I/O, motor phase and feedback wires to the drive. Make sure the Enable switch is in the OFF position. -
Page 41: Adding An External Brake Resistor
The user supplied temperature sensitive device must be rated to a current equal or more than the maximum deceleration current. Refer section 13.5 for wiring an external temperature sensitive switch to the drive. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 42: Selecting External Brake Resistor
For properly sizing the resistor, a complex calculation requiring detailed information about the application and load is needed. This data is often not known or difficult to obtain, so ElectroCraft has provided the following guideline as a starting point which has proven sufficient in the majority of applications. If further support is needed or this recommendation does not provide the required performance, please contact ElectroCraft. -
Page 43: Calculating Power Value Of The Braking Resistor
The selected power rating for any external brake resistor is application dependent. Usually, a heavy-duty wire wound resistor will work best. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 44: Minimum External Bulk Capacitance
On voltage (set in the configuration software). ElectroCraft recommends connecting a capacitor of 100 μF per each ampere deceleration current across J1 pin 1 and pin 2 as shown in section 13.5. For example, the application given in section 13.3.2 has a deceleration current of 12 A, so it will need a 1200 μF capacitor. -
Page 45: Electrocraft Braking Module Assembly
The braking module is designed to be connected between the CPP-A12V80A-SA-CAN connector J1 and the power supply. For full and complete data including proper connection information please refer to the ElectroCraft Braking Module datasheet available at ElectroCraft website. © ElectroCraft 2022... -
Page 46: Troubleshooting
• Motor Over Speed • Check for mechanical disabled. • Motor Control Error conditions that would cause an over speed condition. Note: Detailed status information can be obtained using the drive configuration software. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... -
Page 47: Power Led (Green)
• Check wires for possible Drive is not Drive will not Power Indicator powered. operate. short circuit. • Verify internally generated +5Vdc power is not overloaded by I/O or motor feedback devices. © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual... - Page 48 © ElectroCraft 2022 CPP-A12V80A-SA-CAN Drive User Manual...
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