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Summary of Contents for ElectroCraft CPP-A06V48A-SA-CAN
- Page 1 CPP-A06V48A-SA-CAN CPP-B06V48A-SA-CAN Drive User Manual ElectroCraft CompletePower™ Plus Universal Servo Drive ElectroCraft document number: 198-0000082 © 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
Installation ........................9 Wiring ..........................9 Life Support Policy .......................10 Checking Product on Delivery ..................10 Introduction to ElectroCraft CompleteArchitect™ PC Software ....... 11 Product Overview ....................12 Key Features ........................12 Simplified System Block Diagram .................12 Hall Sensor Feedback for BLDC motor ................13 Stepper motor Phase Current Waveforms for Different Step values ......16... - Page 5 Connecting CAN .......................37 10.1.1 I/O Description ........................37 10.1.2 CAN Physical Layer Circuit ....................37 10.1.3 CAN Input & Output Circuits ....................37 10.1.4 CAN Address Settings ......................39 10.2 Connecting USB .......................39 © ElectroCraft 2022 CPP-x06V48A-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 ...........44 13.6 ElectroCraft Braking Module Assembly ..............45 Troubleshooting ....................46 14.1 Status LED (Red) ......................46 14.2 Power LED (Green) ....................47 ©...
- Page 7 FIGURE 33: EBRAKE CONTROL INTERFACE ..................40 FIGURE 34: BRAKE RESISTOR OPERATION GRAPH ................41 FIGURE 35: EXTERNAL BRAKE RESISTOR AND BULK CAPACITOR CONNECTION TO THE DRIVE ................................44 FIGURE 36: ELECTROCRAFT BRAKING MODULE ................. 45 © ElectroCraft 2022 CPP-x06V48A-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-x06V48A-SA-CAN Drive User Manual... -
Page 11: Life Support Policy
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-x06V48A-SA-CAN has arrived carefully packaged from ElectroCraft, in an antistatic bag. As you unseal this bag, inspect the contents carefully. -
Page 12: Introduction To Electrocraft Completearchitect™ Pc Software
While unpacking, if you discover any loose or damaged parts, notify ElectroCraft within two working days. ElectroCraft recommends that all packing materials be saved in the event that the drive needs to be returned. Always place the drive in the same antistatic bag used in the original shipment. Anti-static filler material should always be placed around the drive so that it cannot shift inside the box. -
Page 13: Product Overview
97% efficiency at full load. • Selectable software protection options. • Windows®-based ElectroCraft CompleteArchitect™ set-up and tuning utility software included. Note: The CPP-x06V48A-SA-CAN drive can be configured by the software through USB even when there is no power supply provided. Simplified System Block Diagram Overall system of CPP-x06V48A-SA-CAN is shown in Figure 1. -
Page 14: Hall Sensor Feedback For Bldc Motor
Hall Sensor Feedback for BLDC motor Drive is capable of operating the BLDC motor using trapezoidal (6-step) commutation with hall sensor feedback as shown in Figure 2 and sinusoidal commutation with hall sensor feedback as shown in Figure © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 15: Figure 2: Trapezoidal 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 2: Trapezoidal Commutation with Hall sensor feedback © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 16: 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-x06V48A-SA-CAN Drive User Manual... -
Page 17: 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-x06V48A-SA-CAN Drive User Manual... -
Page 18: 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 can be used to switch between “Enabled” and “Disabled” states. Refer to section 14 for LED flash codes and possible causes. © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 19: Drive Specifications
SA-CAN Peak Current CPP-B06V48A- Output Phase Current SA-CAN Peak Duration maximum (Applies only for CPP-A06V48A-SA- CAN model, see I t section 4.5) PWM Frequency Configured by software * Values are peak of Sine © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 20: 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-x06V48A-SA-CAN Drive User Manual... -
Page 21: 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-x06V48A-SA-CAN Drive User Manual... -
Page 22: 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 23: Peak Current Fold-Back (I 2 T)
Peak Current Fold-back (I This feature applies only for CPP-A06V48A-SA-CAN model only. Currents higher than rated continuous current may be required to achieve high momentary torques. The drive and motor can withstand these higher peak currents for a limited time. To protect the drive and motor, the drive will limit the time operated with peak current. -
Page 24: Hardware Installation
DMT-2-16 DMT-B-C-F-T-R Micro USB Type B - Male CAN Input Molex 43025-0600 43030-0007 CAN Output Molex 43025-0600 43030-0007 Crimp tool for J1, J2 Molex 57026-5000 Crimp tool for J3, J4, J5 Molex 0638190000 © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 25: 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-x06V48A-SA-CAN Drive User Manual... -
Page 26: 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 2.0b compatible communications interface for drive © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 27: J7 Can Communications Input Pinout
In/Out CAN low differential signal CAN GND (digital GND) Output +5 Volts DC Power; Internally generated. EN Out Output Digital output for CAN enable Shield CAN Shield (pass thru to J7 pin 6) © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 28: Connecting Power
Figure 11: Brushless DC motor connection to the drive Permanent Magnet DC (PMDC) Motor Drive Motor Positive PMDC Motor Motor Negative Motor Shield Figure 12: Permanent Magnet DC motor connection to the drive © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 29: Stepper Motor
The Hall sensor inputs are limited to +5V logic levels. Use the drive supplied +5V to supply power to the motor’s hall sensors. 2.2K Hall Signal Input 4700pF Figure 15: Hall sensor signal input circuit © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 30: Incremental Encoder
A, B and Z Figure 16: Differential encoder connection to the drive 8.2.2 Single-Ended Encoder Drive Encoder A Encoder B Motor Encoder Index Ground Figure 17: Single-ended encoder connection to the drive © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 31: 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-x06V48A-SA-CAN Drive User Manual... -
Page 32: 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-x06V48A-SA-CAN Drive User Manual... -
Page 33: Temperature Sensor Connections
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 (J3 Pin 4) Figure 20: Temperature sensor signal input circuit © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 34: Connecting I/O
This will inhibit the torque in the negative direction. +5 Vout Output Internally generated +5 volts for customer use. Refer to section 4.3.2. Ground Referenced to supply ground. © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 35: 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-x06V48A-SA-CAN Drive User Manual... -
Page 36: Digital Inputs And Outputs
See section 4.3.6 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-x06V48A-SA-CAN Drive User Manual... -
Page 37: 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-x06V48A-SA-CAN Drive User Manual... -
Page 38: Communication
Important Note: A termination of 120 Ohms between CAN high and low signals is necessary at each end of the bus for ElectroCraft CAN (it is not required at each axis point). ElectroCraft standard drives do NOT include this termination. -
Page 39: Figure 30: Can Enable (Low) Output Interface
31 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-x06V48A-SA-CAN Drive User Manual... -
Page 40: Can Address Settings
Dynamically assigned at power up over the CAN bus. As shipped from the factory, standard ElectroCraft drives are configured with an AXIS-ID of 1. Additional information regarding CAN operation can be found in the ElectroCraft CAN Reference Manual (198- 0000088). -
Page 41: Ebrake Control
1. Install ElectroCraft CompleteArchitect 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. 3. Supply required power to the drive (within the voltage and current range as specified in section 4) to operate the motor. -
Page 42: Adding An External Brake Resistor
The user supplied temperature sensitive device must be rated to a current equal or more than © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 43: 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 44: Minimum External Bulk Capacitance
On voltage (set in the configuration software). ElectroCraft recommends connecting a capacitor of 50μF 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 6A, so it will need a 300μF capacitor. -
Page 45: Connecting External Brake Resistor And Bulk Capacitor
Brake Resistor Figure 35: External brake resistor and bulk capacitor connection to the drive The ElectroCraft Braking Module is designed for this purpose and is compatible with CPP-x06V48A-SA- CAN. Refer section 13.6 for application information. © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual... -
Page 46: Electrocraft Braking Module Assembly
The braking module is designed to be connected between the CPP-x06V48A-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 47: 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-x06V48A-SA-CAN Drive User Manual... -
Page 48: 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-x06V48A-SA-CAN Drive User Manual... - Page 49 © ElectroCraft 2022 CPP-x06V48A-SA-CAN Drive User Manual...
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