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© ElectroCraft 2022

15

CPP-A12V80A-SA-CAN Drive User Manual

3.4

Stepper motor Phase Current Waveforms for Different Step values

The drive is capable of operating the stepper motor in open-loop configuration from full step to 256
microsteps per step at a maximum step rate of 1MHz @ 50% ± 10%. The phase current wave forms for
full step, quarter step and 256 microsteps per step is shown in Figure 4.

30°

60°

90°

120° 150° 180° 210° 240° 270° 300° 330° 360°

0°

Full Step / 1 Microstep per Step

Quarter Step / 4 Microsteps per Step

256 Microsteps per Step

Motor Phase A

Motor Phase B

Motor Phase A

Motor Phase B

Motor Phase A

Motor Phase B

Figure 4: Stepper motor Phase Current Waveform

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Содержание CompletePower Plus

Страница 1: ... ElectroCraft 2022 CPP A12V80A SA CAN Drive User Manual ElectroCraft CompletePower Plus Universal Servo Drive ElectroCraft document number 198 0000083 ...

Страница 2: ... work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from ElectroCraft Inc The informa...

Страница 3: ...d 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 Europe except Germany Middle East Africa Australia Contact EMEA Sales Team 44 0 1270 508800 EMEAsales electrocraft com Germany C...

Страница 4: ...nt Waveforms for Different Step values 15 3 5 Encoder Feedback 16 3 6 Motor and Sensor Configurations 16 3 7 Identification Labels 16 3 8 Status Indicator Lights 16 4 Drive Specifications 17 4 1 Physical Specifications 17 4 2 Environmental Specifications 17 4 3 Electrical Specifications 17 4 3 1 DC Supply Input 17 4 3 2 5VDC Supply Output 17 4 3 3 Motor Output 17 4 3 4 Hall Sensor Inputs 18 4 3 5 ...

Страница 5: ...27 8 1 1 Hall Sensor Connections 27 8 1 2 Hall Sensor Signal Input Circuit 27 8 2 Incremental Encoder 28 8 2 1 Differential Encoder 28 8 2 2 Single Ended Encoder 28 8 2 3 Encoder Input Circuit 29 8 3 IxR Speed Feedback Estimator 29 8 4 Motor Temperature Sensor 30 8 4 1 Temperature Sensor Connections 31 8 4 2 Temperature Sensor Signal Input Circuit 31 9 Connecting I O 32 9 1 I O Functional Descript...

Страница 6: ...0 13 2 Brake Resistor Theory of Operation 40 13 3 Selecting External Brake Resistor 41 13 3 1 Calculating resistance value of the braking resistor 41 13 3 2 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 14 Troubleshooting 45 14 1 Status LED Red 4...

Страница 7: ... SINGLE ENDED ENCODER CONNECTION TO THE DRIVE 28 FIGURE 18 ENCODER SIGNAL ENDED INPUT CIRCUIT 29 FIGURE 19 TEMPERATURE SENSOR CONNECTION TO THE DRIVE 31 FIGURE 20 TEMPERATURE SENSOR SIGNAL INPUT CIRCUIT 31 FIGURE 21 TYPICAL DRIVE I O CONNECTIONS NEEDED TO OPERATE BLDC AND PMDC MOTORS 33 FIGURE 22 TYPICAL DRIVE I O CONNECTION NEEDED TO OPERATE STEPPER MOTOR 33 FIGURE 23A DIGITAL INPUT CIRCUIT FOR C...

Страница 8: ...e it is likely to be exposed to strong and or frequent static discharge 7 Conduct trial operations on the servo drive alone with the motor shaft disconnected from the load to avoid any unexpected motion Motor shaft should be uncoupled and free to rotate without coming in contact with user or any stationary object during set up and preliminary operation 8 Under no circumstances should a phase outpu...

Страница 9: ...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 In particular the installer should consider the risks associated with erroneous or non operation of the servo drive in the application and mitigate them appropriately 1 2 Storage and Transportation 1 Do not store or install the product in t...

Страница 10: ...ay cause internal elements to deteriorate resulting in malfunction or fire 6 Provide the specified clearance between the drive and other devices Provide sufficient space around the drive for cooling by natural convection or provide cooling fans to prevent excessive heat See section 5 for details Failure to observe this caution may result in fire or malfunction 1 5 Wiring 1 Verify ALL wiring BEFORE...

Страница 11: ...for a large contact area between shields and the mounting plate The J5 I O port requires an external ferrite located close to the mating connector with cable passing once through the ferrite Fair Rite 0431176451 or equivalent is required for compliance Re install cover for the micro USB type B port when not in use The USB enclosure port must be covered by non conductive rubber plug tape or label 1...

Страница 12: ...ing material around all external connectors to prevent mechanical stress damage All material to be returned to ElectroCraft must have a Return Material Authorization RMA tracking number assigned before shipment This can be obtained by contacting ElectroCraft Any product returned without this number will be rejected by ElectroCraft Always insure your shipment for the proper replacement value of its...

Страница 13: ... configurable Encoder mode for low speed performance Capture digital input for Encoder location Digital output signal to engage eBrake BLDC PMDC and Stepper motor control Halls only operation mode for BLDC motor IxR speed feedback estimator mode for PMDC motor Integrated circuit for brake regeneration Travel limit inputs Configurable ramp for current and speed 97 efficiency at full load Selectable...

Страница 14: ...apezoidal 6 step commutation with hall sensor feedback as shown in Figure 2 and sinusoidal commutation with hall sensor feedback as shown in Figure 3 Motor Phase A Motor Phase B Motor Phase C Hall Sensor 1 Hall Sensor 2 Hall Sensor 3 60 120 180 240 300 360 60 120 180 240 300 360 Figure 2 Trapezoidal Commutation with Hall sensor feedback ...

Страница 15: ...CPP A12V80A SA CAN Drive User Manual Motor Phase A Motor Phase B Motor Phase C Hall Sensor 1 Hall Sensor 2 Hall Sensor 3 60 120 180 240 300 360 60 120 180 240 300 360 Figure 3 Sinusoidal commutation with Hall sensor feedback ...

Страница 16: ... microsteps per step at a maximum step rate of 1MHz 50 10 The phase current wave forms for full step quarter step and 256 microsteps per step is shown in Figure 4 30 60 90 120 150 180 210 240 270 300 330 360 0 Full Step 1 Microstep per Step Quarter Step 4 Microsteps per Step 256 Microsteps per Step Motor Phase A Motor Phase B Motor Phase A Motor Phase B Motor Phase A Motor Phase B Figure 4 Stepper...

Страница 17: ...tor and Sensor Configurations Brushless Motor PMDC Motor Stepper Motor Hall Sensors Yes No No Encoder Halls Yes No No Encoder Only No Yes Yes IxR Estimator No Yes No None No Yes Yes 3 7 Identification Labels Figure 6 Drive with identifying label 3 8 Status Indicator Lights In normal operation the drive is either in an Enabled state or in a Disabled state When power is first applied the green LED w...

Страница 18: ...densing 5 95 RH 4 3 Electrical Specifications All ratings at ambient temperatures 0 to 40 C and PWM frequency of 20 kHz unless otherwise noted 4 3 1 DC Supply Input Parameter Conditions Min Typical Max Units Supply Voltage Operating Range 12 80 VDC Absolute maximum 10 5 90 Supply Current Operating at maximum load and speed 12 30 A Idle condition No external connections 12VDC 127 mA 80VDC 24 4 3 2 ...

Страница 19: ...Frequency Single ended 4 MHz Differential 4 Minimum Pulse Width Single ended 125 ns Differential 125 ns Input Impedance Differential 120 Ω 4 3 6 Digital Input Parameter Conditions Min Typical Max Units Input Voltage Capture Enable Brake Limit Limit Logic High 2 3 24 V Logic Low 0 1 Absolute maximum 26 Step Direction Logic High 1 5 V Logic Low 0 5 Absolute maximum 12 12 Sinking and Sourcing Current...

Страница 20: ...to max operational voltage externally 4 3 8 Analog Input Parameter Conditions Min Typical Max Units Input Voltage Operational range 10 10 V Absolute maximum 12 12 Input Impedance 100 kΩ 4 3 9 Analog Output Parameter Conditions Min Typical Max Units Output Voltage Operational range 10 10 V Load impedance Connected to ground 10 kΩ 4 3 10 USB Communications Parameter Conditions Type USB Interface USB...

Страница 21: ...ed in this manual However thermal performance of the drive is dependent on the specifics of the application and the environmental conditions 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 ...

Страница 22: ...the output current is reduced and limited to the continuous I2t current limit value The I2t time limit allowed by the software is computed using the equation given below I2 t algorithm limit IP 2 IR 2 x TP Where IP Peak phase current set by user maximum of 30 A IR Rated phase current of 12 A TP I2t time in mS I2t algorithm limit 1512000 preset The I2t time limit that the software allows is 2 secon...

Страница 23: ...eeded for unimpeded natural convection Install the drive using the slots provided which can accommodate up to M4 or 8 screw 5 2 Dimensions Figure 8 Drive dimensions 5 3 Mating Connectors Connector Connector Name Manufacturer Mating Connectors P N Crimp Pin P N J1 Supply Phoenix 1757022 N A Altech SH03 5 08 J2 Motor Phoenix 1760006 N A Altech SH05 5 08 J3 Hall Molex 43025 0800 43030 0007 Adam Tech ...

Страница 24: ...DC 2 B A Output BLDC Phase B Stepper Phase A PMDC 3 C B Output BLDC Phase C Stepper Phase B 4 Brake B Output Braking Resistor Stepper Phase B 5 Frame Connected to drive chassis 5 4 4 J3 Hall Connector Pinout Pin Name I O Description 1 Hall 1 Input Hall Signal A Internal pull up to 5Vdc 2 Hall 2 Input Hall Signal B Internal pull up to 5Vdc 3 Hall 3 Input Hall Signal C Internal pull up to 5Vdc 4 Tem...

Страница 25: ...al analog input 3 1 Step Input Step Digital input A In2 Input Analog Input2 Differential analog input 4 Limit Input Limit Switch Positive Direction Digital input 5 Enable Input Enable Digital input 6 eBrake Output Digital output 7 Fault Output Fault Digital output 8 5VOUT Output 5 Volts DC Power Internally generated 9 A Out Output Analog Output 10 A In1 Input Analog Input1 Differential analog inpu...

Страница 26: ...put Isolated return for Enable In 6 Shield CAN Shield pass thru to J8 pin 6 7 GND CAN GND digital GND 8 CAN V Pass thru no connection 5 4 9 J8 CAN Communications Output Pinout Pin Name I O Description 1 CAN H In Out CAN high differential signal 2 CAN L In Out CAN low differential signal 3 GND CAN GND digital GND 4 5VOUT Output 5 Volts DC Power Internally generated 5 EN Out Output Digital output fo...

Страница 27: ... connection to the drive 7 Connecting Motors 7 1 Brushless DC Motor Motor Phase A Motor Phase B Motor Phase C Drive J2 Brushless DC Motor Motor Shield Figure 11 Brushless DC motor connection to the drive 7 2 Permanent Magnet DC PMDC Motor Drive J2 PMDC Motor Motor Positive Motor Negative Motor Shield Figure 12 Permanent Magnet DC motor connection to the drive ...

Страница 28: ...ng Motor Feedback Devices 8 1 Hall Sensors 8 1 1 Hall Sensor Connections Hall 2 Hall 3 5V Drive Ground J3 Hall 1 Brushless Motor Hall Sensors Figure 14 Hall sensor connection to the drive 8 1 2 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 5V Hall Signal Input 1K 4700pF 2 2K Figure 15 Hal...

Страница 29: ...oder Drive J4 Use twisted wire pairs for and signal pairs of A B and Z B B Z Z A A Motor Encoder 5V GND Figure 16 Differential encoder connection to the drive 8 2 2 Single Ended Encoder Encoder A Encoder B Encoder Index Drive Ground 5V J4 Motor Encoder Figure 17 Single ended encoder connection to the drive ...

Страница 30: ...gnals A B Z and leave signals A B Z unconnected as shown in section Error Reference source not found Select Single Ended E ncoder in the drive configuration software 8 3 IxR Speed Feedback Estimator The IxR Speed Feedback Estimator is used to estimate motor speed when an actual speed feedback device an encoder or other sensor is unavailable The drive estimates the speed of the motor using the Moto...

Страница 31: ...s can be enabled in CompleteArchitectTM and doesn t require to set any thresholds Threshold Level Temperature Sensing A custom configurable threshold set in CompleteArchitectTM Consult factory Negative Temperature Coefficient NTC Temperature Sensing An NTC sensor is a resistive element whose resistance decreases with temperature The values of R25 and B25 Tref are inherent to the NTC sensor being a...

Страница 32: ...1 Temperature Sensor Connections Temp Sensor Temp Sensor Motor J3 Drive J3 Figure 19 Temperature sensor connection to the drive 8 4 2 Temperature Sensor Signal Input Circuit _ 3 3V 1K Motor Temp Input BAV99 3 3V 1mF Figure 20 Temperature sensor signal input circuit ...

Страница 33: ...ould be connected to ground eBrake Digital Output Open drain output that can be used to engage electromechanical brake See section 12 for more details Capture Digital Input When the capture input pin has been triggered it provides an instantaneous encoder count location The trigger occurs on a falling edge input The count location is stored in memory and can be accessed via USB or CAN Fault Digita...

Страница 34: ...and set a fixed speed or torque setting See the CompleteArchitectTM manual for more details 9 2 1 Typical I O Connections for BLDC and PMDC motors A basic example using a switch for the Enable signal a potentiometer for analog speed torque command and a switch to change motor direction is shown in Figure 21 Drive J5 Drive Enable Command Speed or Torque 10K Command Direction Figure 21 Typical drive...

Страница 35: ...ke and Limit Switch Inputs For Enable Brake Limit Switch Pos Limit Switch Neg R 20KΩ and C 4700pF For Capture R 10KΩ and C 5pF Step Direction Inputs See section 9 1 for functional application regarding step direction inputs The states of these pins can be monitored in CompleteArchitect There is the option to set the steps per revolution in CompleteArchitect The software will divide the Desired Ste...

Страница 36: ...peration connect single ended analog input signals to Analog and connect Analog to analog ground 9 4 2 Analog Output Circuit The scaling for the analog output is configurable using CompleteArchitectTM Analog Output 100 _ 100pF 69 8K 10K PTC 10V 69 8K Figure 27 Analog output circuit Note The single ended analog output is referenced to ground on J5 pin 16 The primary analog output circuit is limited...

Страница 37: ... 5V External Output Internally generated 5 volts for customer use Refer to section Error Reference source not found Shield Pass through for CAN cable shield ground Ground Referenced to supply ground CAN V Pass thru no connection 10 1 2 CAN Physical Layer Circuit CAN TRx CAN_P CAN_N 24V 5pF Figure 287 Analog output circuit Important Note CAN bus termination of 120 Ohms between CAN high and low sign...

Страница 38: ...s achieved by connecting the CAN enable output circuit of one drive to the CAN EN circuit to the next drive See Figure 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 ...

Страница 39: ... available by this method See table below SW ID Name Description ID1 ADDR0 Hardware CAN Axis ID bit 0 ID2 ADDR1 Hardware CAN Axis ID bit 1 ID3 ADDR2 Hardware CAN Axis ID bit 2 ID4 ADDR3 Hardware CAN Axis ID bit 3 c CAN Axis ID configured in CompleteArchitectTM as a base address plus hardware switches d Dynamically assigned at power up over the CAN bus As shipped from the factory standard ElectroCr...

Страница 40: ...ttings If the drive does not function refer to Troubleshooting section 14 12 eBrake Control The drive includes an output circuit that can be used to control an external electromechanical brake There are two options for this as indicated below Option 1 For high current applications a relay or switch can be driven by the output Option 2 For low current applications the eBrake can be driven directly ...

Страница 41: ...f the supply input and ground This causes current to flow through the resistor and reduce the bus voltage When the bus voltage decreases to the brake resistor Off voltage the drive disconnects the brake resistor circuit This cycle repeats until the system dissipates enough energy beyond which the bus voltage doesn t rise up to brake resistor On voltage The resistor On time is the time taken for th...

Страница 42: ...ion Minimum Resistance value 𝑆𝑢𝑝𝑝𝑙𝑦 𝑉𝑜𝑙𝑡𝑎𝑔𝑒 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑑𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 The next nearest resistor higher than the calculated value should be selected The table below gives the minimum resistance values for standard power supply voltages at drive continuous current of 12A Use the equation above to calculate the maximum resistance value for other supply voltage and drive continuous cur...

Страница 43: ...plication with power supply voltage of 48 V and motor deceleration current of 12 A so a 4 ohm resistor is picked according to section 13 3 1 The load accelerates for 6 seconds and brakes for 4 seconds which gives a total cycle time of 10 seconds Example parameters are referenced in the table below Parameter Value Unit Total cycle Time 10 Seconds Time in Braking 4 Seconds Volts during braking 52 Vo...

Страница 44: ...vervoltage fault condition and may result in damage to the drive 13 5 Connecting External Brake Resistor and Bulk Capacitor The braking resistor and bulk capacitor wiring is shown in Error Reference source not found Temperature Sensitive Device Connection The user supplied temperature sensitive device is connected in series with the brake resistor as shown in Error Reference source not found Gener...

Страница 45: ...rive A blocking diode in the Braking Module prevents the excess voltage from feeding back to the power supply As the drive regenerates the module will cycle On and Off to dispose of the excess energy through the brake resistor Care should be taken to ensure the brake resistor is not mounted next to any flammable material as it could get hot This braking module will also allow the user to attach a ...

Страница 46: ... high Drive outputs are disabled Check motor wires for shorts Verify current loop tuning for stable operation 2 Voltage Fault or Shunt Overpower Drive power is above below operational limits Braking resistor is turned ON for more than 3 seconds No Braking resistor available in the circuit or the resistor is too small for the energy dissipated Braking resistor turn ON OFF limits are set too low Dri...

Страница 47: ...N Power Indicator Drive is powered Required for drive to operate N A OFF Power Indicator Drive is not powered Drive will not operate Apply power to power input of drive Verify input power is within acceptable range Check wires for possible short circuit Verify internally generated 5Vdc power is not overloaded by I O or motor feedback devices ...

Страница 48: ... ElectroCraft 2022 47 CPP A12V80A SA CAN Drive User Manual ...

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