Electro-Craft CPP-A06V48A-SA-CAN User manual

© ElectroCraft 2022
CPP-A06V48A-SA-CAN
CPP-B06V48A-SA-CAN
Drive User Manual
ElectroCraft CompletePower™Plus Universal Servo Drive
ElectroCraft document number: 198-0000082

© ElectroCraft 2022 1 CPP-x06V48A-SA-CAN Drive User Manual
Record of Revisions:
Revision
Date
Description
Comments
001
06/1/2022
Initial Release
Document created.
002
11/3/2022
Release
10.1.1: Removed section reference (not needed).
10.1.2: Updated diagram to match table.
10.1.2: Updated note regarding termination.
10.1.3: Updated diagram to show correct pins for J8.
10.1.3: Added note for factory setting for CAN Enable.
10.1.4: Updated factory setting for Axis-ID.
10.1.4: Added note regarding CAN Reference Manual.
Read This First
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. 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 information in this document is subject to
change without notice.
About This Manual
This document is a Drive User Manual for CPP-A06V48A-SA-CAN and CPP-B06V48A-SA-CAN. This
document covers the drive hardware including technical data, connectors and wiring diagrams needed for
installation. The physical shape and size of the CPP-A06V48A-SA-CAN drive is same as a CPP-
B06V48A-SA-CAN, so all pictures that show CPP-A06V48A-SA-CAN in this document also applies to
CPP-B06V48A-SA-CAN.

© ElectroCraft 2022 2 CPP-x06V48A-SA-CAN Drive User Manual
ElectroCraft
2 Marin Way, Suite 3
Stratham, NH 03885-2578
If you need Assistance …
Visit ElectroCraft online
World Wide Web: www.electrocraft.com
If you would like to …
•Receive general information or assistance
•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: [phone], [e-mail]
Europe (except Germany), Middle East, Africa, Australia
Contact EMEA Sales Team, [phone], [e-mail]
Germany
Contact customer service, [phone], [email protected]aft.com
Asia
Contact customer service, [email protected]

© ElectroCraft 2022 3 CPP-x06V48A-SA-CAN Drive User Manual
Contents
1Product Safety Precautions ...................................................................................7
1.1 Operation...................................................................................................................... 7
1.2 Storage and Transportation........................................................................................... 8
1.3 Environmental Protection.............................................................................................. 8
1.4 Installation..................................................................................................................... 9
1.5 Wiring............................................................................................................................ 9
1.6 Life Support Policy.......................................................................................................10
1.7 Checking Product on Delivery......................................................................................10
2Introduction to ElectroCraft CompleteArchitect™PC Software.......................11
3Product Overview..................................................................................................12
3.1 Key Features................................................................................................................12
3.2 Simplified System Block Diagram.................................................................................12
3.3 Hall Sensor Feedback for BLDC motor ........................................................................13
3.4 Stepper motor Phase Current Waveforms for Different Step values.............................16
3.5 Encoder Feedback.......................................................................................................17
3.6 Motor and Sensor Configurations.................................................................................17
3.7 Identification Labels .....................................................................................................17
3.8 Status Indicator Lights..................................................................................................17
4Drive Specifications..............................................................................................18
4.1 Physical Specifications.................................................................................................18
4.2 Environmental Specifications .......................................................................................18
4.3 Electrical Specifications................................................................................................18
4.3.1 DC Supply Input ....................................................................................................................18
4.3.2 +5VDC Supply Output...........................................................................................................18
4.3.3 Motor Output..........................................................................................................................18
4.3.4 Hall Sensor Inputs.................................................................................................................19
4.3.5 Encoder Inputs ......................................................................................................................19
4.3.6 Digital Input............................................................................................................................19
4.3.7 Digital Output.........................................................................................................................20
4.3.8 Analog Input ..........................................................................................................................20
4.3.9 Analog Output........................................................................................................................20
4.3.10 USB .......................................................................................................................................20
4.3.11 CAN.......................................................................................................................................20
4.4 De-rating......................................................................................................................21
4.5 Peak Current Fold-back (I2t).........................................................................................22
5Hardware Installation............................................................................................23
5.1 Mechanical Mounting ...................................................................................................23
5.2 Dimensions..................................................................................................................23
5.3 Mating Connectors.......................................................................................................23

© ElectroCraft 2022 4 CPP-x06V48A-SA-CAN Drive User Manual
5.4 Connector Locations and Pin Numbers........................................................................24
5.4.1 Connector Layout..................................................................................................................24
5.4.2 J1 Supply Connector Pinout..................................................................................................24
5.4.3 J2 Motor Connector Pinout....................................................................................................24
5.4.4 J3 Hall Connector Pinout.......................................................................................................24
5.4.5 J4 Encoder Connector Pinout ...............................................................................................25
5.4.6 J5 I/O Connector Pinout........................................................................................................25
5.4.7 J6 USB Communications Connector Pinout .........................................................................25
5.4.8 J7 CAN Communications Input Pinout..................................................................................26
5.4.9 J8 CAN Communications Output Pinout...............................................................................26
6Connecting Power.................................................................................................27
6.1 Power supply ...............................................................................................................27
7Connecting Motors................................................................................................27
7.1 Brushless DC (BLDC) Motor ........................................................................................27
7.2 Permanent Magnet DC (PMDC) Motor.........................................................................27
7.3 Stepper Motor ..............................................................................................................28
8Connecting Motor Feedback Devices..................................................................28
8.1 Hall Sensors.................................................................................................................28
8.1.1 Hall Sensor Connections.......................................................................................................28
8.1.2 Hall Sensor Signal Input Circuit.............................................................................................28
8.2 Incremental Encoder....................................................................................................29
8.2.1 Differential Encoder...............................................................................................................29
8.2.2 Single-Ended Encoder ..........................................................................................................29
8.2.3 Encoder Input Circuit.............................................................................................................30
8.3 IxR Speed Feedback Estimator....................................................................................30
8.4 Motor Temperature Sensor ..........................................................................................31
8.4.1 Temperature Sensor Connections ........................................................................................32
8.4.2 Temperature Sensor Signal Input Circuit..............................................................................32
9Connecting I/O.......................................................................................................33
9.1 I/O Functional Description............................................................................................33
9.2 I/O Connections ...........................................................................................................34
9.2.1 Typical I/O Connections for BLDC and PMDC motors..........................................................34
9.2.2 Typical I/O Connections for Stepper motor...........................................................................34
9.3 Digital Inputs and Outputs............................................................................................35
9.3.1 Digital Input Circuit ................................................................................................................35
9.3.2 Digital Output Circuit .............................................................................................................35
9.4 Analog Inputs and Outputs...........................................................................................36
9.4.1 Analog Input Circuit...............................................................................................................36
9.4.2 Analog Output Circuit ............................................................................................................36
10 Communication..................................................................................................37
10.1 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 5 CPP-x06V48A-SA-CAN Drive User Manual
11 First Time Operation ..........................................................................................39
12 eBrake Control....................................................................................................40
13 Adding an External Brake Resistor ..................................................................41
13.1 Caution Statement....................................................................................................41
13.2 Brake Resistor Theory of Operation..........................................................................41
13.3 Selecting External Brake Resistor.............................................................................42
13.3.1 Calculating resistance value of the braking resistor..............................................................42
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...........................................44
13.6 ElectroCraft Braking Module Assembly.....................................................................45
14 Troubleshooting.................................................................................................46
14.1 Status LED (Red)......................................................................................................46
14.2 Power LED (Green) ..................................................................................................47

© ElectroCraft 2022 6 CPP-x06V48A-SA-CAN Drive User Manual
Table of Figures
FIGURE 1: OVERALL DRIVE SYSTEM BLOCK DIAGRAM......................................................................13
FIGURE 2: TRAPEZOIDAL COMMUTATION WITH HALL SENSOR FEEDBACK...................................14
FIGURE 3: SINUSOIDAL COMMUTATION WITH HALL SENSOR FEEDBACK ......................................15
FIGURE 4: STEPPER MOTOR PHASE CURRENT WAVEFORM............................................................16
FIGURE 5: ENCODER FEEDBACK SIGNAL.............................................................................................17
FIGURE 6: DRIVE WITH IDENTIFYING LABEL........................................................................................17
FIGURE 7: I2T ALGORITHM EXAMPLE.....................................................................................................22
FIGURE 8: DRIVE DIMENSIONS...............................................................................................................23
FIGURE 9: DRIVE CONNECTOR LAYOUT...............................................................................................24
FIGURE 10: POWER SUPPLY CONNECTION TO THE DRIVE...............................................................27
FIGURE 11: BRUSHLESS DC MOTOR CONNECTION TO THE DRIVE .................................................27
FIGURE 12: PERMANENT MAGNET DC MOTOR CONNECTION TO THE DRIVE................................27
FIGURE 13: STEPPER MOTOR CONNECTION TO THE DRIVE.............................................................28
FIGURE 14: HALL SENSOR CONNECTION TO THE DRIVE...................................................................28
FIGURE 15: HALL SENSOR SIGNAL INPUT CIRCUIT ............................................................................28
FIGURE 16: DIFFERENTIAL ENCODER CONNECTION TO THE DRIVE...............................................29
FIGURE 17: SINGLE-ENDED ENCODER CONNECTION TO THE DRIVE..............................................29
FIGURE 18: ENCODER SIGNAL-ENDED INPUT CIRCUIT......................................................................30
FIGURE 19: TEMPERATURE SENSOR CONNECTION TO THE DRIVE ................................................32
FIGURE 20: TEMPERATURE SENSOR SIGNAL INPUT CIRCUIT ..........................................................32
FIGURE 21: TYPICAL DRIVE I/O CONNECTIONS NEEDED TO OPERATE BLDC AND PMDC
MOTORS .............................................................................................................................................34
FIGURE 22: TYPICAL DRIVE I/O CONNECTION NEEDED TO OPERATE STEPPER MOTOR ............34
FIGURE 23A: DIGITAL INPUT CIRCUIT FOR CAPTURE, ENABLE, BRAKE AND LIMIT SWITCH
INPUTS................................................................................................................................................35
FIGURE 24B: DIGITAL INPUT CIRCUIT FOR STEP & DIRECTION INPUTS..........................................35
FIGURE 25: DIGITAL OUTPUT CIRCUIT..................................................................................................35
FIGURE 26: ANALOG INPUT CIRCUIT.....................................................................................................36
FIGURE 27: ANALOG OUTPUT CIRCUIT.................................................................................................36
FIGURE 28: CAN PHYSICAL LAYER CIRCUIT.........................................................................................37
FIGURE 29: CAN ENABLE (HIGH AND LOW) INPUT INTERFACE.........................................................37
FIGURE 30: CAN ENABLE (LOW) OUTPUT INTERFACE........................................................................38
FIGURE 31: DRIVE DAISY CHAIN OPERATION......................................................................................38
FIGURE 32: USB CABLE CONNECTION BETWEEN COMPUTER AND DRIVE.....................................39
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 7 CPP-x06V48A-SA-CAN Drive User Manual
1 Product Safety Precautions
READ THIS ENTIRE SECTION BEFORE ATTEMPTING TO USE THE CPP-x06V48A-SA-CAN DRIVE!
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. FAILURE TO OBSERVE THESE SAFETY PRECAUTIONS COULD
RESULT IN SERIOUS BODILY INJURY, INCLUDING DEATH IN EXTREME CASES.
1.1 Operation
1. Do not touch any of the connector pins on connectors J1 (Supply Input) or J2 (Motor Output)
when power has been applied. Bare wires from adjacent connector pins must never be allowed to
touch one another.
2. J1 pin 3 must be connected to an external earth ground. Follow wiring procedures carefully.
3. Read ElectroCraft Life Support Policy in section 1.6 for application limitations.
4. Follow precautionary guidelines as referenced in section 12 of this manual about proper
installation of an optional external brake resistor.
5. Do not operate the drive in an explosive area or near explosive or flammable materials.
6. Do not use the drive in environments where 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 output from the control be connected to anything other
than a passive inductive/resistive motor load. Short circuit protection for the drive is limited to
momentary conditions only! Repetitive short circuits on any of the output pins of J2 may cause
permanent damage to the drive.
9. Never touch any moving parts while the motor is running. Failure to observe this warning may
result in injury.
10. Excessive speed and current can destroy some motors and possibly injure the user. Check the
motor manufacturer's specifications to ensure that the maximum current and voltage for your
drive model, does not exceed motor limitations.
11. Whenever the drive is disabled for any reason or unpowered, the motor will be in free
spinning/coast mode. The user is responsible to analyze the application (especially in case of
servomotor for a vertical axis) and take precautionary safety measures.
12. Provide an appropriate stopping device on the machine side to ensure safety. Failure to observe
this warning may result in injury.
13. Do not parallel multiple motors off the same drive.
14. Do not make any extreme adjustments or settings changes of parameters. Failure to observe this
caution may result in injury due to unstable operation.

© ElectroCraft 2022 8 CPP-x06V48A-SA-CAN Drive User Manual
15. Avoid plugging connector J1 into the drive while live power is applied to the connecting cables.
Ignoring this precaution will cause electrical arcing at the connector pins, which can cause
permanent connector damage. ElectroCraft recommends using a disconnect switch ahead of J1 if
the drive must be disconnected often.
16. Do not remove the connectors on ports J1 through J6 from the drive while the motor is operating.
17. Do not service or modify this product. Only authorized personnel must perform disassembly or
repair of the drive. Failure to observe warning may result in injury or damage to product.
18. Always operate the drive within the prescribed voltage limits. Any attempt to operate outside
these bounds may result in damage to the drive.
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. 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 the following places:
a. Locations subject to temperature outside of the range specified.
b. Locations subject to humidity outside the range specified.
c. Locations subject to condensation as the result of changes in temperature.
d. Locations subject to corrosive or flammable gases and liquids.
e. Locations subject to dust, salts, or electrically conductive contaminants.
f. Locations subject to exposure to water, oil, or chemicals.
g. Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
2. Do not hold the product by the cables or motor shaft while transporting it. Failure to observe this
caution may result in injury or malfunction.
1.3 Environmental Protection
Waste electrical products should not be disposed of with household waste. Please recycle where facilities
exist. Check with your Local Authority or retailer for recycling.

© ElectroCraft 2022 9 CPP-x06V48A-SA-CAN Drive User Manual
1.4 Installation
1. Take appropriate and sufficient countermeasures when installing systems in the following
locations.
a. Locations subject to static electricity or other forms of noise.
b. Locations subject to strong electromagnetic fields and magnetic fields.
c. Locations subject to possible exposure to radioactivity.
d. Locations close to power supplies including power lines.
Failure to observe this caution may result in damage to the product.
2. Keep any external shunt/brake resistor away from flammable materials. Read section 13
carefully for more shunt/brake resistor installation details.
3. Never use this product in an environment subject to liquids, corrosive chemicals or gases; or
combustibles; or where foreign materials can fall onto or collect inside the drive. Failure to
observe this caution may result in electric shock or fire.
4. Do not place any objects on the product. Failure to observe this warning may result in damage to
the product.
5. Do not cover the drive or prevent air from escaping or entering through the vents. Failure to
observe this caution may 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 applying power to the drive and motor. Motor may spin or oscillate
uncontrollably if improperly wired. Drive may be damaged or improper wiring may prevent drive
from operation.
2. J1 pin 3, PE, MUST always be connected to an appropriate external Protective Earth ground in
accordance with local electrical codes. Improper grounding may result in electric shock and
damage the drive.
3. Securely connect the power supply terminals and motor output terminals. Failure to observe this
caution may result in fire.
4. Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated.
5. Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder
feedback lines.
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.