Docs/Downloads
Profinity Software (must download)
https://docs.prohelion.com/Profinity/Overview.html
- Used to control motor configs, should automatically recognize your motors/port if set up correctly
Wavesculptor (Motor Controller) Documentation
Motor Documentation:
Electrical Setup
Parts required:
Mitsuba motor
Tritium WaveSculptor 22
2 power supplies (HV & LV)
CAN-Eth bridge adapter
(optional) eth-usb (or usbc) adapter
*relay/contactor
*MCI board
* MCI board and relay not required when low voltage testing
Wavesculptor setup
The motor runs off the HV power supply, and is powered through the Wavesculptor 22. Though the motor runs off AC, you directly supply the Wavesculptor with DC voltage.
To power the Wavesculptor, connect the HV power supply to the DC NEG and DC POS terminals on the left.
The CAN-bus terminal on the wavesculptor also needs to be powered by a low voltage (12V) power supply
The motor runs off of a 3-phase AC voltage. To power the motor, connect the OC, OB, and OA wires directly to the motor.
On the wavesculptor, you can see a section called ‘motor’ with a lot of wires. Connect the ‘motor’ wires directly to the motor. These are the signal wires used to control the motor.
Finally, connect the ‘CAN bus’ wires to the CAN-eth bridge. If you don’t have an eth port on your laptop, use an eth-USB (or usbc) convertor.
CAN-eth bridge setup
The CAN-eth bridge needs to be powered separately from the Wavesculptor. It communicates with your laptop so that you can control the motor controller with your laptop.
The CAN-eth bridge can be seen below and requires 12V of power. In the image above, the red wire is 12V, the black wire is Ground, the green wire is CAN-low, and the white wire is CAN-high. Make sure to twist the CAN wires together as they are a differential pair.
Software setup
After downloading the Profinity software, you are able to characterize and test the motors.
While powering the Motor controller and CAN-eth bridge, if your computer doesn’t automatically detect the two devices, you will need to manually add them in Profinity. This can be done by clicking on the ‘Add Device’ button and manually adding the two. When connected and properly powered, it should look something like this.
It might take a bit of disconnecting and reconnecting cables to your laptop to make this work, as it’s a little finnicky.
Characterizing the Motors
Now we can start to configure the motor. While this guide does go in-depth, I would strongly recommend reading the WaveSculptor Config Software User's Manual (especially Sections 4, 5, and 6).
If you right click on the WaveSculptor22 section on profiles, you should see something like this
Navigate to Setup and Configuration > tools > co
Operating the Motors
WARNING: By using a power supply to test the motors, we do not want regen braking to occur because power flowing back into the power supply will damage it!
To prevent this, make sure ‘Motor Current’ is set to zero before changing the velocity.
When you want to spin the motors, set ‘Velocity’ to a certain speed, then ramp up ‘Motor Current’ and you should expect the motors to spin.
Note: if you set the motor current too low (i.e. < 1 A), the motors may not spin.