CL3-E86H Bus Closed-Loop Stepper Driver

Product Overview

CL3-E86H bus type closed loop stepper drive is a digital closed loop stepper drive which combines the latest closed loop control algorithm EtherCAT bus communication protocol. This product supports CoE (CANopen over EtherCAT) protocol and conforms to CIA402 standard. Compared with traditional pulse drives, bus type drives have simpler wiring, real-time data transmission, high reliability communication, and can achieve multi-axis synchronous communication control. This series of drives samples advanced-loop algorithms, which can effectively suppress the temperature rise of the motor, reduce the vibration of the motor, and effectively improve the torque of the motor, which can be adapted to60/86 series closed loop stepper motor.

Features

Voltage input range: DC24V～110V /18V~80VAC Maximum peak current: 8A Communication interface: EtherCAT Communication protocol: CoE (CANopen over EtherCAT) protocol Features overvoltage, overcurrent, and other protection functions

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EtherCAT Communication Specifications

Physical Layer	100BASE-T
Communication Connector	RJ45 × 2 (Input: CN6A; Output: CN6B)
Network Architecture	Daisy Chain
Transmission Rate	2 x 100 Mbps (Full Duplex)
Data Frame Length	Maximum 1484 bytes
Application Layer Protocol	CoE: CANopen over EtherCAT
Synchronization Mode	DC Synchronization Mode (SYNC0); Asynchronous Mode (Free Run)
Communication Objects	SDO: Non-periodic Data Object; PDO: Periodic Data Object; EMCY: Emergency Object
Application Layer Specifications	CiA402 Drive Profile
Supported Control Modes	Profile Position Mode (PP); Profile Velocity Mode (PV); Homing Mode (HM); Cycle Synchronized Position Mode (CSP)

Product Diagram

Main Parameter Description

(1) Motor and Power Input Interface

Symbol	Name	Description
A+	A Positive end of phase motor winding	-
A-	A Negative end of phase motor winding	-
B+	B Positive end of phase motor winding	-
B-	B Negative end of phase motor winding	-
VDC	Positive terminal of DC power input	24V~110VDC / 18V~80VAC
GND	Negative terminal of DC power input	24V~110VDC / 18V~80VAC

(2) DI/DO Signal Interface

Symbol	Name
DI1+	Differential input signal DI1, valid at 12V~24V, maximum input frequency 500K, signal function configurable, default function is probe input signal 1.
DI1-
DI2+	Differential input signal DI2, valid at 12V~24V, maximum input frequency 500K, signal function configurable, default function is probe input signal 2.
DI2-
DI3	Single-ended input signal, valid at 12V~24V, default is origin signal.
DI4	Single-ended input signal, valid at 12V~24V, default is positive limit signal.
DI5	Single-ended input signal, valid at 12V~24V, default is negative limit signal.
DI6	Single-ended input signal, valid at 12V~24V, no default function defined.
DICOM	Common terminal for single-ended input signals, can be connected as common anode or common cathode.
DO1+	Differential output signal DO1, maximum current 100mA, default is alarm output signal.
DO1-
DO2+	Differential output signal DO2, maximum current 100mA, default is positioning complete signal.
DO2-
DO3+	Differential output signal DO3, maximum current 100mA, default is homing complete signal.
DO3-
+24V	Brake signal 24V power positive input terminal.
BK	Brake control signal, can be directly connected to motor brake without relay.
GDS	Brake signal 24V power negative input terminal.