Product
60 L-type Integrated Motor (EtherCAT)
Product Overview
This stepper driver integrates the latest control algorithms and EtherCAT bus communication protocol. The product supports the CoE (CANopen over EtherCAT) protocol and complies with the CIA402 standard. Compared to traditional pulse-type drivers, bus-type drivers have simpler wiring, feature real-time data transmission, high-reliability communication, and can achieve multi-axis synchronous communication control. This series of drivers adopts advanced algorithms that effectively suppress motor temperature rise, reduce motor vibration, and significantly enhance motor torque.
Features
Communication Specifications
EtherCAT Communication Specifications | Physical Layer | 100BASE-TX |
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) |
Technical Parameters
EtherCAT Model | Step Angle (°) | Body Length L (mm) | Holding Torque (N.m) | Phase Current (A) | Rotational Inertia (g.cm²) | Motor Weight (kg) | Encoder Line Count (PPR) |
TLO60E-36V-3 | 1.8 | 119.2 | 3.0 | 4.0 | 560 | 1.45 | None |
TLO60E-36V-3.5 | 1.8 | 131.2 | 3.5 | 4.0 | 620 | 1.72 | None |
TLO60E-36V-4 | 1.8 | 143.2 | 4.0 | 4.0 | 1000 | 1.9 | None |
TLC60E-36V-3 | 1.8 | 119.2 | 3.0 | 4.0 | 560 | 1.45 | 1000 |
TLC60E-36V-3.5 | 1.8 | 131.2 | 3.5 | 4.0 | 620 | 1.72 | 1000 |
TLC60E-36V-4 | 1.8 | 143.2 | 4.0 | 4.0 | 1000 | 1.9 | 1000 |
Motor Shaft Output Description
Model (Open Loop) | Model (Closed Loop) | Shaft Diameter D (mm) | Shaft Extension (mm) | Shaft Length (mm |
TLO60E-36V-3 | TLC60E-36V-3 | φ8 | Flat 0.5×20 | 25 |
TLO60E-36V-3.5 | TLC60E-36V-3.5 | φ8 | Flat 0.5×20 | 25 |
TLO60E-36V-4 | TLC60E-36V-4 | φ8 | Flat 0.5×20 | 25 |
Electrical Parameters
TLO and TLC60 Integrated Machine (EtherCAT Type) | ||||
Category | Minimum Value | Typical Value | Maximum Value | Unit |
Input Voltage | 24 | 36 | 50 | V |
Drive Current | 5.6 | A | ||
Baud Rate | 1000K |
| ||
Protection Functions | Overcurrent, Overvoltage, Undervoltage, Position Deviation (Closed Loop) | |||
Drive Wiring Diagram / Dimension Drawing
Port and DIP Switch Function Description
1. Power Terminals
Driver Model | Terminal Name | Description |
TL-C-60-E TL-O-60-E | VDC | DC Voltage: 24V～50V; Recommended Power Supply: 36V, 5A |
GND | ||
BK+ | Motor Brake Control Output Port | |
BK- |
2. DI/DO Ports
Pin | Definition | Description |
1 | DI1 | Single-ended input signal, 12~24V valid, signal function definition configurable |
2 | DI2 | |
3 | DI3 | |
4 | DI4 | |
5 | DI45 | |
6 | DICOM | Single-ended input signal common terminal, can be connected as common anode or common cathode. |
7 | D01+ | Differential output signal DO1, maximum current 100mA |
8 | D01- | |
9 | D02+ | Differential output signal DO2, maximum current 100mA |
10 | D02- |
3. EtherCAT Bus Port
Pin Number | Signal | Description | EtherCAT Port Illustration |
1,9 | TX+ | EtherCAT Data Transmit Positive Terminal |  |
2,10 | TX- | EtherCAT Data Transmit Negative Terminal | |
3,11 | RX+ | EtherCAT Data Receive Positive Terminal | |
4,12 | - | - | |
5,13 | - | - | |
6,14 | RX- | EtherCAT Data Receive Negative Terminal | |
7,15 | - | - | |
8,16 | - | - | |
PE | PE | Shield Ground | |
LED1 | LA/OUT | Link/Activity OUT Status Indicator | |
LED2 | ERR | Communication Error Status Indicator | |
LED3 | LA/IN | Link/Activity IN Status Indicator | |
LED4 | RUN | Communication Running Status Indicator |
EtherCAT Bus Port Indicator Description
Name | Color | Status | Description |
RUN | Orange Red | Off | Initialization State |
Blinking | Pre-operational State | ||
Single Flash | Safe Operational State | ||
On | Operational State | ||
ERR | Orange Red | Off | No Error |
Slow Flash | Communication Setup Error | ||
Single Flash | Synchronization Error or Communication Data Error | ||
Blinking | Watchdog Timeout Request | ||
L/A IN | Green | Off | Physical Layer Link Not Established |
On | Physical Layer Link Established | ||
Blinking | Physical Layer Link Data Exchange | ||
L/A OUT | Green | Off | Physical Layer Link Not Established |
On | Physical Layer Link Established | ||
Blinking | Physical Layer Link Data Exchange |
Main Application Areas
Suitable for various motion control automation equipment and instruments, such as electronic processing and inspection, semiconductor packaging, laser cutting and welding, laser typesetting, packaging machinery, engraving machines, marking machines, cutting machines, garment plotters, CNC machine tools, automated assembly equipment, etc. It is the preferred choice for users seeking low noise, superior high-speed performance, and competitive cost-effectiveness.
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Shenzhen Lichuan Electric Co., Ltd.
Technical Support
Engineer Peng:+86-135-3098-8140
Engineer Xie:86-159-0755-7836
Engineer Rao:86-180-2520-1553
Engineer Zuo:86-180-2901-2526
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Douyin ID
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English website： https://www.lichuanservomotor.com/
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