Product
CL57E-4A Four-axis Bus Closed-loop Driver
Product Overview
The CL57E-4A bus-type closed-loop stepper driver is a digital closed-loop stepper driver that combines the latest closed-loop control algorithms with the EtherCAT bus communication protocol. This 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 closed-loop algorithms that effectively suppress motor temperature rise, reduce motor vibration, and significantly improve 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 | 2x100 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
EtherCAT Bus Driver Wiring Diagram and Connection Method
Terminal Function Description
( 1 ) Power Terminals
Terminal Name | Description |
VDC | DC Voltage: 24V～48V Recommended Power Supply: 36V, 10A |
GND |
(2) Electronic Winding Terminals
Terminal Name | Description |
A+ | Motor Phase A Winding |
A- | |
B+ | Motor Phase B Winding |
B- |
(3) DI/DO Terminals
Pin Number | Signal | Description | IO Terminal Pin Diagram |
1 | 1DI1 | Axis 1 Single-ended Input Signal, 12V～24V valid, default is origin signal. |  |
2 | 2DI1 | Axis 2 Single-ended Input Signal, 12V～24V valid, default is origin signal. | |
3 | 1DI2 | Axis 1 Single-ended Input Signal, 12V～24V valid, default is positive limit signal. | |
4 | 2DI2 | Axis 2 Single-ended Input Signal, 12V～24V valid, default is positive limit signal. | |
5 | 1DI3 | Axis 1 Single-ended Input Signal, 12V～24V valid, default is negative limit signal. | |
6 | 2DI3 | Axis 2 Single-ended Input Signal, 12V～24V valid, default is negative limit signal. | |
7 | 1DO1 | Axis 1 Single-ended Output Signal DO1, maximum current 100mA, | |
8 | 2DO1 | Axis 2 Single-ended Output Signal DO1, maximum current 100mA, | |
9 | 1DO2 | Axis 1 Single-ended Output Signal DO1, maximum current 100mA, | |
10 | 2DO2 | Axis 2 Single-ended Output Signal DO1, maximum current 100mA, | |
11 | DOCOM | Single-ended Output Signal Common Terminal, DOCOM can only connect to 0V. | |
12 | DOCOM | ||
13 | DICOM | Single-ended Input Signal Common Terminal, can use common anode or common cathode connection. | |
14 | DICOM | ||
15 | 3DI1 | Axis 3 Single-ended Input Signal, 12V～24V valid, default is origin signal. | |
16 | 4DI1 | Axis 4 Single-ended Input Signal, 12V～24V valid, default is origin signal. | |
17 | 3DI2 | Axis 3 Single-ended Input Signal, 12V～24V valid, default is positive limit signal. | |
18 | 4DI2 | Axis 4 Single-ended Input Signal, 12V～24V valid, default is positive limit signal. | |
19 | 3DI3 | Axis 3 Single-ended Input Signal, 12V～24V valid, default is negative limit signal. | |
20 | 4DI3 | Axis 4 Single-ended Input Signal, 12V～24V valid, default is negative limit signal. | |
21 | 3DO1 | Axis 3 Single-ended Output Signal DO1, maximum current 100mA, | |
22 | 4DO1 | Axis 4 Single-ended Output Signal DO1, maximum current 100mA, | |
23 | 3DO2 | Axis 3 Single-ended Output Signal DO1, maximum current 100mA, | |
24 | 4DO2 | Axis 4 Single-ended Output Signal DO1, maximum current 100mA, |
(4) Encoder Terminals
Pin Number | Signal | Color | Pin Number | Signal | Color | Terminal Pin Diagram |
1 | EA+ | Black | 2 | EA- | Blue | |
3 | EB+ | Yellow | 4 | EB- | Green | |
5 | EZ+ | Brown | 6 | EZ- | Orange | |
7 | VCC | Red | 8 | GND | White | |
9 |
|
| 10 |
|
|
(5) EtherCAT Bus Port
Pin Number | Signal | Description | EtherCAT Port Diagram |
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-Operation State | ||
Single Flash | Safe Operation State | ||
On | Operation State | ||
ERR | Orange-Red | Off | No Error |
Slow Flash | Communication Setup Error | ||
Single Flash | Synchronization Error or Communication Data Error | ||
Double Flash | 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 |
Alarm Handling
(1) Driver Alarms as per the Table Below
Fault Code | Fault Information | Fault Cause | Solution |
E1 | Overcurrent | 1. Motor power line connected incorrectly or short-circuited. 2. Motor damaged. 3. Internal circuit fault of the driver. | 1. Check motor wiring. 2. Measure if the resistance of motor phases A and B is normal, and whether phases A and B are shorted to the motor casing. 3. Driver fault, return for repair. |
E2 | Overvoltage | 1. Supply voltage too high. 2. Internal circuit fault of the driver. | 1. Check power supply and replace if necessary. 2. Driver fault, return for repair. |
E3 | Undervoltage | 1. Supply voltage too low. 2. Internal circuit fault of the driver. | 1. Check power supply and replace if necessary. 2. Driver fault, return for repair. |
E5 | Deviation Exceeded | 1. Motor power line disconnected or poor connection. 2. Motor encoder line disconnected or poor contact. 3. Position deviation limit 230Dh set too low. 4. Motor speed too high. 5. Load too heavy or jammed. | 1. Check motor power line for disconnection or poor contact. 2. Check motor encoder line for disconnection or poor contact. 3. Increase position deviation limit 230Dh. 4. Reduce motor speed. 5. Check if mechanical parts are jammed or run motor unloaded to test for alarms. 出现报警。 |
E6 | Communication Disconnected | 1. Communication line disconnected. 2. Master station stopped running. 3. Driver fault. | 1. Check communication line for issues. 2. Check if master station is functioning properly. 3. Driver fault, return for repair. |
E8 | Sensor Error Mistake | 1. Stop/Emergency stop signals abnormal. 2. Driver fault. | 1. Check external DI signals for normal operation. 2. Driver fault, return for repair. |
(2) Communication alarms displayed via LED as per the table below
Name | Color | Status | Description |
ERR | Orange-Red | Off | No Error |
Slow Flash | Communication Setup Error | ||
Single Flash | Synchronization Error or Communication Data Error | ||
Double Flash | Watchdog Timeout Request |
Main Application Areas
Suitable for automation equipment and instruments in various motion control fields, 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.
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
WeChat Public Account
Douyin ID
Official Website Mobile Version
English website： https://www.lichuanservomotor.com/
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