86 L-type Integrated Motor (CANopen)

Product Overview

This series of stepper drivers adopts the new generation 32-bit DSP technology, combined with CANopen bus control functions, supporting the CIA301 protocol and CIA402.V2 sub-protocol. It can support up to 32 axes, enabling multi-axis high-speed bus synchronous control. The driver supports position mode, speed mode, and homing mode. The standardized protocol makes the entire control system more stable and reliable, while the simple field wiring effectively avoids the issue of pulse loss in traditional drivers in interference environments.

Features

Voltage input range: DC24V to 70V Drive current: 7.7A Communication interface: CANopen Baud rate: 1000K Features protection functions such as overvoltage, overcurrent, undervoltage, and position deviation [closed-loop]

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Communication Specifications

Communication Specifications	Physical Layer	Complies with ISO 11898-2 Physical Layer Standard
	Communication Connector	5P Terminal
	Network Architecture	Daisy Chain
	Transmission Rate	2 x 1 Mbps (Half Duplex)
	Application Layer Protocol	CiA301 and CiA402 Sub-protocols
	Number of Slaves	Maximum 32 Axes
	Communication Objects	SDO: Non-periodic Data Object PDO: Periodic Data Object EMCY: Emergency Object
	Supported Control Modes	Profile Position Mode Profile Velocity Mode Homing Mode

Technical Parameters

CANopen 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)
TLO86C-48V-4.5	1.8	125.2	4.5	6.0	1400	2.77	None
TLO86C-48V-8.5	1.8	159.2	8.5	6.0	2800	4.15	None
TLO86C-48V-10	1.8	173.2	10	6.0	3200	4.77	None
TLO86C-48V-12	1.8	195.2	12	6.0	4000	5.23	None
TLC86C-48V-4.5	1.8	125.2	4.5	6.0	1400	2.77	1000
TLC86C-48V-8.5	1.8	159.2	8.5	6.0	2800	4.15	1000
TLC86C-48V-10	1.8	173.2	10	6.0	3200	4.77	1000
TLC86C-48V-12	1.8	195.2	12	6.0	4000	5.23	1000

Motor Shaft Output Description

Model (Open Loop)	Model (Closed Loop)	Shaft Diameter D (mm)	Shaft Extension (mm)	Shaft Length (mm
TLO86C-48V-4.5	TLC86C-48V-4.5	φ12.7 or φ14	Flat Key 5×5×25	32
TLO86C-48V-8.5	TLC86C-48V-8.5	φ12.7 or φ14	Flat Key 5×5×25	32
TLO86C-48V-10	TLC86C-48V-10	φ12.7 or φ14	Flat Key 5×5×25	32
TLO86C-48V-12	TLC86C-48V-12	φ12.7 or φ14 or φ15.8	Flat Key 5×5×25	32

Electrical Parameters

TLO and TLC86 Integrated Machine (CANopen Type)
Category	Minimum Value	Typical Value	Maximum Value	Unit
Input Voltage	24	48	70	V
Drive Current	7.7			A
Baud Rate	1000K
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Position Deviation (Closed Loop)

Driver Port Definition

1. CANopen Communication Port

Pin	1	2	3	4	5
Signal Definition	CANL	CANH	GND	CANH	CANL

2. Power Terminals

Pin	Definition	Description
1	VDC	DC Power Positive Terminal (24V-50V)
2	GND	DC Power Negative Terminal

3. DI/DO Ports

Pin	Definition	Description
1	DI0	Single-ended Input; Effective Operating Voltage 24V
2	DI1
3	DI2
4	DI3
5	DI4
6	DICOM	Input Common Terminal; Compatible with Both Common Anode/Common Cathode Wiring
7	D00+	Differential Output 1
8	D00-	Differential Output 1
9	D01+	Differential Output 2
10	D01-	Differential Output 2

Driver Wiring Diagram / Dimension Drawing

CANopen Installation and Wiring Instructions

Common Wiring Lengths Are as Follows:

Baud Rate	1 Mbps	500Kbps	250 Kbps	125 Kbps
Recommended Maximum Length	25m	100m	250m	500m

DIP Switch Settings

This series of CANopen bus drivers has 6 DIP switches, which can be used to set the CANopen node ID, communication baud rate, and termination resistor, allocated as shown in the figure below:

Baud Rate Setting

Baud Rate	SW5
1 Mbps	OFF
Custom	ON

When SW5 is ON, modify the baud rate through index 2407-00 (decimal address 20): 0: 1Mbps; 1: 500Kbps; 2: 250Kbps; 3: 125Kbps

Driver station number setting

Station number	SW1	SW2	SW3	SW4
Custom	OFF	OFF	OFF	OFF
1	ON	OFF	OFF	OFF
2	OFF	ON	OFF	OFF
3	ON	ON	OFF	OFF
4	OFF	OFF	ON	OFF
5	ON	OFF	ON	OFF
6	OFF	ON	ON	OFF
7	ON	ON	ON	OFF
8	OFF	OFF	OFF	ON
9	ON	OFF	OFF	ON
10	OFF	ON	OFF	ON
11	ON	ON	OFF	ON
12	OFF	OFF	ON	ON
13	ON	OFF	ON	ON
14	OFF	ON	ON	ON
15	ON	ON	ON	ON

Terminal resistor setting: When SW6 is set to ON, a 120Ω terminal resistor will be connected between the signal lines to prevent signal reflection at the cable end when the node sends signals on the network.

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.