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CL2-86C Closed-loop 17-bit Absolute Stepper Driver

CL2-86C Closed-loop 17-bit Absolute Stepper Driver

Product Overview

The CL2-86C two-phase closed-loop stepper driver is a stepper drive product developed using the latest-generation 32-bit DSP chip, combined with our company’s many years of expertise in motion control. It supports both 17-bit and 23-bit encoders and offers three control interfaces: pulse‑type, RS485 bus, and CANopen bus. This particular model is a CANopen‑based closed-loop stepper driver.

Features

Voltage input range: DC30V~110V, AC20V~80V Maximum peak current: 8A Compatible motor flange: 86 DI input current: 10–50mA DI input voltage: DC24V Communication interface: CANopen Equipped with protection functions for overcurrent, overvoltage, and position deviation.

Product Overview Supporting Products Data Download

Communication Specifications

Communication Specifications	Physical Layer	Complies with the ISO 11898-2 physical layer standard.
	Communication connector	RJ45 x2
	Network architecture	Concatenation
	Transmission rate	2 x 1 Mbps (half-duplex)
	Application-layer protocol	CiA301 and CiA402 subprotocols
	Number of stations	Up to 32 axes
	Communication partner	SDO: Non-Periodic Data Object PDO: Periodic Data Object EMCY: Emergency Item
	Supported control modes	Profile Position Mode (Contour Position Mode) Profile Velocity Mode (Velocity Mode) Homing Mode (Return-to-Home Mode)

Product illustration

Drive Terminal Description

(1) Main circuit terminal block

Pin	Signal	Explanation
1	Air conditioning	Drive power supply terminal Power supply range: DC 30 V–110 V / AC 20 V–80 V
2	Air conditioning

(2) Motor power cable terminals

Pin	Signal	Explanation
1	B-	Motor phase B winding
2	B+	Motor phase B winding
3	A-	Motor phase A winding
4	A+	Motor phase A winding

(3) Encoder Wiring Terminals

Pin	Signal	Explanation
1	EA+/D-	Encoder differential signal negative terminal
2	EA-/D+	Encoder differential signal positive terminal
3	EB+	If you need to connect an ABZ differential signal encoder Please contact the manufacturer’s technical staff.
4	EB-
5	EZ+
6	EZ-
7	E5V	Encoder power supply positive terminal
8	Ground	Encoder power supply negative terminal

(4) Control signal terminal block

(5) USB port

(6) CANopen communication port

(7) DIP switch

Pin	Signal	Explanation
1	SW1	canID station number setting; see the table below for details.
2	SW2
3	SW3
4	SW4
5	SW5
6	SW6	Baud Rate Setting
7	SW7	Baud Rate Setting
8	SW8	Termination resistor setting (ON is effective, OFF is ineffective)

Communication Station Number Table

CAN ID Address	SW1	SW2	SW3	SW4	SW5	CAN ID Address	SW1	SW2	SW3	SW4	SW5
1	on	off	off	off	off	17	on	off	off	off	on
2	off	on	off	off	off	18	off	on	off	off	on
3	on	on	off	off	off	19	on	on	off	off	on
4	off	off	on	off	off	20	off	off	on	off	on
5	on	off	on	off	off	21	on	off	on	off	on
6	off	on	on	off	off	22	off	on	on	off	on
7	on	on	on	off	off	23	on	on	on	off	on
8	off	off	off	on	off	24	off	off	off	on	on
9	on	off	off	on	off	25	on	off	off	on	on
10	off	on	off	on	off	26	off	on	off	on	on
11	on	on	off	on	off	27	on	on	off	on	on
12	off	off	on	on	off	28	off	off	on	on	on
13	on	off	on	on	off	29	on	off	on	on	on
14	off	on	on	on	off	30	off	on	on	on	on
15	on	on	on	on	off	31	on	on	on	on	on
16	off	off	off	off	on

Baud Rate Setting

Baud rate	SW6	SW7
1 Mbit/s	off	off
500K bit/s	on	off
250k bit/s	off	on
125 kbit/s	on	on

Troubleshooting

Fault code	Fault Information	ALM indicator light	Mitigation measures	Reset
Err1	Overcurrent or interphase short circuit	Flashes once	Check whether the load is excessive, whether there are any impacts, and whether the motor wiring is shorted.	Power-down reset
Err2	Power supply voltage is too high.	Flashes twice	Check the power supply operating range.	Automatic recovery
Err3	Power supply voltage too low	Flashes 3 times	Check the power supply operating range.	Automatic recovery
Err5	Motor out of tolerance	Flashes 5 times	Check whether the load is excessive and whether the encoder cable is loose.	Power loss, manual reset
Err6	485 Modbus error frame exists	Flashes 6 times	Verify that the 485/USB serial communication parameters are configured correctly.	Power-down reset
Err7	Encoder ROM motor information missing	Flashes 7 times	Verify that the encoder ROM correctly stores motor-related parameters.	Power-down reset
Err8	Absolute Encoder Battery Warning	Flashes 8 times	Check whether the encoder battery voltage is normal.	Power-down reset
Err9	Absolute encoder battery failure	Flashes 9 times	Encoder battery discharged; after replacing the battery, reset P0D.07.	Power-down reset
Err10	Encoder Communication Alarm	Flashes 10 times	Check whether the encoder cable is disconnected.	Power-down reset

Main application areas

Suitable for a wide range of motion-control applications in automation equipment and instruments, such as electronic manufacturing and inspection, semiconductor packaging, laser cutting and welding, laser typesetting, packaging machinery, engraving machines, marking machines, cutting machines, garment plotters, CNC machine tools, and automated assembly systems.

Shenzhen Lichuan Electric Co., Ltd.

Technical Support

Engineer Xie:+86-159-0755-7836
Engineer Rao:+86-180-2520-1553

Engineer Zuo:+86-135-3098-8140
Engineer Tan:+86-189-3415-0071

Engineer Tang:+86-180-2901-2526

WeChat Public Account

Douyin ID

Official Website Mobile Version

English website： https://www.lichuanservomotor.com

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Tel：+8618025208127

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Illustration	Pin	Signal	Explanation
	1	DI0	7-channel single-ended DI inputs, 12–24 V, with freely configurable DI functions.
	2	DI1
	3	DI2
	4	DI3
	5	DI4
	6	DI5
	7	DI6
	8	DICOM	DI input common terminal
	9	DO0	3-way single-ended DO output, with freely configurable DO functions.
	10	DO1
	11	DO2
	12	DOCOM	DO output common terminal