Product
CL257C-ABZ Two-Phase Closed-Loop Stepper Driver
Product Overview
The CL2 series stepper drives are developed using the latest-generation 32-bit DSP chip, combined with our company’s many years of expertise in motion control. They support 1000-line ABZ incremental encoders and are available in three control modes: pulse‑train, RS485 bus, and CANopen bus. This particular model is a CANopen‑based drive.
Features
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 wiring terminals
| Pin | Signal | Explanation |
1 | VDC | Drive power supply terminal Power supply range: DC 24V~50V |
2 | Ground |
(2) Motor power cable terminals
| Pin | Signal | Explanation |
1 | B- | Motor phase B winding |
2 | B+ | |
3 | A- | Motor phase A winding |
4 | A+ |
(3) Encoder Wiring Terminals
| Pin | Signal | Explanation |
1 | EA+/D- | Encoder A-phase signal positive terminal |
2 | EA-/D+ | Encoder A-phase signal negative terminal |
3 | EB+ | Encoder B-phase signal positive terminal |
4 | EB- | Encoder B-phase signal negative terminal |
5 | EZ+ | Encoder Z-phase signal positive terminal (may be left unconnected if no Z signal is available) |
6 | EZ- | Encoder Z-phase signal negative terminal (may be left unconnected if no Z signal is available) |
7 | E5V | Encoder power supply positive terminal |
8 | Ground | Encoder power supply negative terminal |
(4) Control signal terminal block
| 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 |
(5) USB port
| Explanation | Explanation |
 | Parameters can be configured via a Type-C data cable connected to a computer using debugging software. |
(6) CANopen communication port
| Illustration | Pin | Signal | Explanation |
 | 1 | CAN_H | can communication positive terminal |
2 | CAN_L | can communication negative terminal | |
3 | Ground | can communicationally | |
4 | NC | NC | |
5 | Ground | can communicationally | |
6 | Ground | can communicationally | |
7 | NC | NC | |
8 | NC | NC |
(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 | |
8 | SW8 | Termination resistor setting (ON is active, OFF is inactive) |
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 |
Main application areas
It is widely used in various precision automation applications, including 3C automation equipment, laser processing systems, engraving machines, dispensing machines, labeling machines, packaging machinery, small CNC devices, textile automation, medical devices, semiconductor testing equipment, vision inspection platforms, and logistics sorting systems.
Category
Model
Format
Download
Xinlichuan
Stay in Touch With Us
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
WeChat