Closed-loop Stepper Driver CL42T
User Manual
CL42T
Closed Loop Stepper Driver
Designed by StepperOnline®
Manufactured by Leadshine®
Address: Address: #7 Zhongke Road, Jiangning, Nanjing, China
Tel:0086-2587156578 Web:www.omc-stepperonline.com
Sales: sales@stepperonline.com Support: technical@stepperonline.com
Closed-loop Stepper Driver CL42T
Notice
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can result in
injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation
requirements.
This manual is not for use or disclosure outsides of STEOOERONLINE except under permission. All rights are
reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic,
mechanical, photocopying, recording, or otherwise without approval from STEPPERONLINE. While every precaution
has been taken in the preparation of the book,STEPPERONLINE assumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained herein.
This document is proprietary information of STEPPERONLINE that is furnished for customer use ONLY. Information
in this documation is subject to change without notice and does not represent a commitment on the part of
STEPPERONLINE. Therefore, information contained in this manual may be updated from time-to time due to product
improvements, etc., and may not conform in every respect to former issues.
Closed-loop Stepper Driver CL42T
Table of Contents
1. Introductions ......................................................................................................................................................... 1
1.1 Features ......................................................................................................................................................... 1
1.2 Applications .................................................................................................................................................. 1
2. Specifications ......................................................................................................................................................... 1
2.1 Electrical Specifications ................................................................................................................................. 1
2.2 Environment .................................................................................................................................................. 1
2.3 Mechanical Specifications ............................................................................................................................. 2
2.4 Elimination of Heat ....................................................................................................................................... 2
3. Connection Interface and LED Indication ........................................................................................................... 2
3.1 Connector P1 Interface .................................................................................................................................. 3
3.1.1 Pin Assignments of P1 ......................................................................................................................... 3
3.1.2 Control Signal Wiring(P1) ................................................................................................................... 3
3.2 Connector P2 ................................................................................................................................................. 4
3.2.1 Pin Assignments of P2 ......................................................................................................................... 4
3.2.2 Motor and Power Supply Wiring(P2) ................................................................................................... 4
3.3 Connector P3 ................................................................................................................................................. 4
3.4 Connector P4 ................................................................................................................................................. 5
3.5 LED Light Indication ..................................................................................................................................... 5
4. Power Supply Selection ......................................................................................................................................... 5
4.1 Regulated or Unregulated Power Supply ........................................................................................................ 5
4.2 Power Supply Sharing ................................................................................................................................... 6
4.3 Selecting Supply Voltage ............................................................................................................................... 6
5. DIP Switch Configurations ................................................................................................................................... 6
5.1 Microstep Resolution(SW1-SW4) .................................................................................................................. 6
5.2 Other DIP Switch Setting(SW5-SW8) ............................................................................................................ 7
6. Typical Connection ................................................................................................................................................ 7
7. Sequence Chart of Control Signals ....................................................................................................................... 8
8. Protection Functions ............................................................................................................................................. 9
9. Troubleshooting ..................................................................................................................................................... 9
10. Warranty ........................................................................................................................................................... 10
Closed-loop Stepper Driver CL42T
1. Introductions
This Closed Loop Stepper Driver, offers an alternative for applications requiring higher performance and higher
reliability than open loop stepper system, and it remains cost-effective. The CL42T can power 2-phase NEMA11, 14
and 17 stepper motors with incremental encoders(Encoder resolution must be 1000-line). Compared with traditional
open loop stepper systems, a CL42T adopted closed loop step system can eliminate potential loss of step, make
real-time position error correction, and do not need torque reservation (100% torque implementation). Also it can
power the driven stepper motor with reduced heating, lower noise, low vibration…
1.1 Features
No loss of step
No torque reservation
No hunting or overshooting
No tuning for easy setup
Low noise and vibration, smooth motion
20-50VDC supply voltage, max 3A output current
Max 200 KHz input frequency
15 micro step settings of 800-51,200 via DIP switches, or 200-51,200 via software (increase by 200)
Protections for over voltage, over current and position following error
1.2 Applications
Its great features of quicker response and no hunting make STEPPERONLINE’s closed loop stepper driver is ideal for
applications such as bonding and vision systems in which rapid motions with a short distance are required and hunting
would be a problem. And it is ideal for applications where the equipment uses a belt-drive mechanism or otherwise has
low rigidity and you don't want it to vibrate when stopping.
2. Specifications
2.1 Electrical Specifications
Parameters
Min Typical Max Unit
Output Current 0 - 3 A
Supply Voltage 24 24 48 VDC
Logic signal current 7 10 16 mA
Pulse input frequency 0 - 200 kHz
Minimal pulse width 2.5 - - μS
Minimal direction setup 5.0 - - μS
Isolation resistance 500 MΩ
CL42T
2.2 Environment
Cooling Natural Cooling or Forced cooling
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Operating Environment
Storage Temperature
Weight Approx. 220 g (7.76 oz)
2.3 Mechanical Specifications
(unit: mm [1inch=25.4mm])
Closed-loop Stepper Driver CL42T
Environment
Ambient Temperature
Humidity
Operating Temperature
Vibration
Avoid dust, oil fog and corrosive gases
0°C － 65°C (32°F - 149°F)
40%RH－90%RH
0°C － 50°C (32°F - 122°F)
10-50Hz / 0.15mm
-20°C － 65°C (-4°F - 149°F)
Figure 1: Mechanical specifications
* Side mounting recommended for better heat dissipation
2.4 Elimination of Heat
CL42T reliable working temperature should be < 60℃ (140°F)
It is recommended to mount the driver vertically to maximize heat sink area. Use forced cooling method to cool if
necessary.
3. Connection Interface and LED Indication
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Closed-loop Stepper Driver CL42T
The CL57T has four connector blocks P1&P2&P3&P4 (see above picture). P1 is for control signals connections, P2 is
for power and motor connections, P3 is for encoder signals input connections, and P4 is for connecting with PC tuning
software. The following tables are brief descriptions of the four connectors. More detailed descriptions of the pins and
related issues are presented in section 4, 5, 9.
3.1 Connector P1 Interface
3.1.1 Pin Assignments of P1
Pin Name I/O
PUL+ I
PUL- I
DIR+ I
DIR- I
ENA+ I
ENA- I
ALM+ O
ALM- O
Details
Pulse signal: In single pulse mode (setting by DIP switch SW7), 4.5-24V when PUL-HIGH,
0-0.5V when PUL-LOW. The same as DIR and ENA signals. Minimal pulse width of 2.5μs and
dutycycle of pulse is recommended 50%. In double pulse mode, this input represents clockwise
(CW) pulse, active both at high level and low level.
DIR signal: In single pulse mode, this signal has low/high voltage levels to represent two
directions of motor rotation. Minimal direction setup time of 5μs. Also swapping the
connection of two wires of a coil (e.g. A+ and A-) to the driver will reverse motor direction. In
double pulse mode, this signal is counter-clock (CCW) pulse, active both at high level and low
level.
Enable signal: This signal is used for enabling/disabling the driver. High level 4.5-24V (NPN
control signal) for enabling the driver and low level for disabling the driver. PNP and
Differential control signals are on the contrary, namely Low level for enabling. By default it
is left UNCONNECTED (ENABLED).
Fault Signal: OC output signal, active when one of the following protection is activated:
over-voltage, over current, short circuit and position following error. This port can sink or
source 20mA current at 24V. In default, the resistance between ALM+ and ALM- is low
impedance in normal operation and become high when the driver goes into error.
!
Notice
Notes: (1) shielding control signal wires is suggested; (2) To avoid interference, don’t tie PUL/DIR control
signal and motor wires together;(3) No need connect resistance for 12V or 24V control signal.
3.1.2 Control Signal Wiring(P1)
The CL42T can accept differential and single-ended inputs (including open-collector and PNP output). The CL42T has
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Closed-loop Stepper Driver CL42T
3 optically isolated logic inputs which are located on connector P1 to accept line drive control signals. These inputs are
isolated to minimize or eliminate electrical noises coupled with the drive control signals. Recommend using line drive
control signals to increase noise immunity for the driver in interference environments. In the following figures,
connections to open-collector and PNP signals are illustrated.
Figure 2: Connections to PNP signal Figure 3: Connections to open-collector signal
(common-cathode) (common-anode)
3.2 Connector P2
3.2.1 Pin Assignments of P2
Pin Name Details
A+, A- Motor Phase A connections. Connect motor A+ wire to A+ Pin; motor A- wire to A-
B+, B- Motor Phase B connections. Connect motor B+ wire to B+ Pin; motor B- wire to B-
+Vdc Power supply positive connection. Suggest 24-48VDC power supply voltage
GND Power supply ground connection.
!
Warning
is powered on.
3.2.2 Motor and Power Supply Wiring(P2)
The CL42T can drive NEMA11, 14 and 17 closed loop stepper motor with encoder resolution of 1000 ppr. The current
loop PID will be adjusted automatically regarding to function of motor auto-identification and parameter
auto-configuration, to output optimal torque from wide-range motors. However, the user can also configure the current
in the tuning software. The configurable parameters include motor peak current, closed loop holding current, micro
step and etc.
3.3 Connector P3
Warning: Don’t plug or unplug the P1 & P2 terminal block to avoid driver damage or injury when CL42T
Drive Pin Name Description
EB+
EB-
EA+
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Encoder B+ input
Encoder B- input
Encoder A+ input
Closed-loop Stepper Driver CL42T
EA-
VCC
EGND
Encoder A- input
+5V power output
Signal ground
3.4 Connector P4
It is a RS232 communication port using to connect with PC software to configure the motor peak current, closed loop
holding current, microstep, active level.
RS232 Communication Port – RJ11
Pin Name I/O Description
1
2
3
4
5
6
!
Notice
Notes: RS232 connection of CL42T is for tuning purpose only, not for RS232 command controls.
NC - Not connected.
+5V O +5V power output.
TxD O RS232 transmit.
GND GND Ground.
RxD I RS232 receive.
NC - Not connected.
3.5 LED Light Indication
There are two LED lights for CL42T. The GREEN one is the power indicator which will be always on generally. The
RED one is a protection indicator which will flash 1,2 or 7 times in a 5-second period, when protection enabled for a
CL42T. Different number of flashes indicates different protection type (read section 8 for detail).
4. Power Supply Selection
The CL42T can power medium and small size closed loop stepper motors (frame size from NEMA11 to 17). To get
good driving performances, it is important to select supply voltage and output current(by configuring motor peak
current) properly. Generally speaking, supply voltage determines the high speed performance of the motor, while
output current determines the output torque of the driven motor (particularly at lower speed). Higher supply voltage
will allow higher motor speed to be achieved, at the price of more noise and heating. If the motion speed requirement is
low, it’s better to use lower supply voltage to decrease noise, heating and improve reliability.
4.1 Regulated or Unregulated Power Supply
Both regulated and unregulated power supplies can be used to supply the driver. However, unregulated power supplies
are preferred due to their ability to withstand current surge and fast response for current change. If you prefer to a
regulated power supply, it is suggested to choose such a power supply specially designed for stepper/servo controls Or,
in the case when only normal switching power supplies are available, it is important to use “OVERSIZE” high current
output rating power supplies (for example, using a 4A power supply for 3A stepper motor) to avoid problems such as
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Closed-loop Stepper Driver CL42T
cunt clamp. On the other hand, if unregulated supply is used, one may use a power supply of lower current rating than
that of motor (typically 50%～70% of motor current). The reason is that the driver draws current from the power
supply capacitor of the unregulated supply only during the ON duration of the PWM cycle, but not during the OFF
duration. Therefore, the average current withdrawn from power supply is considerably less than motor current. For
example, two 3A motors can be well supplied by one power supply of 4A rating.
4.2 Power Supply Sharing
Multiple CL42T drivers can share one power supply to reduce cost, if that power supply has enough power capacity. To
avoid cross interference, connect each stepper driver directly to the shared power supply separately. To avoid cross
interference, DO NOT daisy-chain connect the power supply input pins of the Drivers. Instead connect them to power
supply separately.
4.3 Selecting Supply Voltage
The CL42T is designed to operate within +24 - +48VDC voltage input. When selecting a power supply, besides
voltage from the power supply power line voltage fluctuation and back EMF voltage generated during motor
deceleration needs also to be taken into account. Ideally it is suggested to use a power supply with the output of
+24VDC, leaving room for power line voltage fluctuation and back -EMF.
Higher supply voltage can increase motor torque at higher speeds, thus helpful for avoiding losing steps. However,
higher voltage may cause bigger motor vibration at lower speed, and it may also cause over-voltage protection or even
driver damage. Therefore, it is suggested to choose only sufficiently high supply voltage for intended applications.
5. DIP Switch Configurations
This drive uses an 8-bit DIP switch to set microstep resolution, motor direction, auto tuning switch and so on.
5.1 Microstep Resolution(SW1-SW4)
Microstep resolution is set by SW1, 2, 3, 4 of the DIP switches as shown in the following table:
Steps/Revolution SW1 SW2 SW3 SW4
Software Configured (Default 1600)
800
1600
3200
6400
12800
25600
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on on on on
off on on on
on off on on
off off on on
on on off on
off on off on
on off off on
Closed-loop Stepper Driver CL42T
51200
1000
2000
4000
5000
8000
10000
20000
40000
5.2 Other DIP Switch Setting(SW5-SW8)
SW5
SW6
SW7
SW8
Function
Default Direction
Auto Tuning No Yes
Pulse Model CW/CCW(double pulse) PUL/DIR(single pulse)
Pulse Edge Falling Rising
off off off on
on on on off
off on on off
on off on off
off off on off
on on off off
off on off off
on off off off
off off off off
On Off
CW (clock-wise) CCW (counter-clock-wise)
!
Notice
Notes: (1) The factory setting of DIP switch are ‘on off on on off off off off’; (2) The default direction is
related to the DIR level, you can toggle SW5 to change it .
6. Typical Connection
A complete closed loop stepper system should include closed loop motor, driver, power supply and controller (pulse
generator). A typical connection is shown as figure 9.
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Closed-loop Stepper Driver CL42T
Figure 9: Typical connection
7. Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as
following diagram:
Figure 10: Sequence chart of control signals
Remark:
a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not connected). See
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.
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Closed-loop Stepper Driver CL42T
8. Protection Functions
To improve reliability, the drive incorporates some built-in protections features.
Priority
1st
2nd
3nd
Time(s) of
Blink
1
2
7
Sequence wave of red LED Description
0.2S
0.2S
0.3S
0.2S
0.3S
5S
5S
5S
Over-current protection activated when peak
current exceeds the limit.
Over-voltage protection activated when driver
working voltage is greater than 90VDC
Position following error
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the driver by repowering it
to make it function properly after removing above problems.
9. Troubleshooting
In the event that your driver doesn’t operate properly, the first step is to identify whether the problem is electrical or
mechanical in nature. The next step is to isolate the system component that is causing the problem. As part of this
process you may have to disconnect the individual components that make up your system and verify that they operate
independently. It is important to document each step in the troubleshooting process. You may need this documentation
to refer back to at a later date, and these details will greatly assist our Technical Support staff in determining the
problem should you need assistance.
Many of the problems that affect motion control systems can be traced to electrical noise, controller software errors, or
mistake in wiring.
Problem Symptoms and Possible Causes
Symptoms Possible Problems
No power
Motor is not rotating
Motor rotates in the wrong direction
The driver in fault
Erratic motor motion
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Microstep resolution setting is wrong
Fault condition exists
The driver is disabled
The Direction signal level is reverse
Power supply voltage beyond driver’s input range
Something wrong with motor coil
Wrong connection
Control signal is too weak
Control signal is interfered
Wrong motor connection
Motor stalls during acceleration
Excessive motor and driver heating
Closed-loop Stepper Driver CL42T
Something wrong with motor coil
Current setting is too small
Motor is undersized for the application
Acceleration is set too high
Power supply voltage too low
Inadequate heat sinking / cooling
Motor peak current setting is too high
Motor vibration when power on
Speed loop Kp is too high
10. Warranty
StepperOnline warrants its products against defects in materials and workmanship for a period of 12 months from
shipment. During the warranty period, StepperOnline will either, at its option, repair or replace products which proved
to be defective. To obtain warranty service, a returned material authorization number (RMA) must be obtained before
returning product for service.
Exclusions: The above warranty does not extend to any product damaged by reasons of improper or inadequate
handlings by customer, improper or inadequate customer wirings, unauthorized modification or misuse, or operation
beyond the electrical specifications of the product and/or operation beyond environmental specifications for the
product.
If your product fail during the warranty period, please contact your seller for how and where to ship the failed product
for warranty or repair services first,you can also e-mail at technical@ stepperonline.com to obtain a retured material
authorization number (RMA ) before returning product for service. Please include a written description of the problem
along with contact name and address.
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