User’s Manual

For

CL86T
Closed Loop Stepper Driver

©2017 All Rights Reserved

Web site: www.omc-stepperonline.com

E-Mail:[email protected]
 Closed-loop Stepper Driver CL86T

CL86T
Closed-loop Stepper Driver
24~80VDC, 8.2A Peak, Closed-loop, No Tuning

1. Introductions
This Closed-loop Stepper Driver offers an alternative for applications requiring high performance and high reliability
when the servo was the only choice, while it remains cost-effective. The system includes a 2-phase stepper motor
combined with a fully digital, high performance drive and an internal encoder which is used to close the position,
velocity and current loops in real time, just like servo systems. It combines the best of servo and stepper motor
technologies, and delivers unique capabilities and enhancements over both, while at a fraction of the cost of a servo
system.

1.1 Features
 Closed-loop, eliminates loss of synchronization

 Broader operating range – higher torque and higher speed

 Reduced motor heating and more efficient

 Smooth motion and super-low motor noise

 Do not need a high torque margin

 No Tuning and always stable

 Quick response, no delay and almost no settle time

 High torque at starting and low speed, high stiffness at standstill

 Offer servo-like performance at a much lower cost

1.2 Applications
Its great feature of quick response and no hunting make this Closed-loop Stepper Driver 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.

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 Closed-loop Stepper Driver CL86T

2. Specifications

2.1 Electrical Specifications

Parameter Min Typical Max Unit
Input Voltage 24 48 80 VDC
Output Current 0 - 8.2 A
Pulse Input Frequency 0 - 200 kHz
Logic Signal Current 7 10 16 mA
Isolation Resistance 500 - - MΩ

2.2 Operating Environment

Cooling Natural Cooling or Forced cooling
Environment Avoid dust, oil fog and corrosive gases
Storage Temperature -20℃ － 65℃ (-4℉ － 149℉)
Operating Environment Ambient Temperature 0℃ － 50℃ (32℉ － 122℉)
Humidity 40%RH － 90%RH
Operating Temperature (Heat Sink) 70℃ (158℉) Max
Storage Temperature -20℃ － 65℃ (-4℉ － 149℉)
Weight 580 g (20.5 oz)

2.3 Mechanical Specifications

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 Closed-loop Stepper Driver CL86T

2.4 Protection Indications

The green indicator turns on when power-up. When drive protection is activated, the red LED blinks periodicity to
indicate the error type.

Time(s) of
Priority Sequence wave of RED LED Description
Blink
5S

1st 1 0.2S
Over-current protection

5S

0.3S 0.2S
2nd 2 Over-voltage protection

5S
0.3S 0.2S
3rd 7 Position Following Error

3. Connectors and Pin Assignment

The CL86T has four connectors, connector for control signals connections, connector for status signal connections,
connector for encoder feedback and connector for power and motor connections.

Control Signal Connector – Screw Terminal

Pin Name I/O Description
Pulse Signal: In single pulse (pulse/direction) mode, this input represents pulse signal, each
1 PUL+ I rising or falling edge active (software configurable, see Closed-loop Stepper Driver software
manual for more detail); In double pulse mode (software configurable), this input
represents clockwise (CW) pulse, active both at high level and low level. 4.5-24V when
2 PUL- I PUL-HIGH, 0-0.5V when PUL-LOW. For reliable response, pulse width should be longer than
2.5μs.
Direction Signal: In single-pulse mode, this signal has low/high voltage levels, representing
3 DIR+ I two directions of motor rotation. In double-pulse mode (software configurable), this signal
is counter-clock (CCW) pulse, active both at high level and low level. For reliable motion
response, DIR signal should be ahead of PUL signal by 5μs at least. 4.5-24V when DIR-HIGH,
0-0.5V when DIR-LOW. Please note that rotation direction is also related to motor-driver-
4 DIR- I encoder wiring match. Exchanging both the connection of two wires for a coil and an
encoder channel to the driver he connection will reverse motion direction. Or you can
toggle the SW5 to reverse the motion direction.
Enable Signal: This signal is used for enabling/disabling the driver. In default, high level
5 ENA+ I
(NPN control signal) for enabling the driver and low level for disabling the driver. Usually
left UNCONNECTED (ENABLED). Please note that PNP and Differential control signals are on
6 ENA- I the contrary, namely Low level for enabling. The active level of ENA signal is software
configurable.

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 Closed-loop Stepper Driver CL86T

Connectors and Pin Assignment (Continued)

Status Signal Connector – Screw Terminal

Pin Name I/O Description

1 Pend+ O In-position Signal: OC output signal, active when the difference between the actual position
and the command position is zero. This port can sink or source 20mA current at 24V. The
2 Pend- O resistance between Pend+ and Pend- is active at high impedance.

Alarm Signal: OC output signal, active when one of the following protection is activated:
3 ALM+ O over-voltage, over current 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 CL86T goes into error. The active level of alarm
4 ALM- O signal is software configurable. See Hybrid servo software operational manual for more
detail.

Encoder Feedback Connector – Screw Terminal

Pin Name I/O Description
1 EB+ I Encoder channel B+ input
2 EB- I Encoder channel B- input
3 EA+ I Encoder channel A+ input
4 EA- I Encoder channel A- input
5 VCC O +5V @ 100 mA max.
6 EGND GND Signal ground

Power and Motor Connector – Screw Terminal

Pin Name I/O Description
1 A+ O Motor Phase A+
2 A- O Motor Phase A-
3 B+ O Motor Phase B+
4 B- O Motor Phase B-
Power Supply Input (Positive)
5 +Vdc I
30-72VDC recommended, leaving rooms for voltage fluctuation and back-EMF.
6 GND GND Power Ground (Negative)

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 Closed-loop Stepper Driver CL86T

RS232 Communication Port

It is used to configure the close-loop current, open-loop current, position following error limit and etc. See Closed-loop
Stepper Driver software operational manual for more information.

RS232 Communication Port

Pin Name I/O Description
1 NC - Not connected.
2 +5V O +5V power only for STU (Simple Tuning Unit).
3 TxD O RS232 transmit.
4 GND GND Ground.
5 RxD I RS232 receive.
6 NC - Not connected.

4. DIP Switch Settings

4.1 Microstep Resolution (SW1-SW4)

Steps/Revolution SW1 SW2 SW3 SW4
Software Configured (Default 1600) on on on on
800 off on on on
1600 on off on on
3200 off off on on
6400 on on off on
12800 off on off on
25600 on off off on
51200 off off off on
1000 on on on off
2000 off on on off
4000 on off on off
5000 off off on off
8000 on on off off
10000 off on off off
20000 on off off off
40000 off off off off

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 Closed-loop Stepper Driver CL86T

4.2 Motor Direction (SW5)

ON OFF
SW5 Motor direction is positive. Motor direction is negative.

Note: The actual motor direction is also related to DIR level.

4.3 Motor Selection (SW6)

It is reserved for future use. Now it has no function for SW6.

4.4 Current Control

The motor current will be adjusted automatically regarding to the load or the stator-rotor relationship. However,
the user can also configure the current in the tuning software. The configurable parameters include close-loop
current, holding current, encoder resolution, micro step and etc.

5. Typical Connections

Controller CL86T
Encoder Signal
Control Signal Connector
Connector Encoder
5-24V PUL+ 1 Extension Cable
5V recommended PUL- 2
Step DIR+ 3 EA+ EA-
DIR- 4 EB+ EB-
+5V GND
Direction ENA+ 5
ENA- 6 1 A+
Enable 2 A-
3 B+
5V
4 B-
In-Position Pend+ 1

Pend- 2 5 +Vdc
6 24~80VDC 30 72VDC
GND
Alarm ALM+ 3
ALM- 4
Power &
Status Signal
Motor Connector
Connector

Connections to controller of sinking output

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 Closed-loop Stepper Driver CL86T

Controller CL8-6T
ES D808
VCC = 5-24V Encoder Signal
VCC 5V recommended Connector
Step PUL+ 1 Encoder
Extension Cable
VCC PUL- 2
Direction DIR+ 3
EA+ EA-
VCC DIR- 4 EB+ EB-
Enable ENA+ 5 +5V GND
ENA- 6 1 A+
2 A-
Control Signal
3 B+
5V
Connector
4 B-
In-Position Pend+ 1
5 +Vdc
Pend- 2
6 GND 24~80VDC 30 72VDC
Alarm ALM+ 3
ALM- 4
Power &
Status Signal Motor Connector
Connector

Connections to controller of sourcing output

Controller CL8-6T
ES D808
Encoder Signal
5V Connector
PUL+ 1
Encoder
Step PUL- 2 Extension Cable
DIR+ 3
Direction DIR- 4
EA+ EA-
ENA+ 5 EB+ EB-
Enable 6 +5V GND
ENA-
1 A+
Control Signal
2 A-
Connector
3 B+
5V
4 B-
In-Position Pend+ 1

Pend- 2 5 +Vdc

6 GND 24~80VDC 30 72VDC

Alarm ALM+ 3
ALM- 4
Power &
Status Signal
Motor Connector
Connector

Connections to controller of differential output