User Manual

CL57T(V4.0)
Closed Loop Stepper Driver

Revision 4.0

Record of Revisions

Revision Date Description of Release

1.00 Aug, 2019 Initial Release

4.00 Oct, 2020 Add S1 rotating switch, 5/24V selector switch, brake output.
 CL57T(V4.0) Closed-Loop Stepper Driver

Table of Content
1. Features ............................................................................................................................................................................ 1

2. Specifications ....................................................................................................................................................................1

2.1 Electrical Specifications ..........................................................................................................................................1

2.2 Environment ........................................................................................................................................................... 1

2.3 Mechanical Specifications ...................................................................................................................................... 2

3. Connections and LED Indication .......................................................................................................................................3

3.1 P1 – Control and Digital Output Connections ........................................................................................................3

3.2 P2 - Encoder Signals Input Connector ....................................................................................................................4

3.3 P3 - Motor Connector ............................................................................................................................................ 4

3.4 P4 - Power Connector .............................................................................................................................................4

3.5 LED Status Lights .................................................................................................................................................... 4

3.6 Switches ..................................................................................................................................................................4

4. Power Supply Selection .................................................................................................................................................... 5

4.1 Power Supply Sharing .............................................................................................................................................5

4.2 Selecting Supply Voltage ........................................................................................................................................ 5

5.Switch Configurations ........................................................................................................................................................6

5.1 S1 - Rotating Switch Configurations .......................................................................................................................6

5.2 S2 - DIP Switch Configurations ............................................................................................................................... 6

5.2.1 Micro Step (SW1-SW4) ................................................................................................................................6

5.2.2 Mode Setting (SW5 - SW8) ..........................................................................................................................7

5.3 S3 - Selector Switch Configurations ....................................................................................................................... 7

6. Typical Connection ........................................................................................................................................................... 8

6.1 Digital Input Connection ........................................................................................................................................ 8

6.2 Fault Output Connection ........................................................................................................................................9

6.3 Brake Output Connection .......................................................................................................................................9

7. Sequence Chart of Control Signals ................................................................................................................................... 9

8. Fault Protections & Troubleshooting ............................................................................................................................. 10

 CL57T(V4.0) Closed-Loop Stepper Driver

1. Features

 Input voltage 18-50VDC (recommended 24-48VDC)

 No loss of step, No tuning
 500 KHz max pulse input frequency
 16 microstep resolutions of 200-51,200 via DIP switches SW1 - SW4
 3 output current settings of 2.8A, 5.6A and 7.0A via S1 rotating switch
 Gain tuning via S1 rotating switch
 Auto-tuning to match wide-range NEMA 17, 23 and 24 closed-loop stepper motors
 Anti-Resonance for optimal torque, extra smooth motion, low motor heating and noise
 Soft-start with no “jump” when powered on
 Optically isolated inputs with 5V or 24V
 Fault and brake outputs
 Motor rotating direction setting by SW5
 Closed loop or open loop control setting by SW6
 Step&Direction or CW&CCW pulse type setting by SW7
 Position command filter setting by SW8
 Over-voltage, over-current protections, position following error, etc

2. Specifications

2.1 Electrical Specifications

Parameters Min Typical Max Unit

Peak Current 2.4 (RMS 2A), 5.6 (RMS 4A), 7.0 (RMS 5A) A
Operating Voltage 18 24, 36, 48 50 VDC
Logic input signal current 7 10 16 mA
Pulse input frequency 0 - 500 kHz
Brake output signal current - - 100 mA
Alarm output voltage - - 24 VDC
Minimal pulse width 1.0 - - μS
Minimal direction setup 2.0 - - μS
Isolation resistance 500 MΩ
2.2 Environment
Cooling Natural Cooling or Forced Cooling
Environment Avoid dust, oil fog and corrosive gases
Humidity 40%RH－90%RH
Operating Environment
Operating Temperature 0°C － 40°C (32°F - 102°F)
Vibration 10-50Hz / 0.15mm
Storage Temperature -20°C － 65°C (-4°F - 149°F)
Weight Approx. 280 g (9.9 Oz)

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 CL57T(V4.0) Closed-Loop Stepper Driver

2.3 Mechanical Specifications

(unit: mm [1inch=25.4mm])

Figure 1: Mechanical specifications

2.4 Heat Dissipation
 CL57T(V4.0) reliable working temperature should be no more than 40℃ (109°F)
 It is recommended to mount the drive vertically to maximize heat dissipation. Mount a cooling fan nearby if
necessary.
 If multiple CL57T(V4.0) drives are installed, it is suggested to keep a minimal 30mm (1.2 inches) between two of
them.

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3. Connections and LED Indication

A CL57T(V4.0) closed loop stepper drive has 4 connection blocks from P1 to P4 (see figure 2).

Figure 2: CL57T(V4.0) connectors

3.1 P1 – Control and Digital Output Connections

The P1 connector in Figure 2 contains connections for control signals and 2 digital output.
See the following table for details.
PIN I/O Details
Pulse and Direction Connection:
PUL+ (CW+) I
(1) Optically isolated, high level 3.5-5V or 24V, low voltage 0-0.5V
(2) Maximum 500 KHz input frequency
PUL- (CW-) I (3) The width of PUL signal is at least 1.0μs, duty cycle is recommended 50%
(4) Single pulse (step & direction) or double pulse (CW/CCW) is set by DIP Switch SW7
DIR+ (CCW+) I (5) DIR signal requires advance PUL signal minimum 2 μs in single pulse mode
(6) The factory setting of control signal voltage is 24V, must need to set S3 (figure 2) if it is
DIR- (CCW-) I 5V
Enable Signals: Optional.
ENA+ I (1) Effective high level is 3.5-24V; Effective low level is 0-0.5V connection
(2) ENA signal requires advance DIR signal minimum 200ms in single pulse mode, (default
ENA- I no connection)

ALM O
Alarm : They takes a sinking or sourcing 100mA current at 5-24V. Max 30V
BRK O Brake : Max. 24/100mA, connect with brake coil, relay and diode.
Common connection of single-end output signals (common-cathode)
COMO O

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 CL57T(V4.0) Closed-Loop Stepper Driver

Notes: (1) Shielding control signal wires is suggested;

(2) To avoid/reduce interference, don’t tie control signal cables and power wires together;

(3) Brake output need to connect a relay and diode

3.2 P2 - Encoder Signals Input Connector

The P2 connector in Figure 2 is for encoder signals connection. Refer to the following table for details.

Drive Pin Name Description

EB+ Encoder B+ input connection
EB- Encoder B- input connection
EA+ Encoder A+ input connection
EA- Encoder A- input connection
VCC Encoder +5V voltage output connection
EGND Power ground connection

3.3 P3 - Motor Connector

PIN Details
A+ Connect to motor A+ wire
A- Connect to motor A- wire
B+ Connect to motor B+ wire
B- Connect to motor B- wire

3.4 P4 - Power Connector

Pin Details
GND Connect to power supply ground connection.
+VDC Connect to power supply positive connection. Suggest 24-48VDC power supply voltage

!
Warning
Warning: Don’t plug/unplug P3 or P4 connector to avoid drive damage or injury while powered on.

3.5 LED Status Lights

There are two LED lights. The GREEN one is the power indicator which should be always on in normal circumstance.
The RED one is a alarm status indication light, which will be OFF while working normally but ON and flash some times
in a 3-second period in the case of enabled alarm protections.

3.6 Switches

The CL57T(V4.0) has one rotating switch, one 8-bit DIP switch and one 1-bit selector switch.

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 CL57T(V4.0) Closed-Loop Stepper Driver

Switch Pic Details

Rotating
switch S1 Drive Peak Current and Gain adjustment

Microstep resolution
Rotation direction
DIP
Pulse Mode
switch S2
Positional command filter
Closed / Open Loop Mode

Selector 5V or 24V control signal voltage selector.

switch S3 The factory setting is 24V, must need to set S3 to 5V if the control
signal voltage is 5V

4. Power Supply Selection

The CL57T(V4.0) can power medium and large size stepping motors (frame size from NEMA 17 to 24). To get good
driving performances, it is important to select supply voltage and output 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 Power Supply Sharing

Multiple CL57T(V4.0) drives can share one power supply to reduce cost, if that power supply has enough power
capacity. To avoid cross interference, connect each stepper drive 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.

4.2 Selecting Supply Voltage

The CL57T(V4.0) is designed to operate within 18 - 50VDC 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. Please make sure leaving enough room for power line voltage
fluctuation and back-EMF voltage charge back, it’s recommended 24 - 48VDC.

Higher supply voltage can increase motor torque at higher speeds (>300 RPM), 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 drive damage.

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5. Switch Configurations

5.1 S1 - Rotating Switch Configurations

This rotating switch is used to set the peak current of the drive and motion gain, from the motor phase current and
application requirements.
Peak RMS Code Velocity Position Velocity Remark
Current Current loop Ki loop Kp loop Kp
0 (factory) 0 25 25
1 0 50 15
2.8A 2A 1) Velocity loop Ki Indicates the stop time
2 16 25 25
and position accuracy , “0” indicates the
3 16 50 15 stop time is long, but the position error is
4 0 25 25 smaller.“16” means the stop time is short,
but the position error is slightly larger.
5 0 50 15
2) Position loop Kp and velocity loop Kp is a
6 0 100 5 pair of composite parameters that represent
5.6A 4A
7 16 25 25 rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
8 16 50 15
“5”composite parameters indicate the
9 16 100 5 rigidity is strong. Sometimes if the motor
A 0 25 25 will rotate after stopping, it can increase the
value of position loop Kp, but if the value is
B 0 50 15
too large, the motor will have noise.
C 0 100 5
7A 5A
D 16 25 25 3) Usually keep factory settings
E 16 50 15
F 16 100 5

5.2 S2 - DIP Switch Configurations

The 8-bit is located on the side (DIP switch S2 in Figure 2) and used to configure settings of micro step resolution,
output current, and motor standstill current as shown below

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

Microstep Rotation direction Pulse mode Pulse filter time

Control mode

Figure 3: DIP switches

5.2.1 Micro Step (SW1-SW4)

Each CL57T(V4.0) has 16 microstep settings which can be configured through DIP switches SW1, SW2, SW3 and SW4.
See the following table for detail.

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 CL57T(V4.0) Closed-Loop Stepper Driver

Micro step Pulses/Rev. (for 1.8°motor) SW1 SW2 SW3 SW4

1 200 on on on on
4 800 off on on on
8 1600 on off on on
16 3200 off off on on
32 6400 on on off on
64 12800 off on off on
128 25600 on off off on
256 51200 off off off on
5 1000 on on on off
10 2000 off on on off
20 4000 on off on off
25 5000 off off on off
40 8000 on on off off
50 10000 off on off off
100 20000 on off off off
200 40000 off off off off

5.2.2 Mode Setting (SW5 - SW8)

Function ON OFF
SW5 Rotation Direction CW (clockwise) CCW (counterclockwise)
SW6 Control Mode Open loop control Closed loop control

SW7 Pulse Mode CW/CCW (double pulse) PUL/DIR (single pulse)

SW8 Pulse Filter Time Yes (10ms) No (1.5ms)

CL57T(V4.0) has an advanced feature called Pulse Filter Time to make the input pulse from pulse generator (controller,
PLC, etc.) S-curve acceleration, to improve motion smoothness and high-speed start frequency in many
circumstances.
The Filter Time value must be set to the same for each CL57T(V4.0) in multi-axis applications

5.3 S3 - Selector Switch Configurations

The 1-bit selector is located on the top (S3 in figure 2), used to configure the voltage of control signals. For the safety
of optically coupled, the factory setting is 24V, which no need to connect 2K resistors, making it easier to use. When
the voltage of the control signal is 5V, the S3 must be set to 5V, otherwise, the motor won't work.

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 CL57T(V4.0) Closed-Loop Stepper Driver

6. Typical Connection
A complete closed loop stepper system should include a stepper motor with encoder, CL57T(V4.0) drive, power
supply and controller (pulse generator). A typical connection is as below.

Figure 4: Typical connection

Notes: (1) Pulse and direction inputs level 5V or 24V selected by selector switch S3. When it is 24 V, the S3 selection
of 5V will damage the input photo-coupling.
(3) Enable (ENA) signal is 5V~24V compatible.

6.1 Digital Input Connection

The CL57T(V4.0) can accept can accept differential or single-ended control signals (pulse, direction, and enable) in
open-collector or PNP connection through the P1 connector (figure 2). It is recommend to add an EMI line filter
between the power supply and the drive to increase noise immunity for the drive in interference environments.

Controller Drive Controller Drive

PUL+
VCC PUL PUL+
PUL-
VCC PUL-
PUL
DIR+
DIR DIR+
DIR-
DIR-
DIR
ENA+ ENABLE ENA+
ENA-
ENA-
ENABLE

Figure 5: Connections to open-collector signal Figure 6: Connections to PNP signal

(common-anode) (common-cathode)

Notes:
(1) ENA signal is no-connected as default;
(2) Control signal amplitude is 24 V as default. If it is 12 V, please set the S3 (Figure 2) selector switch to 5 V first, then
connect 1KΩ resistor; If it is 5V, please set the S3 to 5V.
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 CL57T(V4.0) Closed-Loop Stepper Driver

6.2 Fault Output Connection

When over voltage or over current protection happens, CL57T(V4.0) red status LED light will blink and the impedance
state between ALM and COM- will change (from low to high or high to low depending on configuration) and can thus
be detected. Fault output connection is optional, and it can be connected either in sinking or sourcing.

Figure 7 Sinking output Figure 8 Sourcing output

6.3 Brake Output Connection

This drive has a special brake output, it needs to drive the motor brake with a relay. The connection is below:

Figure 9 Brake output 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:

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 CL57T(V4.0) Closed-Loop Stepper Driver

Figure 10: Sequence chart of control signals

Remark:

a) t1: ENA must be ahead of DIR by at least 200ms. 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 2us to ensure correct direction;
c) t3: Pulse width not less than 1us;
d) t4: Low level width not less than 1us;
e) Duty cycle of PUL signal is recommended 50%.

8. Fault Protections & Troubleshooting

To improve reliability, the drive incorporates some built-in protection features.

Blink
Sequence wave of red LED Description Trouble shooting
time(s)
5S Turn off the power immediately.
0.2S

1 Over-current a) Check wiring is short-circuited or not;

b) Check motor is short-circuited or not.
5S Turn off the power immediately.
0.3S 0.2S

2 Over-voltage a) Check if the power voltage is higher

than 90VDC
Restart the power supply, if the drive is
3 Chip error
still alarm, please contact after-sale
a) The drive is not connected to a
motor;
Fail to lock motor
4 b) If alarm is occurred when connect a
shaft
motor, please check the motor power
cable.
Restart the power supply, if the drive is
5 EEPROM error
still alarm, please contact after-sale

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 CL57T(V4.0) Closed-Loop Stepper Driver

Restart the power supply, if the drive is

6 Fail to auto tuning
still alarm, please contact after-sale
a) Set SW6 to “ON” to make motor run
5S in open loop mode, If alarm disappears,
0.3S 0.2S Position following
7 it means encoder wiring error;
error
b) Motor torque is not enough or motor
speed is too high;
PCB board is Restart the power supply, if the drive is
Always -
burned out still alarm, please contact after-sale
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by repowering it
to make it function properly after removing above problems.

In the event that your drive 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.

Symptoms Possible Problems Solutions

No power Connect power supply correctly

Microstep resolution setting is wrong Setting appropriate microstep

Motor is not rotating Fault condition exists Check wiring and restart power

Drive restore factory setting, and keep

The drive is disabled
ENA+, ENA- input signals unconnected.

Wrong motor rotation direction The Direction signal level is reverse Toggling the SW5 DIP switch

Ensure the current of control signal is

Control signal is too weak
within 7-16mA

Don’t tie the control signal cable with

Control signal is interfered
Erratic motor motion power cable together

Refer to user manual of drive and motor

Wrong motor connection
datasheet

Something wrong with motor coil Check the motor is normal

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 CL57T(V4.0) Closed-Loop Stepper Driver

Choose another power supply with lager

Current setting is too small power or increase the output current of
drive

Motor stalls during acceleration Motor is undersized for the application Choose another motor with higher torque

Acceleration is set too high Reduce the acceleration

Choose another power supply with large

Power supply voltage too low
voltage output

Inadequate heat sinking / cooling Refer to chapter 2.4

Excessive motor & drive heating Reduce the current value refer to motor
Motor peak current setting is too high
datasheet

Motor vibration when power on Speed loop Kp is too high Reduce the speed loop Kp value

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