StepperOnline CL86T User manual

User Manual
CL86T (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 rotating switch, 5/24V selector switch, brake output.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
Table of Content
1. Features ..........................................................................................................................................................................1
2. Specifications .................................................................................................................................................................1
2.1 Electrical Specifications ..................................................................................................................................... 1
2.2 Environment .........................................................................................................................................................1
2.3 Mechanical Specifications .................................................................................................................................2
2.4 Heat Dissipation .................................................................................................................................................. 2
3. Connections and LED Indication ................................................................................................................................ 3
3.1 Control and Digital Output Connections ......................................................................................................... 3
3.2 Encoder Signals Input Connector .................................................................................................................... 3
3.3 Motor Connector ................................................................................................................................................. 4
3.4 LED Status Lights ............................................................................................................................................... 4
4. Power Supply Selection ....................................................................................................................................... 4
4.1 Power Supply Sharing ....................................................................................................................................... 4
4.2 Selecting Supply Voltage ...................................................................................................................................4
5.Switch Configurations ....................................................................................................................................................5
5.1 Rotating Switch Configurations ........................................................................................................................ 5
5.2 DIP Switch Configurations .................................................................................................................................5
5.2.1 Micro Step (SW1-SW4) .......................................................................................................................... 6
5.2.2 Mode Setting (SW5 - SW8) ................................................................................................................... 6
6. Typical Connection ........................................................................................................................................................6
6.1 Digital Input Connection .....................................................................................................................................6
6.2 Fault Output Connection ....................................................................................................................................7
7. Sequence Chart of Control Signals ............................................................................................................................8
8. Fault Protections & Troubleshooting ..........................................................................................................................9

CL86T(V4.0) Closed Loop Stepper Drive User Manual
1
1. Features
Input voltage 18-80VAC or 24-110VDC
No loss of step, No tuning
500 KHz max pulse input frequency
Resolutions of 200-51,200 via DIP switches SW1 - SW4
2 out current settings and gain tuning via S1 rotating switch
Optically isolated inputs with 5V or 24V
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
Configure position reach output or brake output by SW8
Over-voltage, over-current protections, position following error, etc
2. Specifications
2.1 Electrical Specifications
Parameters
Min
Typical
Max
Unit
Peak Current
5.6A (RMS 4A) 7A (RMS 5A) 8A (RMS 5.7A)
A
Operating Voltage
18
24
-
80
110
VAC
VDC
Logic input signal current
7
10
20
mA
High speed pulse input
frequency (5V)
0
-
500
kHz
Pulse input frequency (24V)
0
-
200
kHz
Input signal voltage
5
-
24
VDC
Logic current output
-
-
100
mA
2.2 Environment
Cooling
Natural Cooling or Forced Cooling
Operating Environment
Environment
Avoid dust, oil fog and corrosive gases
Humidity
40%RH－90%RH
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. 600g

CL86T(V4.0) Closed Loop Stepper Drive User Manual
2
2.3 Mechanical Specifications
(unit: mm [1inch=25.4mm])
Figure 1: Mechanical specifications
2.4 Heat Dissipation
CL86T(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 CL86T (V4.0) drives are installed, it is suggested to keep a minimal 30mm (12 inches)
between two of them.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
3
3. Connections and LED Indication
3.1 Control and Digital Output Connections
PIN
I/O
Details
PUL+ (CW+)
I
Pulse and Direction Connection:
(1) Optically isolated, high level 3.5-5V or 24V, low voltage 0-0.5V
(2) Maximum 500 KHz input frequency
(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
(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 5V/24V
rotating switch if it is 5V
PUL- (CW-)
I
DIR+ (CCW+)
I
DIR- (CCW-)
I
ENA+
I
Enable Signals: Optional.
(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 no connection)
ENA-
I
BRK+ (PEND+)
O
Select brake output or pend output by switch 8, default as brake output
Max 30VDC/100mA
BRK- (PEND-)
O
ALM+
O
Max 30VDC/100mA
ALM-
O
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 Encoder Signals Input Connector
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

CL86T(V4.0) Closed Loop Stepper Drive User Manual
4
3.3 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
AC
Available for AC input or DC input, no polarity request while DC input
AC
3.4 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.
4. Power Supply Selection
The CL86T (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 CL86T (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 CL86T (V4.0) is designed to operate within 24 - 110VDC or 18 - 80VAC 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.
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.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
5
5. Switch Configurations
5.1 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 Current
Code
Velocity loop Ki
Position loop Kp
Velocity loop Kp
5.6A
0 (factory)
0
25
25
1
0
50
15
2
16
25
25
3
16
50
15
7.0A
4
0
25
25
5
0
50
15
6
0
100
5
7
16
25
25
8
16
50
15
9
16
100
5
8.0A
A
0
25
25
B
0
50
15
C
0
100
5
D
16
25
25
E
16
50
15
F
16
100
5
Remark：
1) Velocity loop Ki Indicates the stop time and position accuracy , “0” indicates the stop time is long, but the
position error is smaller.“16” means the stop time is short, but the position error is slightly larger.
2) Position loop Kp and velocity loop Kp is a pair of composite parameters that represent rigidity. “25” and
“25”composite parameters indicate the rigidity is weak, “100” and “5”composite parameters indicate the
rigidity is strong. Sometimes if the motor will rotate after stopping, it can increase the value of position loop
Kp, but if the value is too large, the motor will have noise.
3) Usually keep factory settings
5.2 DIP Switch Configurations
The 8-bit is located on the side and used to configure settings of micro step resolution, output current, and
motor standstill current as shown below
Figure 2: DIP switches
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8

CL86T(V4.0) Closed Loop Stepper Drive User Manual
6
5.2.1 Micro Step (SW1-SW4)
Each CL86T (V4.0) has 16 microstep settings which can be configured through DIP switches SW1, SW2,
SW3 and SW4. See the following table for detail.
Micro step
Pulses/Rev. (for 1.8°motor)
SW1
SW2
SW3
SW4
1
200 (Default)
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
Brake/ pend
Pend output
Brake output
6. Typical Connection
6.1 Digital Input Connection
The CL86T (V4.0) can accept can accept differential or single-ended control signals (pulse, direction, and
enable) in open-collector or PNP connection. 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.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
7
Figure 3: Connections to open-collector signal Figure 4: Connections to PNP signal
(Common-anode) (Common-cathode)
Notes:
(1) ENA signal is no-connected as default;
(2) ENA signal is no connected as default, and ENA signal is available for 5V~24V.
6.2 Fault Output Connection
When over voltage or over current protection happens, CL86T(V4.0) red status LED light will blink and the
impedance state between ALM+ and ALM- 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.
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:
Drive
Controller
VCC
PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+

CL86T(V4.0) Closed Loop Stepper Drive User Manual
8
Figure 7：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:
Figure 8: 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%.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
9
8. Fault Protections & Troubleshooting
To improve reliability, the drive incorporates some built-in protection features.
Blink
time(s)
Sequence wave of red LED
Description
Trouble shooting
1
0.2S
5S
Over-current
Turn off the power immediately.
a) Check wiring is short-circuited or
not; b) Check motor is short-circuited
or not.
2
0.2S
0.3S
5S
Over-voltage
Turn off the power immediately.
a) Check if the power voltage is
higher than 90VDC
3
Chip error
Restart the power supply, if the drive
is still alarm, please contact after-sale
4
Fail to lock motor
shaft
a) The drive is not connected to a
motor;
b) If alarm is occurred when connect
a motor, please check the motor
power cable.
5
EEPROM error
Restart the power supply, if the drive
is still alarm, please contact after-sale
6
Fail to auto tuning
Restart the power supply, if the drive
is still alarm, please contact after-sale
7
0.2S
0.3S
5S
Position following
error
a) Set SW6 to “ON” to make motor
run in open loop mode, If alarm
disappears, it means encoder wiring
error;
b) Motor torque is not enough or
motor speed is too high;
Always
-
PCB board is
burned out
Restart the power supply, if the drive
is 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.

CL86T(V4.0) Closed Loop Stepper Drive User Manual
10
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
Motor is not rotating
No power
Connect power supply correctly
Microstep resolution setting is
wrong
Setting appropriate microstep
Fault condition exists
Check wiring and restart power
The drive is disabled
Drive restore factory setting, and keep
ENA+, ENA- input signals
unconnected.
Wrong motor rotation
direction
The Direction signal level is
reverse
Toggling the SW5 DIP switch
Erratic motor motion
Control signal is too weak
Ensure the current of control signal is
within 7-16mA
Control signal is interfered
Don’t tie the control signal cable with
power cable together
Wrong motor connection
Refer to user manual of drive and
motor datasheet
Something wrong with motor coil
Check the motor is normal
Motor stalls during
acceleration
Current setting is too small
Choose another power supply with
lager power or increase the output
current of drive
Motor is undersized for the
application
Choose another motor with higher
torque
Acceleration is set too high
Reduce the acceleration
Power supply voltage too low
Choose another power supply with
large voltage output
Excessive motor & drive
heating
Inadequate heat sinking / cooling
Refer to chapter 2.4
Motor peak current setting is too
high
Reduce the current value refer to
motor datasheet
Motor vibration when power
on
Speed loop Kp is too high
Reduce the speed loop Kp value