StepperOnline CL42T User manual

User Manual
CL42T(V4.1)
Closed Loop Stepper Driver
Revision 4.1
Record of Revisions
Revision Date Description of Release
1.00 Aug, 2019 Initial Release
4.10 May,2023 Add connector P5 -tuning port and description

CL42T(V4.1) 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
P5 – Tuning Port.....................................................................................................................................................4
3.6
LED Status Lights.................................................................................................................................................. 5
3.7 Switches.................................................................................................................................................................. 5
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)..............................................................................................................................7
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

CL42T(V4.1) Closed-Loop Stepper Driver
1
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
4 output current settings of 0.8A, 1.4A, 2.1A and 2.8A via S1 rotating switch
Gain tuning via S1 rotating switch
Auto-tuning to match wide-range NEMA 8 to NEMA 17 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 0.8 (RMS 0.6A), 1.4 (RMS 1A), 2.1 (RMS 1.5A) , 2.8 (RMS 2A) 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
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. 280 g (9.9 Oz)

CL42T(V4.1) Closed-Loop Stepper Driver
2
2.3
Mechanical Specifications
(unit: mm [1inch=25.4mm])
2.4 Heat Dissipation
Figure 1: Mechanical specifications
CL42T(V4.1) 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 ifnecessary.
If multiple CL42T(V4.1) drives are installed, it is suggested to keep a minimal 30mm (1.2 inches)
between two of them.

CL42T(V4.1) Closed-Loop Stepper Driver
3
3. Connections and LED Indication
A CL42T(V4.1) closed loop stepper drive has 5 connection blocks from P1 to P5 (see figure 2).
Figure 2: CL42T(V4.1) connectors
3.1
P1 – Control and Digital Output Connections
The P1 connector in Figure 2 contains connections for control signals and 2 digital outputs.See the following
table for details.
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 S3 (figure
2) 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
ALM O
Alarm: They takes a sinking or sourcing 100mA current at 5-24V. Max 30VBrake:
Max. 24/100mA, connect with brake coil, relay and diode.
Common connection of single-end output signals (common-cathode)
BRK O
COMO O

CL42T(V4.1) Closed-Loop Stepper Driver
4
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: Don’t plug/unplug P3 or P4 connector to avoid drive damage or injury while powered on.
3.5
P5 – Debug Port
The P5 connector in Figure 2 is a RS232 communication port for PC connection. Refer to the following pin
definitions.CL42T has a tuning port with RS232 to modify the drive parameters; it is just used to modify
parameter, not for equipment control because neither precision nor stability is sufficient.
The interface definition is as follows:
W
a
r
n
i
n
g
!

CL42T(V4.1) Closed-Loop Stepper Driver
5
3.6
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 timesin a 3-second period in the case of enabled alarm protections.
3.7
Switches
The CL42T(V4.1) has one rotating switch, one 8-bit DIP switch and one 1-bit selector switch.
Switch Pic Details
Rotating
switch S1 Drive Peak Current and Gain adjustment
DIP
switch S2
Microstep resolution
Rotation direction Pulse
Mode
Positional command filter
Closed / Open Loop Mode
Selector
switch S3
5V or 24V control signal voltage selector.
The factory setting is 24V, must need to set S3 to 5V if the
controlsignal voltage is 5V
4. Power Supply Selection
The CL42T(V4.1) can power medium and large size stepping motors (frame size from NEMA 8 to 17). To get
good driving performances, it is important to select supply voltage and output current properly. Generally
speaking, supplyvoltage 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, atthe price of more noise and heating. If the motion speed requirement is low, it’s better
to use lower supply voltage todecrease noise, heating and improve reliability.
4.1
Power Supply Sharing
Multiple CL42T(V4.1) 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. Toavoid 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 CL42T(V4.1) is designed to operate within 18 - 50VDC voltage input. When selecting a power supply,
besidesvoltage 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
voltagefluctuation and back-EMF voltage charge back, it’s recommended 24 - 48VDC.

CL42T(V4.1) Closed-Loop Stepper Driver
6
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.
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 andapplication requirements.
Peak
Current
RMS
Current
Code
Velocity
loop Ki
Position
loop Kp
Velocity
loop Kp
Remark
0.8 0.6
0 (factory) 0 25 25
1) Velocity loop Ki Indicates the stop
time and position accuracy, “0”
indicates the stop time is long, but the
position error issmaller.“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
representrigidity. “25” and “25”composite
parametersindicate 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
thevalue of position loop Kp, but if the
value istoo large, the motor will have
noise.
3)
Usually keep factory settings
1
0 50 15
2
16 25 25
3
16 50 15
1.4 1
4
0 25 25
5
0 50 15
6
16 25 25
7
16 50 15
2.1 1.5
8
0 25 25
9
0 50 15
A
16 25 25
B
16 50 15
2.8 2
C
0 25 25
D
0 50 15
E
16 25 25
F
16 50 15
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

CL42T(V4.1) Closed-Loop Stepper Driver
7
5.2.1 Micro Step (SW1-SW4)
Each CL42T(V4.1) 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
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)
CL42T(V4.1) 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
manycircumstances.
The Filter Time value must be set to the same for each CL42T(V4.1) 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. Whenthe voltage of the control signal is 5V, the S3 must be set to 5V, otherwise, the motor won't work.

CL42T(V4.1) Closed-Loop Stepper Driver
8
6. Typical Connection
A complete closed loop stepper system should include a stepper motor with encoder, CL42T(V4.1) drive,
powersupply and controller (pulse generator). A typical connection is as below.
Notes:
Figure 4: Typical connection
(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.
(2) Enable (ENA) signal is 5V~24V compatible.
6.1 Digital Input Connection
The CL42T(V4.1) 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.
C
o
n
t
r
o
ll
e
r
D
r
i
v
e
P
U
L
+
V
C
C
P
U
L
-
PU
L
D
I
R
+
DIR-
D
I
R
E
N
A
+
ENA-
E
N
A
B
L
E
C
o
n
t
r
o
l
le
r
D
r
i
v
e
P
UL
P
U
L+
V
C
C
P
U
L
-
D
IR
D
I
R
+
DIR-
E
N
A
B
L
E
E
N
A
+
E
N
A
-
Figure 5: Connections to open-collector signal Figure 6: Connections to PNP
signal (common-anode) (common-cathode)

CL42T(V4.1) Closed-Loop Stepper Driver
9
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.
6.2 Fault Output Connection
When over voltage or over current protection happens, CL42T(V4.1) red status LED light will blink and the
impedancestate 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
asfollowing diagram:

CL42T(V4.1) Closed-Loop Stepper Driver
10
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
time(s)
Sequence wave of red LED Description Trouble shooting
1
5S
0.2S
Over-current
Turn off the power immediately.
a) Check wiring is short-circuited or not;
b) Check motor is short-circuited or not.
2
5S
0.3S 0.2S 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
isstill 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
isstill alarm, please contact after-sale

CL42T(V4.1) Closed-Loop Stepper Driver
11
6
Fail to auto tuning Restart the power supply, if the drive is
still alarm, please contact after-sale
7
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
5
S
0.3S 0.2S
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by
repowering itto 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
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
keepENA+, 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 iswithin 7-16mA
Control signal is interfered Don’t tie the control signal cable
withpower cable together
Wrong motor connection Refer to user manual of drive and
motor datasheet
Something wrong with motor coil Check the motor is normal

CL42T(V4.1) Closed-Loop Stepper Driver
12
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