1. Introduction
This manual provides detailed instructions for the installation, operation, and maintenance of the Lichuan EtherCAT CNC Kit, which includes a CL3-E57H closed-loop stepper motor driver and a Nema24 closed-loop stepper motor. This kit is designed for high-precision CNC machine applications, offering reliable and efficient performance through EtherCAT bus control.
2. Packaging List
Please verify the contents of your package against the list below:
| No. | Item No. | Specifications | Qty |
|---|---|---|---|
| 1 | LC60H2102 / LC60H2112 / LC60H2127 | Nema24 Closed-Loop Stepper Motor (4.5Nm, 4.8Nm, or 5.5Nm) | 1 |
| 2 | CL3-E57H | Closed-Loop Stepper Driver (EtherCAT control) | 1 |
| 3 | Encoder Cable | 3M | 1 |
Note: The standard power cable length is 0.5M. Cable lengths can be customized upon request.
3. Specifications
3.1. Nema24 Closed-Loop Stepper Motor
| Model | Step Angle (°) | Motor Length L (mm) | Holding Torque (N.m) | Rated Current (A) | Rotor Inertia (g·cm²) | Motor Weight (Kg) | Encoder Resolution (PPR) |
|---|---|---|---|---|---|---|---|
| LC60H265 | 1.8 | 90 | 2.0 | 4.0 | 560 | 1.0 | 1000 |
| LC60H278 | 1.8 | 104 | 2.3 | 4.0 | 570 | 1.1 | 1000 |
| LC60H286 | 112 | 1.8 | 2.8 | 4.5 | 620 | 1.45 | 1000 |
| LC60H2102 | 1.8 | 126 | 4.5 | 5.0 | 1000 | 1.87 | 1000 |
| LC60H2112 | 1.8 | 137 | 4.8 | 5.5 | 1200 | 2.1 | 1000 |
| LC60H2127 | 1.8 | 152 | 5.5 | 5.5 | 1370 | 2.45 | 1000 |
Shaft Diameter Options:
| Model | Shaft Diameter D (mm) | Shaft Extension (mm) | Shaft Length (mm) |
|---|---|---|---|
| LC60H265 | φ8 or φ10 | D-cut 0.5 x 15 | 25 |
| LC60H278 | φ8 or φ10 | D-cut 0.5 x 15 | 25 |
| LC60H286 | φ8 or φ10 | D-cut 0.5 x 15 | 25 or 31 |
| LC60H2102 | φ8 or φ10 | D-cut 0.5 x 15 | 25 or 31 |
| LC60H2112 | φ8 or φ10 | D-cut 0.5 x 15 | 25 |
| LC60H2127 | φ8 or φ10 | Keyway 3 x 16 | 35 |
Note: 60 series motors with 50x50mm holes are available. Please confirm with your supplier about motor model.
Figure 1: Two-Phase Nema24 Closed-Loop Motor Dimensions
3.2. CL3-E57H EtherCAT Bus-Type Two-Phase Closed-Loop Driver
| Product Model | Product Size | Product Weight |
|---|---|---|
| CL3-E57H | 133 x 90 x 34mm | 0.3KG |
| Current Range | Power Range | Junction Port | Motor |
|---|---|---|---|
| Peak current 5A | DC24V ~ 48V | RJ45 | Two-phase Nema24 closed-loop motor, 1000-line incremental encoder |
3.3. EtherCAT Communication Specifications
| Category | Specification | |
|---|---|---|
| EtherCAT Communication | Physical layer | 100BASE-TX |
| Communication connector | RJ45 × 2 (input: CN6A; output: CN6B) | |
| Network architecture | Serial connection | |
| Transmission rate | 2 x 1 Mbps (full-duplex) | |
| Length of data frame | Max. 1484 bytes | |
| Application layer protocol | CoE: CANopen over EtherCAT | |
| Synchronous mode | DC synchronous mode (SYNC0), Asynchronous mode (Free Run) | |
| Communication object | SDO: aperiodic data object, PDO: periodic data object, EMCY: emergency object | |
| Application layer specification | CiA402 Drive Profile | |
| Supported control modes | Profile Position Mode (PP), Profile Velocity Mode (PV), Homing Mode (HM), Cycle Synchronized Position Mode (CSP) | |
Other Features:
- Bus Address Setting: Two-bit 16-bit Rotary Code, can be used to set from the station address, address range 0x00 ~ 0xFF.
- Digital Input: 6 input functions, of which 4 single-ended input isolation, 2 differential isolation input, differential maximum input frequency 500 KHz.
- Digital Output: Three signal outputs and one single-ended brake control.
- Alarm Function: Over-current, over-voltage, under-voltage, over-temperature alarm.
4. Setup and Installation
4.1. Functional Description of the Drive
The CL3-E57H driver features various ports and switches for configuration and connection:
Figure 2: CL3-E57H Drive Functional Description
- MicroUSB debug port: For connecting to a computer for configuration and debugging.
- Station number dial switch set: Used to set the EtherCAT station address.
- EtherCAT port (output): RJ45 port for EtherCAT daisy-chaining (output).
- EtherCAT port (input): RJ45 port for EtherCAT daisy-chaining (input).
- Di/Do signal: Digital input/output terminals.
- Motor encoder wire terminal: Connects to the motor's encoder cable.
- Motor power line terminal: Connects to the motor's power wires.
- Power input terminal: DC20-50V power supply connection.
4.2. Application Wiring Diagram
A complete stepper motor control system requires the connection of a DC switching power supply, an EtherCAT controller, the stepper drive, and the stepper motor as shown in the diagram below.
Figure 3: Typical Application Wiring Diagram
4.3. Motor and Encoder Wiring
Ensure correct wiring of the motor and encoder to the driver according to the color codes provided:
Figure 4: Motor and Encoder Wiring Details
Motor Wire Colors:
- White: A
- Green: A-
- Black: B
- Blue: B-
Definitions of Encoder Lead Colors:
| No. | Color | Signal |
|---|---|---|
| 1 | Yellow | EB+ |
| 2 | Green | EB- |
| 3 | Black | EA+ |
| 4 | Blue | EA- |
| 5 | Red | +5VCC |
| 6 | White | EGND |
5. Operating Instructions
The CL3-E57H driver supports various control modes via EtherCAT communication, adhering to the CiA402 Drive Profile. These modes allow for flexible control over the stepper motor's movement:
- Profile Position Mode (PP): For precise positioning control.
- Profile Velocity Mode (PV): For controlling the motor's speed.
- Homing Mode (HM): For establishing a reference position.
- Cycle Synchronized Position Mode (CSP): For synchronized position control in multi-axis systems.
Configuration of these modes and other parameters is typically done through the EtherCAT master controller and the MicroUSB debug port using appropriate software.
6. Maintenance
To ensure the longevity and optimal performance of your Lichuan EtherCAT CNC kit, follow these maintenance guidelines:
- Regular Cleaning: Keep the driver and motor free from dust, debris, and moisture. Use a soft, dry cloth for cleaning.
- Connection Checks: Periodically inspect all wiring connections (power, motor, encoder, EtherCAT) to ensure they are secure and free from damage. Loose connections can lead to intermittent operation or system failures.
- Environmental Conditions: Operate the kit within the specified temperature and humidity ranges. Avoid exposure to corrosive gases or excessive vibrations.
- Ventilation: Ensure adequate airflow around the driver to prevent overheating. The driver housing is made of special engineering plastics designed for high temperature resistance and durability.
Figure 5: Driver Housing and PCB Plug-in Terminal Block for easy maintenance.
7. Troubleshooting
The CL3-E57H driver is equipped with internal alarm functions to indicate potential issues. If an alarm occurs, check the following:
- Over-current: Check for short circuits in the motor wiring or excessive load on the motor.
- Over-voltage: Verify that the input power supply voltage is within the DC20-50V range.
- Under-voltage: Ensure the power supply is providing sufficient voltage and current.
- Over-temperature: Check for proper ventilation around the driver and ensure it's not operating in an excessively hot environment. Reduce motor load if necessary.
For persistent issues or alarms not listed, consult the detailed technical documentation or contact Lichuan technical support.
8. User Tips
- EtherCAT Network Configuration: For optimal performance in multi-axis systems, ensure your EtherCAT master controller is correctly configured to communicate with the CL3-E57H driver using the CiA402 Drive Profile.
- Motor Tuning: While closed-loop systems offer inherent advantages, fine-tuning motor parameters through the debug port can further optimize performance for specific applications, reducing vibration and improving response time.
- Power Supply Selection: Always use a stable DC power supply within the specified voltage range (DC20-50V) and with sufficient current capacity to meet the motor's peak current demands.
9. Warranty and Support
For technical support, inquiries, or warranty claims, please contact Lichuan directly:
- Contact Person: Annie Cheng
- Email: annie@xlichuan.com
- Skype: annie_5543
- WhatsApp: +86 13714817266
Lichuan is a professional manufacturer of servo and stepper motor drivers with over 15 years of experience, offering comprehensive technical support and tailored solutions.