Lichuan EtherCAT Dual-Axis Nema17 Closed-Loop Stepper Motor and Driver Manual

1. Introduction

This manual provides detailed instructions for the installation, operation, and maintenance of the Lichuan EtherCAT Dual-Axis Nema17 Closed-Loop Stepper Motor and CL57E-2A Driver Kit. This system is designed for high-synchronous, multi-axis communication control in industrial automation applications, leveraging EtherCAT bus technology for real-time data transmission and high reliability.

The kit includes one CL57E-2A driver capable of controlling two Nema17 closed-loop stepper motors. The closed-loop technology, utilizing a position encoder, fundamentally addresses the issue of lost steps common in traditional stepping motors, ensuring precise and stable operation.

2. Packaging List

Upon receiving your product, please verify that all items listed below are included and in good condition:

• Nema17 Closed-Loop Stepper Motor: 2 pcs (Please choose motor specifications accordingly)
• 2-Phase Closed-Loop Stepper Driver (CL57E-2A): 1 pc
• Power Cable (3M): 2 pcs
• Encoder Cable (0.5M): 2 pcs

Note: One driver is designed to work with two motors. Cable lengths can be customized; standard lengths are 0.5M for power and 3M for encoder cables. Contact support if different lengths are required.

3. Specifications

3.1. Drive Specifications (CL57E-2A)

Image: Detailed specifications table for the CL57E-2A drive, including product model, current range, power supply, input/output, communication interface, signal voltage, size, weight, drive motor type, control mode, and communication protocol.

3.2. Motor Specifications (Two-Phase Nema17 Closed-Loop Motor)

Image: Detailed specifications table for Nema17 motors (LC42H249 and LC42H261), including step angle, motor length, holding torque, rated current, rotor inertia, motor weight, and encoder resolution, along with a diagram showing shape and installation dimensions.

Shaft Diameter: Φ5 or Φ6 mm (D-cut 0.5 x 15 mm), Shaft Length: 24 mm.

3.3. EtherCAT Communication Specifications

Image: Table detailing EtherCAT communication specifications, including physical layer, communication connector, network architecture, transmission rate, data frame length, application layer protocol, synchronous mode, communication object, application layer specification, and supported control modes.

4. Setup and Installation

4.1. Component Identification

Image: Diagram showing the functional description of the CL57E-2A drive, highlighting the 2-digit digital display tube, USB Type-C debugging port, EtherCAT communication ports (ECAT-OUT, ECAT-IN), IO signal terminals (4 DI, 2 DO per axis), motor encoder terminal block, motor terminal connector, and power supply terminal block (VDC, GND, DC24V-50V).

Familiarize yourself with the various ports and indicators on the CL57E-2A driver:

• LED Display: 2-digit digital display tube for status indication.
• USB Port: Type-C debugging port for configuration and diagnostics.
• EtherCAT Ports: RJ45 connectors (ECAT-IN, ECAT-OUT) for EtherCAT communication.
• IO Terminals: Input/Output signal terminals (4 Digital Inputs, 2 Digital Outputs per axis).
• Motor Encoder Terminal Block: For connecting the motor's encoder cable.
• Motor Terminal Connector: For connecting the motor's power cable.
• Power Supply Terminal Block: VDC, GND for DC24V-50V power input.

4.2. Physical Installation

The drive housing is made of special engineering plastics, offering high temperature resistance, grinding resistance, dirt resistance, and high toughness, making it suitable for industrial environments. The PCB plug-in terminal blocks facilitate easy installation and maintenance, saving wiring time.

Ensure adequate ventilation around the drive for proper heat dissipation. Mount the drive and motors securely to prevent vibration during operation.

4.3. Wiring Diagram

Image: A complete stepper motor control system wiring diagram showing connections between a DC switching power supply, a touch screen (controller), the stepper drive, and a stepper motor.

A complete stepper motor control system typically includes a DC switching power supply, a controller (e.g., touch screen), the stepper drive, and the stepper motor. Follow the diagram above for general connection principles.

4.3.1. Motor and Encoder Wiring

Image: Diagrams illustrating motor wire colors (Red A, Blue A-, Black B, Green B-) and encoder lead colors with corresponding pin numbers and functions (1 yellow EB+, 2 green EB-, 3 black EA+, 4 blue EA-, 5 Red +5VCC, 6 White EGND).

Connect the motor and encoder cables to the drive as follows:

• Motor Wire Colors:
  • Red: A
  • Blue: A-
  • Black: B
  • Green: B-
• Encoder Lead Colors:
  • 1 (Yellow): EB+
  • 2 (Green): EB-
  • 3 (Black): EA+
  • 4 (Blue): EA-
  • 5 (Red): +5VCC
  • 6 (White): EGND

Ensure all connections are secure and correctly matched to prevent damage to the components.

5. Operating Instructions

5.1. Powering On

Connect the DC power supply (DC24V-50V) to the VDC and GND terminals. Once power is applied, the drive's LED display will illuminate, indicating readiness. Refer to the drive's functional description for LED indicator meanings.

5.2. Control Modes

The CL57E-2A driver supports various control modes via EtherCAT communication:

• Profile Position Mode (PP): For precise positioning tasks.
• Profile Velocity Mode (PV): For controlling motor speed.
• Homing Mode (HM): For finding a reference position.
• Cycle Synchronized Position Mode (CSP): For synchronized multi-axis positioning.

Configuration of these modes is typically done through the EtherCAT master controller and specialized software.

5.3. Closed-Loop Control Technology

Image: Schematic diagram illustrating the closed-loop stepper drive control system, showing the command signal, deviation, controller, amplifier, motor, encoder, and feedback signal path. A position encoder is installed on the motor for closed-loop control.

The integrated position encoder provides real-time feedback to the drive, allowing for continuous correction of the motor's position. This closed-loop system ensures high accuracy, prevents lost steps, and provides stable operation even under varying loads. The drive utilizes an imported DSP digital chip (Texas Instruments DSP) for fast and accurate processing, enhancing stability and response time.

5.4. Debugging and Configuration

The Type-C USB debugging port on the drive allows connection to a computer for advanced configuration, parameter tuning, and diagnostics using Lichuan's proprietary software. Refer to the software manual for detailed instructions on using the debugging interface.

6. Maintenance

• Keep Clean: Regularly clean the drive and motors to prevent dust and debris accumulation, which can affect performance and cooling.
• Check Connections: Periodically inspect all wiring connections for tightness and signs of wear or corrosion. Loose connections can lead to intermittent operation or damage.
• Environmental Conditions: Ensure the operating environment remains within the specified temperature and humidity ranges to prolong the lifespan of the components.
• Firmware Updates: Check the manufacturer's website for any available firmware updates for the drive, which may include performance improvements or bug fixes.

7. Troubleshooting

If you encounter issues with your Lichuan stepper motor system, consider the following common troubleshooting steps:

• No Power/LED Off:
  • Verify the DC power supply is connected correctly and providing the specified voltage (DC24V-50V).
  • Check power cable integrity.
• Motor Not Moving/Erratic Movement:
  • Ensure motor and encoder cables are securely connected and correctly wired according to the diagrams.
  • Check the EtherCAT communication link and ensure the master controller is sending valid commands.
  • Review the drive's LED display for error codes and consult the drive's specific error code documentation.
  • Verify motor parameters and control mode settings are appropriate for the application.
• Overheating:
  • Ensure adequate ventilation around the drive and motors.
  • Check if the motor load exceeds its rated torque.
  • Verify the power supply voltage is within the specified range.
• Communication Errors:
  • Check EtherCAT cable connections and integrity.
  • Verify EtherCAT network configuration on the master controller.

For persistent issues, utilize the Type-C debugging port and software for detailed diagnostics, or contact Lichuan technical support.

8. User Tips

• When setting up, double-check all wiring, especially the motor and encoder connections, as incorrect wiring is a common cause of initial setup problems.
• For optimal performance in high-speed or high-load applications, ensure your power supply can deliver sufficient current and voltage within the specified range.
• Consider using shielded cables for EtherCAT communication in noisy industrial environments to maintain signal integrity.

9. Warranty and Support

This product is certified with RoHS and CE, ensuring compliance with environmental and safety standards.

For technical support, documentation, or inquiries regarding bulk purchases, please contact Lichuan directly:

• Contact: Annie Cheng
• Skype: annie_5543
• WhatsApp: +86 13714817266
• Email: annie@xlichuan.com

Lichuan is a factory direct seller with over 15 years of experience in stepper and servo motor systems, offering professional support and tailored solutions.