1. Introduction
This manual provides detailed instructions for the installation, operation, and maintenance of the Lichuan dual-axis Nema23 EtherCAT closed loop stepper motor kit. This kit is designed for precision control in various automated applications, featuring an EtherCAT bus for real-time data transmission and high reliability.
Figure 1: Lichuan Dual-Axis Nema23 EtherCAT Closed Loop Stepper Motor Kit
2. Packaging List
Please verify that all components listed below are included in your package:
- Nema23 Closed Loop Stepper Motor: 2 pcs (Please choose the motor specification accordingly.)
- Closed Loop Stepper Driver / EtherCAT Control (CL57E-2A): 1 pc
- 3M Power Cable + 0.5M Power Cable: 2 pcs
Note: One driver is designed to work with two motors. Cables can be customized; the standard length is 0.5M for power cables and 3M for encoder cables. Contact support if you require different cable lengths.
3. Key Features
- EtherCAT Bus Control: Utilizes EtherCAT for real-time data transmission, ensuring high reliability and multi-axis synchronous communication control.
- Dual-Axis Control: A single driver can control two Nema23 closed-loop stepper motors.
- Multiple Control Modes: Supports Profile Position Mode (PP), Profile Velocity Mode (PV), Homing Mode (HM), and Cycle Synchronized Position Mode (CSP).
- Wide Voltage Range: Operates with a DC 24-50V power input.
- Durable Construction: The drive housing features a scrub spray molding process, providing high temperature resistance, grinding, dirt resistance, and high toughness, suitable for industrial automation environments.
- Easy Installation: Equipped with PCB plug-in terminal blocks for convenient and safe wiring, saving installation time.
- Advanced Performance: Incorporates an imported DSP digital chip for accurate positioning, stable operation, and improved response time, effectively preventing lost steps common in traditional stepping motors.
Figure 2: Main Features Overview
4. Specifications
4.1. Driver Specifications (CL57E-2A)
Figure 3: CL57E-2A Driver Functional Description and Parameters
| Parameter | Value | Parameter | Value |
|---|---|---|---|
| Product Model | CL57E-2A | Product Size | 155 x 104 x 30mm |
| Current Range | Peak Current 5.6A | Product Weight | 0.4KG |
| Power Supply Area | DC24V ~ 50V | Drive Motor | Two-phase Nema23 closed-loop motor |
| Input Output | 4-way DI per axis; 12-way DO | Control Mode | PP/PV/HM/CSP |
| Communication Interface | EtherCAT | Communication Protocol | CoE (CANopen over EtherCAT) protocol |
| Signal Voltage | 5V-24V Universal |
4.2. Motor Specifications (Nema23 Closed-Loop Motor)
Figure 4: Nema23 Motor Dimensions and Specifications
| Model | Step Angle (degrees) | Length L (mm) | Holding Torque (N.m) | Rated Current (A) | Rotor Inertia (g.cm2) | Motor Weight (Kg) | Encoder Resolution (PPR) | Shaft Diameter D (mm) | Shaft Extension (mm) | Shaft Length (mm) |
|---|---|---|---|---|---|---|---|---|---|---|
| LC57H256 | 1.8 | 76 | 1.0 | 3.0 | 300 | 0.78 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
| LC57H265 | 1.8 | 85 | 1.5 | 3.0 | 400 | 1.18 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
| LC57H276 | 1.8 | 98 | 2.0 | 3.0 | 480 | 1.2 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
| LC57H282 | 1.8 | 104 | 2.2 | 4.0 | 520 | 1.3 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
| LC57H2100 | 1.8 | 123 | 3.0 | 4.0 | 720 | 1.7 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
| LC57H2112 | 1.8 | 134 | 3.5 | 4.0 | 800 | 1.8 | 1000 | Φ8 | D-cut 0.5 x 15 | 21 |
4.3. EtherCAT Communication Specifications
Figure 5: EtherCAT Communication Specifications
| Category | Parameter | 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) |
5. Setup and Installation
5.1. Component Identification
Familiarize yourself with the various ports and indicators on the stepper driver:
Figure 6: Driver Port Identification
- LED Display: 2-digit digital display tube for status indication.
- USB Port: Type-C debugging port.
- EtherCAT Ports: ECAT-IN and ECAT-OUT for communication.
- IO Signal Terminal: 4 Digital Inputs (DI) and 2 Digital Outputs (DO) per axis.
- Motor Encoder Terminal Block: For connecting the motor's encoder feedback.
- Motor Terminal Connector: For connecting motor phases (A+, A-, B+, B-).
- Power Supply Terminal Block: VDC and GND for DC24V-50V power input.
5.2. Wiring Diagrams
Proper wiring is crucial for the correct operation of the stepper motor kit. Refer to the diagrams below for motor and encoder connections, as well as the overall application wiring.
Figure 7: Motor and Encoder Wiring Diagram
Motor Wire Colors:
- Red: A
- Blue: A-
- Black: B
- Green: B-
Definitions of Encoder Lead Colors:
| Pin | Color | Signal |
|---|---|---|
| 1 | Yellow | EB+ |
| 2 | Green | EB- |
| 3 | Black | EA+ |
| 4 | Blue | EA- |
| 5 | Red | +5VCC |
| 6 | White | EGND |
Figure 8: Application Wiring Diagram
A complete stepper motor control system typically includes the following components connected as shown in Figure 8:
- DC Switching Power Supply: Provides the necessary DC voltage (24-50V) to the system.
- Touch Screen (Controller): Used for user interface and sending control commands.
- Stepper Drive (CL57E-2A): Receives commands from the controller and drives the motors.
- Stepper Motor (Nema23): Executes motion based on signals from the drive.
6. Operating Instructions
6.1. Closed-Loop Control Technology
The Lichuan closed-loop stepper system incorporates a position encoder, similar to AC servo systems. This encoder provides real-time feedback on the motor's position, allowing the drive to correct any deviations and prevent lost steps, ensuring high precision and reliability.
Figure 9: Closed-Loop Control Schematic
6.2. Control Modes
The drive supports various EtherCAT CiA402 Drive Profile control modes:
- 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 highly synchronized motion control.
Detailed configuration and programming for these modes should be performed via the EtherCAT communication interface using compatible software and a Type-C debugging port for initial setup or diagnostics.
Figure 10: DSP Digital Chip and Performance Graphs
7. Maintenance
To ensure the longevity and optimal performance of your Lichuan stepper motor kit, follow these maintenance guidelines:
- Keep Clean: Regularly clean the drive and motors to prevent dust and debris accumulation, especially in industrial environments. The scrub spray molding process of the drive housing aids in dirt resistance.
- Check Connections: 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 failure.
- Environmental Conditions: Ensure the operating environment is within the specified temperature and humidity ranges to prevent damage to electronic components.
- Ventilation: Ensure adequate ventilation around the drive to prevent overheating.
8. Troubleshooting
If you encounter issues with your stepper motor kit, consider the following basic troubleshooting steps:
- No Power: Check the DC power supply voltage and connections to the drive. Ensure the power supply is within the DC24-50V range.
- Motor Not Moving/Erratic Movement:
- Verify motor wiring according to Figure 7. Incorrect phase wiring can cause erratic movement.
- Check encoder connections for proper feedback.
- Ensure control commands are being sent correctly from the controller via EtherCAT.
- Check the 2-digit digital display tube on the drive for any error codes. Refer to the drive's detailed manual for error code interpretations.
- Communication Issues:
- Verify EtherCAT cable connections (ECAT-IN, ECAT-OUT).
- Check network configuration and ensure the EtherCAT master is properly communicating with the drive.
- Use the Type-C debugging port with appropriate software for diagnostics.
- Overheating: Ensure the drive and motors have sufficient cooling and are not operating beyond their rated current or torque for extended periods.
For more complex issues, please refer to the comprehensive technical documentation or contact Lichuan technical support.
9. User Tips
Here are some tips to enhance your experience with the Lichuan stepper motor kit:
- Cable Management: While the standard cables are provided, consider custom lengths for a cleaner and more organized setup, especially in compact CNC machines.
- Software Configuration: Take time to properly configure the EtherCAT parameters and control modes (PP, PV, HM, CSP) using the provided software tools to optimize performance for your specific application.
- Test Thoroughly: Before integrating into a final application, perform thorough testing of each motor and drive combination to ensure all movements are smooth and accurate.
10. Applications
The Lichuan dual-axis Nema23 EtherCAT closed loop stepper motor kit is suitable for a wide range of industrial and hobbyist applications requiring precise motion control:
Figure 11: Market Applications
- Automated Machines
- Laser Machines
- Robots
- Packaging Machines
- 3D Printers
- CNC Machines
- Engraving Machines
- Textile Machines
11. Certifications
This product complies with the following international standards:
- RoHS: Restriction of Hazardous Substances Directive.
- CE: Conformité Européenne (European Conformity).
12. Support
For technical support, documentation, or any inquiries, please contact Lichuan customer service:
- Contact Person: Annie Cheng
- Skype: annie_5543
- WhatsApp: +86 13714817266
- Email: annie@xlichuan.com
Lichuan provides 24-hour online service for professional servo & stepper motor driver manufacturing support.