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StepperOnline CLRS Series User Manual

Rs485 closed loop stepper driver
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User Manual
RS485 Closed Loop Stepper Driver
©2022 All Rights Reserved
Address:15-4, #799 Hushan Road, Jiangning, Nanjing, China
Tel: 0086-2587156578
Web: www.omc-stepperonline.com
Sales:sales@stepperonline.com
Support: technical@stepperonline.com

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  • Page 1 User Manual RS485 Closed Loop Stepper Driver ©2022 All Rights Reserved Address:15-4, #799 Hushan Road, Jiangning, Nanjing, China Tel: 0086-2587156578 Web: www.omc-stepperonline.com Sales:sales@stepperonline.com Support: technical@stepperonline.com...
  • Page 2 Strictly adhere to the technical information regarding installation requirements. This manual is not for use or disclosure outside of STEPPERONLINE except under permission. All rights are reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without approval from STEPPERONLINE.
  • Page 3 CLRS Series RS485 Closed Loop Stepper Drive User Manual Safety Precautions Overall Notes Do not remove the housing with the drive powered on. Cables.  Connectors and optional equipment. Please disconnect the power supply for at least 2 minutes and make ...
  • Page 4 CLRS Series RS485 Closed Loop Stepper Drive User Manual Precautions for Installation Please install the drive in a cabinet that provides fire protection.  Electrical protection in the control cabinet. Please install the driver and motor in a position with sufficient weight ...

  • Page 5: Table Of Contents

    Table of Contents 1 Introduction ............................- 1 - 1.1 Product Introduction ........................- 1 - 1.2 Features ............................. - 1 - 1.3 Application Scenarios .........................- 1 - 1.3.1 Hands-on Tuning ......................- 1 - 1.3.2 Practical Application Scenarios ..................- 2 - 1.4 Check of Product ........................- 3 - 1.4.1 Arrival inspection ......................
  • Page 6 5.5.1 CTRG Trigger ........................ - 40 - 5.5.2 IO Combination Trigger ....................- 41 - 5.5.3 Fixed Trigger ........................- 42 - 5.5.4 Immediate Trigger ......................- 43 - 6 Tuning Operations ..........................- 44 - 6.1 Basic operation of STEPPERONLINE MotionStudio ..............- 44 -...
  • Page 7 6.1.1 Preparation and Steps ....................- 44 - 6.1.2 Operation of Trial Run ....................- 46 - 6.1.3 Operation of PR Function ....................- 47 - 6.2 Basic Operation of Serial Port Tools Software ................ - 49 - 6.2.1 Preparation and Steps ....................- 49 - 6.2.2 Operation Instruction Format ..................

  • Page 8: Introduction

    NEMA 8, 11, 14, 17, 23, 24, 34 stepper motors with 1000 ppr to 5000 ppr incremental encoders. The CLRS series is highly reliable and affordable and performs excellently in many industrial applications such as solar equipment, textile, civil, robotics, power generation equipment, 3C, packaging...

  • Page 9: Practical Application Scenarios

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 1.3.2 Practical Application Scenarios (1) Controlled by Modbus RS485 (PLC or HMI) The RS485 (Modbus-RTU protocol) communication triggers the drive's PR motion register, which can realize the drive's path motion. Both PLC and HMI have RS485 communication so user can choose one or both.

  • Page 10: Check Of Product

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 1.4 Check of Product 1.4.1 Arrival inspection Check whether the surface of the product is damaged or not during transportation.  Check the nameplate models of the drive and motor are what you have ordered.

  • Page 11: Parts Description

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 1.4.3 Parts description 1.4.4 Accessories Information Name Necessary Picture Description (CABLEM-RZ*M*) for CL57RS Motor extension (CABLEH-RZ*M*) for Motor Side: Drive Side: cable CL86RS; Manufacturer: TE Manufacturer: Molex Optional length: Housing: 172159-1-4P Housing: 39012040 1.5m,3m,5m,8m,...

  • Page 12: Installation

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Note: (1) Tuning cable is not necessary it can also modify parameters by controller PC software. (2) Network cable is necessary but you can also buy shielded network cable through 3 party.

  • Page 13: Dimensions

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 2.2 Dimensions Unit: mm (1inch=25.4mm) CL57RS CL86RS Figure 2.1: CLRS series mechanical drawing 2.3 Installation Direction and Space The mounting of drive, wiring and motor should be under the regulations of EN 61800-5-1.
  • Page 14 CLRS Series RS485 Closed Loop Stepper Drive User Manual Figure 2.2: CLRS series installation drawing - 7 -...

  • Page 15: Product Specifications

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 3 Product Specifications Don’t hot plug the motor wiring, encoder wiring and RS232 communication wiring  during power on. Be sure to check the connections and make sure the power lead polarity is correct, ...

  • Page 16: Wiring Instructions

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 3.2 Wiring Instructions CL57RS Figure 3.1 Wiring Instructions Note: (1) There are two RS485 communication ports one of them is input port which connects with master station or previous slave, and another is output port which connects with the following slave.

  • Page 17: Interface Specifications

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 3.3 Interface Specifications 3.3.1 Connector Definition Figure 3.2: CLRS series connectors Name Description Input power connector Motor connector I/O signals connector RS485 communication connector RS232 tuning connector Encoder Signals Connector Salve ID: SW1-SW5...

  • Page 18: Cn3-I/O Signals Connector

    Max. 24V/100mA, GPIOs. COMO Note:(1) DI or DO is shown as SI or SO in STEPPERONLINE MotionStudio. (2) DI1 is normally closed, default by Enable signal. It means the motor is locked shaft after the driver powered on.

  • Page 19: Cn4-Rs485 Communication Connector

    Encoder Z- signal (optional) Encoder +5V voltage Encoder ground 3.3.7 DIP Switches The CLRS series drives use an 8-bit DIP switched to set Salve ID (also called Site Alias), Baud Rate and Terminal Resistance, they are shown as below: - 12 -...
  • Page 20 CLRS Series RS485 Closed Loop Stepper Drive User Manual (1) Slave ID: SW1-SW5 (off=1, on=0) Slave ID (default) (factory) Note: (1) When the SW1-SW5 is default (all are on), the Slave ID can be configured by the PC software - 13 -...

  • Page 21: I/O Connection

    CLRS Series RS485 Closed Loop Stepper Drive User Manual (2) Baud Rate: SW6 - SW7 Baud Rate 115200 (Default) 38400 (Factory) 19200 9600 Note: (1) When the SW6-SW7 is default (all are off), the Baud Rate can be configured by the PC software (3) Terminal Resistance Selection: SW8 SW8=ON: terminal resistance is valid;...

  • Page 22: Brake Output

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 3.4.3 Brake Output Use PC software (from STEPPERONLINE or Controller or PLC vendor) to configure this output as a BRAKE CONTROL output. In this case, brake signal can be used for automatic brake control while system power failure. It is recommended to connect a fly-wheel diode in parallel to a 24VDC relay and brake coil connection.

  • Page 23: Modbus Rtu

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 4 Modbus RTU 4.1 Communication Specifications Items Specifications Remarks Communication RS232 only for fine tuning RS485 and RS232 Port RS485 for motion control Baud Rate 9600/19200/38400/115200[bps] Parameter setting Synchronous Start / Stop Synchronization...
  • Page 24 CLRS Series RS485 Closed Loop Stepper Drive User Manual 4.2.1 Read Holding Registers FC= 03 Read Holding Registers Query (Master to Read Holding Registers Response (Slave to Master) Slave) Slave ID 00 - 1F Slaver ID 00 - 1F Address of beginning register...

  • Page 25: Preset Single Register Fc= 06

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Note: (1) The above example shows reading the value of Pr5.22, Pr5.23, Pr5.24, their corresponding address are 0x01BD, 0x01BF, 0x01C1. (2) The data type of parameter is 32bit ,which include high 16bit register and low 16bit register. Usually, we use low 16bits only, but it needs to take the high 16 bits as beginning when we read/write multiple parameters continuously.

  • Page 26: Preset Multiple Registers Fc= 10

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Master->slave data Message: 18 01 22 11 06 06 Description Address Function code Register address Write data CRC check code Slave>master data: Message: 18 01 22 11 06 06 Description Address...

  • Page 27: Modbus & Pr Parameters

    4.3.1 Basic Parameters STEPPERONLINE RS485 parameter data type is 32 bits, a parameter contains two registers of high 16 bits and low 16 bits, only the lower 16 bits are used in practice. However, when reading or writing multiple parameters in succession, the high 16 bits of the parameter need to be used as the start, usually 00.
  • Page 28 CLRS Series RS485 Closed Loop Stepper Drive User Manual 0x26: NOT (negative limit); 0x014F Pr4.07 0-65535 SI6(input 6) 0x27: ORG (home switch); 0x28: ADD0 (path address 0); 0x29: ADD1 (path address 1); 0x2A: ADD2 (path address 2); 0x0151 Pr4.08 0-65535 SI7(input 7) 0x2B: ADD3 (path address 3);...
  • Page 29 CLRS Series RS485 Closed Loop Stepper Drive User Manual 0: 8-bit data, even check, 2 stop bits; 1: 8-bit data, odd check, 2 stop bits RS485 data type 2: 8-bit data, even check, 1 stop bit; 0x01C1 Pr5.24 0-11 selection...

  • Page 30: Input And Output Parameters

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 4.3.2 Input and Output Parameters Register Par. Definition Description Range Default Unit Address software 0x0145 Pr4.02 SI1 (DI1) 0-65535 136 (0x88) (1) SI1 is set to enable by default, N.C 0x0147 Pr4.03...
  • Page 31 CLRS Series RS485 Closed Loop Stepper Drive User Manual Normally open. Normally closed setting Digital input function setting Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 (000 0000) 0x00: Invalid input. (000 1000) 0x08: Enable. (010 0000)0x20: CTRG. (010 0001)0x21: Homing trigger.

  • Page 32: Status Monitoring Parameters

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Pr4.02 to achieve the above configuration. Routine 3: IO input port 7 is set to JOG2 function. Normally open. Filter time 500ms The register configuration is 0000 1111 0010 1100, which is converted to 3884 in decimal, i.e. write 3884 to Pr4.08 to achieve the above configuration.

  • Page 33: Error Codes And Troubleshooting

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 4.4 Error Codes and Troubleshooting 4.4.1 Communication Error Codes When the master station receives a message from the slave about a communication error, you can follow the table below for analysis Return Commands (slave->master)

  • Page 34: Error Clear

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Error code and cause: The green light is always on after the drive power on. When the error is occurred, the drive will stop working and red light will be flashed indicates the current error code. Whatever error occurs, the user need to power off the drive and restart it after removing the error.

  • Page 35: Register Mapping Continuous Read/Write Function

    CLRS Series RS485 Closed Loop Stepper Drive User Manual STEPPERONLINE MotionStudio, and the second is via external I/O, refer to Section 4.3.2. (3) If the current error cannot be cleared, please check the drive Clear history All history error records can be cleared by STEPPERONLINE...

  • Page 36: S-Code Application

    The rest of the unused bits are 0, such as bits 11-14, bits 3-6. CLRS series drivers have only 3 outputs, and the S-code can only use 3 bits, each bit corresponds to an output. Therefore, there are only 8 output combinations (000, 001, 010, 011, 100, 101, 110, 111), and these 8 states can be set freely, depending on the requirements.

  • Page 37: Enable Drive

    4.7 Enable Drive There are two methods to enable CLRS series drives: I/O enable:  DI1 of CLRS series drive is the enable input by default, normally closed, so CLRS drive immediately enters the enable state after power on. RS485 communication: ...

  • Page 38: Homing / Return To Zero Position

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Select the PR path number by 4 digital inputs (ADD0, ADD1, ADD2, ADD3), and then start the PR path movement by external I/O (CTRG) or RS485communication. Include PP mode, PV mode and HM mode ...

  • Page 39: Homing Parameters

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Limit switch homing: Set by register address 0x600A, or STEPPERONLINE software. If the homing direction is  positive, then it is positive limit switch homing. Conversely, the negative limit homing. Home switch: Set by register address 0x600A, or STEPPERONLINE software. If the motor turns toward the ...
  • Page 40 CLRS Series RS485 Closed Loop Stepper Drive User Manual (2) Home Switch at Positive Direction (3) Home Switch & Negative Limit Switch - 33 -...

  • Page 41: Homing By Limit Switch

    CLRS Series RS485 Closed Loop Stepper Drive User Manual (4) Home Switch at Negative Direction 5.2.3. Homing by Limit Switch (1) Positive Limit Switch (2) Negative Limit Switch - 34 -...

  • Page 42: Soft Limit & Jog & Quick Stop

    It is not requiring hardware, eliminating malfunction due to poor wiring contact, and it can prevent mechanical slip and abnormal action with internal position comparison. And the CLRS series drives carry out homing to find the mechanical home before the soft limit function can be activated.

  • Page 43: Quick Stop

    When SI5 is switched on, then SI4 on, and start running on Path 1, refer to Section 5.4.2  5.3.3 Quick Stop The CLRS series drives have two types of quick stop: digital input quick stop signal and register quick stop. Quick stop time sequence - 36 -...

  • Page 44: Pr Path

    5.4.1 PR Parameters Usually it is recommended using the PTP window of the STEPPERONLINE tuning software to configure the PR path parameters, but it can also use the following objects: Par. # in software...

  • Page 45: Pr Path Configuration

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Pr9.23 0x6217 Special parameter Similar as above Similar as above paths Pr9.24- Pr9.31 PR path 3 paths Similar as above Similar as above paths Pr9.32- Pr9.39 PR path 4 paths Similar as above Similar as above paths Pr9.40- Pr9.47...

  • Page 46: Other Functions Of Pr

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 5.4.3 Other functions of PR Timing sequence of signal path  Single path sequence diagram 5.5.3 Multi-segment Jump  For example: set paths 5 and 9, set path 5 to jump to path 9.

  • Page 47: Trigger Methods

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Continuous movement timing sequence (no overlap). Interrupt function  The interrupt function is the priority of a PR path. Interrupts a valid path means that interrupting and abandoning the current path under trigger, and runs another path directly, which is similar as Interrupt priority of function.. As below...

  • Page 48: Io Combination Trigger

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Register Par. # Definition Description address Global Control function of PR: Bit0: CTRG =0: Rising edge trigger =1: Double edge trigger; Bit1: Pr8.00 0x6000 PR control setting =0: Soft limit is invalid =1: Soft limit is valid;...

  • Page 49: Fixed Trigger

    CLRS Series RS485 Closed Loop Stepper Drive User Manual If SI2 and SI3 are “off”, and only SI1 is “on”, the path 1 is triggered. If the velocity of path 1 is 0, i.e. the motor  stops immediately. Path number...

  • Page 50: Immediate Trigger

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 5.5.4 Immediate Trigger The immediate trigger method means that each time the current path 0(PR0) is written, the run of PR0 is triggered in real time. The position & velocity& homing and so on are achieved through one data frame. This method uses PR0 to implement, which has 8 data, the last parameter Pr9.07 is mapped to Pr8.02, writing value 0x10 to it will...

  • Page 51: Tuning Operations

    CABLE-PC-1 Pin Definition It is recommended that users order this cable directly from STEPPERONLINE, not to make it yourself (2) USB to RS232 converter, sometimes it needs to manually install the drive program. (3) COM port selection, as shown in the figure below, the communication port is COM3: (4) Connect tuning software Select COM3, do not select baud rate and device number, keep the default settings.
  • Page 52 CLRS Series RS485 Closed Loop Stepper Drive User Manual (5) Basic parameter setting (6) Input and output function and polarity setting - 45 -...

  • Page 53: Operation Of Trial Run

    CLRS Series RS485 Closed Loop Stepper Drive User Manual Note: After setting the parameters, click "OK". Then, in the parameter management window, click the Save button to prevent the parameter values from being lost after the drive is powered off.

  • Page 54: Operation Of Pr Function

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 6.1.3 Operation of PR Function (1) This window can set the CTGR trigger and Homing parameters of PR motion: (2) This window is the PR path parameter setting, including operation mode, target position, speed value, etc.
  • Page 55 CLRS Series RS485 Closed Loop Stepper Drive User Manual After the setting is completed, please click to download and save, as follows (3) Manually run the PR path As shown in the figure below, the default is the motion parameter of PR0. As long as click Start, the motor will run according to the path of PR0.

  • Page 56: Basic Operation Of Serial Port Tools Software

    CLRS Series RS485 Closed Loop Stepper Drive User Manual 6.2 Basic Operation of Serial Port Tools Software This is to control the motor through RS485 communication, user can realize the movement of the motor by sending commands to the corresponding registers.

  • Page 57: Operation Instruction Format

    CLRS Series RS485 Closed Loop Stepper Drive User Manual (2) COM port selection, as shown in the figure below, the communication port is COM3: (4) Connect tuning software Select COM3, select the same baud rate as the drive settings. After clicking connect.
  • Page 58 CLRS Series RS485 Closed Loop Stepper Drive User Manual 01 06 62 01 00 03 87 B3 Set PR0 position high 01 06 62 02 0D 40 32 D2 Set PR0 position low 01 06 62 03 02 58 66 E8...

  • Page 59: Appendix A Parameters List

    1. Modbus RTU Parameters The STEPPERONLINE RS485 parameter data type is 32-bit data, and a parameter contains two registers, high 16 bits and low 16 bits, but in practice most parameters only need to use the low 16 bits. When reading and writing multiple parameters in succession, the high 16 bits of the parameter need to be used as the start.
  • Page 60 CLRS Series RS485 Closed Loop Stepper Drive User Manual 0x23: in-position completed; 0x24: brake output; 0x015B Pr4.13 0-65535 SO3(output 3) 0x25: alarm output; 0x0167 Pr4.19 0-1500 Delay of brake released Keep default normally 0x0169 Pr4.20 0-1500 Delay of brake locked...
  • Page 61 CLRS Series RS485 Closed Loop Stepper Drive User Manual Read only: Bit NO. Read value =1 means Bit0 Fault Bit1 Enable Bit2 Running 0x1003 Motion status Bit4 Command completed Bit5 Path completed Bit6 Homing completed Write Function value 0x1111 Reset current alarm...
  • Page 62 CLRS Series RS485 Closed Loop Stepper Drive User Manual Bit0: homing direction, 0--CW, 1--CCW; Bit1: Whether to move to the specified position after homing, 0--no, 1--yes; Bit2- bit3: homing method, 00--limit switch homing, 01--home switch homing, Pr8.10 0x600A Homing mode...
  • Page 63 CLRS Series RS485 Closed Loop Stepper Drive User Manual The corresponding functions can be selected for different bit Bit0-3: TYPE, =0---- no action =1---- position positioning =2---- velocity movement =3---- homing; Bit4: INS, =0---- No interrupt =1---- interrupt (all the current ones are 1.);...

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