CL3-E CANopen/USB/ModbusRTU Online Manual

Pin assignment

Overview

Connection Function
X1 Voltage supply
X2 Motor connection
X3 Micro USB
X4 RS-232 connection
X5 Digital/analog inputs and outputs
X6 Encoder/Hall sensor
X7 CANopen / RS-485 IN
X8 CANopen / RS-485 OUT
S1 Switch for 120 ohm termination resistor
J1 Jumper: switches between CAN_L or RS-485-
J2 Jumper: switches between CAN_H or RS-485+
L1 Status LED green
L2 Status LED red

X1 – voltage supply

Voltage source

The operating or supply voltage supplies a battery, a transformer with rectification and filtering, or a switching power supply.

Note:
  • EMC: For a DC power supply line longer than 30 m or when using the motor on a DC bus, additional interference-suppression and protection measures are necessary.
  • An EMI filter is to be inserted in the DC supply line as close as possible to the controller/motor.
  • Long data or supply lines are to be routed through ferrites.

Connections

Connector type: JST XH

In the following figure, pin 1 is marked with a "1".

Pin Function Note
1 +UB

12 V - 24 V ±5%

2 GND

Permissible operating voltage

The maximum operating voltage is 25.2 V DC. If the input voltage of the controller exceeds 28.5 V, the motor is switched off and an error triggered. Above 27.5 V, the integrated ballast circuit (3 W power) is activated.

The minimum operating voltage is 11.4 V DC. If the input voltage of the controller falls below 10 V, the motor is switched off and an error triggered.

A charging capacitor of at least 4700 µF / 50 V (approx. 1000 µF per ampere rated current) must be connected to the supply voltage to avoid exceeding the permissible operating voltage (e.g., during braking).

X2 – motor connection

Connector type: JST XH

In the following figure, pin 1 is marked with a "1".

Pin Function (stepper motor) Function (BLDC)
1 A U
2 A\ V
3 B W
4 B\ Not used

X3 − Micro USB

X4 − RS-232 connection

Connector type: JST GH

In the following figure, pin 1 is marked with a "1".

Pin Function Note
1 RS-232-RX
2 RS-232-TX
3 GND

X5 – digital/analog inputs and outputs

Connector type: JST GH

In the following figure, pin 1 is marked with a "1".

Tip: You can find further information regarding the setting and connection of the inputs/outputs in chapter Digital inputs and outputs.

 

 

Pin Function Note
1 +10 V DC Output voltage, max. 200 mA
2 Digital input 1 5 V signal, max. 1 MHz
3 Digital input 2 5 V signal, max. 1 MHz
4 Digital input 3 5 V signal, max. 1 MHz ("direction" in clock-direction mode)
5 Digital input 4 5 V signal, max. 1 MHz ("clock" in clock-direction mode)
6 Digital input 5 5 V signal, max. 1 MHz
7 Analog input 1 10 bit, 0-10 V or 0-20 mA, switchable by means of software with object 3221h, default setting: 0-10 V
8 Analog input 2 10 bit, 0-10 V, not switchable by means of software
9 Digital output 1 Open drain, max. 24 V/100 mA
10 Digital output 2 Open drain, max. 24 V/100 mA
11 Digital output 3 Open drain, max. 24 V/100 mA
12 GND
Note:
  • Damage to the controller!
  • The electronics can be damaged if a voltage is present at the output that is higher than the supply voltage (+UB) at X1.
  • ► Apply a voltage to the outputs that is less than or equal to +UB.
  • ► Do not connect a voltage to the outputs if the supply voltage of the controller is not yet present.
The following switching thresholds apply for inputs 1 to 5:
Switching thresholds
On Off
> approx. 3 V < approx. 1 V

The current consumption is approximately 0.4 mA. The following internal circuit diagram applies for the digital inputs:

X6 – encoder/Hall sensor

Note:

The controller with hardware version W004b does not function with the following encoders without additional wiring (see below):

  • WEDS5541
  • WEDS5546
  • HEDS5540

With these encoders, a PULL-UP resistor must be connected to 5 V on cables A, B and INDEX.

Connector type: JST GH

In the following figure, pin 1 is marked with a "1".

Pin Function Note
1 +5 V DC Supply voltage for encoder/Hall sensor, max. 200 mA
2 A 5 V signal, max. 1 MHz
3 B 5 V signal, max. 1 MHz
4 Index 5 V signal
5 H1 5 V signal, max. 1 MHz
6 H2 5 V signal, max. 1 MHz
7 H3 5 V signal, max. 1 MHz
8 GND

The following switching thresholds apply for the encoder inputs:

Switching thresholds
Safe switch on Safe switch off
> approx. 2.8 V < approx. 1.1 V

The internal wiring of the encoder inputs is shown in the following.

X7 − CANopen/RS-485 IN

Connector type: JST GHR

In the following figure, pin 1 is marked with a "1".

Pin CANopen function RS-485 function Note
1 +UB Logic +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 36 mA
2 CAN+ RS-485+ The changeover is performed via jumper J2.
3 CAN- RS-485- The changeover is performed via jumper J1.
4 GND GND
Note:

Should the main supply fail, the logic supply keeps the electronics, the encoder and the communication interface in operation.

The windings of the motor are not supplied by the logic supply.

RS-485 line polarization

Note: The controller is not equipped with line polarization and expects the master device to have one.
If the master device on the bus does not have line polarization of its own, a pair of resistors must be attached to the RS-485 balanced cables:
  • A pull-up resistor to a 5V voltage on the RS-485+ (D1) cable
  • A pull-down resistor to earth (GND) on the RS-485- (D0) cable
The value of these resistors must be between 450 ohm and 650 ohm. A 650 ohm resistor permits a higher number of devices on the bus.

In this case, a line polarization must be attached at a location for the entire serial bus. In general, this location should be on the master device or its connection. All other devices then no longer need to implement line polarization.

X8 − CANopen/RS-485 OUT

Connector type: JST GHR

In the following figure, pin 1 is marked with a "1".

Pin CANopen function RS-485 function Note
1 +UB Logic +UB Logic 24 V DC input, external logic supply for communication, input voltage, current consumption approx. 36 mA
2 CAN+ RS-485+ The changeover is performed via jumper J2.
3 CAN- RS-485- The changeover is performed via jumper J1.
4 GND GND
Note:

Should the main supply fail, the logic supply keeps the electronics, the encoder and the communication interface in operation.

The windings of the motor are not supplied by the logic supply.

RS-485 line polarization

Note: The controller is not equipped with line polarization and expects the master device to have one.
If the master device on the bus does not have line polarization of its own, a pair of resistors must be attached to the RS-485 balanced cables:
  • A pull-up resistor to a 5V voltage on the RS-485+ (D1) cable
  • A pull-down resistor to earth (GND) on the RS-485- (D0) cable
The value of these resistors must be between 450 ohm and 650 ohm. A 650 ohm resistor permits a higher number of devices on the bus.

In this case, a line polarization must be attached at a location for the entire serial bus. In general, this location should be on the master device or its connection. All other devices then no longer need to implement line polarization.

S1 – termination resistor

A termination with 120 ohm between CAN+ and CAN- or RS-485- and RS-485+ can thereby be switched on or off.

Jumper J1/J2

With these jumpers, it is possible to change between CANopen or RS-485.

RS-485 setting

To use the RS-485 bus, jumpers J1 and J2 must be plugged in facing the middle of the board (see following figure).

CANopen setting

To use the CANopen bus, jumpers J1 and J2 must be plugged in facing the edge of the board (see following figure).

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