CL57T(V4.0) Closed-Loop Stepper Drive
6
5. Switch Configurations
5.1 S1 - Rotating Switch Configurations
This rotating switch is used to set the peak current of the drive and motion gain, from the motor phase current and
application requirements.
Peak
Current
RMS
Current
Code
Velocity
loop Ki
Position
loop Kp
Velocity
loop Kp
Remark
2.8A
2A
0 (factory)
0
25
25
1) Velocity loop Ki Indicates the stop time
and position accuracy , “0” indicates the
stop time is long, but the position error is
smaller.“16” means the stop time is short,
but the position error is slightly larger.
2) Position loop Kp and velocity loop Kp is a
pair of composite parameters that represent
rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
“5”composite parameters indicate the
rigidity is strong. Sometimes if the motor
will rotate after stopping, it can increase the
value of position loop Kp, but if the value is
too large, the motor will have noise.
3) Usually keep factory settings
1
0
50
15
2
16
25
25
3
16
50
15
5.6A
4A
4
0
25
25
5
0
50
15
6
0
100
5
7
16
25
25
8
16
50
15
9
16
100
5
7A
5A
A
0
25
25
B
0
50
15
C
0
100
5
D
16
25
25
E
16
50
15
F
16
100
5
5.2 S2 - DIP Switch Configurations
The 8-bit is located on the side (DIP switch S2 in Figure 2) and used to configure settings of micro step resolution,
output current, and motor standstill current as shown below
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
Figure 3: DIP switches
5.2.1 Micro Step (SW1-SW4)
Each CL57T(V4.0) has 16 microstep settings which can be configured through DIP switches SW1, SW2, SW3 and SW4.
See the following table for detail.
Control mode
Rotation direction
Microstep
Pulse mode
Pulse filter time
