This Closed-loop Stepper offers an alternative for applications requiring high performance and high reliability when the servo was the only choice, while it remains cost-effective. The system includes a 2-phase stepper motor combined with a fully digital, high performance drive and an internal encoder which is used to close the position, velocity and current loops in real time, just like servo systems. It combines the best of servo and stepper motor technologies, and delivers unique capabilities and enhancements over both, while at a fraction of the cost of a servo system.

Closed Loop Stepper Motor + Driver Kit included:

1 x Closed Loop Stepper Driver 0-8.2A 24-80VDC for Nema 34 Stepper Motor
1 x Nema 34 Closed Loop Stepper Motor 12.0Nm(1699.68oz.in) Encoder 1000CPR
1 x 1.7m Long Encoder Extension Cable for Closed Loop Stepper Driver
1 x RV-4 AWG18 1.7m Long Motor Extension Cable with GX16 Aviation Plug

Motor Specification

Model	34HS59-6004D-E1000
Phase Number	2
Step Angle	1.8deg
Holding Torque	12Nm
Rated Current	6A
Phase Resistance	0.7(Ohm)
Inductance	7.9 mH ± 20%(1KHz)
Number of Leads	4
Shaft Diameter	14mm
Shaft Length	37mm
Keyway Shaft Length	25mm
Lead Length	300mm

Encoder Specification

Output Circuit Type: Differential type
Encoder Resolution: 1000
Output Signal Channels: 2 channels
Supply Voltage Min: 4V
Supply Voltage Max: 5V
Output Current: 100mA
Output High Voltage: 5V
Output Low Voltage: 4.5V
Output Frequency Max: 60kHZ

Motor and Encoder Connection

PIN	1	2	3	4
Motor	A+	A-	B+	B-

PIN	2	3	1	13	11	12
Encoder	VCC	EGND	EA+	EA-	EB+	EB-

Motor Extension Cable Connection

PIN	1	2	3	4
Color	Black	Green	Red	Blue

Encoder Extension Cable Connection

PIN	2	3	1	13	11	12
Color	Red	White	Black	Blue	Yellow	Green

2-Phase Hybrid Stepper Servo Driver CL86T

Typical Connection

Control Signal Wiring

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