Duet 3 Motor23 CL

The Duet 3 Motor M23CL is a family of closed loop, CAN-FD connected NEMA 23 motors, fully integrated into the Duet 3 ecosystem. The M23CL incorporates a high resolution encoder and optionally integrates a brake to hold the motor in position when power is off. Connections to the Duet 3 CAN-FD bus and power use industrial M8 connectors. Multiple M23CLs can be connected to the bus, either via an M8 Y-splitter or a distribution board/box. The 76mm motor provides a well-balanced mix of torque and acceleration. Custom motor lengths can be produced on request, subject to minimum order quantities.

FEATURES	SPECIFICATIONS
Holding Torque	18.9 KG/cm
Detent Torque	0.86Kg/cm
Full Step Angle	1.8deg
Max current/phase	2.8A
Roto Inertia	0.48Kg/cm2
Motor Section Length	76mm
Total Length	177+-1mm (brake) 123+-1mm (no brake)
Ambient Temperature	-20degC to +50degC
Max Motor & Controller Temperature	85degC
Input voltage	12V to 48V
Processor	Microchip ATSAME51G19A
Processor features	32-bit, 120MHz ARM Cortex-M4F, 512Kb flash, 192Kb RAM, hardware single precision floating point unit
Networking/Comms	CAN-FD bus for connection to the Duet 3 Mainboard. Optional on-board CAN-FD bus termination.
On-board stepper driver	1x TMC2160A
Stepper driver features	SPI controlled, can be run in closed loop, assisted open loop, or open loop mode
Encoder Inputs	Hall effect, 14-bit resolution
Temperature monitoring	1x on-board thermistor and processor temperature available for temperature monitoring
Closed loop control monitoring	Real-time performance of the closed loop control data is available for local action or remote monitoring