NEMA23 Closed Loop Integrated Stepper Motor
RS485 and Pulse Type
The IG23 series integrated motor is the perfect combination of drive and stepper motor,
which perfectly integrates stepper motor and drive technology, also built in 1000 line encoder,
it can save installation space, Simultaneously saving design and production costs,
supporting RS485 and TTL communication.
| Item | Specifications |
| Stepper Motor Size | NEMA23 |
| Encoder type | 1000 line encoder |
| Working voltage | 8-60VDC, Recommend DC36V |
| Driver Current | 0.5-5A |
| Velocity range | Up to 3000RPM |
| Control Method | RS485, Pulse& Direction, Twin-Pulse, I/O, Built-in Program |
| Torque value | 0.8 - 2.2Nm |
| Nonvolatile storage | Configuration parameters are stored in FLASH inside the MCU |
| DI and DO | 2 DI, 1 DO |
| Protection | Overvoltage, undervoltage, overcurrent, open winding, position deviation |
| Digital Input (2/3) | Receive 3.3-24VDC | ||
| Digital Output(1) | Maximum withstand voltage of 30V, | ||
| Maximum input or output current 30mA | |||
Motor Parameters
| Model No. | length mm L | Shaft length mm | Shaft dia. mm | Phase current A | Resistance Ω | inductance mH | Hold torque N.m | Inertia g.cm² | Weight g |
| IG2312 | 68 | 21 | 8 | 4 | 0.5 | 1.8 | 1.2 | 280 | 800 |
| IG2320 | 85 | 21 | 8 | 5 | 0.4 | 2.0 | 2.0 | 480 | 1100 |
Wiring Diagram:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1. Pulse Type Integrated Stepper Motor, Terminal definition.
Terminal Definition
| Terminal | Name | Description | |
| 1 | V | 24~60VDC | |
| 2 | V- | GND | |
| 3 | X0 (PU ) | Optoelectronic isolation, differential, High level can directly receive 3.3-24VDC, with a minimum pulse width of 2us, The maximum pulse frequency is 400KHz, which can be used as a universal input port for Pulse/Direction | |
| 4 | X0-(PU-) | ||
| 5 | X1 (DR ) | ||
| 6 | X1-(DR-) | ||
| 7 | X2(EN ) | Optoelectronic isolation, differential, High level can directly receive 3.3-24VDC, with a minimum pulse width of 100us, The maximum pulse frequency is 10KHz, which can be used as a universal input port for Enable | |
| 8 | X2(EN-) | ||
| 9 | Y0 (AL ) | The default alarm output port can detect the driver alarm status and provide feedback to the main station. Other functions can be set through communication | |
| 10 | Y0-(AL-) | ||
| 11 | Y1(EX ) | The default In-place output , Other functions can be set through communication | |
| 12 | Y1(EX-) | ||
Set Micro-step by SW1, SW2, SW3 and SW4:
SW5=OFF: Pulse & Direction; SW=ON: Twin Pulse mode.
SW6=OFF: CW direction; SW6=ON: CCW direction.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2. RS485 Type Integrated Stepper Motor, Terminal definition.
Terminal Definition
| Terminal | Name | Description | |
| 1 | V | 24~60VDC | |
| 2 | V- | GND | |
| 3 | X0 (PU ) | Optoelectronic isolation, differential, High level can directly receive 3.3-24VDC, with a minimum pulse width of 2us, The maximum pulse frequency is 400KHz, which can be used as a universal input port for Pulse/Direction/Enable | |
| 4 | X0-(PU-) | ||
| 5 | X1 (DR ) | ||
| 6 | X1-(DR-) | ||
| 7 | X2 (EN ) | ||
| 8 | X2-(EN-) | ||
| 9 | Y0 (AL ) | The default alarm output port can detect the driver alarm status and provide feedback to the main station. Other functions can be set through communication | |
| 10 | Y0-(AL-) | ||
| 11 | 485A | RS485 Communication port, default baud rate is 115200 | |
| 12 | 485B | ||
Set Device ID for RS485 integrated Stepper Motor by SW1 ~ SW5:
SW6 is used to set the terminal resistance; OFF=0 ohms; ON=120 ohms
CRC Check routine by C# ：
Uint16 Funct_CRC16(unsigned char * puchMsg, Uint16 DataLen)
{
Uint16 i,j,tmp;
Uint16 crcdata=0xFFFF;
for(i=0;i<DataLen;i )
{
crcdata=(*puchMsg)^crcdata;
puchMsg ;
for(j=0;j<8;j )
{
tmp=crcdata&0x0001;
crcdata=crcdata>>1;
if(tmp){
crcdata=crcdata^0xA001;
}
}
}
returncrcdata;
}
Software Modbus Poll 
Software Step-Config
1. Extract the zip file, open CommFile and Click Step-Config.exe
2. Right Click Modbus_485, and Click Property:
3. Click Property ComNN, Choose COM port, Baud rate and click Save and OK.
4. Start to use software control the RS485 Integrated stepper motor by below buttons:
RS485 Stepper Motor Controller Manual 
Block Diagram:
2 Input signals can directly receive 3.3-24V DC levels at high levels, Max. frequency of 400KHZ.
X0: pulse input, IO start/stop, limit, direction, universal input.
X1 pulse input, IO start/stop, limit, direction, universal input.
...
1 Output signal, maximum withstand voltage 30V, maximum input or output current 30mA
Y0 : alarm output, universal output, and factory default alarm output.
LED indicator and status:
more Information on detail, please feel free to contact me 
- Availability: In Stock
- Model: IG2312
- Brand: Adampower