Stepper motor specifications: 
4 lead wires two phase closed-loop stepper motor
Size NEMA23, length100mm pluse 22mm encoder
Step angle: 1.8 degree
Rated current: 4A per phase
Encoder 1000PPR
Holding torque:  3N.m
 
Stepper motor driver specifications:
Two Phase Closed-loop Stepper Motor Driver
It's used to control NEMA17 and NEMA23 closed-loop stepper motor
1. Voltage input range: DC: 20V ~ 50V (recommended 36V or more)
2. Maximum peak current: 6A
3. Subdivision range: 400 ~ 51200ppr
4. Pulse form: pulse + direction, CW / CCW
5. Impulse response frequency: 0 ~ 200kHz
6. Logic input current: 10 ~ 20mA
7. Power-on parameter auto-tuning function
8. Closed-loop vector control to ensure that the motor high-speed high-torque output, while ensuring that the motor does not lose step
9. With over-voltage, over-current, tracking error tolerance and other protection functions
 
Main parameters:
 
         Parameter    
  LCDA257S  
    Minimum value
Typical value
 Maximum value
   unit    
   Max peak current
         -
            -
     6
  A
   Input power voltage  
        20
           36
     50
 Vdc
    Logic input current
         7
           10
     20
 mA
    Pulse frequency
         -
             -
    200
 kHz 
 
Driver terminal description
 
1) Power terminal definition 
 
Symbol
                   Name
A+
A-phase motor winding positive terminal
A-
A phase motor winding negative terminal
B+
B-phase motor winding positive terminal
B-
B-phase motor winding negative terminal
+VDC
Power access positive terminal
GND
          Power access ground
 
2) Driver Encoder Terminal Definition:
 
Symbol
Color
Explanation
EB+
Yellow
 Motor encoder B phase positive input
EB-
Green
Motor encoder B phase negative input
EA+
Black
Motor encoder A phase positive input
EA-
Blue
Motor encoder A phase negative input
VCC
Red
Encoder + 5V input
EGND
White
Encoder power ground