Teknik ClearPath Quick Start Manual

Page 1

READ THIS CLEARPATH QUICK START GUIDE

CLICK HERE TO CONTINUE ON TO THE CLEARPATH USER MANUAL

Introduction

Congratulations on choosing a ClearPath all-in-one servo system. We know that when most people get a new tech product, they want to try it out right away. For that reason ClearPath is ready to go right out of the box. Your ClearPath motor was shipped to you fully tested and factory preconfigured for unloaded use (i.e. for use with nothing attached to the shaft). This means you can power it up, connect to your PC, and start making test moves within minutes. And, when you’re ready to connect ClearPath to a mechanical system, you’ll have the world’s most advanced Autotuning software to help. Use this Quick Start Guide to get up and running quickly, but refer to the ClearPath User Manual for complete details on safety, installation, and operation.

DC Power Connector

(Molex Minifit Jr. 4 pos.)

I/O Connector

(Molex Minifit Jr. 8 pos.)

(Anodized Aluminum)

Housing

Communication Port

(USB Micro-B)

Status LED

Auxilliary PE (Protective Earth) Connection Point

Sealing

Gasket

Die Cast

Heatsink

NEMA

Mounting

Flange

Keyway

Parts of a ClearPath

Stainless Steel Shaft

Read This Warning!

Always use caution and common sense when handling motion control equipment. Even the smallest ClearPath Motor is powerful enough to remove fingers, turn a tie into a noose, or tear out a patch of hair and/or scalp in just a few milliseconds (by comparison, it takes about 100 milliseconds to blink). We’re not trying to alarm you (OK, maybe a little) but we do want all ClearPath users to stay safe These devices are extremely powerful and dangerous if used carelessly. Please read and understand all safety warnings in the ClearPath User Manual before operating a ClearPath Motor.

and fully intact

Teknic, Inc. - 1 - ClearPath Quick Start Guide rev.2.2

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Initial Setup

Download and install ClearPath MSP (Motor Setup Program) from the Teknic website:

http://www.teknic.com/downloads

Vista.

. MSP is compatible with Windows 8, 7, XP and

Teknic website: Downloads page

Secure your ClearPath to a stable work surface. A “Quick-Grip” style bar clamp or bench vise works well. Tip: You can help preserve your motor’s finish by covering the vise jaws with tape.

CLAMP MOTOR

to a stable work surface.

ClearPath Motor

Clamp it!

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IMPORTANT! Check voltage polarity at the power cable connector. Reversing voltage polarity (swapping positive and negative leads) will damage your ClearPath and void the warranty. Teknic power supplies and cables are pre-tested for proper polarity. Never wire AC (wall current) directly to a ClearPath.

IMPORTANT!

TEST POWER POLARITY

BEFORE CONNECTING

POWER TO CLEARPATH.

Basic power polarity test

Teknic IPC-5

Power Supply

V+

looking into connector

ClearPath Motor

GND

ClearPath Operating Range

24-75VDC

Absolute Max. Voltage = 90VDC

VDC

Start with power supply unplugged. This will prevent electrical arcing from damaging your ClearPath power terminals over time. Always turn off your power supply before connecting or disconnecting the power cable from a ClearPath. If you hear an electrical “snap” when you plug in the power connector, you did it wrong.

Unplug power supply before connecting or disconnecting to ClearPath.

Unplug the power supply before connecting it to your ClearPath

Teknic, Inc. - 3 - ClearPath Quick Start Guide rev.2.2

Teknic IPC-5

Power Supply

ClearPath Motor

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Plug the power cable into the ClearPath power connector (1). Plug in the power supply (2). The status LED at rear of ClearPath should be on and solid yellow.

Teknic IPC-5

Power Supply

ClearPath Motor

Powering up your ClearPath

Connect the USB cable from ClearPath to your PC. For first-time connections, wait for ClearPath to auto-install its drivers before proceeding. This should take less than a minute.

Run MSP software. After you launch MSP, ClearPath will establish USB communication with your PC. MSP will then identify your ClearPath Motor by model. You’ll see a windows layout that looks similar to the one shown below. Click “Yes” in the dialog box to continue.

Launching ClearPath MSP

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Running ClearPath under software control

Before connecting switches, sensors or other I/O devices to your ClearPath, try running it under software control. This gives you the opportunity to play with any ClearPath mode you’re interested with no additional wiring burden. We used Manual Velocity Mode (available on ClearPath MCPV and MCVC models) for this example.

Note: Software control is great for test, development or just learning how ClearPath modes work; however it is not intended for use in a final machine implementation.

Start Manual Velocity Mode. On MSP’s main menu, go to Mode>Manual Velocity

Mode (see figure below). works.

Whenever you select a ClearPath mode, you’ll see a selection window open

Read all of the text in the window

. It explains how the mode

Manual Velocity Control Mode: Description window

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The good news is: when you use software controls you don’t need to wire anything to the inputs. You enable the ClearPath and make moves simply by clicking a few controls in the UI.

Hardware Indicators

Software Controls

Manual Velocity Control Mode: Setup Window

Enter motion parameters. For now, enter the motion parameters and settings as they appear in the figure above.

Enter maximum (full-scale) motor velocity for CW and CCW shaft rotation.

Enter maximum desired motor acceleration rate.

Check here to set motor deceleration rate to same value as acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Enter desired incremental increase / decrease in motor velocity per quadrature tick.

Enter maximum desired motor deceleration rate.

“Has Detents” Checkbox

See text for description.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Displays commanded speed

(when using hardware inputs).

Reverse sense of motor direction with respect to quadrature phasing, or leave As-Wired. Eliminates need to rewire inputs if motor rotates the “wrong” way initially.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Set motor to initialize to either Zero Velocity or Last Commanded velocity each time ClearPath is enabled.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Check to soft enable ClearPath (This only works when Soft Controls are active) Caution:

motor may spin when enabled.

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Click arrows to increase or decrease motor velocity by increment defined in “Velocity Resolution” field above. Each “arrow click” is equivalent to a hardware quadrature “tick”.

Displays output status HLFB modes supported: > Servo On > AllSYstemsGo > Speed Output

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Check the “Override Inputs” box. This overrides the hardware inputs and activates Software Controls. Notice that the Enable control box is no longer grayed out, while

are

the Hardware Indicator LEDs now now green and ready for use.

grayed out. Also, the “Soft Knob” control is

Override Inputs

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Enable the motor by clicking the Enable check box. This immediately energizes the motor coils.

When a ClearPath is enabled:

The Status changes from Disabled (yellow) to SW Enabled (green). Note: SW Enabled stands for “Software Enabled”. The motor shaft will now actively servo to maintain its present position.

Enabling ClearPath using Software Controls

Spin the motor. Click the right arrow on the Soft Knob control to spin counterclockwise. Each click increases motor speed by 100 RPM based on the Velocity Resolution setting. Click the left arrow and you’ll see motor speed will decrease by 100 RPM (technically it’s increasing speed in the opposite direction) until you’re back to zero speed. Keep clicking the left arrow and the motor shaft will soon be spinning clockwise, increasing in speed by 100 RPM per click. Look at the Velocity Display to see how fast you’re spinning at any time.

Setting

Max CW Velocity=1000 RPM The motor is limited to 1000 RPM in the

Max CCW Velocity=2000 RPM The motor is limited to 2000 RPM in the

Teknic, Inc. - 8 - ClearPath Quick Start Guide rev.2.2

Means

clockwise direction.

counter-clockwise direction.

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Velocity Resolution=100 RPM per click Each click of the “Soft Knob” will cause a speed

increase or decrease of 100 RPM.

Tip: If you only want ClearPath to spin clockwise, set “Max CCW Velocity” to zero.

What to do if you get a shutdown or a warning:

• If you see a small “warning triangle” appear anywhere in the Mode Controls

section, hover your cursor over it and read the associated warning that pops up (it’s like a tool tip).

• If you exceed your power supply’s capability ClearPath will tell you. You’ll see

warnings or shutdowns in the Exceptions field at lower right of the UI. (THIS IS OK!) Try lowering your acceleration and/or velocity until the warning stops.

• Most shutdowns are caused by weak power supplies, mechanical problems or

bad settings. If your ClearPath experiences a shutdown, it is reporting a problem, but is probably not the actual cause of the problem.

• You can clear most shutdowns by toggling the Enable Input; however if you

don’t address the underlying problem, you’ll likely keep getting shutdowns.

• IF THE STATUS LED FLASHES RED, there’s a real problem with your ClearPath.

Seek support assistance.

Wiring Inputs and Outputs

ClearPath has three inputs and one output. Wiring I/O devices to your ClearPath is beyond the scope of this document. Please refer to the ClearPath User Manual for I/O wiring information and specifications.

Connecting ClearPath to mechanical components

• Don’t pound or pry the motor shaft.

• If connecting ClearPath to a screw, carefully align the rotating centers of the

motor shaft and screw.

• Avoid solid couplings; they are very unforgiving of misalignment.

• Avoid set screws. They don’t hold well and tend to damage and deform the

motor shaft. Use circumferential couplings instead.

• Tighten all fasteners before operating or tuning (couplings, mounting screws,

pinions, pulleys). You don’t want parts flying around at high speed.

• See the ClearPath User Manual for more tips on connecting ClearPath to

mechanical components.

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Auto-tuning your system

Before you begin the Auto-tune process:

• Disable your ClearPath.

• Tighten all couplings, screws, bolts, etc.

• Make sure the axis or machine frame is fully intact.

• Don’t try to tune a system on wheels or on a flimsy card table.

• Use a power supply designed for use with motor drives such as Teknic’s IPC-3

or IPC-5 series, or use a beefy “bulk” linear power supply with at least 10,000 uF of output capacitance.

• Don’t use a switching power supply. Most switching supplies do not have the

peak current, capacitance and regenerated energy management required by high performance servo systems.

Start the Auto-tuner by selecting Setup>Auto-tune from the main menu

Starting Auto-tune

IMPORTANT! Read and follow all on screen directions. The Auto-tune application will take you through the process in a step-by-step manner. Read every word on every window.

During the Auto-tune process:

• Be careful. Keep your hands, hair and clothing away from the motor shaft.

• Be patient. Auto-tune can take up to 30 minutes (more typically 5-15 minutes).

• Be calm. Expect to hear humming, buzzing, clicks and clacks. Loud squeals and

buzzes are perfectly normal while ClearPath explores the limits of the system.

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Before you seek technical assistance:

The status LED on the back is not lit, and my ClearPath apparently has no power.

• Plug in and turn on power supply.

• Connect power cable to ClearPath.

• Check power supply fuse (if any).

• Verify wall outlet is powered and no circuit breakers are tripped.

• If you accidentally reversed DC power to your ClearPath, it is probably

damaged.

The status LED is working, but my ClearPath and PC are not communicating.

• Disconnect the USB cable from ClearPath and your PC, close MSP, restart MSP,

and reconnect the USB cable.

• Are you using a USB 3.0 port? Try a USB 2.0 port or a USB 2.0 hub plugged

into a USB 3.0 port. ClearPath is compatible with fully compliant USB 3.0 ports, however there are known issues with the USB 3.0 ports made by certain manufacturers.

Auto-tune failed to complete.

• Check to see if more than one version of MSP is installed on your computer.

Always uninstall older versions of MSP before upgrading.

• If your power supply is a switcher or an underpowered “bulk” linear supply with

insufficient current and/or capacitance, and cannot tolerate regenerated energy, you’ll have problems running Auto-tune. ClearPaths can operate between 24 and 75 VDC, but they require adequate power to do so.

My ClearPath is experiencing shutdowns.

• A shutdown seldom means your ClearPath is broken or defective.

• Shutdowns with yellow or green blink codes usually mean that ClearPath is

reporting

your PC running MSP and look in the “Exceptions” field to see what’s being reported.

• Check the ClearPath User Manual (Appendix A) for blink code details, clues,

and possible fixes.

• If you see a shutdown accompanied by a red flashing LED and cannot clear it,

you’ll probably have to return your ClearPath for repair or replacement. Check the Teknic website for repair/return information.

How do I restore my ClearPath to its factory default settings?

If you need to return ClearPath to its original state (i.e., configured exactly how it was shipped to you), use parameters and settings will be over-written and ClearPath will be returned to its default factory configuration.

a problem, but it is unlikely to be the problem. Connect ClearPath to

File>Reset Config File To Factory Defaults

. All

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SER

ANUAL

LEAR

OVERS

ERSION

CPM-MC

1.97 J

ATH

XX AND

UNE

OTORS

CPM-SD

10, 2016

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HIS PAGE INTENTIONALLY LEFT BLANK

Page 14

ABLE OF

ONTENTS

ABLE OF

T S

AFETY

Personal Safety Warnings.............................................................. 7

CE Compliance Warnings..............................................................7

General Disclaimer ........................................................................8

NTRODUCTION

What is a ClearPath Motor?...........................................................9

Parts of a ClearPath Motor ..........................................................10

Example Application: Absolute Positioning Mode ......................11

ETTING

Selecting a Power Supply............................................................. 15

Connecting Power to a ClearPath Motor..................................... 18

Connecting I/O to a ClearPath Motor.........................................20

ONTENTS

ARNINGS

............................................................ 9

Summary of Operation .....................................................11

Overview: Configuring a ClearPath................................. 12

ClearPath I/O: Overview ................................................. 13

TARTED

ClearPath Power Supply Voltage Specs........................... 15

Important Note on Lower Voltage Power Supplies.........16

Teknic Power Supplies..................................................... 17

Before Powering a ClearPath...........................................18

ClearPath Inputs..............................................................20

ClearPath Output (HLFB) ...............................................24

................................................... 3

..................................................... 7

.................................................... 15

SER SOFTWARE

Section Overview .........................................................................27

Minimum System Requirements.................................................27

Installing MSP .............................................................................27

Communicating With ClearPath .................................................27

Tour of ClearPath MSP Software.................................................29

ODES OF

Table of ClearPath MC Family Operational Modes .................... 41

Spin On Power Up .......................................................................42

Manual Velocity Control..............................................................44

LEARPATH

Items Required for Communication Setup.....................27

First-Time Communication Setup...................................28

Main UI Overview............................................................29

Mode Controls..................................................................29

Dashboard........................................................................30

MSP Scope ....................................................................... 31

ClearPath Menu...............................................................36

PERATION:

Mode Summary................................................................42

How it works....................................................................42

Mode Controls..................................................................43

Mode Summary................................................................44

MC F

MSP)........................27

AMILY

........................... 41

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LEARPATH USER MANUAL REV.

Ramp Up/Down To Selected Velocity.........................................47

Follow Digital Velocity Command (Bi-Polar PWM Input).........49

Follow Digital Velocity Command (Unipolar PWM Input)........53

Follow Digital Velocity Command (Frequency Input)................56

Follow Digital Torque Command (Bi-polar PWM Input)...........58

Follow Digital Torque Command (Unipolar PWM Input)..........62

Follow Digital Torque Command (Frequency Input) .................64

Move to Absolute Position (2-Position) ......................................66

Move to Absolute Position (4-Position) ......................................69

Move to Sensor Position..............................................................72

Move Incremental Distance (2-Distance)...................................74

1.97

How it works....................................................................44

Mode Controls..................................................................45

Description of Encoder/Knob Settings ...........................45

Mode Summary................................................................47

How it works....................................................................47

Mode Controls..................................................................48

Mode summary................................................................49

How it works....................................................................49

Mode Controls..................................................................50

Setting A PWM Deadband (Optional).............................52

Mode summary................................................................53

How it works....................................................................53

Mode Controls..................................................................54

Mode summary................................................................56

How it Works ...................................................................56

Mode Controls..................................................................57

Mode Summary................................................................58

How it works....................................................................58

Mode Controls..................................................................59

Setting a PWM Deadband (Optional)..............................61

Mode summary................................................................62

How it works....................................................................62

Mode Controls..................................................................63

Mode summary................................................................64

How it Works ...................................................................64

Mode Controls..................................................................65

Mode Summary................................................................66

How it Works. ..................................................................66

Mode Controls..................................................................67

Homing Setup (Home-To-Switch) ..................................67

Mode Summary................................................................69

How it Works ...................................................................69

Mode Controls..................................................................70

Homing (Automatic Hard Stop Homing)........................ 71

Mode Summary................................................................72

How it Works ...................................................................72

Mode Controls..................................................................73

Mode Summary................................................................74

How it Works ...................................................................74

Mode Controls..................................................................75

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Move Incremental Distance (4-Distance)...................................78

Pulse Burst Positioning................................................................82

LEARPATH

Step and Direction Input.............................................................85

PPENDIX

1.97

Homing Setup (Home-To-Switch) ..................................76

Mode Summary................................................................78

How it Works...................................................................78

Mode Controls..................................................................79

Homing (Automatic Hard Stop Homing) ...................... 80

Mode Summary................................................................82

How it Works...................................................................82

Mode Controls..................................................................83

Homing Setup (Hard Stop Homing)...............................83

SD (S

TEP AND

IRECTION

).....................85

Mode Summary................................................................85

How it Works...................................................................85

Step and Direction Timing ..............................................86

Mode Controls..................................................................87

Homing Setup (Hard Stop Homing).............................. 88

A: LED B

LINK CODES

............................... 89

PPENDIX

B: M

ECHANICAL INSTALLATION

.................. 92

Mounting Dimensions: ClearPath NEMA 34..............................92

Mounting Dimensions: ClearPath NEMA 23..............................93

Mounting Considerations................................................94

Connecting ClearPath to a Mechanical System...........................94

Motor Connection: General Tips and Guidelines ...........94

Notes on Coupling Selection............................................96

Installing Pulleys and pinions .........................................97

About End-of-Travel Stops..........................................................98

Hard Blocks......................................................................98

Elastomeric (rubber) Stops .............................................98

Pneumatic (dashpots)......................................................98

End Stops and Hard Stop Homing..................................98

Fan Mounting and Cooling..........................................................99

C: C

LEARPATH CABLE PINOUTS

.............. 100

CPM-CABLE-CTRL-MU120......................................................100

CPM-CABLE-CTRL-MM660.....................................................100

CPM-CABLE-PWR-MM660...................................................... 101

CPM-CABLE-PWR-MS120........................................................ 101

D: C

OMMON SPECIFICATIONS

E: G

ROUNDING AND

HIELDING

................... 102

................ 103

Protective Earth (PE) Connection.............................................103

Grounding and Shielding...........................................................103

Power Returns ........................................................................... 104

EKNIC, INC

PPENDIX

ESOLUTION

F: P

ART NUMBER

G: E

NCODER RESOLUTION AND

KEY............................. 105

NPUT

........................................................... 106

Introduction...............................................................................106

Terminology used in this section...............................................106

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LEARPATH USER MANUAL REV.

Internal [Encoder] Resolution ..................................................106

Positioning Resolution...............................................................106

Input Resolution Setting (in MSP)............................................107

NDEX

......................................................................109

1.97

Input Resolution Use Cases...........................................107

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LEARPATH USER MANUAL REV.

AFETY

ERSONAL SAFETY

ARNINGS

IMPORTANT: Read this manual before attempting to install, apply power to, or operate a ClearPath motor. Failure to understand and follow the safety information presented in this document could result in property damage, bodily injury or worse.

ARNINGS

• Do not wear loose clothing or unconfined long hair when using

ClearPath motors. Remove ties, rings, watches and other jewelry before operating an unguarded motor.

• Do not operate a ClearPath motor if your alertness, cognitive

function, or motor skills are impaired.

• Always handle, and carry a ClearPath motor by the housing (don’t

carry it by the shaft or any connected cable). Be aware that in certain modes of operation ClearPath is designed to spin as soon as main power is applied.

1.97

CE C

OMPLIANCE

ARNINGS

• Always understand how to use a mode of operation and its

associated controls before attempting to power, enable, or otherwise operate a ClearPath motor.

• Install and test all emergency stop devices and controls before

using ClearPath.

• Before applying DC power, secure the ClearPath motor to a stable,

solid work surface and install a finger-safe guard or barrier between the user and the motor shaft.

• Provide appropriate space around the ClearPath motor for

ventilation and cable clearances.

• Do not allow cables or other loose items to drape over, or rest near

the ClearPath motor shaft.

• Never place fingers, hands, or other body parts on or near a

powered ClearPath motor.

• Thoroughly test all ClearPath applications at low speed to ensure

the motor, controls, and safety equipment operate as expected.

• There are no user serviceable parts inside.

• Follow all instructions and use the product only as directed.

• Safety of any system incorporating this equipment is the

responsibility of the system designers and builders.

• The machine designers need to recognize and incorporate

required warning symbols, guards and shields for ClearPath motors that are used in applications that can result in the external accessible parts of their machine exceeding a temperature of 65 Celsius. This is required as a method to

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LEARPATH USER MANUAL REV.

• The ClearPath motor requires a path from its chassis to the

• Any maintenance or repair guide should state that power should

• When the ClearPath motor is mounted in an application where

ENERAL DISCLAIMER

1.97

reduce burns. A tool shall be required to remove any guards and/or shields.

Protective Earth (P.E.) connection made to the machine it is installed in. The connection should electrically have the same or larger effective wire gauge or current handling capability as the DC power supplied to the ClearPath Motor.

be removed 1

, and then protective earth ground conductor can be disconnected. The protective earth ground conductor then shall be the 1st wire reconnected, and the power shall be connected after the Safety Ground connection is secure.

the shaft end is higher than the electrical connection end of the motor, the USB connector plug provided by Teknic must be installed. The USB plug in these installations becomes an element to prevent the spread of fire per EN 61010-1 section

9.3.2 part c.

The User is responsible for determining the suitability of products for their different applications. The User must ensure that Teknic's products are installed and utilized in accordance with all local, state, federal and private governing bodies and meet all applicable health and safety standards.

Teknic has made all reasonable efforts to accurately present the information in the published documentation and shall not be responsible for any incorrect information which may result from oversights. Due to continuous product improvements, the product specifications as stated in the documentation are subject to change at any time and without notice. The User is responsible for consulting a representative of Teknic for detailed information and to determine any changes of information in the published documentation.

If Teknic’s products are used in an application that is safety critical, the User must provide appropriate safety testing of the products, adequate safety devices, guarding, warning notices and machine-specific training to protect the operator from injury.

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LEARPATH USER MANUAL REV.

NTRODUCTION

1.97

WHAT IS A

Power

(24-75VDC)

Communication

USB to PC

Inputs (3)

Output (1)

ClearPath functional blocks

LEARPATH

OTOR

ClearPath is an all-in-one servo system: a precision brushless servo motor (with encoder) combined with a powerful integrated servo drive, trajectory generator, and internal controller, in a package about the size of a servo motor alone. ClearPath brings affordable, user-friendly, precision motion control to everyone from the OEM machine builder and shop automation specialist, to the educator, artist, and maker.

Servo

Compensator

Position

Feedback

Trajectory Generator

AC Torque

Drive

AC Servo

Motor

Encoder

Pos./Speed

Sensor

ClearPath is a professional level, industrial grade product. The motor is based on Teknic’s Hudson family

of brushless servo motors, with the same instrument grade bearings, stainless steel shaft, windings, magnets, and encoder technology. The miniaturized motion control electronics and firmware employ the same field-proven technology and advanced motion control algorithms used by our OEM customers in automated machines in service around the world.

ClearPath Simplicity begins with a quick, uncomplicated setup. Install the included MSP software, connect ClearPath to your PC via USB, and configure and tune your ClearPath. Once setup is complete, disconnect ClearPath from your PC and start moving. With just three inputs and one output, sending commands and receiving feedback is simple and intuitive.

ClearPath MSP software is written in plain English with plenty of tips and annotations. Use MSP to select a mode of operation, set your move parameters and options (distance, speed, acceleration, torque) and tune the system. There’s no steep learning curve with ClearPath.

Flexibility is evident in the many operating modes available. ClearPath motors can do:

• Point-to-Point Positioning (move and settle with precision).

• Velocity Moves (spin at constant rotational speeds).

• Torque Moves (precisely control torque at the shaft).

• Stepper Emulation (use standard step-and-direction signals).

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ClearPath motors are at home in applications ranging from variable speed conveyors to multi-axis positioning robots, to kinetic sculptures. And, while most ClearPath customers have a specific application in mind, it’s nice to know that your ClearPath can be reprogrammed to perform a different job in minutes.

Safety and self-protection features are standard. ClearPath will rapidly shut down if it becomes overloaded, overheated, detects a hard stop, or exceeds any of the safety or motion limits you specify.

Made in USA. Each ClearPath motor is built and tested in our upstate New York manufacturing facility, so you can be certain you’re getting a high quality, fully tested motion control product right out of the box. Additionally, Teknic backs up each ClearPath motor with a generous three year warranty.

ARTS OF A CLEARPATH MOTOR

1.97

DC Power Connector

(Molex Minifit Jr. 4 pos.)

Sealing

Gasket

Mounting

ClearPath Motor

NEMA

Flange

I/O Connector

(Molex Minifit Jr. 8 pos.)

(Anodized Aluminum)

Keyway

Housing

Covers USB Port*

(see note below)

Stainless Steel Shaft

Silicon Plug

Communication Port

(USB Micro-B)

Status LED

* Always keep USB port covered

with silicon plug when not in use.

Auxilliary PE (Protective Earth) Connection Point

Die Cast

Heatsin

DC Power Connector - Apply main DC power (24-75VDC) to this 4position Molex MiniFit Jr. connector.

I/O Connector - Access ClearPath’s three inputs and one output through this 8-position Molex MiniFit Jr. connector.

USB Communication Port - Use this port to connect ClearPath to a Windows PC with a standard USB (Type A to Micro-B) cable. Cover port with included silicon plug when not in use.

Status LED - Tri-color LED Indicates operational status of ClearPath device. See appendix for key to LED codes.

Auxiliary PE (Protective Earth) Connection Point - Typically used only if the motor mounting bracket or plate is not bonded to the machine’s PE terminal. See Appendix E: Grounding and Shielding for complete details. To use, connect a wire between this screw boss and your machine chassis to ensure a good connection to the machine’s Protective Earth terminal.

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Target Position 1 2 3 4

Input A state

LOW HIGH LOW HIGH

Input B state

LOW LOW HIGH HIGH

Enable state

HIGH

LEARPATH USER MANUAL REV.

XAMPLE APPLICATION

Read this section for a brief introduction to ClearPath technology and terminology through an example application, or visit www.teknic.com view the complete series of ClearPath application videos.

UMMARY OF

Note: This section describes only one example application in one mode of operation. Absolute Positioning (4-position) mode allows you to define up

to four target positions and command moves between any of them simply by changing the logical states of the ClearPath inputs.

In the figure below, a ClearPath model MCPV is coupled to a ball screw positioning stage. For now, we’ll say that ClearPath has already been configured and programmed via the included MSP software. This just means that the mode of operation, target positions, velocity, acceleration, and options are already stored in ClearPath memory and the motor is ready to go. ClearPath configuration and setup will be discussed later in this section.

: A

PERATION

1.97

BSOLUTE POSITIONING

ODE

Signal Source (to ClearPath Inputs)

3 Inputs / 5-24VDC Compatible:

HLFB (High-Level Feedback)

5-24VDC Compatible

• User-settable

• Move Done mode

• PWM Speed Output mode

• Brake Control signal Servo On mode

•

BiiBiiBiiBiiBiiBiiBiiBii

• PLC

• Switches

• Sensors

• Encoder

• Microcontroller

BB-CO

321

HLFB Output

ANNIICO

DC power to

ClearPath

Input Control

ABEn

Target Positions

ClearPath Absolute Positioning (4-Position) Mode

JWunsch 2014

Example Input Settings

No PC required

after setup!

Regenerated energy back to to power supply

Windows PC

With USB port Running MSP software

• Set Operational Mode

• Set speed and acceleration

• Set move distances

• Manage options

• Perform tuning

• Monitor system performanc

DC Power Supply

Range: 24-75VDC

Model shown: Teknic IPC-5 (75VDC)

EKNIC, INC

Getting started. To energize the motor, simply apply a DC voltage to the Enable input. Once enabled, the motor is considered “live”, i.e. the motor is energized and will execute moves in response to state changes at Inputs A and B.

Caution: Depending on the exact mode and settings selected, ClearPath can automatically move upon enable with no user changes to the inputs.

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In this particular mode, ClearPath must perform a homing operation (all of your target positions are defined in terms of distance from the "home" reference position). Setting up your homing parameters is has to be done once (using the included MSP software).

1.97

easy, and only

After homing is complete, ClearPath can be commanded to move to any of the predefined positions by changing the state of Inputs A and B (see table in previous figure: ClearPath Input States vs. Target Posi

XAMPLE:

Motion objective: Move the load platform from target position#1 to target position #4.

User action: Simultaneously set Inputs A and B high. This can be done with toggle switches, PLC, microcontroller, or other su devices.

Motion result: The motor immediately executes a smooth, crisp mov per the user’s acceleration and velocity settings. The motor decelerates and settles at position #4. Note: ClearPath will actively servo to maintain position until another move command is received, unless the system is intentionally disabled, powered down, or in a shutdown state.

The Digital

configured to signal when ClearPath completes a move, reaches a specified speed or torque, or has shut itself down for safety reasons. See the section on High-Level Feedback for complete details.

VERVIEW: CONFIGURING A

ClearPath must be configured and tuned before it can be used in a motion application. The main configuration steps are outlined

below. Each of these points is discussed in greater detail later.

tion).

AKING A

OVE

itable switching

Output (we call it HLFB for High-Level Feedback) can be

LEARPATH

1. Install ClearPath software (MSP) on a qualified Windows PC.

2. Connect your I/O devices to ClearPath (switches, PLC,

microcontroller, etc.).

3. Supply DC power (24-75VDC) to ClearPath.

4. Connect ClearPath to your PC with a standard USB cable.

5. Use ClearPath MSP software to: a. Select a mode of operation. b. Set motion parameters and options (acceleration,

velocity, torque, safety settings, etc.).

c. Tune the motor/mechanical system.

6. Test and adjust se

ttings as needed to optimize quality of

motion and overall system performance.

7. Disconnect the computer, cover USB port with the included

silicone plug, and run your application. No computer is needed once setup is complete.

Save your settings! You can save your ClearPath settings to a motor configuration file—the file extension is .mtr—at any time. This allows you to easily test and compare various sets of tuning parameters. And, if you build many machines of the same design, you’ll appreciate how quickly you can load a saved configuration file into a new ClearPath.

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LEARPATH

O: O

VERVIEW

1.97

ClearPath I/O provides a flexible high-level control int

erface for your ClearPath motor. There are no proprietary connectors, cables or sensors, so you decide which input devices are right for your ClearPath application.

Once the inputs are wired up, you’ll be able to execute moves eith changing the logical (on/off) state of the waveform to the appropriate input, depe

inputs or 2) by applying a nding on the mode of operation

you choose. See Interfacing To ClearPath I/O for input and output wiri

er by: 1)

information. Note: ClearPath inputs automatically change function based on mode of

operation selected. See the Operation Mode section for input functi on.

ClearPath

I/O Connector

User Inputs

• Switches

• PLC

• Micro-controller

• Sensors

• Signal generator

5-24VDC

Enable

Input A

Input B

High-Level Feedback (Output)

5-24VDC

HLFB

Simplified overview of ClearPath inputs and output

Enable Input.

energizes the motor coils. De-asserting Enable (logical 0,

Asserting the Enable input (logical 1, high, 5–24VDC)

low state, 0

volts) removes power from the motor coils. Inputs A and B. Once enabled, ClearPath ca

Inputs A an d B are both deasserted latform will move to position #1; if e to position

ClearP ple toggle

d B. In the previous example, if Input A an

(i.e. logical 0, low, zero volts) the load p

both inputs are switched high, the load platform will mov

#4.

ath supports a wide range of input devices, from sim

n respond to the state of

switches to sensors, relays, PLC outputs, microcontroller outputs, and more can be wired to a ClearPath. And, when you change modes, the inputs au ath motors have no

tomatically change function to match. ClearP

tiny jumpers or DIP switches to deal with.

High et up

-Level Feedback (HLFB). ClearPath’s HLFB output can be s

to alert everal conditions. HLFB can

the user or control system to one of s

be configured to:

• Change state if a Shutdown occurs.

• Assert when ClearPath is running at your commanded velocity

or torque.

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• Assert at the end of a settled move (based on user-defined

• Output a PW

1.97

settling requ

irements).

M signal proportional to motor speed.

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ETTING

TARTED

1.97

ELECTING A POWER SUPPLY

ClearPath motors can be powered from 24–75VDC power supplies, however the actual minimum voltage and current that will sufficiently power a ClearPath in a given application is highly dependent on the application requirements (i.e. how much torque and speed is required) as well as motor winding and magnet configuration.

Teknic power supplies have been extensively tested and widely used in ClearPath applications, but third-party (non-Teknic) power supplies can be used as well. See next page for Teknic power supply overview; please visit the Teknic website for power supply features, specifications, and pricing.

CLEARPATH POWER

ECOMMENDED

Note: Always operate ClearPath within the recommended operating voltage range (24VDC to 75VDC). Absolute min and max voltage values are provided in the specifications appendix for reference purposes and should not construed as recommended operating voltages. Note: All voltage measurements should be taken directly at the ClearPath power connector.

UPPLY VOLTAGE

PERATING

PECS

OLTAGE:

24–75VDC

The ideal ClearPath power supply…

…is capable of delivering high peak current and handling back-EMF (reverse voltage generated by the spinning motor that "cancels” a portion of the incoming supply voltage). A power supply specifically designed for motor drive power—like Teknic’s “Intelligent Power Center” supplies (IPC-3 and IPC-5)—will have these features, and are ideal for servo systems like ClearPath. “Bulk” linear power supplies—basically a transformer, rectifier, and large capacitor—can also work adequately. Normal switching-mode power supplies are not generally the best choice.

Important: Thoroughly test your ClearPath application with the intended power supply under worst case, full load conditions to ensure sufficient power capacity and adequate operating margin.

Why you should avoid (most) switching power supplies

Switching power supplies are typically not well suited to high power servo applications because they generally have the same peak and continuouscurrent ratings. This can lead the user to purchase a large but ultimately under-worked power supply just to meet peak current requirements.

In addition, most switchers are not designed to handle the regenerated energy (back-EMF) that a decelerating motor returns to the power supply. Without special provisions, regenerated energy can cause a switching supply to reset, power cycle, shut down, or even fail.

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MPORTANT NOTE ON

ClearPath motors can and do work successfully when paired with power supplies as low as sufficient voltage, current, and capacitance to meet your application's motor torque and speed requirements. This assumes that the motor ha been properly sized for the application.

IMPORTANT: An underpowered supply can result in ClearPath performance limitations and problems including th

OWER

1.97

OLTAGE

OWER

UPPLIES

24 volts DC, provided that the power supply has

e following:

• ClearPath is unable to complete the auto-tuning proces

The ClearPath auto-tuning feature uses aggressive moves to test the limits of each mechanical system. A weak power supply (i.e. one that can't handle the peak current demands required by ClearPath

) may "droop" the supply below ClearPath's minimum operating voltage, about 21.5VDC. This can cause loss of communication and/or a safety shutdo auto-tune cannot run to completion, you

wn. Needless to say, if

probably have an

underpowered supply.

• ClearPath completes the auto-tuning process but

experiences certain warnings or shutdowns during programmed motion. If auto-tune runs to completion, but yo

experience torque or voltage saturation-related shutdowns duri regular machine operation, you may be exceeding the supply' voltage and/or current capability.

If you have an underpowered supply

If you suspect your power supply is underpowered, yo

u can try one or

more of the following solutions:

• Lower the commanded acceleration and/or velocity.

Sometimes lowering commanded acceleration and/or velo can reduce the burden on a weaker power supply enough eliminate shutdowns caused by "power starvation".

• Upgrade to a more powerful supply. Look for a supply

with higher voltage, higher peak and continuous current ratings, and a large capacitor bank.

• Modify your existing power supply. In some cases adding

a large capacitor and a few inexpensive compone

nts to an underpowered supply can boost the supply's output satisfactorily. Note: Consult your power supply manufactur before making any modifications to a commercial product.

city

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EKNIC

OWER

UPPLIES

1.97

Teknic manufactures two 75VDC power supplies designed specifically for powering motor drives—the IPC-3 and IPC-5. These supplies effectively manage peak current demand, regenerated energy, and include several built-in protective features. They are ideal for use with ClearPath motors.

Teknic IPC-3 Teknic IPC-5

Teknic 75VDC IPC family power supplies

EKNIC

ODEL

IPC-3

The IPC-3 open-frame power supply can typically power one to four ClearPath motors. The actual number depends on the application—fewer when the motors are generating high torque continu and more when the motors are intermittent

ly using bursts of power like in

ously at high speeds,

many point-to-point positioning systems. Please visit Teknic’s website (www.Teknic.com

) for more information, features, and specifications.

EKNIC

e IPC-5 fully enclosed power supply can typically power two to six

earPath motors. The actual number depends on the application—fewe

Cl r when th h speeds,

ODEL

IPC-5

e motors are generating high torque continuously at hig

and more when the motors are intermittently using bursts of power like

any point-to-point positioning systems. Please visit Teknic’s websit

m e

ww.Teknic.com

) for more information, features, and specifications.

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ONNECTING

OWER TO A CLEAR

Connect main DC power to the ClearPath power connector, a four positio Molex Minifit Jr. connector. For applications with multiple ClearPath motors, power can be daisy-chained from motor to motor as shown below.n The diagram below includes a list of power connector mating parts readily available from most electronic component suppliers.

1.97

ATH

OTOR

Power Supply

(IPC-5 shown)

ClearPath Power Supp

EFORE

OWE

ClearPath Motors

ly Connection

RING A

• Check for proper DC power polarity before connecting po

to a ClearPath. Reversing DC power polarity may damage the unit and void the warranty.

Power Connector Pinout

4. GND 3. V+

2. GND 1. V+

LEARPATH

Mating Parts

Connector Housing 4 pos.

Molex/39-01-9042 (black)

Terminals 16AWG

Molex/39-00-0078 (loose) Molex/39-00-0077 (reel)

Crimp Tool 16-24 AWG

Molex/63819-0900

Terminal Extractor Tool

Molex/11-03-0044

Cable Stock 2/16AWG (black)

Belden/90410

wer

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• Verify that the power supply is turned off and discharged

before connecting to a ClearPath. Connecting and disconnecting the motor from a charged power supply will cause electrical arcing that can damage the connector pins over time.

• Never connect a ClearPath motor directly to an AC outlet.

This will damage the ClearPath motor and void the warranty.

• It is acceptable to daisy chain power to several ClearPath motors provided that the combined current draw of the motors does not exceed 10A during operation. If total combined current draw is expected to exceed 10A, star power wiring should be used.

• When a ClearPath motor is powered on, a startup routine energizes the motor for a few milliseconds. During this startup routine it is not uncommon for a small amount of motion to occur (1˚ typical).

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OWER SUPPLY

The power supply for a ClearPath should not be switched on and off from the DC output side. Switching the DC output inexpensive relays, will ultimately result in poor performance (drop outs) due to pitting, corrosion and contact welding. If a power switch is required, install it such that the supply is disconnected from the AC input side (see figure below).

OWER SUPPLY FUSING

If you require an external fuse on your power supply’s DC output (to meet compliance standards for example) it should be installed in line with the positive leg of the DC output wiring as shown below. Use a maximum 10A time delay fuse. Note: Teknic IPC power supplies are not internally fused on the DC output side.

1.97

DC Output

ONTROL

WITCH

side, especially with

If DC output fuse is required, install in line with positive (+) leg of DC output as shown.

Fuse

If required, install power switch on AC input side of supply.

Power Supply

AC Input

Power supply switching and fusing detail

(IPC-5 shown)

Fuse @10A Max. Use slow blow type fuse

ClearPath Motor

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ONNECTING

I/O

TO A CLEAR

ClearPath I/O allows the user to send and receive control signals from a ClearPath motor. There are a total of three digital inputs and one d output accessible through the 8-position Molex MiniFit Jr. connector. Refer to the diagram belo available through most electronic component suppliers.

1.97

ATH

OTOR

w for a list of I/O connector mating parts readily

igital

Clearpath I/O Features

 5-24VDC compatible  Digitally filtered  Optically isolated  Configurable output  Many input options

ClearPath I/O connector and mating parts

LEARPATH INPUTS

I/O Connector Pinout

I/O Connector

8765

The three inputs, designated Enable, Input A for use with 5-24VDC sources and devices including PLCs, microcontrollers, and even simple switch and battery rigs (with no external resistors required). They are optically isolated, digitally filtered, current limited, and reverse polarity protected for robust, long-term performance.

Mating Parts

4 Enable + 8 Enable -

3 Input A+ 7 Input A -

1234

2 Input B + 6 Input B -

1 HLFB (output) + 5

HLFB (output) -

logic levels and pulses from a wide variety of signal

Connector Housing 8 position

Molex/39-03-9082 (black)

Terminals 22-28 AWG

Molex/39-00-0047 (loose) Molex/ 39-00-0046 (reel)

Crimp Tool 16-24 AWG

Molex/63819-0900

Terminal Extractor Tool

Molex/11-03-0044

Cable Stock 8/22AWG

Belden 9421

, and Input B, are designed

ClearPath Inputs shown with simple switch and battery inputs

5-24VDC just means ClearPath will work with logic signal sources where logic “low” is 0VDC

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External Circuit

5-24

VDC

5-24

VDC

5-24

VDC

ClearPath Internal

Enable+

Enable-

Input A+

Input A-

Input B+

Input B-

Current

Limiter

Current

Limiter

Current

Limiter

while logic “high” can be any value between 5VDC and 24VDC inclusive.

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Tip: To make a simple manual controller—for ClearPath modes that don’t require pulse trains—wire a few toggle switches and a 9V battery to the ClearPath inputs (see diagram on previous page.) The inputs are internally current limited, so there’s no need for external current limiting resistors.

INIMUM INPUT CURRENT

Devices wired to ClearPath inputs must be able to source/sink a minimum current value as described in the graph below.

Tip: if your device (PLC, microcontroller, power supply) can source or sink at least 12mA, you’re covered for all typical input voltages.

Min. Input Current (mA)

1.97

EQUIREMENT

Voltage at

ClearPath Input

5 VDC 8 mA

12 VDC 9 mA

24 VDC 12 mA

Minimum Input

Current Required

5912 16 24

Input Voltage (VDC)

Minimum Input Current

NABLE

INPUT

The Enable Input controls power to the motor coils. When a ClearPath is powered up and the Enable Input is asserted (i.e. 5–24VDC is present at the input) the motor windings energize and ClearPath is able to respond to control signals at Inputs A and B. When Enable is de-asserted (0 volts applied) power to the motor coils is shut off and the motor cannot respon to user inputs

WARNING!

An enabled motor can and will spin in response to input states. Always keep fingers, clothing, and other objects clear of motor shaft.

Enable

When Enable is asserted:

• Motor windings energize

• Motor will respond to inputs

• Shaft is able to spin

Current

Limiter

5-24VDC

Enable

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ClearPath Enable Input

Exception: when ClearPath is set to “Spin on Power Up” mode, the motor shaft can move

as soon as main DC power is applied, regardless of the state of the Enable

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Caution: When ClearPath is in “Spin on Power-Up” mode, it can spin as soon as main DC power is applied. All inputs, including the Enable Input, are ignored in this mode.

Enable-With-Trigger function. In some ClearPath modes, the Enable input also serves as a trigger input. In these modes, briefly pulsing the Enable input low (and immediately back high again) causes ClearPath to perform a predefined action, such as execute a move, rotation, or change velocity. See individual operation modes for trigger mode details.

NPUTS A AND

Inputs A and B are the main user control inputs. Their function changes automatically based on the ClearPath mode of operation you choose. In some modes simply apply a PWM signal to control velocity or torque. In other modes, set the inputs high or low to move a preset distance, ramp to a target velocity, change direction, or move until a sensor trips. For ClearPath SD models, apply standard step and direction signals to the inputs to create your own motion profiles.

Tip: All Input functions for a given mode are defined in a table located at the beginning of each operational mode section.

1.97

B: T

HE CONTROL INPUTS

change direction of

Engineer’s Note: In all ClearPath motors, the logic-level signals are electrically isolated from the DC power input and motor output circuits, as well as from the motor case. This design feature ensures that control signals will not be compromised due to induced currents from the motor, power supply, or PWM return path.

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ONNECTING

ClearPath inputs are compatible with standard digital output formats including open collector transistor, and driven outputs from PLCs, sensors, signal generators, microcontrollers and more.

Transistor Outputs

NPN / Sinking

“Open Collector”

PNP / Sourcing

1.97

IGITAL

UTPUTS TO CLEARPATH INPUTS

ClearPath Input

Current

Required: install 1k resistor on output side for cable runs > 10 feet. (Recommended for all applications.)

Limiter

ClearPath Input

Current Limiter

Driven Outputs, Single-Ended

ClearPath Input

Sinking

Sourcing

Signal

Signal low = Input asserted

Signal high = Input asserted

Current Limiter

ClearPath Input

Current Limiter

Interfacing digital outputs to ClearPath Inputs

Engineer’s Note: 5V differential outputs are not directly compatible with ClearPath I/O.

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LEARPATH

UTPUT

1.97

(HLFB)

High-Level Feedback (HLFB) is the ClearPath digital output. This outp

ut can be wired to external devices, such as the input of a PLC, microcontroller, or a simple LED to signal the presence of specific

motion

conditions. HLFB settings can be found on the Advanced drop down menu in

ClearPath MSP. This output can be left as a “no connect” if desired. Note: HLFB is not internally powered. This means it works off an

external 5–24VDC power source capable of sourcing/sinking at least 1mA non-inductive. In typical applications power is taken from the PLC, control board, or an external supply. See Appendix D for HLFB specifications.

(User Circuit)

HLFB

ClearPath Internal

Current

Limiter

5-24VDC

HLFB

High-Level Feedback circuit (shown driving a simple LED)

IGH-LEVEL FEEDBACK

ODES

Servo On

In Servo On mode, the HLFB output asserts (conducts) when ClearPath is enabled and not in a shutdown state. This signal can be used to monitor ClearPath for shutdowns, or as the control signal for an external brake.

Speed Output

In Speed Output mode, ClearPath produces a 50 Hz PWM waveform whose duty cycle is proportional to motor speed. This signal can be used as the input to a simple speedometer or tachomete u

se external circuitry or an appropriate device to interpret PWM signals.

r. Note: The user must

All Systems Go-Position

This mode is typically m

ode, the HLFB output asserts (conducts) when ClearPath is enabled and

tled wi

set thin a user-specified distance from the target position for a user-

used as a “move done” signal. In ASG-Position

specified period of time. For example, the output can be set to assert when the motor is within 10 counts of the target position for at least 10 mS.

All Systems Go-Velocity

This mode is most often used to signal when ClearPath has reached commanded velocity. In ASG-Velocity mode, the output asserts (conducts) when ClearPath is enabled and running within a certain tolerance band of the commanded velocity

In All Systems Go-Velocity mode, the output asserts when actual motor velocity is within +/-

3% of the commanded velocity or within 24RPM of the commanded velocity, whichever value is greater.

. This output can be used to signal when a

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conveyor or rotary tool has reached operating speed. Note: this signal is de-asserted (open circuit

All Systems Go-Torque

In ASG-Torque mode, the HLFB output asserts (conducts) when the ClearPath is enabled and the motor shaft is within a tolerance band of the user-specifie

1.97

d torque.

) during periods of acceleration and deceleration.

Enable Input Signal

Motor Velocity

(Velocity vs. Time)

Example Move

Servo On

All Systems Go-Position

All Systems Go-Velocity

All Systems Go-Torque

HLFB Response by Mode

Speed Output

(Proportional PWM)

constant velocity

accel decel

Asserts when motor is enabled and not in a shutdown state.

Asserts when motor is settled per user (MoveDone) specification.

Asserts when motor reaches the commanded velocity.

Asserts when motor reaches the commanded torque.

Outputs a 50Hz PWM signal proportional to motor speed.

High-Level Feedback output signal during a typical move cycle (representative)

Enable Input Signal

Motor Velocity

(Velocity vs. Time)

Example Move

Servo On

All Systems Go-Position

All Systems Go-Velocity

All Systems Go-Torque

HLFB Response by Mode

Speed Output

(Proportional PWM)

Shutdown Event

High-Level Feedback output signal before and after a shutdown event (representative)

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Note: Not all HLFB modes are supported in all ClearPath operational modes. Refer to the ClearPath operational mode for supported HLFB options.

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1.97

HLFB W

HLFB Output Wiring Examples

PLC Input

Microcontroller Digital Input

IRING EXAMPLES

IN +

IN -

5-24VDC

(Return)

5-24VDC (Supply)

Pull-up resistor

(1k - 20k typical)

5-24VDC (Supply)

HLFB +

HLFB -

HLFB +

ClearPath Internal

Current

Limiter

ClearPath Internal

Current Limiter

GND (Return)

HLFB -

Tips on microcontroller inputs

• Because it's not possible for us to describe every possible

microcontroller input type, be ready to experiment a bit to find the right resistor for your application. If you're not sure what value of pullup resistor to use, try a 10k resistor.

• Check your microcontroller documentation to see if the inputs

already have internal pullup resistors before adding an external pullup. Most Arduinos, for example, let you "turn on" or "turn off" internal pullup resistors with a simple line of code. See link below for more information on Arduino puts.

• If you don't know what a pullup resistor is and would like t

learn more, try this Google search: pull up resistor for digital

input.

Arduino on the Web

For more information related to Arduino digital inputs and pullup resistors, check out the following link:

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https://www.arduino.cc/en/Tutorial/DigitalPins

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SER

ECTION OVERVIEW

INIMUM SYSTEM

OFTWARE

This section includes the following topics:

• ClearPath MSP System requirements

• Installing ClearPath MSP software

• Communicating with ClearPath

• Tour of ClearPath MSP

• Overview: Advanced Features

EQUIREMENTS

Operating System: Win XP SP3 or later, Win 7 Processor: 1 GHz or faster Memory: 512 MB HD Free Space: 512 MB Monitor: 1280 x 1024 pixels or higher Other: Sound card with speakers (optional)

1.97

LEAR

ATH

MSP)

NSTALLING

OMMUNICATING

TEMS

MSP

EQUIRED F

Launch the MSP installer and follow the on-screen prompts. Please contact Teknic if you have problems with software installation.

ITH CLEARPATH

After ClearPath MSP is installed on your PC, follow the directions below to establish a communication link between your ClearPath and PC.

Note: g Establishing a ClearPath communication link is required for settin operationa ning the l modes, defining move parameters and options, tu motion system, and using the MSP Scope to analyze system performance.

OR COMMUNICATION SETUP

• A ClearPath Motor

• A DC power supply (24–75VDC nominal) and cable

• A PC running Windows XP or Windows 7 with ClearPath MSP

installed

• A USB cable (Type A to Micro-B)

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1.97

Communication Port

(USB Micro-B)

Powe r

Supply

IRST

Windows PC

(Win XP, Win 7 with

MSP application installed)

ClearPath Communication Setup

-T

IME COMMUNICATION SETUP

1. Instal P re on a qualified

Ty p e ‘ A’

l MS softwa Windows PC. See previous

page for Minimum System Requirem

2. Power up ClearPath. App

tor. N te: A l or basic

connec o ab power supply can be used f

unica on and

comm ti low power, low speed testing.

3. Connect ClearPath to the PC with a USB Type “A” to Micro-B

cable. This is a low cost standard cable.

4. Wait! In most cases Windows will detect the connected

ClearPath and install the correct USB driver automatically. T step can take a few minutes to complete. Proceed only after Windows reports the device is installed and ready for us

5. Launch MSP software by double clicking the desktop icon or

selecting from the P ClearPath MSP Setu

USB Cable

Micro-B

ClearPath

ents.

ly 24-75VDC to the power input

rograms menu: Teknic>ClearPath MSP>

p Program.

his

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Additional Notes

MSP is designed to communicate with one ClearPath at a time. Before tuning a ClearPath, the motor must be powered up, connected to a

PC running MSP, and enabled. The host PC can be disconnected after configuration and tuning are

complete. While ClearPath does not use a PC connection during normal operation, you can connect a PC to ClearPath at any time for manual control, system analysis, diagnostic and troubleshooting tasks.

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OUR OF

LEARPATH

AIN

UI O

VERVIEW

MSP S

1.97

OFTWARE

Mode Controls

All mode-specific controls are displayed here. This section of the UI changes based on selected mode.

Dashboard

Displays ClearPath enable status, real-time encoder position & velocity, and exception information.

Scope Display

Displays “live” and stored scope data. Includes interactive cursors for precision time measurements.

Menu Bar

Mode of Operation

Click here to...

show or hide UI below this point.

Scope Controls

A set of controls similar to those found on a digital storage oscilloscope. Use forquick, convenient waveform capture and analysis.

Strip Charts

Displays motion and I/O events synced to the live scope trace. Function is somewhat analogous to that of a data analyzer.

ClearPath MSP User In

ODE CONTR

Click here to...

show or hide UI below this point.

terface

OLS

The Mode Controls section is the user input area of MSP. This part of the UI changes based on the mode of operation selected. The Mode Controls are used to:

• Enter motion parameters and settings related to t

he currently selected mode, including position, acceleration, velocity, torque, and homing parameters.

• Access Soft Controls. Soft Controls allow you to spin your

ClearPath with no hardware inputs connected. With just MSP and a powered up ClearPath, you can enable the motor, turn the inputs on and off, command motion, and monitor the output state. Soft Controls are designed for configuration, testing, and troubleshooting tasks.

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ASHBOARD

Emergency Stop Button

Click here (or hit “Esc” on keyboard) to de-energize motor coils. Toggle Enable to restore operation.

Motor Status

1.97

Position Counter

Displays position of motor shaft in encoder counts.

Exception Messages

Displays message associated with any active ClearPath exception condition.

Motor Status

MSP Dashboard

RMS Meter

Displays real-time (and peak recorded) RMS current. ClearPath shuts down at RMS= 100% to prevent burnout.

Description

ClearPath is enabled via user hardware. Caution: Motor is energized and capable of motion.

ClearPath is enabled via MSP software controls. Caution: Motor is energized and capable of motion.

ClearPath is disabled (Enable is de-asserted). Motor coils are not energized.

ClearPath is in a lockdown state. Caution: Motor is energized with shaft “locked” .

ClearPath is in a shutdown state. Motor coils are not energized.

ClearPath is connected to a PC but not powered up. (This indicates low or no DC power.)

Velocity Meter

Displays motor shaft velocity in kcounts/sec or RPM.

Note: The Position Counter is not displayed in velocity or torque modes.

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1.97

MSP S

Elements of the MSP Scope

2 3

COPE

Scope Display

Strip Chart

Scope Controls

VERVIEW

The MSP Scope takes real-time streaming data from ClearPath and plots it on the Scope Display to provide a dynamic picture of motor performance. The scope can be used to display your motor’s current torque output, tracking error, commanded velocity, acceleration, and more. Feedback from the scope is critical for motor tuning, servo gain refinement, and in the analysis and troubleshooting of electrical, mechanical, and motionrelated problems.

The MSP Scope consists of three main sections: the Scope Display (1), Strip Chart (2), and Scope Controls (3). These components, taken together, emulate much of the functionality of a digital storage oscilloscope and data analyzer.

MSP Scope Overview

USB Cable

ANNII INC

COPE FEATURES

• Twelve scope variables.

• Four trigger modes.

• Adjustable time base, range, and trigger position.

• Two stored traces + one live trace.

• Twelve trigger source presets.

• Interactive cursors for precise time and amplitude

measurements.

• Strip Chart to display synchronous move, drive, and I/O event

timing.

ClearPath

BII BII

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COPE DISPLAY AND

The MSP Scope display is modeled after that of a typical hardware

and 8 major horizontal divisions on the amplitude axis.

Stored Trace (STO 0)

Commanded Velocity

1.97

such, it has 10 major vertical divisions on the time axis oscilloscope; as

COPE CONTROLS

‘A’ Curso r

‘B’ Cursor

Click and drag

to position cursors

MSP Scope

Stored Trace (STO 1)

Actual Torque

Trigger Point

Currently at 10% position

1 The Scope Variable drop down menu lets you select any of 12

ClearPath motion control variables to display. These variables include Tracking Error, Commanded Velocity, Actual Torque, Actual Velocity, Velocity Error, Commanded Torque, SGN (sign of velocity), Measured Position, Commanded Jerk, Commanded Acceleration, Max Phase Voltage, and Torque Error.

Live Trace

Measured Position

200mS

(20 mS/division x 10 divisions)

2 The Timebase text box lets you ad

Cartesian X-axis) in units of mS/di a waveform fits horizontally on Timebase is set to 20mS per division (as in the figure above)

3 The Range text box lets you change th

(think Cartesian Y-axis). This allows you vertically on the Scope Display. For example, in the figure abo

race represents Measured

t Position and the Range is set to 4000 counts. This means the center horizontal line represents 0 counts, the top horizont s (+)4000 counts, and the bottom line represents (-) s.

4 Cursor controls allow you to drag the two vertical cursors around on

the main scope display and view time and amplitude measurements in

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al line represent

4000 count

just the scale of the time axis (think

vision. This allows you to control how

the Scope Display. For example, if the

the full

ns x 20mS/divisihorizontal range of the scope is 200mS (10 divisio

e scale of the amplitude axis

to control how a waveform fits

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real time. The delta function automatically displays the difference between cursor values.

1.97

5 Trace Storage controls allow you to save and display two trac

the scope display. Just capture a waveform and click either the STO0 or STO1 button (Storage 0 and Storage 1). The selected trace is then stored and displayed in either pink (STO0) or blue (STO 1). Hid

e or show either

es on

stored trace by clicking its associated On/Off button.

6 The Trigger Source (“Trigger On”) drop down menu lets you

choose what condition(s) must be met before scope data collection begins (is triggered). The following Trigger Source options are available:

If Trigger Source is set to:

Start of Positive Command

Start of Negative Command

Start of Any Command

End of Positive Command

End of Negative Command

End of Any Command

Trigger at the start of any positive move; useful for tuning.

Trigger at the start of any negative move; useful for tuning.

Trigger at the start of any move (positive or negative); useful for assessing bi-directional tuning performance.

Trigger at the end of any positive move; useful for assessing settling performance.

Trigger at the end of any negative move; useful for assessing settling performance.

Trigger at the end of any move (positive or negative); useful for assessing bi-directional settling.

MSP Scope will:

End of Positive Settled Move

End of Negative Settled Move

End of Any Settled Move

Voltage/Torque/Speed Limit

Drive Shutdown or Exception

Rising Slope

Falling Slope

Trigger at the end of any positive move after Move Done criteria are met; useful for assessing settling performance.

Trigger at the end of any negative move after Move Done criteria are met; useful for assessing settling performance.

Trigger at the end of any move (positive or negative) after Move Done criteria are met; useful for assessing settling performance.

Trigger on first occurance of saturation (voltage or torque) or upon speed limiting; useful for determining which moves (or segments of moves) exceed these thresholds.

Trigger on the assertion of an exception or safety shutdown; useful for determining the operational status at the time of a fault.

Trigger on the rising edge of the active waveform.

Trigger on the falling edge of the active waveform.

7 Trigger Mode settings allow you to select exactly when data

acquisition begins and ends. These controls are analogous to the trigger modes found on a digital storage oscilloscope.

• Normal - Causes scope data collection to occur whenever a

valid tr

• Single - Works the same as Normal mode, except it captures

only a single data set when a valid trigger source is detected.

igger source is detected.

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• Auto - This is the rolling, “always on” setting. Data is

• Force - Forces the scope to trigger immediately, regardless of

• Stop – Causes scope data collection to stop. It does not clear

8 Trigger Position buttons allow you to position the trigger point on

the left (10%, as shown in the previous figure), middle (50%), or on the right side (90%) of the scope display grid. This is useful for viewing events on the scope that occur before, during, or after the trigger point.

9 The Trigger Level lets you select the amplitude at which the scope

will trigger. Note: Trigger Level can only be used when Trigger Source is set to

“Rising Slope” or “Falling Slope”. Tip: Use Trigger Level when the Trigger Mode is set to “Normal” or

“Single” to facilitate waveform display at a fixed trigger point.

1.97

After the single sweep capture, data collection automatically

stops

continuously collected, refreshed, and displayed regardless of the trigger source settings.

trigger source setting. As with Single mode, only o

ne data set is

collected and displayed; then data collection stops.

previously captured data from the scope display.

10 The Scope Filter “cleans up” or smoothes the appearance of the

displayed trace by removing higher frequency data content. This has an averaging effect on the displayed waveform that can help mitigate the effect of noise (or just unnecessary visual clutter) on the displayed signal.

Scope Filter = OFF

Effect of Scope Filter on trace display

Note: The Scope Filter has no effect on motor performance. It changes only how scope data is displayed.

Note: Higher filter setting may filter out meaningful data points from the display (peaks in particular).

Tip: In most cases Scope Filter can be left “OFF” or at the lowest setting.

Scope Filter = MEDIUM

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TRIP

HART

1.97

The Strip Chart can display a number of additional events and conditions that oc

cur in sync with the primary waveform capture. Using the Strip Chart you can view move status (mv), drive events (drv), and I/O states in real time. And, because the Strip Chart display is always autos

ynchronized to the main scope trace, there are no settings to deal with.

Positive-going (CCW)

move begins

drv is low = Drive is enabled and “OK”. inB is low = Input B is de-asserted. inA is low = Input A is de-asserted.

is high = Enable is asserted.

enbl

Trigger point

High-Level Feedback (out) (currently set to “All Systems Go - Position Mode”). Signal goes low at beginning of move.

Positive-going

move ends

MoveDone

qualify time

(10mS)

High-Level Feedback (out) (currently set to “All Systems Go - Position Mode”) goes high when MoveDone qualify time completes,.

Click to open

legend window

MSP Strip Chart display

Strip Chart Legend

MSP includes a helpful reference chart to help you interpret what’s

happening on the strip chart. To open the legend window click the

symbol to the right of the strip chart display.

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Move Status (mv)

Drive Events (drv)

Input B State (inB)

Input A State (inA)

Enable State (enbl)

Output State (out)

MSP Strip Chart Legend

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LEARPATH

ENU

ILE MENU

Load Configuration (Ctrl+0). Use this command to load saved ClearPath configuration files (extension .mtr) to your ClearPath.

Save Configuration (Ctrl+s). Use this command to save your ClearPath configuration settings to a .mtr file.

Reset Config File to Factory Defaults. This command restores ClearPath to its factory default configuration.

DIT MENU

Cut (Ctrl-x), Copy (Ctrl-c), and Paste (Ctrl-v) are the standard Windows Edit commands.

Motor ID. Opens a window that lets you enter a name and brief description for your ClearPath if desired.

1.97

Zero Position (Ctrl+0) Sets the Position Counter to zero. Note: In certain modes, double-clicking the Position Counter directly in the UI will also zero the counter.

Reset RMS Peak Note: This applies to the RMS Meter in the Dashboard section of MSP. Click this menu item to reset RMS Max (this is the maximum RMS value recorded since last reset).

Select ClearPath operating modes from this drop down menu. Note: number of available modes varies by model.

Use this menu item to convert velocity and acceleration values from encoder counts to RPM (revolutions per minute). Note: Motor position is always displayed in encoder counts.

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ODE MENU

ETUP MENU

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DVANCED

1.97

ENU

The Adv

anced menu gives you access to several ClearPath global features and settings. Each Advanced Menu item is listed below along wi th a screenshot of it

s dialog window.

Torque Foldback

This feature automatically limits maximum available torque to the specified value whenever the Move Done criteria are met. See Mov criteria (next page) for details.

Tracking Error Limit

user-

e Done

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High-Level Feedback

Refer to section High-Level Feedback (HLFB).

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Move Done Criteria

Move Done status is used to determine when the All Systems Go-Position signal should be asserted at the HLFB output. The Move Done Criteria consist of two parameters: the “In-Range Window” and the “Verify Ti These parameters are explained in below.

1.97

me”.

the screen capture, taken from MSP,

Move Done setup dialog

Move Direction

ENCODER

ANNI

Commanded Position (0)

Encoder Scale

(1 line = 1 count)

In-Range Window +/- 10 counts

Actual Position (count 5)

551015 10 15

How Move Done Works

Move Done status is achieved when both of the Move Done criteria are met. In the above figure, Move Done occurs only when the motor is within +/-10 encoder counts of the commanded position (the In-Range Window) for a minimum of 10.1 milliseconds (the Verify Time).

Note: If the encoder swings out of the In-Range window during the Verify Time, the Move Done timer automatically resets. The timer starts a new countdown only when the motor is back within the In-Range window.

Because mechanical systems and settling performance requirements vary by application, the user may need to experiment a bit to determine appropriate values for the In-Range Window and Verify Time.

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Input A and B Filtering

1.97

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Disable Behavior

This setting determines how ClearPath will decelerate if it is disabled while still in motion.

1.97

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ODES OF

PERATIO

1.97

MC F

AMILY

This section discusses ClearPath MC Family modes of operation, inclu input/output function programming, replace silicon plug over USB connector at back of motor.

ABLE OF CLEARPATH

Operation Mode

Velocity Control Modes

Spin On Power Up

Manual Velocity Control

Ramp Up/Down to Selected Velocity

Follow Digital Velocity Command

Bipolar PWM Command

Follow Digital Velocity Command

Unipolar PWM Command

Follow Digital Velocity Command

Frequency Command

Torque Control Modes

Follow Digital Torque Command

Bipolar PWM Command

MC F

MCVC

AMILY

Model



s, timing and software features and functions. After

MCPV

PERATIONAL MODES

Description

Just turn on power and smoothly ramp to your preset velocity. For when all you need is reliable, constant velocity from a brushless motor, and a bare minimum of wiring. It doesn't get any easier than this.

Fine control of velocity from zero to max velocity at the turn of a knob. Remembers your last set velocity or resets to zero velocity when motor is enabled.

By changing digital inputs (from your PLC, switches, etc.), ClearPath will smoothly ramp to one of four preset velocities.

Connect a digital waveform (PWM or frequency) from your PLC or other device, and ClearPath will run at a velocity proportional to the w veform. Or, use the PWM output from an H-bridge driver of a brushed motor setup and ClearPath becomes a high-performance drop-in replacement.



ding

Follow Digital Torque Command

Unipolar PWM Command

Follow Digital Torque Command

Frequency Command

Position Control Modes

Move to Sensor Position

Move to Absolute Position (2 Positions)

Move to Absolute Position (4 Positions)

Move Incremental Distance (2 Distances)

Move Incremental Distance (4 Distances)

Pulse Positioning Mode

Pulse Burst Positioning



 

ClearPath will apply a variable torque (or force or tension) in propo rtion to a digital command (PWM or frequency) supplied to the inputs.

Use ClearPath digital inputs to spin the shaft CW or CCW. Wire your position sensors or switches in series with the inputs to make an inexpensive, precision two position actuator.

Command ClearPath to move to one of two preset locations. Perfect for replacing air cylinders that move between two positions.

Command ClearPath to move to one of four preset locations. Perfect for replacing air cylinders where more power and finesse is needed, and you want to position at more than just two positions.

Trigger ClearPath to move a user-defined distance (one of two) from its current position. You can also send multiple, quick trigger pulses to tell ClearPath to travel a multiple of any of its user-defined distances in one smooth move.

Trigger ClearPath to move a user-defined distance (one of four) from its current position. You can also send multiple, quick trigger pulses to tell ClearPath to travel a multiple of any of its user-defined distances in one smooth move.

Use a timer/counter on your PLC (or a simple circuit) to send a burst of pulses to ClearPath, and it will move a distance proportional to the number of pulses sent, at your preselected velocity and acceleration. This mode gives you most of the flexibility of a "step & direction" motion controller without the cost and added complexity.

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PIN ON POWER

ODE SUMMARY

1.97

This is ClearPath’s simplest mode of operation. Just turn on p ClearPath smoothly ramps to your preset velocity. Use this m applications that require reliable constant velocity and a bare minimum of wiring.

OW IT WORKS

Apply main D e

C pow r and ClearPath immediately ramps up to your target velocity (target velocity and setup). Clear i All inputs are d

Path sp

ignore

ns at th

, but t

Note: When i power s removed in this mode, ClearPath may stop abruptly or coast a sho a otor winding rt dist nce depending on the application and m configuration fu t your loaded ClearPath application for . Care lly tes stopping behavior before deploying.

Velocity Control

Signal Function Input Type

Input A

Input B

Enable

Caution! Motor shaft may spin as soon as main DC power is applied. Notes: All inputs are ignored in this mode. High-Level Feedback is available.

Motor will free-wheel when DC power is removed, unless external braking force is applied. Motor may stop abruptly depending on load conditions.

Disabled

Disabled NA

Spin On Power Up

Main DC Power

ower and

ode for

acceleration are defined by the user during

e target velocity until DC power is removed.

he output (High-Level Feedback) is functional.

OFF

Motor velocity vs. time

Example Timing

Motor free-wheeling

Spin-On-Power-Up Mode: Inputs and Timing Diagram

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ODE CONTROLS

Enter target velocity.

1.97

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter maximum desired motor acceleration rate.

Check here to set motor deceleration rate to same value as acceleration rate.

Enter maximum desired motor deceleration rate.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Displays output status. HLFB modes supported: > Servo On > AllSystemsGo > Speed Output

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1.97

MANUAL VELOCITY CONTROL

ODE SUMMARY

This mode offers fine velocity control from zero to a user defined maximum at the turn of a quadrature output device (such as a quadrature output encoder). Turn in one direction to increase CW motor velocity; turn in the other direction to increase CCW velocity. When enabled, ClearPath can either resume running at its last set speed or start at zero speed (and stay at zero speed until commanded to move).

OW IT WORKS

Assert the Enable Input to energize the motor. Then, control motor velocity by sending quadrature signals to ClearPath Inputs A and B. Each quadrature signal transition (or “tick”) received by ClearPath causes an incremental increase or decrease in motor velocity, depending on which direction the encoder is turned (i.e. whether phase A leads B or B leads A).

Velocity Control

Signal Function Input Type

Input A

Input B

Enable

Notes:

Velocity Control A

Velocity Control B

Enable

NA NATrigger

Manual Velocity Control

Quadrature

Logic: High=Enable Low=Disable

Motor velocity vs. time

Example Timing

Knob/encoder rotation reversed

Manual Velocity Control: Inputs and Timing Diagram

Notes:

• Disable time = 10 mS

UADRATURE SIGNAL SOURCE

To use this mode you’ll need a device that can generate quadrature signals in the 5-24VDC range. Many users choose an optical or mechanical incremental encoder for this task, but a microcontroller or digital signal generator will work as well. Note: mechanical quadrature encoders are generally the least expensive option.

Quadrature output from a rotary encoder, aka “the knob”

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ODE CONTROLS

1.97

Enter maximum (full-scale) motor velocity for CW and CCW shaft rotation.

Enter maximum desired motor acceleration rate.

Check here to set motor deceleration rate to same value as acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Enter desired incremental increase / decrease in motor velocity per quadrature tick.

Enter maximum desired motor deceleration rate.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

“Has Detents” Checkbox

See text for description.

Displays commanded speed

(when using hardware inputs).

Reverse sense of motor direction with respect to quadrature phasing, or leave As-Wired. Eliminates need to rewire inputs if motor rotates the “wrong” way initially.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Set motor to initialize to either Zero Velocity or Last Commanded velocity each time ClearPath is enabled.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

ESCRIPTION S

Check to soft enable ClearPath (This only works when Soft Controls are active) Caution:

motor may spin when enabled.

OF ENCODER

CW V

ELOCITY

NOB SETTING

This setting defines the maximum motor shaft velocity that can be reached when the quadrature knob is CW shaft rotation.

CCW V

ELOCITY

This setting defines the maximum shaft velocity that can be reached when the quadrature knob is turned in the direction that elicits CCW shaft rotation.

Click arrows to increase or decrease motor velocity by increment defined in “Velocity Resolution” field above. Each “arrow click” is equivalent to a hardware quadrature “tick ”.

turned in the direction that elicits

Displays output status HLFB modes supported: > Servo On > AllSYstemsGo > Speed Output

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This setting defines exactly how much (i.e., by what increment) motor velocity will increase or decrease per quadrature “tick”.

These setting allow the user to reverse the motor’s sense of direction with respect to the quadrature device phasing.

“H

When unchecked, ClearPath treats each quadrature transition it sees as a single “tick”. (Remember, each tick causes an incremental change in motor speed.)

When checked, ClearPath treats every 4 at its inputs as one “tick”. (Remember, each “tick” causes an incremental change in motor speed.) Check this box when using an encoder that has one detent point per full quadrature cycle or if you want to divide your quadrature resolution by four.

CITY RESOLUTION

ELO

NOB DIRECTION

AS DETENTS” CHECKBOX

1.97

quadrature transition it sees

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AMP

UP/D

ODE SUMMA

OW IT WORK

OWN TO SELECTED

Changing the digital inputs on ClearPath (using your PLC, switches, etc.) causes ClearPath to smoothly ramp betwee velocities.

1.97

ELOCITY

n any of four user defined

Assert the Enable Input to get started. Once enabled, ClearPath reads th state of Inputs A and B and

immediately accelerates to the target velocity

indicated. For example, if Input A is high and Input B is low ClearPath will ramp to “Velocity 2”. Change to aq different velocity by changing Inputs A and B.

Velocity Control

Signal Function Velocity Settings (logic levels) Example Timing

Input A

Input B

Enable

Tip: Setting one of the programmable velocities to zero (Velocity 3 in the example

at right) provides a convenient way to stop the motor via the ClearPath inputs.

Ramp Up/Down to Selected Velocity Mode: Inputs and Timing Diagram

Velocity Select A

Velocity Select B

Enable

NA NATrigger

Ramp Up/Down to Selected Velocity (4 Velocity Programmable)

Velocity 1 Velocity 2 Velocity 3 Velocity 4

LOW

Logic: High=Enable Low=Disable

HIGH

LOW

HIGH

Velocity 1

Motor velocity vs. time

Velocity 2

Notes:

• As soon as a new velocity command is received by ClearPath—as

happens when Inputs A and/or B are changed—ClearPath immediately ramps to the new target velocity without delay.

• For a convenient way to command ClearPath to stop, set one of

the velocity settings to zero. We did this with “Velocity 3” in the table above.

• Disable time = 10 mS

Velocity 3

Velocity 4

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ODE CONTROLS

Enter target velocity for each input state here.

1.97

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter maximum desired motor acceleration rate.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Check here to set motor deceleration rate to same value as acceleration rate.

Enter maximum desired motor deceleration rate..

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs emulate hardware inputs. For use only when Soft Controls are active.

Caution: motor may spin when enabled.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Displays commanded velocity

(when using hard inputs).

Displays commanded velocity

(when using soft inputs).

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo

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OLLOW

IGITAL VELOCITY

ODE SUMMARY

OW IT WORKS

Connect a digital PWM waveform from your PLC or other device, and ClearPath will run at a velocity proportional to the duty cycle of that waveform. Or, use the PWM output from an H-bridge driver of a brushed motor setup and ClearPath becomes a high-performance drop-in replacement.

Assert the Enable Input to energize the motor. Control motor speed and direction by modulating the duty cycle of the PWM signal. Assert th e Inhibit signal (Input A) to immediately ramp to zero velocity. See figure below and read text for timing and PWM requirements.

1.97

OMMAND

(BI-P

OLAR

PWM I

NPUT

)

Velocity Control

Signal Function Input Type

Input A

Input B

Enable

Notes: Asserting Inhibit Input causes immediate ramp to zero speed. See text for

information on deadband set up and application.

Follow Digital Velocity Command (Bi-Polar PWM Control): Inputs and Timing Diagram

Inhibit (optional)

Speed/Direction

Enable

NA NATrigger

Follow Digital Velocity Command (Bi-Polar PWM Command)

Logic: High=Inhibit on Low=Inhibit off

Pulse: Variable PWM

Duty cycle of applied PWM signal (%)

Logic: High=Enable Low=Disable

Motor velocity vs. time

Inside deadband

Example Timing

90%50%

Inhibit on

10%

Notes:

• PWM input frequency range: 20 Hz up to 30 kHz.

• If the PWM signal is off for 50mS or more the PWM input is

considered off. This is interpreted by ClearPath as a zerovelocity command.

• Disable time = 10 mS

• Command ClearPath to immediately ramp to zero velocity by

asserting the Inhibit Input (Input A). De-assert Input A to resume normal operation.

• Set a PWM deadband to help reliably command zero velocity.

Read text for details on deadband setup.

• PWM Input, especially at higher frequencies, tends to have

more inherent inaccuracy. If a very high level of velocity accuracy is important for your application, consider using Frequency Input mode.

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ODE CONTROLS

1.97

Enter maximum motor speed (i.e. full scale speed).

Enter maximum desired motor acceleration rate.

Enter deadband setting (optional). See text for description of deadband operation.

Check here to set motor deceleration rate to same value as acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Enter maximum desired motor deceleration rate..

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

PWM Meter - Displays duty cycle of PWM source connected to Input B.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Displays commanded velocity (when using hard controls).

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

PWM Soft Slider

Emulates PWM input (for use with Soft Controls).

Displays commanded velocity (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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onship of PWM duty cycle to motor velocity Relati

• Shaft velocity increases in the CW direction as PWM duty cycle

decreases from 50% to 0%

• Shaft velocity increases in the CCW direction as PWM duty cycle

increases from 50% to 100%

• As PWM duty cycle approaches 50%—from either direction—motor

velocity approaches 0.

• In practice, O% and 100% (static low and static high conditions) are

not valid PWM states. ClearPath treats these cases as zero-velocity commands.

• PWM minimum on time and minimum off time = 300nS.

Max. Velocity

(CCW Rotation)

1.97

Velocity = 0

Max. Velocity

(CW Rotation)

10 20 30 40 50 60 70 80 90 1000

Duty Cycle

Graph of PWM duty cycle vs. motor velocity

Zero

Velocity

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ETTING

PWM

DEADBAND

The deadband expands the range about the 50% PWM mark that is i t

n erpreted as the “zero-velocity s a reliable way to ensure that motor velocity ramps to zero when the PW duty cycle is set at (or “close enou

Max. Velocity

(CCW Rotation)

Velocity = 0

Max. Velocity

(CW Rotation)

1.97

PTIONAL

10 20 30 40 50 60 70 80 90 1000

)

etting” by ClearPath. This gives the user

gh” to) 50%.

Deadband

(+/- 5%)

Duty Cycle

+/- 5% PWM dead band setting

Why use a deadband?

In bi-polar mode, stopping the motor (i.e. commanding “zero velocity”) is achieved, in theory, by applying a 50% duty cycle PWM signal to Input B. However, it can be technically challenging to set a perfect 50% duty cycle. In fact, some very low speed motion may still be observed at the motor shaft even when duty cycle is apparently set to 50%. A deadband helps to ensure that actual motor velocity is zero (with no drift) when you expect it to be.

Example: If the user sets a +/- 5% dead band, any PWM signal with a duty cycle between 45% and 55% will be interpreted as a zero-velocity command by ClearPath. See figure above.

Note: As size of deadband setting increases, the slope of velocity vs. duty cycle increases as illustrated below.

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OLLOW

IGITAL VELOCITY

ODE SUMMA

OW IT WORKS

Connect a digital PWM waveform from your PLC or other device, and ClearPath will run at a speed proportional to the duty cycle of the PWM waveform.

Assert the Enable Input to energize the motor. Once enabled, motor velocity is controlled by sending a PWM signal to Input B. 0% PWM duty cycle commands zero velocity, and 100% (minus a little) duty cycle commands full-scale velocity. Changes in velocity occur at the userdefined acceleration rate.

Direction of travel (CW/CCW) is controlled by the state of Input A. See Inputs and Timing table below.

1.97

OMMAND

NIPOLAR

PWM I

NPUT

)

Velocity Control

Signal Function Input Type

Input A

Input B

Enable

Notes:

Follow Digital Velocity

Direction

Velocity

Enable

NA NATrigger

Follow Digital Velocity Command (Unipolar PWM Command)

Logic: High=CW Low=CCW

Pulse: Variable PWM

Duty cycle of applied PWM signal (%)

Logic: High=Enable Low=Disable

Command (Unipolar PWM Control): Inputs and Timing Diagram

Motor velocity vs. time

Example Timing

90%10% OFF

Notes:

• PWM input frequency range: 20 Hz up to 30 kHz.

• If the PWM signal is off for 50Ms

or more the PWM input is considered off. This is interpreted by ClearPath as a zerovelocity command.

• Disable time = 10 mS

• PWM Input, especially at higher frequencies, tends to have

more inherent inaccuracy. If a very high level of velocity accuracy is important for your application, consider using Frequency Input mode.

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ODE CONTROLS

Enter maximum motor speed (i.e. full-scale speed).

1.97

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter maximum desired motor acceleration rate.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Check here to set motor deceleration rate to same value as acceleration rate.

Enter maximum desired motor deceleration rate..

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Motor velocity vs. PWM duty cycle:

• Motor velocity is proportional to PWM duty cycle (

• In practice, 0% and 100% duty cycle signals (static low an

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

PWM Meter - Displays duty cycle of PWM source connected to Input B.

PWM Soft Slider

Emulates PWM input (for use with Soft Controls).

Displays commanded velocity (when using hard controls).

Displays commanded velocity (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

increases as duty cycle increases). See figure below.

static high respectiv ClearPath as “PWM tu

ely) are invalid PWM states, interpreted by

rned off”. This is the equivalent of a zero-

velocity command.

velocity

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Max. Velocity

(user set)

Velocity

PWM Duty Cycle (%)

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For CW shaft rotation, set Input A high. For CCW shaft rotation,

•

• PWM minimum on time and minimum off time = 300nS

1.97

set Input A low.

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OLLOW

IGITAL VELOCITY

ODE SUMMARY

OW IT

Connect a digital variable frequency waveform from your PLC or other device, and ClearPath will run at a velocity proportional to the frequency of the waveform.

ORKS

Assert the Enable Input to energize the motor. Then, control velocity by applying a variable frequency pulse train to Input B. Pulse frequency is proportional to commanded velocity. Direction of travel (CW/CCW) is controlled by the state of Input A. See Inputs and Timing table below.

1.97

OMMAND

REQUENCY INPUT

)

Velocity Control

Signal Function Input Type

Input A

Input B

Enable

Notes:

Follow Digital Velocity Command (Frequency Input Control): Inputs and Timing Diagram

Direction

Velocity

Enable

NA NATrigger

Follow Digital Velocity Command (Frequency Input Control)

Logic: High=CW Low=CCW

Pulse: Variable Frequency

Logic: High=Enable Low=Disable

Motor velocity vs. time

Example Timing

Notes:

• Input frequency range: 20 Hz to 500 kHz.

• If the frequency signal is off for 50mS or more the input is

considered off. This is interpreted by ClearPath as a zerovelocity command.

• Disable time = 10 mS

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ODE CONTROLS

Enter maximum motor speed (i.e. full scale speed).

Set Min/Max Frequency. During operation, motor speed is controlled by Input B signal frequency. With the settings below, a 30 kHz signal at Input B will cause the motor to spin at the Max Speed setting (20 kcounts/sec); a 1 kHz signal will command zero speed.

1.97

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter maximum desired motor acceleration rate.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Check here to set motor deceleration rate to same value as acceleration rate.

Enter maximum desired motor deceleration rate..

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Frequency Meter

Displays frequency of input signal source connected to Input B.

Frequency Soft Slider

Emulates frequency input source (for use with Soft Controls).

Displays commanded velocity (when using hard controls).

Displays commanded velocity (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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OLLOW

IGITAL TORQUE

ODE SUMMARY

OW IT WORKS

Connect a digital PWM waveform from your PLC or other device, and ClearPath will produce torque proportional to the duty cycle of the PWM waveform.

Assert the Enable Input to energize the motor. Control motor torque by applying a PWM signal to Input B. Motor torque changes in proportion to the duty cycle of the applied PWM signal. Assert the Inhibit signal (Input A) to immediately turn off torque. See figure below and read text for timing and PWM requirements.

1.97

OMMAND

(BI-

POLAR

PWM I

NPUT

)

Torque Control

Signal Function Input Type

Input A

Input B

Enable

Notes: Asserting Inhibit Input causes immediate jump to zero torque. See text for

information on deadband set up and application.

Follow Digital Torque Command (Bi-polar PWM Control): Inputs and Timing Diagram

Inhibit (optional)

Torque/Direction

Enable

NA NATrigger

Follow Digital Torque Command (Bi-Polar PWM Command)

Logic: High=Inhibit on Low=Inhibit off

Pulse: Variable PWM

Duty cycle of applied PWM signal (%)

Logic: High=Enable Low=Disable

Motor torque vs. time

Inside deadband

Example Timing

90%50%

Inhibit on

20%

Notes:

• PWM input frequency range: 20 Hz to 30 kHz.

• If the PWM signal is off for 50mS (or more) the PWM input is

considered off. This is interpreted by ClearPath as a zero-torque command.

• Disable time = 10 mS

• To command ClearPath to zero torque, assert the Inhibit Input

(Input A). De-assert Input A to resume normal operation. or

• Set a PWM deadband to help reliably command zero torque.

Refer to text on following pages for details on deadband setup.

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ODE CONTROLS

1.97

Enter maximum motor torque (i.e. full scale torque).

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Enter deadband setting (optional). See text for description of deadband.

Enter maximum speed. ClearPath will shut down if this speed limit is exceeded.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

PWM Meter - Displays

duty cycle of PWM source connected to Input B.

PWM Soft Slider

Emulates PWM input (for use with Soft Controls).

Enter value in mS. Determines how long ClearPath can spin at max speed before shutting down.

Displays commanded torque (when using hard controls).

Displays commanded torque (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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ionship of PWM duty cycle to motor torque Relat

• Shaft torque increases in the CW direction as PWM duty cycle

decreases from 50% to 0%.

• Shaft torque increases in the CCW direction as PWM duty cycle

increases from 50% to 100%.

• As PWM duty cycle approaches 50% from either direction, motor

torque approaches 0.

• O% and 100% duty cycle (static low and static high conditions) are not

valid PWM states. ClearPath interprets these values as zero-torque commands.

• PWM minimum on time and minimum off time = 300nS.

Max. Torque

(CCW Rotation)

1.97

Torque = 0

Max. Torque

(CW Rotation)

10 20 30 40 50 60 70 80 90 1000

PWM duty cycle vs. motor torque

Duty Cycle

Zero

Torque

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ETTING A

M D

EADBAND

The deadband expands the range about the 50% PWM mark that is

n erpreted as the “zero torque settii t reliable way to ensure that motor torque is completely turned off whe PWM duty cycle is set at (or “close

Max. Torque

(CCW Rotation)

Torque = 0

Max. Torque

(CW Rotation)

1.97

PTIONAL

10 20 30 40 50 60 70 80 90 1000

)

ng” by ClearPath. This gives the user a

n the

enough” to) 50%.

Deadband

(+/- 5%)

Duty Cycle

+/- 5% PWM deadband setting

Why use a deadband?

In bi-polar mode, turning off torque is achieved, in theory, by applying a 50% duty cycle PWM signal to Input B. However, it can be difficult to set a perfect 50% duty cycle. In fact, a very small amount of torque may still be produced by the motor, even when duty cycle is apparently set to 50%. A deadband helps guarantee torque is fully off when you expect it to be.

Example: If the user sets a +/-5% deadband, any PWM signal with a duty cycle between 45% and 55% (i.e., in the deadband) is interpreted as a zero-torque command by ClearPath.

Note: As deadband setting increases, the slope of torque vs. duty cycle increases as illustrated below.

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OLLOW

IGITAL TORQUE

ODE SUMMA

OW IT WORKS

Connect a digital PWM waveform from your PLC or other device, and ClearPath will run at a speed proportional to the duty cycle of the PWM waveform.

Assert the Enable Input to energize the motor. Motor torque is controlled be applying a variable PWM signal to Input B. 0% PWM duty cycle commands zero torque, and 100% duty cycle commands full-scale torque. Changes in speed occur at the user-defined acceleration rate. Direction of shaft rotation is controlled by the state of Input A. See Inputs and Timing table below.

1.97

OMMAND

NIPOLAR

PWM I

NPUT

)

Torque Control

Signal Function Input Type

Input A

Input B

Enable

Notes:

Variable Torque Mode

Direction

Torque

Enable

NA NATrigger

Variable Torque With Unipolar PWM Input Control

Logic: High=CW Low=CCW

Pulse: Variable PWM

Duty cycle of applied PWM signal (%)

Logic: High=Enable Low=Disable

(Unipolar PWM Control): Inputs and Timing Diagram

Motor torque vs. time

Example Timing

90%10% OFF

Notes:

• PWM input frequency range: 20 Hz to 30 kHz.

• If the PWM signal is off for

50mS (or more) the PWM input is considered off. This is interpreted by ClearPath as a zero-torq command.

• Disable time = 10 mS

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ODE CONTROLS

1.97

Enter maximum motor torque (i.e. full scale torque).

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Enter maximum speed. ClearPath will shut down if this speed limit is exceeded.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Enter value in mS. Determines how long ClearPath can spin at max speed before shutting down.

PWM Meter - Displays duty cycle of PWM source connected to Input B.

PWM Soft Slider

Emulates PWM input (for use with Soft Controls).

Displays commanded torque (when using hard controls).

Displays commanded torque (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

Motor torque vs. PWM duty cycle:

• Motor torque is proportional to PWM duty cycl

increases as duty cycle increases). See figure be

e (i.e. torque low.

• 0% and 100% duty cycle signals (static low and static high

respectively) are invalid PWM states, interpreted by ClearPath as “PWM turned off”. This is the equivalent of a

zero-torque

command.

Max. Torque

(user set)

Torque

PWM Duty Cycle (%)

PWM duty cycle vs. torque

100

• For CW torque, set Input A high. For CCW torque, set Input A

low.

• PWM minimum on time and minimum off time = 300nS

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OLLOW

IGITAL TORQUE

ODE SUMMARY

OW IT

Connect a digital variable frequency waveform from your PLC or other device, and ClearPath will produce torque that is proportional to the frequency of the waveform.

ORKS

Assert the Enable Input to energize the motor. Control torque by applying a variable frequency pulse train to Input B. Pulse frequency is proportional to commanded torque. Direction in which torque is applied (CW/CCW) is controlled by the state of Input A. See Inputs and Timing table below.

1.97

OMMAND

REQUENCY INPUT

)

Torque Control

Signal Function Input Type

Input A

Input B

Enable

Notes:

Variable Torque Mode g Diagram

Direction

Torque

Enable

NA NATrigger

Variable Torque With Frequency Input Control

Logic: High=CW Low=CCW

Pulse: Variable Frequency

Logic: High=Enable Low=Disable

(Frequency Control): Inputs and Timin

Motor torque vs. time

Example Timing

Notes:

• Input frequency range: 20 Hz to 500 kHz.

• If the frequency signal is off for 50mS or more the input is

considered off. This is interpreted by ClearPath as a zero-torq command.

• Disable time = 10 mS

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ODE CONTROLS

Enter maximum motor torque (i.e. full scale torque).

Set Min/Max Frequency. During operation, motor torque is controlled by Input B signal frequency. With the settings below, a 30 kHz input signal will command the motor to the Max Torque setting (25% of peak ); a 1 kHz signal will command zero torque.

1.97

Enter maximum speed. ClearPath will shut down if this speed limit is exceeded.

Enter value in mS. Determines how long ClearPath can spin at max speed before shutting down.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Frequency Meter

Displays frequency of signal source connected to Input B.

Frequency Soft Slider

Emulates frequency input (for use with Soft Controls) .

Displays commanded torque (when using hard controls).

Displays commanded torque (when using Soft Controls).

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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OVE TO

BSOLUTE POSITION

ODE SUMMARY

OW IT

Trigger ClearPath to move to one of two preset locations. This mode was designed for replacing hydraulic or pneumatic cylinders that move between two positions.

ORKS.

Assert the Enable Input to energize the motor. Once enabled, ClearPath automatically executes a homing move to a [user-supplied] switch or sensor wired to Input B. Once a home position is established, ClearPath automatically moves to one of the two user-defined positions (based on the state of Input A). After that, just toggle Input A to move between the two target positions.

1.97

(2-P

OSITION

)

Absolute Position

An absolute position is referenced to an established “home” position. Your target positions, in this context, are defined in terms of distance from the home position. For example, Position 1 could be defined as 5200 encoder counts from home, while Position 2 might be defined as 2000 encoder counts from home.

Position Control

Signal Function Input Type

Input A

Input B

Enable

Notes: ClearPath must home to a switch upon enable to establish the Home

(zero) position to which the other target positions are referenced.

Absolute Position Mode (2): Inputs and Timing Diagram

Position Select

Home Switch

Enable

NA NATrigger

Absolute Position (2-Position Programmable)

Logic: High=Pos. 2 Low=Pos. 1

Logic: High=Home Low= Not Home

Logic: High=Enable Low=Disable

Notes:

• If the state of Input A is changed during a move, ClearPath will

immediately ramp to a stop and move to the newly indicated position.

• Input B switch polarity can be inverted via a checkbox in the

Homing Setup dialog. When home switch polarity is inverted, ClearPath interprets Input B-low as “in the home switch”, and Input B-high as “not in the home switch”.

• Disable time = 10 mS

Example Timing

Pos 1

Home

Motor position vs. time

Pos 2

Pos 1

Pos 2

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ODE CONTROLS

1.97

Set Position 1

Enter distance from home in encoder counts.

Enter max motor speed allowed.

Set Position 2

Enter distance from home in encoder counts.

Enter motor acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Click to open Homing Setup window. Refer to text for instructions on homing setup.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

OMING

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

ETUP

OME

-TO-S

WITCH

)

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

Homing is required in this mode. Follow the instructions below to set up switch homing.

1. Securely fasten a limit switch or sensor to one end of the

motion axis and wire it to

Input B.

2. Click the Setup button to open the homing dialog. . Enter homing parameters. See figure next page for description

of homing parameters.

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1.97

Homing setup dialog

4. Test and modify your homing setup for proper performance.

How Switch Homing Works:

• During homing, the axis is automatically driven toward the

homing switch at the user-specified direction and speed.

• Once the switch is actuated, the motor ramps to a stop and the

encoder position counter is zeroed. This position is now considered the home reference position.

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OVE TO

BSOLUTE POSITION

ODE SUMMARY

OW IT

ORKS

Command ClearPath to move to one of four preset locations. Perfect for replacing air cylinders in scenarios where more power and/or finesse are needed (and you want to position at more than just two locations).

An absolute position is referenced to an established “home” position. Your target positions, in this context, are defined in terms of distance from the home position. For example, Position 1 might be defined as 2000 encoder counts from home, while Position 2 might be defined as 5200 encoder counts from home.

Assert the Enable Input to energize the motor. Once enabled ClearPath automatically homes to a hard stop to establish an absolute home reference position. Note: Homing is required in this mode.

1.97

(4-P

OSITION

)

Absolute Position

After homing, ClearPath ca defined positions by cha

n be commanded to move to any of four user-

nging the state of Input A and B. Changing these

inputs has the dual effect of selecting target position, and triggering the

ove. See table below for timing and input details. All moves execute at

ned speed and acceleration.

Position Control

the user-defi

Absolute Positioning (4-Position Programmable)

Signal Function Position Settings Example Timing

Pos. 1 Pos. 2 Pos. 3 Pos. 4

Input A

Input B

Enable

Notes: ClearPath must home to a “hard stop” (either upon first enable or upon

every enable) to establish a home reference position. All user-defined target positions are referenced to the home position.

Absolute Position Mode (4-position): Inputs and Timing Diagram

Position Select A

Position Select B

Enable

NA NATrigger

LOW

Logic: High=Enable Low=Disable

HIGH

LOW

HIGH

Pos 2

Pos 1

Home

Motor position vs. time

Notes:

• Changing the state of Input A and/or B while ClearPath is in

motion cancels the move in progress. ClearPath immediately ramps to a stop and initiates a new move to the newly indicated target position.

• Disable time = 10 mS

Pos 3

Pos 4

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ODE CONTROLS

1.97

Enter maximum motor speed allowed.

Set Target Positions

Enter move distance (from home) for each input state.

Enter motor acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Click to open Homing Setup window. Refer to text for instructions on homing setup.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Soft Inputs and LEDs emulate hardware inputs. For use only when Soft Controls are active.

Caution: motor may spin when enabled.

Click during homing operation to manually set home position.

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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OMING

UTOMATIC

Homing to a hard stop is required in this mode. When homing is initiated, the motor automatically rotates at the user-specified speed, acceleration, and direction until a hard stop is detected. Then ClearPath sets the home position.

OMING SETUP

Select how often homing is to be performed.

Select direction of shaft rotation during homing.

Set a “soft limit” that will prevent ClearPath from moving beyond the specified distance from home. Set to “0” for OFF.

1.97

ARD STOP HOMING

)

Set motor homing speed and acceleration.

Set the maximum torque to be used during homing.

Homing setup dialog

1. Make sure the axis has a hard stop that you can run into (at

low speed). The moving element of the axis must be able to make solid, repeatable contact with the hard stop when driven into it.

2. In MSP, click Homing Setup to open the homing setup dialog.

3. Set When Homing Occurs... This lets you choose when to

perform a homing operation, either 1) the first time ClearPath is enabled after power up, or 2) every time ClearPath is enabled.

4. Set Homing Direction. Lets you choose clockwise or

counter-clockwise shaft rotation during homing.

EKNIC, INC

5. Set Max Travel From Home. This is the maximum distance

from the home position (in counts) that ClearPath can be commanded to move. Enter "0" to turn this setting off. Note:

ClearPath will not execute a move that would violate this limit.

6. Set Homing Speed and Homing Accel/Decel.

7. Set Hardstop Torque Limit. Enter "0" to turn this setting

off.

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OVE TO SENSOR

ODE SUMMA

OSITION

1.97

Use ClearP

ath digital inputs to spin the shaft CW or CCW. Wire position

sensors and switches in series with ClearPath inputs to make an

OW IT

inexpensive two posit

ORKS

ion actuator.

Place sensors at opposite ends of your motion path and wire them into the appropriate ClearPath inputs. See illustration below.

Assert the Enable Input to energize the motor. Apply User Commands to start motion. ClearPath moves CW or CCW until it interrupts a sensor. It then holds position until you issue a new User Command in the opposing direction. See table below for Input states and timing details.

Position Control

Signal Function Example Timing

User Command A

Sensor A

Input A CW Move Request

User Command B

Sensor B

Input B

Enable

Move to Sensor Position

Wired in series with Input A

Wired in series with Input B

CCW Move Request

Enable: High=Enable Low=Disable

ccw

Motor velocity vs. time

User

Sensor

‘A’

Normally Closed

Optical Slot Sensors

Sensor

‘B’

5-24VDC

Command A

(switch)

User

Command B

(switch)

ClearPath Internal

Input A +

Input A -

Input B +

Input B -

Move to Sensor: Inpu ts and Timing Diagram with example application sketch

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Notes:

• Stay in between the sensors. When using an optical slot

• Changing the state of either Input A or Input B while ClearPath

• Disable time = 10 mS

ODE CONTR

Enter max velocity (limit) for CW rotation.

OLS

Enter max velocity (limit) for CCW rotation.

1.97

type s

ensor, the “flag” must be long enough to continuously

interrupt the sensor from the start of deceleration through full stop. In addition, the deceleration rate must be set to ensure that the flag does not travel past the sensor.

is in motion effectively cancels the move in progress. C immediately ramps to a s move request

is received.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

top and holds position until a new

learPath

Enter motor acceleration rate.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Check here to set motor deceleration rate to same value as acceleration rate.

Enter motor deceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Soft Inputs and LEDs emulate hardware inputs. For use only when Soft Controls are active.

Caution: motor may spin when enabled.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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In this scenario, the next move request must be in the opposite direction fr

move request. Thus, if the motor was spinning in the CW direction when the move was canceled, ClearPath will only respond to a CCW move request.

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OVE INCREMENTAL DISTANCE

ODE SUMMARY

1.97

(2-D

ISTANCE

)

Send a trigger pulse to tell ClearPath to move a user-defined distance from its curren t

ravel a multiple of any distance in one smooth, uninterrupted move.

t position. Send multiple, quick trigger pulses to tell ClearPath to

Incremental Positioning

An incremental move is referenced to its own starting position, not to an absolute “home” reference position. So, if the incremental move distanc e is set to +1000 counts, the shaft will move +1000 counts from its current position each time a trigger pulse is received.

OW IT

ORKS

Assert the Enable Input to energize the motor. ClearPath can be set to perform an optional homing routine (home-to-switch only in this mode). Incremental move distance is selected with Input A. Pulsing the Enable/Trigger Input launches each move.

Position Control

Signal Function Input Type

Input A

Input B

Enable/

Notes: ClearPath can be programmed to home upon enable (see text for full

details). Moves are triggered on rising edge of trigger pulse.

Increment Select

Home Switch

Enable Trigger Pulse Enable line low to trigger movesTrigger

Incremental Positioning (2 Incremental Distances)

Logic: Low=Dist.1 High=Dist. 2

(optional)

Logic: High=Home Low= Not Home

Logic: High=Enable Low=Disable

Home

Example Timing

Motor position vs. time

Trigger pulse

Incremental Position Mode: Inputs and Timing Diagram

Notes:

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• A trigger pulse is required to launch each incremental move.

Move distance is selected with Input A.

• To create a longer continuous move, you can send multiple

trigger pulses and ClearPath will automatically “chain” the move increments together to form a single seamless move. Note: To successfully “chain” move increments, the burst of trigger pulses must be sent rapidly. They must be received by the ClearPath during the acceleration through constant velocity portion of move, but not during the deceleration phase. If a trigger pulse is received during the deceleration phase of a move, that move will run to completion (motor will stop). Then the next incremental move will execute.

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ODE CONTROLS

1.97

Set Increment 1

Enter move distance in encoder counts.

Enter max motor speed allowed.

Set Increment 2

Enter move distance in encoder counts.

Enter motor acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter value (1-400mS) to set how long the Enable line must be pulled low to qualify as a valid trigger pulse.

Click to open Homing Setup window (when homing is enabled). Refer to text for instructions on homing setup.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Displays output status HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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OMING

ETUP

OME

This mode supports optional home-to-switch functionality. When homing is initiated, the motor automatically rotates at the user-specified speed, acceleration, and direction until a user-supplied switch or sensor is actuated. Then ClearPath sets the home position (a settable homing offset is optional). See homing setup instructions below.

TANDARD SETTINGS

Select how often homing is to be performed.

Select direction of shaft rotation during homing.

Set a “soft limit” that will prevent ClearPath from moving beyond the specified distance from home. Set to “0” for OFF.

1.97

-TO-S

WITCH

)

Set motor homing speed and accleration.

Enter a value (in counts) to tell ClearPath how far to move away from the home switch or sensor.

his becomes the de facto

home position.

Check to invert home switch polarity.

Click to view Advanced Settings section.

Homing: Standard Settings

1. Install a compatible switch or sensor at one end of travel and

wire it to Input B. Note: To work properly, the switch or sensor must be placed at the end of travel. Refer to I/O section (earlier in this document) for switch/sensor wiring information.

2. In MSP, enable homing and click Setup to open the homing

setup dialog (shown above).

3. Set When to Home. Choose to perform a homing sequence

either 1) the first time ClearPath is enabled or 2) every time ClearPath is enabled.

4. Set Homing Direction. Choose clockwise or counter-

clockwise shaft rotation during homing.

5. Set Homing Move Settings.

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6. Switch Polarity. Use this checkbox to change whether Input

DVANCED

Check here if the axis can spin “forever” in both directions.

Check here if you need the Homing Offset to be in the same direction as the homing move (not typical).

1.97

a. Set Homing Speed and Homing Accel/Decel. b. Enter Max T

distance from

ravel From Home. This is maximum

the home position (in counts) that ClearPath can be commanded to move. Note: ClearPath will not execute a move that would violate this limit. See Advanced Settings, Behavior on L Hit, below for additional settings related to this feature.

B (the home senso

r input) must be high or low to be

considered asserted.

ETTINGS

imit

Select whether ClearPath issues a Lockdown or a Warning when the “M ax

ravel From Home” value is

exceeded.

Homing: Advanced Settings

Rotary Setting with No Limit on Rotation Amount

Check this box if you have an axis such as a conveyor or turntable with unlimited travel in either direction.

Offset Direction Same as Homing Direction

Check this box if you want the post-homing offset move to be in the same direction as the homing move. This setting is mainly used with rotary axes with unlimited bi-directional motion such as a turntable or conveyor.

Behavior on Travel Limit Hit

This settiLng tells ClearPath whether to is

sue either a Warning or a

ockdown (read note below) if you attempt to move past the “Max Travel

from Home” setting described earlier.

Warning vs. Lockdown

• A Lockdown disallows motion. You must toggle Enable

clear a Lockdow

n. The indicator LED on ClearPath flashes

alternating yellow and green when a Lockdown occurs.

• A Warning allows motion onl

y in the direction away from the soft limit and the Warning automatically clears when the reason for the Warning is no longer present. The indicator LED on ClearPath flashes a gree

n 2-blink code when a Warning occurs.

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OVE INCREMENTAL DISTANCE

ODE SUMMARY

1.97

(4-D

ISTANCE

)

Send a trigge

r pulse to tell ClearPath to move a user-defined distance

[increment] from its current position. Send multiple, quick trigger pulses to tell ClearPath to travel a multiple of any distance in one smooth, un

interrupted move.

Incremental Positioning

OW IT

ORKS

Assert the Enable Input to energize the motor. ClearPath can be set to perform an optional homing routine (home-to-hard stop only in this mode). Move distance is selected with Inputs A and B. Pulsing the Enable/Trigger Input launches each move.

Position Control

Signal Function Incremental Distance Settings

Input A

Input B

Enable/

Notes: ClearPath can be programmed to home upon enable (see text for full

details). Moves are triggered on rising edge of trigger pulse.

Increment Select A

Increment Select B

Enable Trigger Pulse Enable line to trigger movesTrigger

Incremental Positioning (4-Distance Programmable)

Dist.1

LOW

Logic: High=Enable Low=Disable

Dist.2 Dist.3 Dist.4

HIGH

LOW

HIGH

Motor position vs. time

Example Timing

D3 D4

Trigger pulse

Incremental Position M

ode: Inputs and Timing Diagram

Notes:

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• A trigger pulse is required to launch

each move. Move distance

is selected with Input A and B.

• To create a longer continuous move, you can send multiple

trigger pulses and ClearPath will automatically “chain” the move increments together to form a single non-stop move. Note: To successfully “chain” move increments, the bur

st of trigger pulses must be sent rapidly. The pulse train must be received by the ClearPath during the acceleration through constant velocity portion of move, but not during the deceleration phase.

• If a trigger pulse is received during the deceleration phase of a

running move, it will not be chained to the original move. In fact, the “late pulse” will trigger a separate move.

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ODE CONTROLS

1.97

Enter maximum motor speed allowed.

Set Move Increments

Enter move distance for each input state.

Enter motor acceleration rate.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Enter value (1-400mS) to set how long the Enable line must be pulled low to qualify as a valid trigger pulse.

Click to open Homing Setup window. Refer to text for instructions on homing setup.

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Click during homing operation to manually set home position.

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

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OMING

UTOMATIC

Homing to a hard stop is optional in this mode. When homing is initiated, the motor automatically rotates at the user-specified speed, acceleration, and direction until a hard stop is detected. Then ClearPath sets the home position.

Select how often homing is to be performed.

Select direction of shaft rotation during homing.

Set a “soft limit” that will prevent ClearPath from moving beyond the specified distance from home. Set to “0” for OFF.

Set motor homing speed and acceleration.

1.97

ARD STOP HOMING

)

Set the maximum torque to be used during homing.

Lets you set a lower global torque limit during homing. Set to “0” to turn off.

Click to view Advanced Settings section.

OMING SETUP

1. Make sure the axis has a hard stop that you can run into (at

low speed). The moving element of the axis must be able to make solid, repeatable contact with the hard stop when driven into it.

2. In MSP, enable homing and click Homing Setup to open the

homing setup dialog.

3. Set When Homing Occurs. This lets you choose when to

perform a homing operation, either 1) the first time ClearPath is enabled after power up, or 2) every time ClearPath is enabled.

TANDARD

ETUP

)

EKNIC, INC

4. Set Homing Direction. Lets you choose clockwise or

counter-clockwise shaft rotation during homing.

5. Set Max Travel From Home. This is the maximum distance

from the home position (in counts) that ClearPath can be commanded to move. Enter "0" to turn this setting off. Note:

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6. Set Homing Speed and Homing Accel/Decel.

7. Set Offset Distance. This lets you tell ClearPath exactly how

8. Set Hardstop Alternate Torque Limit. Enter "0" to turn

DVANCED

Select whether ClearPath issues a Lockdown or a Warning when the “M ax

ravel From Home” value

is exceeded.

1.97

ClearPath will not execute a move that would violate this limit.

far to move away from the hard stop (in counts) to set the final home position.

this setting off.

ETTINGS

Warning vs. Lockdown

• A Lockdown disallows motion. You must toggle Enable to

clear a Lockdown. The indicator LED on ClearPath flashes alternating yellow and green when a Lockdown occurs.

• A Warning allows motion only in the direction away from the

soft limit and the Warning automatically clears when the reason for the Warning is no longer present. The indicator LED on ClearPath flashes a green 2-blink code when a warning occurs.

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ULSE

URST

ODE SUMMARY

OW IT

OSITIONING

Cl ce proportional to the number of pulses sent

earPath will move a distan to Input B. This mode offers much of the flexibility of a “step-anddirection” system, without the need for an expensive indexer to create sm hat function is handled by ClearPath’s internal

ooth move trajectories (t trajectory generator). This mode is limited to two speeds and one acceleration/deceleration rate of the user’s choice.

Note: A fairly simple PLC counter or a software loop can be used to generate pulses for use with this mode.

ORKS

Assert the Enable Input to energize the motor. (Note: ClearPath can be configured to perform a homing routine upon enable.) To execute positioning moves, send a high speed stream of pulses to Input B, where each pulse represents a small, incremental unit of distance. Total move distance is determined by total number of pulses sent to Input B.

1.97

ll moves are executed at the user-defined acceleration and speed setting.

A Direction of motor s Input A. See inputs and timing diagra

haft rotation is controlled by w. m belo

Trigger function: Alternate Speed Briefly pulse the Enable input low, and the next pulse burst sent to

ClearPath will result in a move at the alternate speed setting. Once that move is complete, ClearPath automatically returns to its default speed setting.

Pulse Positioning

Signal Function Input Type

Input A

Input B

Enable

Notes: Maximum pulse input frequency = 500 kHz.

Minimum pulse on/off time = 1uS.

Pulse Burst Positioning Mode: Inputs and Timing Diagram

Direction Select

Pulse Input

Enable Speed Select Pulse low to select alternate speedTrigger

Pulse Burst Positioning

Logic: High=CW Low=CCW

Pulse: High-Speed Pulse Burst

Logic: High=Enable Low=Disable

Motor velocity vs. time

Example Timing

alternate speed

Trigger pulse

Notes:

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• The frequency of the pulse train applied to Input B must always

be higher than the specified speed limit(s). This ensures that the motor is never “consuming” pulses faster than they are being

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• Send

ODE CONTR

OLS

1.97

supplied. See the “Burst Frequency Spec” (circled in red on the figure below) for the range of allowable pulse input frequencies.

ing pulses at a fixed frequency is OK! In fact, that's one of the reasons we developed this mode. Just send a burst of pulses and ClearPath creates a smooth motion profile based on your settings.

Select number of input pulses required to rotate the motor shaft exactly one revolution.

Enter primary motor speed.

Check to reverse direction of motor shaft rotation.

Displays allowable range of input pulse frequencies (based on Input Resolution and Speed Limit settings).

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Enter alternate motor speed.

Enter value (1-400mS) to set min time the Enable line must be pulsed low to select the alternate speed.

Enter motor acceleration.

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Click to open Homing Setup window (when homing is enabled).

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

OMING

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ETUP

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

NPUT RESOLUTION

Input resolution is defined as the number of the motor's input (Input B in this mode

ne revolution. Changing this setting does not change the encoders native

o or comm

n this mode, ClearPath can be configured to home to a hard stop to

andable resolution.

ARD STOP HOMING

Click during homing operation to manually set home position.

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo >Speed Output

pulses that must be sent to

) to make the shaft rotate exactly

)

establish a home reference position before functional positioning begins.

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1. Install a hard stop that guarantees the moving element of the

2. Enable homing in MSP.

3. Click the Setup button to open the homing dialog.

4. Enter homing

1.97

axis makes solid, repeatable contact with the stationary element when driven into it.

parameters. See figure below for description of

homing parameters.

Homing setup dialog

5. Test and modify your homing setup for consistent, repeatable

performance.

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LEAR

TEP AND

ATH

IRECTION INPUT

ODE SUMMARY

OW IT

ORKS

SD (S

h replace stepper motor/drive

Clear ath SD family was designed toT e P combos with a single, cost-effective u function in essentially the same way, there are differences in re and power between models within the family. See the Teknic/ClearPath website for complete information on SD Family ClearPaths.

You provide standard step and direction signals and ClearPath faithfully follows them. Use the included RAS (Regressive Auto Spline) fea ture to smooth the motion profile. This mode is great for replacing stepper motor and drive systems with one compact device that costs less and does more.

Assert the Enable Input to energize the motor. Then, supply standard step and direction pulses to Inputs A and B to command motion. This model requires step and direction signals from an external indexer, controller, or similar.

1.97

TEP AND

IRECTION

nit. While all ClearPath SD models

)

solution

Stepper Replacement

Signal Function Input Type

Input A

Input B

Enable

Notes: Maximum pulse input frequency = 500 kHz.

Minimum pulse on/off time = 1uS.

Step and Direction Inputs and Timing

Direction

Step

Enable

NA NATrigger

Step and Direction Input Control

Logic: High=CW Low=CCW

Pulse: Digital Step Input

Logic: High=Enable Low=Disable

Notes:

• Maximum pulse input frequency = 500 kHz.

• Minimum pulse on/off time = 1uS. See diagram next page for

step and direction timing information.

• Motion occurs on the rising edge of each step input pulse.

• Time before Disable = 10 mS

Motor velocity vs. time

Example Timing

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TEP AND

IRECT

ION TIMING

The ClearPath Step Input is “positive edge-triggered”, so ClearPath registers a step only when Input B sees the rising edge of a step input pulse (i.e. an electrical transition from low to high). Refer to the diagram below for details and important step and direction signal timing requirements.

ClearPath can be configured to move one count for each step received, or one count per [x

1.97

steps] received (based on the Input Resolution setting).

Position

Step

Input B

Direction

Input A

Minimum step pulse width = 1 uS

cyc

Minimum step cycle time = 2uS

Minimum time between direction change and step input change = 25nS

Minimum direction hold time = 1uS

ClearPath minimum step and direction input timing diagram

n n-1 n+1n

Note: In this example, 1 step at Input B = 1 count of shaft motion. This ratio can be changed using Input Resolution setting.

cyc

Steps register on rising edges only

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ODE CONTROLS

1.97

Select number of input pulses required to rotate the motor shaft exactly one revolution.

Set jerk limit. Higher values result in smoother, more gradual transitions between move segments of differing acceleration; however, overall move time is increased.

Check to reverse direction of motor shaft rotation.

Hardware Input Status LEDs

Light = Input asserted (on) Dark = Input de-asserted (off )

Enter value (1-100) to limit peak torque capability of motor as a % of motor’s maximum peak torque.

Displays output status. HLFB modes supported: >Servo On >AllSystemsGo >InRange

Click to open Homing Setup window (when homing is enabled).

Check to turn on Soft Controls. Override cannot be activated when ClearPath is hardware enabled.

Soft Inputs and LEDs Emulate hardware inputs. For use only when Soft Controls are active. Caution: motor

may spin when enabled.

Enter motor velocity. For use with Soft Controls.

Enter motor acceleration. For use with Soft Controls.

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OMING

ETUP

ARD STOP HOMING

In this mode, ClearPath can be configured to home to a hard stop to establish a home reference position before functional positioning begins.

1. Install a hard stop that guarantees the moving element of the

2. Enable homing in MSP.

3. Click the Setup button to open the homing dialog.

4. Enter homing parameters. See figure next page for description

1.97

)

axis makes solid, repeatable contact with the stationary element when driven into it.

of homing parameters.

Homing Setup dialog

5. Test and modify your homing setup for consistent, repeatable

performance.

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1.97

PPENDIX

LED Activity

No LED Activity

(See additional notes below table.)

Yellow – on solid N/A N/A Servo off N/A

Yellow - flicker N/A N/A Servo on N/A

Green - flicker N/A N/A Servo on N/A

Yellow - 2 blinks Shutdown

Yellow - 3 blinks Shutdown

Yellow - 4 blinks Shutdown

Yellow - 5 blinks Shutdown

Yellow – 6 blinks Shutdown

Yellow - 7 blinks Shutdown

Exception

A: LED B

LINK

ODES

must connect ClearPath to a PC running MSP to determine exception type.

Type

N/A N/A Servo off N/A

Affect on

Motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Disallows

motion

Servo

Behavior

Servo off

How to Clea

Exception

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input motion

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

Toggle Enable

input

u Note: In cases where multiple exceptions use the same blink code, yo

Status or Exception

Message Reported in UI

No (or low) Power

Verify DC power is correctly wired and within specifie (24-75VDC). Make power never droops below 24VDC during motor operation.

Status: Disabled

Motor power is turned off.

Status: Performing Commutation Start-up

Status: Enabled

Motor power is on. ClearPath will respond to motion commands.

User Stop

ESC key or button was pressed by the user.

Motor Enable Conflict

The hardware inputs did not match the active software override inputs when the motor was enabled via the hardware enable line.

Max Bus Voltage Exceeded

Probable cause: high AC line voltage, large regenerated voltage upon deceleration.

Command Speed Too High

Probable cause: commanded speed/velocity is beyond motor spec.

Tracking Error Limit Exceeded

Possible causes: excessive friction, mechanical misalignment, vel/accel too high, low DC bus voltage.

RMS Torque Limit Exceeded

Possible causes: excessive friction mechanical misalignment, duty cycl too high, undersized motor.

Excessive Bus Current Probable cause: bad tuning, low bus voltage.

Excessive Motor Temp

Possible causes: ambient temperature too high for motor load; poor cooling; fan not running (if used).

Momentary Low Bus Voltage

Power supply drooped below 18V, insufficient current capabilities, and/impedance too high.

Old Config File Version

Probable cause: Firmware updated after config file was saved. Create or load new config file.

Motor Phase Overload Phase current is beyond allowed ADC limit. Probable cause: incorrect tuning or wrong config file.

Hard Stop Gave Way

A mechanical hard stop was detected during homing bu t it gave way before homing was completed.

d voltage range

sure main DC

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Teknik ClearPath Quick Start Manual

Specifications and Main Features

Frequently Asked Questions

User Manual