C
L E A R
P
A T H
M C / S D
U
S E R
M
A N U A L
R
E V
.
3 . 0 9
1 0 9
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
Relationship of PWM duty cycle to motor velocity
•
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)
Velocity = 0
Zero
Velocity
10
20
30
40
50
60
70
80
90
100
0
Max. Velocity
(CW Rotation)
Duty Cycle
Graph of PWM duty cycle vs. motor velocity
