Teknic ClearPath-SCHP Series User Manual Download Page 1

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SER

ANUAL

E K N I C

N C

E L

( 5 8 5 )

7 8 4 - 7 4 5 4

LEAR

ATH

-SC

OTORS

ODELS

SCSK

AND

SCHP

NEMA

AND

NEMA

RAME

IZES

ERSION

1.36

ARCH

17,

2020

Summary of Contents for ClearPath-SCHP Series

Page 1: ...USER MANUAL T E K N I C I N C T E L 5 8 5 7 8 4 7 4 5 4 CLEARPATH SC MOTORS MODELS SCSK AND SCHP IN NEMA 23 AND NEMA 34 FRAME SIZES VERSION 1 36 MARCH 17 2020 ...

Page 2: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 2 TEKNIC INC TEL 585 784 7454 THIS PAGE INTENTIONALLY LEFT BLANK ...

Page 3: ...arView 18 SAFETY WARNINGS 19 Personal Safety Warnings 19 CE Compliance Warnings 19 General Disclaimer 20 INTRODUCTION 21 What is ClearPath SC 21 Parts of a ClearPath SC Motor 23 EXAMPLE CLEARPATH SC SYSTEMS 24 Typical 4 Axis System Single Port 1 SC4 HUB 24 Medium System Single Port 3 SC4 HUBs 25 Large System Multiple Ports and SC4 HUBs 26 POWERING A CLEARPATH SC 27 Selecting a DC Bus Power Supply ...

Page 4: ...TWARE CLEARVIEW 51 Minimum System Requirements 51 Installing ClearView Software 51 Establishing Communication With Your System 52 ClearView Software Tour 52 User Interface Overview 52 Manual Motor Controls 53 Dashboard 54 Soft Scope 55 ClearView Menus 60 USING THE DIAGNOSTIC CHANNEL 76 Terms Used in this Section 76 Connecting to the Diagnostic Channel 77 Changing Diagnostic Channel Access Modes 79...

Page 5: ...cations 101 POWER4 HUB Specifications 103 SC4 HUB Specifications 104 APPENDIX E GROUNDING AND SHIELDING 105 Protective Earth PE Connection 105 Grounding and Shielding 105 Power Returns 106 APPENDIX F CIRCUIT SCHEMATICS 107 POWER4 HUB Schematic simplified 107 SC4 HUB Schematic simplified 108 APPENDIX G WIRING THE INPUTS 110 Wiring a Mechanical Switch to an Input 110 Wiring a 24V NPN Sensor to an In...

Page 6: ...sonnel to tune test and exercise the servos right on the machine without coding a single line WHO SHOULD USE CLEARPATH SC MOTORS ClearPath SC users should be proficient in a programming language supported by ClearPath such as C for Windows Linux and NET languages such as C for Windows If you re not a strong coder consider ClearPath MC or ClearPath SD motors for your project The ClearPath MC family...

Page 7: ...ces to your ClearPath SC motors The SC Hub routes communication signals passes sensor switch inputs to the motors includes 2 power off brake outputs and one Global Stop e stop input A maximum of 4 SC Hubs can be linked together to create systems of up to 16 axes per port and up to 3 ports per computer allowing you to create systems with as many as 48 motion axes DC BUS POWER SUPPLY The DC Bus Powe...

Page 8: ...r trajectory generator servo compensator and torque drive Diagnostic Port USB micro B DC Bus Power Connector Molex Minifit Jr 4 position Auxilliary PE Protective Earth Connection Point ClearPath I O Connector Molex Minifit Jr 8 position Stainless Steel Shaft NEMA Mounting Flange Die Cast Heatsink Sealing Gasket Housing Anodized aluminum Keyway Status LED Silicone Plug Covers diag port Parts of a C...

Page 9: ...minals over time Do install a protective finger safe guard or other physical barrier around the motor shaft 1 INSTALL CLEARVIEW SOFTWARE 1 Update your Windows installation See note below for details 2 Download the ClearView installer from Teknic s website https www teknic com downloads 3 Launch the ClearView Installer Follow the on screen prompts Important Software Installation Note If your Window...

Page 10: ...or two motors and so forth See the diagram below for details CP3 0A 1A 1B 2B 3A CP0 OPEN CP2 CP1 0B 2A 3B 24V GLOBAL STOP First motor always connects here DATA DB9R M DB9R F 24V Input J0 J1 J2 J3 J5 Place one jumper per SC Hub only Place jumper here for one motor Place jumper here for two motors Place jumper here for three motors Place jumper here for four motors Place jumper here if you add anoth...

Page 11: ...m included in this section Please refer to the diagram that most closely matches your system 24 VOLT LOGIC POWER SUPPLY The SC Hub Power Hub and other optional components require a 24VDC nominal power supply to operate In a small ClearPath SC system 4 axes or fewer a 50 75 watt logic supply should suffice For help estimating how much power watts your logic power supply must be rated for see the ap...

Page 12: ...CPM CABLE CTRL MU120 Cable assembly 120 ClearPath I O overmolded Molex Minifit 8 pin to standard Molex Minifit 8 pin B CPM CABLE M2P2P 120 2 pin Molex to 2 pin Molex multi purpose cable 10 ft long C CPM CABLE PWR MS120 Cable assembly 120 ClearPath PWR Minifit 4 over molded Molex to Sabre D CPM CABLE USB 120AB ClearPath USB Cable A male to B male 120 inches 3 05m in length E CPM CABLE USB 120 Clear...

Page 13: ...Cable assembly 120 ClearPath I O overmolded Molex Minifit 8 pin to standard Molex Minifit 8 pin B CPM CABLE M2P2P 120 2 pin Molex to 2 pin Molex multi purpose cable 10 ft long C CPM CABLE PWR MS120 Cable assembly 120 ClearPath PWR Minifit 4 over molded Molex to Sabre D CPM CABLE USB 120AB ClearPath USB Cable A male to B male 120 inches 3 05m in length E CPM CABLE USB 120 ClearPath USB Cable A male...

Page 14: ... motor and the AC unplugged 2 Power up your DC Bus Power Supply 3 With a DMM measure the voltage from V to GND See diagram below for pin locations You should measure a positive value of DC voltage The actual voltage measured depends on your supply If you measure a negative value the polarity is reversed Fix the problem and measure again 4 Remove power from your supply 5 Reconnect the 4 pin power c...

Page 15: ...his is a standard USB A male to USB B male cable USB A male to USB B male 3 Wait Allow the drivers to auto install This may take a minute 4 Launch the ClearView software 5 ClearView will immediately attempt to auto detect your motors If all is well you will see your motor s appear in the Motor List in ClearView Motor List showing two motors connected to an SC Hub Success Two ClearPath SC motors re...

Page 16: ...eknic ClearPath 4 Axis Comm Hub COM n Take note of the value n this is your COM port number 4 In ClearView software go to File Preferences 5 Click the drop down menu in the section labeled First 6 Select the COM port n you identified above Click Done Select Teknic ClearPath 4 axis Comm Hub for First COM port ...

Page 17: ...pplications running without ClearView will run properly down to 115k baud minimum If you want to use serial communication and your serial ports aren t fast enough you can find high speed serial port cards online from companies such as Axxon softio com and Perle 1 Power up your ClearPath SC system 2 Connect your serial communication cable DB 9 to DB 9 straight through from the SC Hub to your PC 3 L...

Page 18: ...ntrols Here s how 1 Select the motor you d like to spin from the Motor List 2 Set the Move Type Back and Forth Single or Repeating 3 Enter the Move Parameters Distance Velocity Acceleration and Dwell Dwell is just the rest period between repeating moves 4 Click Enable Disable button once to enable the motor 5 Click Start Motion or button Hit to start motion in the counter clockwise direction hit t...

Page 19: ...perate a ClearPath SC motor Install and test all emergency stop devices and controls before using ClearPath SC Before applying DC power secure the ClearPath SC 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 SC motor for ventilation and cable clearances Do not allow cables or other l...

Page 20: ...onnection 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 GENERAL DISCLAIMER 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 i...

Page 21: ...gh resolution optical encoder ClearPath SC s high performance all in one convenience and low cost makes it practical to use multi axis servo control in any automated machinery application ClearPath SC all in one servo motor ClearPath SC is a rugged industrial grade product The motor subsystem is based on Teknic s Hudson family of brushless servo motors with similar instrument grade bearings stainl...

Page 22: ...s ClearPath SC features a quick automatic setup Install the included ClearView software connect ClearPath to your PC via USB or high speed RS 232 and let it auto tune itself to your mechanical system for optimum servo performance ClearView software allows you to get moving quickly You can set many motor parameters and exercise your mechanical system and electronics with just a few mouse clicks Saf...

Page 23: ...t Jr CLEARPATH I O CONNECTOR Function Carries communication and input signals to ClearPath SC Connector type 8 pin Molex Minifit Jr DIAGNOSTIC PORT Function Provides USB connectivity between ClearPath SC and an optional diagnostic laptop or PC Connect to this port with a standard USB cable Type A to Micro B A silicon plug is provided to protect the port from dust dirt etc when not in use Connector...

Page 24: ...ew examples of systems that can be built with ClearPath SC components TYPICAL 4 AXIS SYSTEM SINGLE PORT 1 SC4 HUB Windows or Linux Diagnostic Computer optional SC Hub Extension Connector ClearPath SC Motors Inputs from motion related sensors connected through to ClearPath motors Brake Control Connector Global Stop Connector RS 232 USB USB Host PC Windows Note DC bus power wiring omitted for clarit...

Page 25: ...rough to each motor E stop circuit 24 VDC Supply Windows Linux Power off Brake 3rd Party RS 232 USB Medium system with multiple SC Hubs connected to one computer port Active sensors powered through SC Hub e g proximity optical Hall effect type etc 24V Power off brake shown wired for axis 0 Note DC bus power wiring omitted for clarity Safety Controls Safety Controls ...

Page 26: ...USB 24 VDC RS 232 Windows Linux Power off brake 3rd Party Note DC bus power wiring omitted for clarity Large system with multiple SC Hubs connected to two ports Two area machine with guard lock under software control in one area 24V Power off brake shown wired for one axis Mix of mechanical switches and active sensors powered from SC Hub Guard interlock switch and solenoid lock Safety Controls Saf...

Page 27: ...the time and the short answer is it depends The exact power requirements for a given machine depend on several interrelated factors including the number and type of motors and drives connected to the supply the torque and speed requirement for each motor environmental factors and more Calculating the torque requirement for just a single axis can be challenging This involves analysis of gearing loa...

Page 28: ...ion you may have an underpowered supply ClearPath SC completes the auto tuning process but experiences certain warnings or shutdowns during programmed motion If auto tune runs to completion but you experience torque saturation voltage saturation and or tracking shutdowns during regular machine operation you may be exceeding the supply s voltage and or current capability If you suspect your power s...

Page 29: ...ous current 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 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 Enginee...

Page 30: ... power one to four ClearPath SC motors The actual number depends on the application fewer when the motors are generating high torque continuously at high speeds and more when the motors are intermittently using bursts of power like in many point to point positioning systems Please visit Teknic s website www Teknic com for more information features and specifications TEKNIC MODEL IPC 5 The IPC 5 fu...

Page 31: ...use electrical arcing that will damage the connectors over time Never connect a ClearPath SC motor directly to an AC outlet This will damage the ClearPath SC motor and void the warranty It is acceptable to daisy chain power to several ClearPath SC 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 1...

Page 32: ...et 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 slo blo fuse Note Teknic IPC power supplies are not internally fused on the DC output side Power Supply IPC 5 shown ClearPath Motor If DC output fuse is required install in line with positive leg of DC output as shown If required install power...

Page 33: ...AINING MULTIPLE MOTORS For applications with several ClearPath motors daisy chaining power from motor to motor see figure below may be preferable Power Supply IPC 5 shown ClearPath SC Motors 2 GND 1 V 4 GND 3 V Connector Housing 4 pos Molex 39 03 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 Ma...

Page 34: ...ctronics alive even if DC bus power is dropped This translates to uninterrupted communication continuous status monitoring and retention of encoder position Note You will be unable to spin your motors when using only logic power backup Logic power backup will keep the motor electronics alive but is not designed to run motors POWER4 HUB OVERVIEW DIAGRAM Windows or Linux SC Hub Power Hub ClearPath S...

Page 35: ...ld not be used as a means of switching DC bus power on and off To control DC bus power use a contactor on the AC side of the DC bus power supply Do not connect more than two Power Hubs to a power supply Continuous and peak current usage must not exceed the power supply s specifications It is the user s responsibility to ensure that the DC bus power supply has sufficient continuous and peak power t...

Page 36: ...llel The other connector can be used to daisy chain bus power to a second Power Hub if desired or left unconnected DC Bus Power Outputs Qty 4 These four connectors supply bus power to your CP SC motors In addition if power is dropped they carry aux power to keep maintain motor communication to the host application They are fully short circuit protected 24VDC Logic Power Input with Passthrough Qty ...

Page 37: ...R E V 1 3 6 37 TEKNIC INC TEL 585 784 7454 CONNECTIONS ONE POWER4 HUB 75VDC Bus Input Passthrough 75VDC Bus Out x4 24VDC Aux Supply IPC 5 75VDC Bus Supply ClearPath SC Motors AC Source 110 220VAC 75VDC Bus Out Power Hub Single POWER4 HUB System ...

Page 38: ...IONS TWO POWER4 HUBS 75VDC Bus Input Passthrough 75VDC Bus Out x4 75VDC Bus In 75VDC Bus In 75VDC Bus Input Passthrough 75VDC Bus Out x4 75VDC Bus In 75VDC Bus In 24VDC Aux Supply IPC 5 75VDC Bus Supply AC Source 110 220VAC 75VDC Bus Out Power Hub Two POWER4 HUBs powering 8 ClearPath SC motors ...

Page 39: ... LOGIC POWER SUPPLY The Power Hub and SC Hub each require 24VDC to function This is labeled as 24VDC Aux Supply in the above figure See the appendix Sizing a Logic Power Supply for power budgeting information Note Never use the main DC bus power supply even if it happens to be 24VDC for this purpose ...

Page 40: ...cts bus input from bus output in this case as a protective measure Normal operation OVERTEMP Board Thermal Shutdown Red Board temperature has exceeded 105 C Note After an overtemp event LED will turn off when board temp falls below 95 C Normal operation Board temp is 105 C DROPOUT 75V Dropout LED Red Bus supply has dropped out meaning the DC Bus has fallen below 18 2 VDC Aux power is active Normal...

Page 41: ...stems can support up to a maximum of 48 axes2 SC4 HUB OVERVIEW The SC Hub interfaces with Application PC ClearPath SC motors Input sensors and switches Global Stop input Brake Control outputs Windows or Linux SC Hub Power Hub ClearPath SC Motors Power off brake control connector Global Stop input connector RS 232 USB 2 0 Hi speed Application PC Inputs from motion related sensors connected through ...

Page 42: ... 9 Female Extension Connector DB 9 Male Input A LED x4 Input B LED x4 J0 J1 J2 J3 J5 End of loop jumper x5 SC4 HUB with callouts SC4 HUB MOUNTING See Appendix B Mechanical Index for SC Hub mechanical mounting dimensions SC4 HUB OPERATION CONNECTOR BY CONNECTOR 24VDC INPUT PASSTHROUGH CONNECTORS Connection point for the required 24VDC logic power supply There are a total of two 2 pin Molex connecto...

Page 43: ...Molex MiniFit Jr cable Teknic P N CPM CABLE CTRL MU120 END OF LOOP HEADERS Place a jumper block on the 2 pin header associated with the last motor connected to your SC Hub For example if you are connecting just one motor to the SC Hub place the jumper on J0 For two motors place the jumper on J1 If you plan to connect a second SC Hub for systems with five or more motors place the jumper at J5 then ...

Page 44: ...tected for robust long term performance For more on how the inputs work see the input circuit schematic below and Appendix G Wiring Inputs A and B ClearPath SC Input A and B Connectors Maximum Input Cable Length Cables used for SC inputs can be a maximum of 100 feet 30 m long However longer cable runs may be possible if the cable stock is of high quality low capacitance twisted pair construction C...

Page 45: ...and B MINIMUM CURRENT REQUIREMENT Input devices wired to ClearPath SC inputs must be able to source sink a minimum of 12mA Engineer s Note In all ClearPath SC motors the logic level signals are electrically isolated from the DC power input and motor output circuits as well as from the motor case to ensures that control signals are not compromised by induced currents from the motor power supply or ...

Page 46: ...per port This means if 4 SC Hubs are chained together and connected to a single USB or serial port only the two brake outputs on the first SC Hub in the chain would be useable Brake Control 0 and Brake Control 1 are linked to Axis 0 and Axis 1 respectively This is a fixed relationship The Brake Control circuit was designed for use with 24VDC power off type brakes that draw 500mA or less Brakes wil...

Page 47: ...the host operating system e g Windows Because of this however when your ClearPath SC application code does not have control of the host s communication port USB or serial it is possible for the operating system to inadvertently release the brake This can happen for example if the operating system scans its connected hardware like during a port auto discover function To eliminate inadvertent motion...

Page 48: ...e Control outputs can be toggled manually or set to automatic operation through the ClearView Actions menu Actions Brake 0 or Actions Brake 1 Additional notes Only two brake control outputs can be used per port connection i e if four SC Hubs are chained together only the two brake control outputs on the first SC Hub will be controllable ...

Page 49: ...er in this section 2 1 U1A 1 2 7 6 5 MOC207R2M U8 1 2 5V 3 1 BAS21 CR2 1 2 2k R31 1 2 10k R32 GND 1 2 330 R33 GND 1 2 LED3 STOP Note the Stop Type can be changed programmatically in user s application code SC Hub internal Global Stop Connector By default triggering a Global Stop issues a Ramp Stop at the E stop decel rate to all nodes attached to the port 5 24VDC 5 24VDC Normal Operation Current i...

Page 50: ...h SC System It is not a tested or proven design As such Teknic makes no promise or guarantee as to the safety or suitability of this design for any machine application Safety Relay Or Controller Power Hub Teknic IPC 5 or EQ Power Supply SC Hub GLOBAL STOP PWR BRAKE CTRL 0 1 OUT 1 OUT 2 24V 24V 24V 24V RET X1 X2 X1 X2 MOTOR BUS POWER ClearPath Motors POWER OFF BRAKES E STOP S INTERLOCKS AC LINE Opt...

Page 51: ... 1024 pixels or higher Other Sound card with speakers optional INSTALLING CLEARVIEW SOFTWARE Run Windows Update See note Windows Update and ClearView below Download the ClearView installer from https www teknic com downloads Launch the ClearView installer Follow on screen prompts to complete installation Windows Update and ClearView Installation If your Windows installation is not up to date Clear...

Page 52: ...H YOUR SYSTEM See ClearPath SC Quick Start Guide CLEARVIEW SOFTWARE TOUR USER INTERFACE OVERVIEW The ClearView UI is presented in four parts the Menu Manual Controls Dashboard and Soft Scope Each of these parts is discussed in detail in this section Menu Bar Manual Controls Dashboard Soft Scope ClearView UI Overview ...

Page 53: ...Back and Forth or Repeating Move Clear Exceptions Global Torque Limit Jerk Limit g Stop Controls Note g Stop not available on all CPMSC models Jog Parameters Set jog speed and acceleration here Motor Selector Click a motor in this list to make it the current Active Motor Move Parameters Set desired velocity acceleration etc for Move Generator Start Move Click to start move cycle in CCW direction C...

Page 54: ...ining additional information on any active exception or shutdown Velocity Meter Displays motor shaft velocity in kcounts sec or RPM Exception Messages Displays a brief message related to any active ClearPath exception Motor Status Description Motor is enabled Caution Motor is energized and capable of motion Motor is disabled Motor coils are not energized ClearPath is in a shutdown state Motor coil...

Page 55: ...bleshooting of motors motion and mechanical performance The Soft Scope consists of three main sections the Scope Display 1 Strip Chart 2 and Scope Controls 3 Together these components emulate much of the functionality of a digital storage oscilloscope and data analyzer ClearView Soft Scope SOFT SCOPE FEATURES 13 scope variables that can be plotted in real time Four trigger modes Adjustable timebas...

Page 56: ...cale of the time axis think X axis in units of mS division This allows you to control how a waveform fits horizontally on the Scope Display Example With the Timebase set to 10mS per division as in the figure above the full horizontal range of the Scope Display is 100mS 10 divisions x 10mS division 3 The Range field lets you adjust the scale of the amplitude axis think Y axis This allows you to con...

Page 57: ...gative 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 move positive or negative useful for assessing bi directional settling 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 Mov...

Page 58: ...middle 50 position or on the right side 90 position 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 i...

Page 59: ... with the main scope trace there s no extra setup required drive is low Drive is enabled and OK input B is low Input B is de asserted input A is low Input A is de asserted enable is high Enable is asserted Positive going CCW move begins Positive going move ends MoveDone Qualify Time green region Trigger point Negative going CW move begins Actual Velocity Tracking Error Interactive Cursors Timebase...

Page 60: ...s The file extension is mtr Save Configuration Ctrl S Allows you to save your ClearPath SC configuration settings to your PC as a mtr file Reset Config File to Factory Defaults Restores ClearPath SC to its factory default configuration i e the way it was configured when you received it All existing settings will be overwritten Save your current configuration as a mtr file described above if you th...

Page 61: ...select ports if auto detection does not do so Event Sounds Control Uncheck boxes to disable individual event sounds Click speaker icon to preview event sounds Auto Detect Ports Click to force ClearView to scan ports for connected ClearPath SC devices Preferences Firmware Update Allows for field update of ClearPath firmware EDIT MENU ClearView Edit Menu Cut Copy Paste These are just standard Window...

Page 62: ...ed will remain in your motor s non volatile memory even when all power is removed ClearView Motor ID Window Zero Position Ctrl 0 that s a zero Click or use keyboard shortcut Ctrl 0 to zero the Position Counter on the ClearView Dashboard Tip You can also zero the Position Counter by simply double clicking it directly on the Dashboard Reset RMS Peak Click to set value of RMS Max to the current RMS v...

Page 63: ...Actions The upper section of the window lets you select one or more actions to execute when a state change is detected at Input A or B The lower section of the window lets you specify precisely when to trigger an encoder position capture Note The Position Capture feature is always enabled it can be simply disregarded if not used Note Input A captures encoder positions at 0 1 microsecond resolution...

Page 64: ...elow Torque Limiting Setup Example the above conditional statement indicated with a red star reads Limit CCW torque when Input A turns on The long form translation is this When Input A turns on institute a torque limit in the CCW direction of 8 of the motor s maximum peak torque capability Transition from the current torque limit to the 8 torque limit over 120 mS from the time Input A turns on ...

Page 65: ...oming Setup Software Limit Setup This feature lets you define travel limits in terms of encoder position with no sensors or switches required To use this feature Check Enable Software Limits and set the two encoder positions as desired Note Software Limits do not take effect until the motor is homed Note When Software Limits are activated the motor will not execute any move that would violate the ...

Page 66: ...step by step manner Important Avoid personal injuries crashes and machine damage Carefully read and follow all instructions presented during the Auto Tune process Fine Tuning This menu item provides a convenient way to touch up tuning performance Turn on the control by checking Apply Fine Tuning Move the slider left for quieter performance move it right for increased dynamic stiffness Uncheck to t...

Page 67: ...only your application software and motion functions in the Teknic sFoundation library This is the default setting and most common operating mode used with SC family motors Step and Direction Pulse Input Select Step and Direction if you plan to use an external step and direction pulse source PLC microcontroller etc and you intend to build a machine application and use other functions in the sFounda...

Page 68: ...TEKNIC INC TEL 585 784 7454 Units Use this menu item to tell ClearView which units to display for velocity and acceleration Velocity and acceleration can expresses in terms of encoder counts or RPM Distances are always displayed in encoder counts Units Setup ...

Page 69: ...Summary Displays current homing settings Starts a simulated homing routine Click to simulate hitting a home sensor Click to cancel homing simulation Virtual LED homing status indicators Click to move motor to current home position at encoder count zero Click to make current motor position the home position This will zero the encoder counter Click to open Homing Setup window Also accessible through...

Page 70: ... a submenu that lets you manually or automatically control the state of a 24V inline brake or other compatible device Allow Motion GPO on Turns on the output When selected current is allowed to flow in the brake circuit This would cause a power on type brake to release allow motion External power required Prevent Motion GPO off Turns the output off When selected current flow is inhibited in the br...

Page 71: ...s listed below Tracking error limit Move status indicators Input filtering Deceleration rate for E stops Vector Regen Shunt VRS Actions upon disable Power and temperature settings Please read the dialog boxes below to learn more about each feature and its settings Tracking Error Limit Setup Tracking Error Limit Setup Dialog Input A B Filtering Setup Input A B Filtering Setup ...

Page 72: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 72 TEKNIC INC TEL 585 784 7454 Move Status Indicators Setup Move Status Indicators Setup Dialog E Stop Deceleration Rate Setup ...

Page 73: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 73 TEKNIC INC TEL 585 784 7454 Vector Regen Shunt VRS Actions Upon Disable ...

Page 74: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 74 TEKNIC INC TEL 585 784 7454 Power and Temperature ...

Page 75: ...r or a second port on the same computer can be connected to your ClearPath SC via the rear Diagnostic Port The Access Menu lets you specify which of the ports has full control of the motor only one can There are three Access modes Please see the next section Using the Diagnostic Channel for details on Access Menu ...

Page 76: ... data path in figure below Application Computer This is the PC that runs the machine application software written by the user Diagnostic Channel This is a secondary data channel that sends data between the ClearPath SC and either a different port on the Application Computer or a separate PC altogether The Diagnostic Channel is accessed via the USB Diagnostic Port on the back of the motor Note Clea...

Page 77: ... communicating on the Application Channel using COM 28 ClearView s Motor List 2 Next connect a USB cable from the motor s Diagnostic Port to a free USB port on the Application PC or to a USB port on a separate Diagnostic PC if desired Micro B Type A Diagnostic PC With ClearView installed ClearPath SC Motor Diagnostic Port Teknic Part CPM CABLE USB 120 3 In ClearView select File Preferences An Appl...

Page 78: ... Channel vs Diagnostic Channel Your ClearPath motor typically communicates with your control PC over the Application Channel Communication signals on the Application Channel pass through the motor s 8 pin Molex I O connector to the SC Hub and finally to the application computer through a USB or serial port In many scenarios a second communication channel can be helpful We refer to this as the Diag...

Page 79: ...c Channel to access the Soft Scope ClearView restricts Diagnostic Channel access to most other settings and parameters restricted items will be grayed out in the UI The Application Channel has full access in this mode Tune Mode ClearView allows the Diagnostic Channel to access the Soft Scope and most of the tuning gains RAS and g Stop settings tracking error limit and fine tuning controls The Appl...

Page 80: ...ort follow these steps 1 On the SC hub Remove the 24V power and the USB connector Wait 10 seconds 2 Reconnect 24V power and the USB connector 3 If you still have problems close and restart ClearView 4 If the problem persists Click File Preferences and manually select the ports from the drop down list Then click Done You may have to restart ClearView as well Pick the 4 axis SC Hub to be the First C...

Page 81: ...ics listed below Check out the SDK for the complete programming reference example programs header and library files and more sFoundation class hierarchy Node level functions Port level functions System level functions Software Development Kit SDK SFOUNDATION CLASS HIERARCHY The sFoundation libraries are organized into a logical hierarchy see diagram next page to help software developers understand...

Page 82: ...node s real time status Is the motor enabled Is the move done Port class objects let you manage individual ports and the collection of all nodes on a given port Port class objects also provide access to Port level features such as group shutdowns Finally a System class defines the manager object used to implement system level functions things like defining and configuring the USB or serial ports i...

Page 83: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 83 TEKNIC INC TEL 585 784 7454 sFoundation Class Hierarchy ...

Page 84: ...ity and acceleration Provides a simple and safe mutex mechanism Read Node level inputs Provide access to all other Node level features OTHER NODE LEVEL CLASSES IMotion This class is used to set up initiate and cancel motion on an individual node This class contains functions to Start moves positional velocity Query the MoveDone status to determine whether a move has completed Query the Ready statu...

Page 85: ...ming parameters homing direction homing speed etc Homing parameters are set quickly and easily right in the ClearView software UI ILimits This class accesses the global torque limit and positional tracking error limit ISetup This class object accesses and manages node setup features such as loading and saving motor configuration files to and from nodes IPORT PORT LEVEL CLASSES The IPort class is u...

Page 86: ...rds are chained together on a single port only the first SC Hub board s brake outputs will be controllable IPortAdv Supports control of advanced features such as Group Triggering and attention handling available on advanced models only SYSMANAGER SYSTEM LEVEL CLASS Sometimes called the root object for the sFoundation this is the main application class used to interface with Teknic nodes attached t...

Page 87: ...brary dll Class reference help file Fully functional example projects available in both C and C Tip Before beginning software development you may want to copy the complete SDK folder into a different working directory on your computer and leave an unmodified copy of the SDK in the default installation location WHERE IS THE SDK LOCATED The SDK files are copied to your local machine as part of the C...

Page 88: ...ll exhibit a rapid green flicker but the flicker pattern will be interrupted periodically during communication with the host PC It will look like a rapid flicker mixed with a slow blink LED Behavior CPSC State Description Green Flicker Enabled Operation normal CAUTION Motor windings are energized Motor can move at any time Solid Green Disabled Operation normal Motor windings are de energized Yello...

Page 89: ...86 87 0 76 3 420 0 030 73 03 0 0 051 2 875 0 000 0 002 0 220 5 60 THRU 98 43 3 875 90 45 50 1 969 6 70 0 264 50 1 969 USB Access Model Number L Dimension CPM _ _ _ _ 3411_ _ _ 79 70 3 138 CPM _ _ _ _ 3421_ _ _ 98 52 3 879 CPM _ _ _ _ 3432_ _ _ 117 52 4 627 CPM _ _ _ _ 3441_ _ _ 136 70 5 382 Note Shaft key not included with motor Key available through McMaster Carr Part Number 96717A181 Description...

Page 90: ...ter Carr Part Number 96717A086 Description Metric shaft key Dimensions 3mm x 3mm x 10mm Model Number L Dimension CPM _ _ _ _ 2310_ _ _ 84 81 3 339 CPM _ _ _ _ 2311_ _ _ 84 81 3 339 CPM _ _ _ _ 2321_ _ _ 103 83 4 088 CPM _ _ _ _ 2331_ _ _ 122 83 4 836 CPM _ _ _ _ 2341_ _ _ 141 83 5 584 59 10 0 76 2 327 030 53 85 2 120 81 85 0 76 3 222 03 I O Connector Power Connector 4x 5 20 205 THRU 32 1 260 32 1 ...

Page 91: ... ClearPath SC in an unventilated enclosure Do allow for at least 1 of space around each ClearPath SC ClearPath SC can be fitted with an external accessory fan if desired ClearPath SC will perform a protective shutdown when its internal temperature sensor threshold is exceeded Tip Teknic recommends mounting the motor such that the USB port and status LED are visible and accessible when the motor is...

Page 92: ...8 131 37 5 172 134 87 5 310 142 33 5 603 4x 3 94 Ø 0 155 THRU 1 55 0 061 6 35 0 250 20 65 0 813 EAW ALW TLW JBL JMW MW LW JWW 4x 127 86 5 034 4x 83 41 3 284 2x 8 03 0 316 8x 3 94 Ø 0 155THRU SCHubMountingPlate SCHubMountingPlate MountingpatternforchainingmultipleSCHubs end to endusingonboardDB 9connectors SCHubMountingDImensions SC Hub Mounting Dimensions ...

Page 93: ... 3 6 93 TEKNIC INC TEL 585 784 7454 MOUNTING DIMENSIONS POWER HUB 77 72 3 060 3 18 125 74 55 2 935 104 65 4 120 3 18 125 101 47 3 995 Ø 155 004 3 94 0 10THRU 78 38 3 086 w connector overhang 27 06 1 065 1 55 061 6 35 250 Power Hub Mounting Dimensions ...

Page 94: ... be carefully aligned in both the angular and offset sense including offsets adjustments for thermal growth to achieve the best possible motion quality and longest motor bearing life Some couplings are more forgiving of misalignment than others but in general misalignment will cause undesired vibration noise shortened bearing life and even broken motor shafts Use lightweight components Aluminum co...

Page 95: ...s when possible Although ClearPath SC includes a keyway feature on the shaft Teknic does not generally recommend the use of keys Keys tend to cause run out and backlash errors particularly in reciprocating precision positioning motion applications Note Keys should be considered for use in applications where coupling slip could result in a dangerous or hazardous condition Also key use may be approp...

Page 96: ...he motor shaft and tend to be less reliable over time than clamp style couplings Do use clamp style couplings These clamp around the circumference of the shaft at one or two points without deforming the shaft surface Don t use rigid couplings they are notoriously intolerant of misalignments Don t use beam style helical couplings if vibration damping or torsional stiffness is critical to your appli...

Page 97: ...ion on coupling types and coupling selection for servo systems Click here for access to technical articles videos and CAD drawings Or go to http www ruland com a_articles asp INSTALLING PULLEYS AND PINIONS PULLEY AND PINION MOUNTING Always follow the manufacturers mounting guidelines Mount pulleys and pinions as close to the motor face as possible while still following the manufacturer s installat...

Page 98: ...t use HardStop Homing This type of end stop offers a higher level of shock absorption and axis protection than hard blocks Spongy low durometer rubber stops are not recommended in most cases They offer little benefit over a hard end stop during an axis crash PNEUMATIC DASHPOTS Pneumatic hard stops dashpots offer excellent shock absorption performance but are considerably more expensive than hard b...

Page 99: ...down when the rear enclosure reaches 80 C 176 F After a thermal shutdown occurs the motor must cool sufficiently before it will operate again Reminder If you install a fan you ll have to power it Most computer fans require 12VDC or 24VDC Fan 60 mm Fan 40 mm IMPORTANT NOT A MOUNTING POINT Do not install a screw here Use only three screws to secure fan to motor 50mm 1 969 Mounting Boss 3 places Inne...

Page 100: ... 3028 natural UL 94V 0 39 03 9022 black UL 94V 0 39 00 0059 reel 39 00 0060 loose Female crimp terminal tin plate 18 24 AWG 63819 0900 16 24AWG 11 03 0044 20 AWG C Molex MiniFit Jr Receptacle 8 circuits 39 01 2080 natural UL 94V 2 39 01 3085 black UL 94V 2 39 01 2085 natural UL 94V 0 39 03 9082 black UL 94V 0 39 00 0046 reel 39 00 0047 loose Female crimp terminal tin plate 22 28 AWG 63819 1000 22 ...

Page 101: ...um Thrust Load NEMA34 44N 10 lbs Bearing Life NEMA34 2 4 x109 to 5 3 x10 9 revs typ load dependent Motor Bearing NEMA23 Maximum Radial Load NEMA23 110N 25 lbs applied 25mm 1 0in from front bearing Maximum Thrust Load NEMA23 22N 5 lbs Bearing Life NEMA23 3 2 x10 9 to 5 0 x10 9 revs typ load dependent Environmental Shock peak maximum 10G applied no more than twice Vibration RMS 2 Hz 200 Hz 1 0G or 0...

Page 102: ...t seal option IP65 Front Face without shaft seal option IP53 Body rear with dielectric sealing grease in connectors IP55 Body rear no sealing provisions IP53 Compliance Regulatory Certifications UL recognized CE RoHS pending Electrical Safety UL508C EN 61010 1 pending EMI EN 61326 1 pending Country of Origin USA Warranty 3 years ...

Page 103: ...cement is necessary after a short circuit or overload incident A labeled red LED on the board will light when short circuit protection is activated Over temperature protection Thermal overload protected activates at 105C deactivates at 95C A labeled red LED on the board will light in an over temperature condition Under voltage shutdown protection Upon loss of motor bus power the Power Hub will aut...

Page 104: ...2mA 4 5V 12mA 24V Min guaranteed on voltage 3 0VDC Max guaranteed off voltage 2 0VDC Max input voltage 26VDC Connector 2 pin MiniFit Jr Brake Outputs Output type Powered open collector Output voltage 24VDC Rated current 500mA per channel max Short circuit protected with built in inductive clamp Connectors 2 pin MiniFit Jr x2 Power input Specified voltage range 20VDC to 30VDC Max input voltage 40VD...

Page 105: ... Point located on the motor s rear casting to a point on the machine that is bonded to machine PE Use 6 32 thread forming screw 5 16 length McMaster Carr PN 93878A145 Use grounding wire with same AWG number or heavier as the ClearPath DC power input wiring Note In scenarios where ClearPath SC is not connected to a PE Protective Earth return path such as during bench testing or maintenance temporar...

Page 106: ...EKNIC INC TEL 585 784 7454 POWER RETURNS Never use the machine frame or chassis as a power return Use discrete cable or wires for all power wiring Use only recommended wire gauge 16 18AWG typical for all ClearPath SC power wiring When in doubt use heavier wire ...

Page 107: ... INC TEL 585 784 7454 APPENDIX F CIRCUIT SCHEMATICS All schematics in this section are functionally accurate Certain advanced circuit elements have been omitted for clarity POWER4 HUB SCHEMATIC SIMPLIFIED 39 28 1023 RED LED GRN LED 2 POWER4 HUB simplified schematic ...

Page 108: ...3B 12V 2 1 0 1uF C4 768 1 2 R6 1 2 604 R16 1 2 91 R12 1 2 4 02k R15 1 2 1k R14 1 2 62 R1 1 2 62 R13 GND 5V 3 2 1 MMBT5401 Q5 2 1 33nF C9 5V Data to ClearPath 7 2 6 8 1 46999 0567 2 3 1 MMBTA06 Q6 10 11 SN74HC14PWR U4E 4 5 3 Data from ClearPath 12 13 U4F GND GND GND 2 4 3 1 SRF0905 652Y L3 2 1 U4A 4 3 U4B 12V 2 1 0 1uF C6 768 1 2 R18 1 2 604 R23 1 2 91 R19 1 2 4 02k R22 1 2 1k R21 1 2 62 R17 1 2 62...

Page 109: ... 1k R38 3 1 BAS21 CR5 2 1 4 3 NZT560 Q10 2 39 28 1023 1 RTS Brake 1 1 2 LED4 1 2 7 6 5 MOC207R2M U10 3 1 BZX84C47 CR6 1 2 2k 0 5W R40 GND2 24V 1 2 470 R39 5V 24V 1 2 10k R41 1 2 1k R38 3 1 BAS21 CR5 2 1 4 3 NZT560 Q10 39 28 1023 RTS Brake 1 1 2 LED4 2 1 7 6 5 3 1 BZX84C47 CR6 1 2 2k 0 5W R40 GND2 24V 24V BRAKE 1 BRAKE 1 2 1 22uF C28 GND2 Vin Vin Vout Vout On Off PG02S2405A PG02S2412A 2 1 0 1uF C22...

Page 110: ...LED Input B Input B Input A Input A Input B MiniFit 4 ClearPath I O MiniFit 8 Data lines To ClearPath SC Inputs A and B To ClearPath SC Courtesy 24VDC Ext supply required 24V Return A mechanical switch wired to Input B on the SC Hub WIRING A 24V NPN SENSOR TO AN INPUT SC Hub Internal Sensor Main Circuit 24V NPN Sensor 24V GRN LED Input B Input B Input A Input A Input B MiniFit 4 ClearPath I O Mini...

Page 111: ...sor 24V GRN LED Input B Input B Input A Input A Input B MiniFit 4 ClearPath I O MiniFit 8 24V Return flag in flag out on off Sensor Status high low Input Status ClearPath Motor Sensor LED red on off Dark on Operation see wiring diagram above Sensor Output Transistor State flag in flag out on off Sensor Status high low Input Status ClearPath Motor Sensor LED red on off Sensor Output Transistor Stat...

Page 112: ... NEMA 23 Q 1 4 shaft diameter available only on NEMA 23 models with 1 or 2 magnet stacks N Standard dust sealing S Extra Vyton seal Seal option S not available for 1 4 shaft models B Basic features see list below A Advanced features see list below Basic Features Advanced Features Includes all Basic Features Velocity moves RAS g Stop jerk limiting vibration suppression Global torque limit Positive ...

Page 113: ...ovided for calculation of total estimated power usage for any combination of these components Additional Notes Your ClearPath system may not include all of the components listed below The topic of main DC bus power is not discussed in this section Part Power Req d ea x Qty Line Total Watts SC4 HUB 5W x Logic power backup integral hp ClearPath motors optional 5W x Logic power backup fractional hp C...

Page 114: ...tual minimum current rating depends on the current draw of all devices attached to the supply sensors brakes etc 2 Order a Teknic CPM CABLE M2P2P 120 This is a 120 10 ft 2 pin Molex to 2 pin Molex cable as shown below 2 1 wire entry view Pin Assignments COLOR PIN SIGNAL RED 1 BLK 2 V V CPM CABLE M2P2P 120 20 AWG CPM CABLE M2P2P 120 3 Cut the cable to the desired length If you cut it exactly in hal...

Page 115: ...ignments Pin Color Name 1 GRN 2 3 4 5 6 7 8 BLK SC Data from motor Input B Input A User Data to motor Input B Input A User Data to motor SC Data from motor WHT BLU RED YEL BRN ORN Factory overmolded connector Standard connector CPM CABLE CTRL MU120 CPM CABLE CTRL MM660 Cable description ClearPath SC I O connector cable double ended straight through Molex MiniFit Jr 8 position connector to same wir...

Page 116: ...3 RED GND V 1 2 BLK 4 3 RED wire entry view CPM CABLE PWR MM660 CPM CABLE PWR MS120 Cable description ClearPath SC power cable This cable connects the DC output of a Teknic IPC 3 or IPC 5 power supply to the ClearPath SC power input connector It features a Sabre 2 position connector to Molex MiniFit Jr 4 position connector 121 Pin Assignments Pin Color Name 2 BLK 3 RED GND V Pin Assignments Pin Co...

Page 117: ...C L E A R P A T H S C U S E R M A N U A L R E V 1 3 6 117 TEKNIC INC TEL 585 784 7454 Teknic Incorporated 115 Victor Heights Pkwy Victor NY 14564 2020 TEKNIC INCORPORATED ALL RIGHTS RESERVED ...

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