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Teknik ClearPath, Quick Start Manual

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Teknik ClearPath Quick Start Manual Download Page 117

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ON AND 

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NTRODUCTION

 

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PPENDIX 

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E

NCODER 

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ESOLUTI

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This section discusses 1) ClearPath Internal Encoder Resolution versus 
Positioning Resolution, and 2) the Input Resolution setting for Step and 
Direction and Pulse Burst Positioning applications. 

T

ERMINOLOGY USED IN THIS SECTION

 

Count 
The smallest increment of encoder/shaft motion that can be commanded 
at a given encoder resolution. 

Resolution 

The number of counts per revolution of the motor shaft. Commonly 
defined in counts per revolution. 

Step (also "Step Pulse", or just "pulse") 

An (ideally) square wave pulse or pulse stream  sent from a controller, 
PLC, indexer, etc. to the ClearPath motor's step input as a means of 
commanding motion. One step pulse sent to ClearPath step input 
commands one increment of motion. 

Steps per count 

The number of step pulses required to move the motor shaft one count. 
This is often set at one step per count, but can be adjusted using the Input 
Resolution setting in MSP (covered later in this section). 

Counts per Step 

The number of counts  the motor shaft will move for each step sent to the 
ClearPath Step Input. This is often set at one step per count, but can be 
adjusted using the Input Resolution setting in MSP (covered later in this 
section). 

I

NTERNAL 

[E

NCODER

]

 

R

ESOLUTION

 

All ClearPath motors are equipped with an incremental rotary encoder 
with an Internal Resolution of 12,800 counts per revolution. This 
resolution is used only by the ClearPath motor's internal processes. 

Understanding Positioning Resolution (covered next) is of greater 
practical value. 

P

OSITIONING 

R

ESOLUTION

 

Positioning Resolution is the ClearPath motor's working encoder 
resolution. There are two available options for Positioning Resolution: 

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Summary of Contents for ClearPath

Page 1: ...te details on safety installation and operation Communication Port USB Micro B DC Power Connector Molex Minifit Jr 4 pos Auxilliary PE Protective Earth Connection Point I O Connector Molex Minifit Jr 8 pos Stainless Steel Shaft NEMA Mounting Flange Die Cast Heatsink Sealing Gasket Housing Anodized Aluminum Keyway Status LED Parts of a ClearPath Read This Warning Always use caution and common sense...

Page 2: ...Windows 8 7 XP and Vista 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 ClearPath Motor CLAMP MOTOR to a stable work surface Clamp it Teknic Inc 2 ClearPath Quick Start Guide rev 2 2 ...

Page 3: ...wer Supply VDC ClearPath Operating Range 24 75VDC Absolute Max Voltage 90VDC Basic power polarity test 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 yo...

Page 4: ...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 Launchi...

Page 5: ...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 Whenever you select a ClearPath mode you ll see a selection window open see figure below Read all of the text in the window It...

Page 6: ...rementdefinedin Velocity Resolution fieldabove Each arrowclick isequivalenttoa hardwarequadrature tick Displaysoutputstatus HLFBmodessupported ServoOn AllSYstemsGo SpeedOutput Entermaximum desiredmotor decelerationrate Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Displayscommandedspeed whenusinghardware inputs Setmotortoinitializeto eitherZeroVelocityor Last...

Page 7: ...and activates Software Controls Notice that the Enable control box is no longer grayed out while the Hardware Indicator LEDs now are grayed out Also the Soft Knob control is now green and ready for use Override Inputs Teknic Inc 7 ClearPath Quick Start Guide rev 2 2 ...

Page 8: ...peed 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 spin...

Page 9: ...gling 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...

Page 10: ...tance 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 ...

Page 11: ...cher 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 usua...

Page 12: ...USER MANUAL T E K N I C I N C F A X 5 8 5 7 8 4 7 4 6 0 V O I C E 5 8 5 7 8 4 7 4 5 4 CLEARPATH MOTORS COVERS CPM MCXX AND CPM SDXX VERSION 1 97 JUNE 10 2016 ...

Page 13: ...2 THIS PAGE INTENTIONALLY LEFT BLANK ...

Page 14: ...er Supplies 17 Connecting Power to a ClearPath Motor 18 Before Powering a ClearPath 18 Connecting I O to a ClearPath Motor 20 ClearPath Inputs 20 ClearPath Output HLFB 24 USER SOFTWARE CLEARPATH MSP 27 Section Overview 27 Minimum System Requirements 27 Installing MSP 27 Communicating With ClearPath 27 Items Required for Communication Setup 27 First Time Communication Setup 28 Tour of ClearPath MSP...

Page 15: ...ue Command Bi polar PWM Input 58 Mode Summary 58 How it works 58 Mode Controls 59 Setting a PWM Deadband Optional 61 Follow Digital Torque Command Unipolar PWM Input 62 Mode summary 62 How it works 62 Mode Controls 63 Follow Digital Torque Command Frequency Input 64 Mode summary 64 How it Works 64 Mode Controls 65 Move to Absolute Position 2 Position 66 Mode Summary 66 How it Works 66 Mode Control...

Page 16: ...EMA 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 APPENDIX C CLEARPATH CABLE PINOUTS 100 CPM CABL...

Page 17: ...H U S E R M A N U A L R E V 1 9 7 6 Internal Encoder Resolution 106 Positioning Resolution 106 Input Resolution Setting in MSP 107 Input Resolution Use Cases 107 INDEX 109 TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 18: ...gency 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 shaf...

Page 19: ...read 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 in accordance with all local state federal and private governing bodies and meet all applicable health and safety standards Teknic has made all reasonable effor...

Page 20: ...n 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 ClearP...

Page 21: ... Connection Point I O Connector Molex Minifit Jr 8 pos Stainless Steel Shaft NEMA Mounting Flange Die Cast Heatsink Sealing Gasket Housing Anodized Aluminum Keyway Status LED Silicon Plug Covers USB Port Always keep USB port covered with silicon plug when not in use see note below ClearPath Motor DC Power Connector Apply main DC power 24 75VDC to this 4 position Molex MiniFit Jr connector I O Conn...

Page 22: ...t Running MSP software Set Operational Mode Set speed and acceleration Set move distances Manage options Perform tuning Monitor system performance DC Power Supply Range 24 75VDC Signal Source to ClearPath Inputs 3 Inputs 5 24VDC Compatible PLC Switches Sensors Encoder Microcontroller HLFB High Level Feedback 5 24VDC Compatible User settable Move Done mode PWM Speed Output mode Brake Control signal...

Page 23: ...tion Setting up your homing parameters is has to be done once using the included MSP software 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 EXAMPLE M Motion objective Move the load platform from target position 1 to target position 4 User actio...

Page 24: ...nector Simplified overview of ClearPath inputs and output Enable Input low state 0 n respond to the state of Inputs A an d B are both de asserted latform will move to position 1 if e to position ClearP ple toggle inputs au ath motors have no High et up to alert everal conditions HLFB can Asserting the Enable input logical 1 high 5 24VDC energizes the motor coils De asserting Enable logical 0 volts...

Page 25: ...T H U S E R M A N U A L R E V 1 9 7 14 Assert at the end of a settled move based on user defined irements M signal proportional to motor speed settling requ Output a PW TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 26: ...le 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 transfo...

Page 27: ...ach mechanical system A weak power supply i e one that can t handle the peak current demands required by ClearPath wn Needless to say if auto tune cannot run to completion you 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...

Page 28: ...r ously at high speeds ly using bursts of power like in when the motors are generating high torque continu and more when the motors are intermittent many point to point positioning systems Please visit Teknic s website www Teknic com for more information features and specifications Th Cl r when th h speeds in m e w TEKNIC MODEL IPC 5 e IPC 5 fully enclosed power supply can typically power two to s...

Page 29: ...ctrical 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...

Page 30: ...re not internally fused on the DC output side 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 Power Supply IPC 5 shown ClearPath Motor If DC output fuse is required insta...

Page 31: ...lex 63819 0900 Terminal Extractor Tool Molex 11 03 0044 Mating Parts I O Connector Pinout Cable Stock 8 22AWG Belden 9421 ClearPath I O connector and mating parts CLEARPATH INPUTS and Input B are designed for use with 5 24VDC1 logic levels and pulses from a wide variety of signal sources and devices including PLCs microcontrollers and even simple switch and battery rigs with no external resistors ...

Page 32: ... Input Voltage VDC 12 10 11 9 8 20 Minimum Input Current INPUT d ENABLE 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...

Page 33: ... 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 perform a predefined action such as execute a move rotation or change velocity See individual operation modes for trigger mode details INPUTS A AND B THE CONTROL INPUTS Tip A...

Page 34: ...et Recommended for all applications 1k IN IN Current Limiter V IN IN Current Limiter V IN IN Current Limiter NPN Sinking Open Collector PNP Sourcing 1k IN IN Current Limiter V Signal Signal Sourcing Sinking Signal low Input asserted Signal high Input asserted ClearPath Input ClearPath Input ClearPath Input ClearPath Input Transistor Outputs Driven Outputs Single Ended Interfacing digital outputs t...

Page 35: ... 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 r Note The user must se external circuitry or an appropriate device to interpret PWM signals used as a move done signal In ASG Position ode the HLFB output asserts conducts when ClearPath is enabled and set thin a user speci...

Page 36: ...en motor is enabled and not in a shutdown state Outputs a 50Hz PWM signal proportional to motor speed constant velocity accel decel 0 1 0 1 0 1 All Systems Go Torque Asserts when motor reaches the commanded torque 0 1 0 1 0 1 HLFB Response by Mode Example Move High Level Feedback output signal during a typical move cycle representative Enable Input Signal Motor Velocity Velocity vs Time Servo On A...

Page 37: ...ion 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 o learn more try this Google...

Page 38: ...taller and follow the on screen prompts Please contact Teknic if you have problems with software installation COMMUNICATING WITH 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 parameter...

Page 39: ...ualified page for Minimum System Requirem 2 Power up ClearPath App connec o ab power supply can be used f comm ti low power low speed testing 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 selecting from the P ClearPath MSP Setu Additional Notes MSP is designed to commu...

Page 40: ...s point Displays ClearPath enable status real time encoder position velocity and exception information Dashboard Click here to show or hide UI below this point ClearPath MSP User In MODE CONTR 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 jus...

Page 41: ...motor coils Toggle Enable to restore operation Motor Status Description ClearPath is disabled Enable is de asserted Motor coils are not energized 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 in a shutdown state Motor coils are not energized ClearPa...

Page 42: ...SP 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 USB Cable ClearPath Elements of the MSP Scope 1 Scope Display 2 Strip Chart 3 Scope Controls ANNII INC 1 2 3 BII BII MSP Scope Overview SCOPE FEATURES Twelve scope variables Fo...

Page 43: ...ed Acceleration Max Phase Voltage and Torque Error just the scale of the time axis think vision This allows you to control how the Scope Display For example if the the full on e scale of the amplitude axis to control how a waveform fits ve the green t Position and the Range is set to 4000 counts horizont s 4000 counts and the bottom line represents s 4 Cursor controls allow you to drag the two ver...

Page 44: ...ance 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 ...

Page 45: ...ses scope data collection to stop It does not clear previously captured data from the scope display 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 10 The Scope Filter cleans up or smoothes the appearance of the displayed tra...

Page 46: ...ms Go Position Mode Signal goes low at beginning of move High Level Feedback out currently set to All Systems Go Position Mode goes high when MoveDone qualify time completes drv is low Drive is enabled and OK inB is low Input B is de asserted inA is low Input A is de asserted enbl is high Enable is asserted Trigger point Click to open legend window MSP Strip Chart display Strip Chart Legend MSP in...

Page 47: ...odes 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 MODE MENU Select ClearPath operating modes from this drop down menu Note number of available modes varies by model SETUP MENU Use this m...

Page 48: ... below along with a s dialog window user e Done The Adv screenshot of it 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 High Level Feedback Refer to section High Level Feedback HLFB TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 49: ...encoder counts of the commanded position the In Range Window for a minimum of 10 1 milliseconds the Verify Time 0 5 5 10 15 10 15 Move Direction Encoder Scale 1 line 1 count Actual Position count 5 Commanded Position 0 In Range Window 10 counts ENCODER BII B I I BII BII ANNI BII BII A N N I Note If the encoder swings out of the In Range window during the Verify Time the Move Done timer automatical...

Page 50: ...C L E A R P A T H U S E R M A N U A L R E V 1 9 7 39 Input A and B Filtering TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 51: ...E A R P A T H U S E R M A N U A L R E V 1 9 7 40 Disable Behavior This setting determines how ClearPath will decelerate if it is disabled while still in motion TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 52: ...a variable torque or force or tension in proportion to a digital command PWM or frequency supplied to the inputs Follow Digital Torque Command Frequency Command Position Control Modes 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 Move to Sensor Position Command ClearPa...

Page 53: ...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 Signal Function Input Type Input A Motor velocity vs time Input B Disabled Disabled Disabled NA NA Main DC Power NA NA NA 0 1 0 1 0 1 t v Example Timing Caution Motor ...

Page 54: ...ate Entermaximum desiredmotor decelerationrate Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Setjerklimit Highervaluesresultin smoother moregradualtransitions betweenmovesegmentsofdiffering acceleration however overallmove timeisincreased TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 55: ...r decrease in motor velocity depending on which direction the encoder is turned i e whether phase A leads B or B leads A Signal Function Input Type Input A Motor velocity vs time Input B Enable Velocity Control A Velocity Control B Enable NA NA Trigger Quadrature Quadrature Logic High Enable Low Disable 0 1 0 1 0 1 t v Example Timing Notes Manual Velocity Control Velocity Control Knob encoder rota...

Page 56: ...dware inputs Setmotortoinitializeto eitherZeroVelocityor LastCommanded velocityeachtime ClearPathisenabled Enter desiredincremental increase decreaseinmotor velocityperquadraturetick Reversesenseofmotor directionwithrespectto quadraturephasing orleave As Wired Eliminatesneedto rewireinputsifmotorrotates the wrong wayinitially HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off...

Page 57: ...S DETENTS CHECKBOX 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 4th quadrature transition it sees 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 qua...

Page 58: ...ocity Select B Enable NA NA Trigger Logic High Enable Low Disable 0 1 0 1 0 1 0 1 t v 0 Velocity 1 Velocity 2 Velocity 3 Velocity 4 LOW LOW HIGH LOW LOW HIGH HIGH HIGH 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 Velocity 1 Velocity 2 Velocity 3 Velocity 4 Ramp Up Down to Selected Velo...

Page 59: ...scommandedvelocity whenusing hardinputs Displayscommandedvelocity whenusing softinputs HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Setjerkli...

Page 60: ...ow Disable 0 1 0 1 t v Example Timing Notes Asserting Inhibit Input causes immediate ramp to zero speed See text for information on deadband set up and application 0 1 0 1 Inside deadband Inhibit on Duty cycle of applied PWM signal Follow Digital Velocity Command Bi Polar PWM Command Velocity Control 90 50 10 Follow Digital Velocity Command Bi Polar PWM Control Inputs and Timing Diagram Notes PWM ...

Page 61: ... SoftControls Displayscommanded velocity whenusing hardcontrols HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off PWMMeter Displays dutycycleofPWMsource connectedtoInputB PWMSoftSlider EmulatesPWM input forusewith SoftControls Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardware...

Page 62: ... 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 P...

Page 63: ...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 ...

Page 64: ...RY Signal Function Input Type Input A Motor velocity vs time Input B Enable Direction Velocity Enable NA NA Trigger Logic High CW Low CCW Pulse Variable PWM Logic High Enable Low Disable 0 1 0 1 t v Example Timing Notes 0 1 0 1 Duty cycle of applied PWM signal 90 10 OFF Follow Digital Velocity Command Unipolar PWM Command Velocity Control Follow Digital Velocity or more the PWM input is considered...

Page 65: ...h SoftControls Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Setjerklimit Highervaluesresultin smoother moregradualtransitions betweenmovesegmentsofdiffering acceleration however overallmove timeisincrea...

Page 66: ... A T H U S E R M A N U A L R E V 1 9 7 55 For CW shaft rotation set Input A high For CCW shaft rotation set Input A low PWM minimum on time and minimum off time 300nS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 67: ...trolled by the state of Input A See Inputs and Timing table below Signal Function Input Type Input A Motor velocity vs time Input B Enable Direction Velocity Enable NA NA Trigger Logic High CW Low CCW Pulse Variable Frequency Logic High Enable Low Disable 0 1 0 1 t v Example Timing Notes 0 1 0 1 Follow Digital Velocity Command Frequency Input Control Velocity Control Follow Digital Velocity Comman...

Page 68: ...or decelerationrate Displayscommanded velocity whenusing SoftControls Displayscommanded velocity whenusing hardcontrols HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off FrequencyMeter Displaysfrequencyof inputsignalsource connectedtoInputB FrequencySoftSlider Emulatesfrequency inputsource foruse withSoftControls Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo S...

Page 69: ...it on Low Inhibit off Pulse Variable PWM Logic High Enable Low Disable 0 1 0 1 t tq Example Timing Notes Asserting Inhibit Input causes immediate jump to zero torque See text for information on deadband set up and application 0 1 0 1 Inside deadband Inhibit on Duty cycle of applied PWM signal Follow Digital Torque Command Bi Polar PWM Command Torque Control 90 50 20 Follow Digital Torque Command B...

Page 70: ...ayscommanded torque whenusing SoftControls Displayscommanded torque whenusing hardcontrols HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off PWMMeter Displays dutycycleofPWMsource connectedtoInputB PWMSoftSlider EmulatesPWM input forusewith SoftControls Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactiva...

Page 71: ... 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 Torque 0 Zero Torque 10 20 30 40 50 60 70 80 90 100 0 Max Torque CW Rotation Duty Cycle PWM duty cy...

Page 72: ...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...

Page 73: ...ction of shaft rotation is controlled by the state of Input A See Inputs and Timing table below RY Signal Function Input Type Input A Motor torque vs time Input B Enable Direction Torque Enable NA NA Trigger Logic High CW Low CCW Pulse Variable PWM Logic High Enable Low Disable 0 1 0 1 t tq Example Timing Notes 0 1 0 1 Duty cycle of applied PWM signal 90 10 OFF Variable Torque With Unipolar PWM In...

Page 74: ...putstatus HLFB modessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled EntervalueinmS Determines howlongClearPathcanspinat maxspeedbeforeshuttingdown Motor torque vs PWM duty cycle e i e torque low 0 and 100 duty cycle signals static low and static high respectively are invalid PWM states interpreted by ClearPath zero tor...

Page 75: ... applied CW CCW is controlled by the state of Input A See Inputs and Timing table below Signal Function Input Type Input A Motor torque vs time Input B Enable Direction Torque Enable NA NA Trigger Logic High CW Low CCW Pulse Variable Frequency Logic High Enable Low Disable 0 1 0 1 t tq Example Timing Notes 0 1 0 1 Variable Torque With Frequency Input Control Torque Control Variable Torque Mode g D...

Page 76: ...nnectedtoInputB FrequencySoftSlider Emulatesfrequency input forusewithSoft Controls Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled Entermaximumspeed ClearPathwillshutdownif thisspeedlimitisexceeded EntervalueinmS Determines howlongClearPathcanspinat maxspeedbeforeshuttingdown SetMin MaxFr...

Page 77: ...be defined as 5200 encoder counts from home while Position 2 might be defined as 2000 encoder counts from home Signal Function Input Type Input A Motor position vs time Input B Enable Position Select Home Switch Enable NA NA Trigger Logic High Pos 2 Low Pos 1 Logic High Home Low Not Home Logic High Enable Low Disable 0 1 0 1 t p p Example Timing Notes ClearPath must home to a switch upon enable to...

Page 78: ...abled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque SetPosition1 Enterdistance fromhomein encodercounts SetPosition2 Enterdistance fromhomein encodercounts Setjerklimit Highervaluesresultin smoother moregradualtransitions betweenmovesegmentsofdiffering acceleration however overallmove timeisincreased HOMING SETUP HOME TO SWITCH Homing is required in this mode...

Page 79: ...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 TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 80: ...e ove See table below for timing and input details All moves execute at ned speed and acceleration After homing ClearPath ca defined positions by cha inputs has the dual effect of selecting target position and triggering the m the user defi Signal Function Position Settings Example Timing Input A Motor position vs time Input B Enable Position Select A Position Select B Enable NA NA Trigger Logic H...

Page 81: ...playsoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque SetTargetPositions Entermovedistance from home foreachinputstate Setjerklimit Highervaluesresultin smoother moregradualtransitions betweenmovesegmentsofdifferin...

Page 82: ...n 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...

Page 83: ...osing direction See table below for Input states and timing details RY Use ClearP inexpensive two posit Signal Function Example Timing Move to Sensor Position Position Control Wired in series with Input A Wired in series with Input A Wired in series with Input B Wired in series with Input B Input A CW Move Request CCW Move Request Enable High Enable Low Disable Sensor A User Command A Input B Enab...

Page 84: ...einputs Foruseonly whenSoftControlsareactive Caution motormayspinwhen enabled Entermotor decelerationrate HardwareInputStatusLEDs Light Inputasserted on Dark Inputde asserted off Displaysoutputstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Overridecannot beactivatedwhenClearPath ishardwareenabled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmoto...

Page 85: ... Trigger Pulse Enable line low to trigger moves Trigger Logic Low Dist 1 High Dist 2 Logic High Home Low Not Home Logic High Enable Low Disable 0 1 0 1 t p p Example Timing Notes ClearPath can be programmed to home upon enable see text for full details Moves are triggered on rising edge of trigger pulse 0 1 Home D2 D2 D2 D1 D1 Trigger pulse Incremental Positioning 2 Incremental Distances Position ...

Page 86: ...tstatus HLFBmodessupported ServoOn AllSystemsGo SpeedOutput ChecktoturnonSoft Controls Override cannotbeactivated whenClearPathis hardwareenabled Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Entervalue 1 400mS to sethowlongtheEnable linemustbepulledlowto qualifyasavalidtrigger pulse SetIncrement2 Entermovedistance inencodercounts SetIncrement1 Entermovedista...

Page 87: ...orsensor Thisbecomesthedefacto homeposition Selectdirectionofshaft rotationduringhoming Seta softlimit thatwill preventClearPathfrom movingbeyondthe specifieddistancefrom home Setto 0 forOFF 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 ...

Page 88: ...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 sue ...

Page 89: ...le Trigger Pulse Enable line to trigger moves Trigger Logic High Enable Low Disable 0 1 0 1 t p p Example Timing Notes ClearPath can be programmed to home upon enable see text for full details Moves are triggered on rising edge of trigger pulse Trigger pulse 0 1 LOW LOW HIGH LOW LOW HIGH HIGH HIGH D1 D2 D2 D2 D3 D4 D1 D1 Incremental Positioning 4 Distance Programmable Position Control Dist 1 Dist ...

Page 90: ...imumpeaktorque SetMoveIncrements Entermovedistancefor eachinputstate Setjerklimit Highervaluesresultin smoother moregradualtransitions betweenmovesegmentsofdiffering acceleration however overallmove timeisincreased ClicktoopenHoming Setupwindow Refer totextforinstructions onhomingsetup SoftInputsandLEDs Emulatehardwareinputs For useonlywhenSoftControls areactive Caution motor mayspinwhenenabled Ha...

Page 91: ... toturnoff ClicktoviewAdvanced Settingssection HOMING SETUP STANDARD 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 perfo...

Page 92: ...et the final SelectwhetherClearPath issuesaLockdownora Warningwhenthe Max TravelFromHome value isexceeded 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...

Page 93: ...B ll moves are executed at the user defined acceleration and speed setting Direction of motor s Input A See inputs and timing diagra A 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...

Page 94: ...berofinput pulsesrequiredto rotatethemotorshaft exactlyonerevolution Setjerklimit Highervalues resultinsmoother more gradualtransitionsbetween movesegmentsofdiffering acceleration however overall movetimeisincreased ClicktoopenHoming Setupwindow when homingisenabled SoftInputsandLEDs Emulatehardwareinputs For useonlywhenSoftControls areactive Caution motor mayspinwhenenabled HardwareInputStatusLED...

Page 95: ...arantees the moving element of the axis makes solid repeatable contact with the stationary element when driven into it 2 Enable homing in MSP 3 Click the Setup button to open the homing dialog 4 Enter homing Homing setup dialog 5 Test and modify your homing setup for consistent repeatable performance TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 96: ...e that costs less and does more HOW IT WORKS 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 Signal Function Input Type Input A Motor velocity vs time Input B Enable Direction Step Enable NA NA Trigger Logic High CW Low CCW P...

Page 97: ... diagram below for details and important step and direction signal timing requirements one count per x Step Position Direction n n 1 n 1 n tcyc tpw tds tds tdh tds Minimum time between direction change and step input change 25nS tcyc Minimum step cycle time 2uS tpw Minimum step pulse width 1 uS tdh Minimum direction hold time 1uS Steps register on rising edges only Note In this example 1 step at I...

Page 98: ... onerevolution Entervalue 1 100 tolimit peaktorquecapabilityof motorasa ofmotor s maximumpeaktorque Setjerklimit Highervalues resultinsmoother more gradualtransitionsbetween movesegmentsofdiffering acceleration however overall movetimeisincreased ClicktoopenHoming Setupwindow when homingisenabled SoftInputsandLEDs Emulatehardwareinputs For useonlywhenSoftControls areactive Caution motor mayspinwhe...

Page 99: ... hard stop that guarantees the moving element of the axis makes solid repeatable contact with the stationary element when driven into it 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 of homing parameters Homing Setup dialog 5 Test and modify your homing setup for consistent repeatable performance TEKNIC INC ...

Page 100: ...speed velocity is beyond motor spec Yellow 4 blinks Shutdown Disallows motion Servo off Toggle Enable input Tracking Error Limit Exceeded Possible causes excessive friction mechanical misalignment vel accel too high low DC bus voltage Yellow 4 blinks Shutdown Disallows Servo off Toggle Enable input motion RMS Torque Limit Exceeded e too high undersized motor Yellow 4 blinks Shutdown Disallows moti...

Page 101: ...llow strobe Shutdown Disallow Servo off Toggle Enable s motion input DSP Watchdog Restart Firmware problem Re flash firmwar with same or newer f e irmware version Return unit to Teknic if problem not solved Green Yellow alternating Lockdown Disallows Servo on Toggle Enable motion input Travel Limits Violated lockdown Commanded position is on the wrong side of the home position Green Yellow alterna...

Page 102: ... will conti communicate if v ge remains Once age returns roximately 2 C or higher llow blink code will clear th t LED Behavior Exception Type Affect on Motion Servo Behavior How to Clear Exception Status or Exception Message Reported in UI Green 3 blinks Alert Allows motion Servo on Auto cl hen cause is no longer present ears w Voltage Saturation Green 3 blinks Alert All n Au cause is no longer pr...

Page 103: ...USB cable 86 87 0 76 3 420 0 030 60 10 0 76 2 366 0 030 108 95 0 76 4 289 0 030 73 03 0 0 06 2 875 0 000 0 002 4x 0 220 5 60 THRU 90 45 I O Connector Power Entry Connector 50 1 969 50 1 969 3x 3 17 0 125 For 6 or M3 Thread Cutters For mounting 60mm Fan 6 62 0 260 Model Number L CPM _ _ _ _ 3411_ _ _ 79 70 3 138 CPM _ _ _ _ 3421_ _ _ 98 52 3 879 CPM _ _ _ _ 3432_ _ _ 117 52 4 627 CPM _ _ _ _ 3441_ ...

Page 104: ... 82 426 Recommended Clearance for USB Access 59 10 0 76 2 327 030 38 10 0 0 13 1 500 000 005 4x 5 20 205 THRU 53 85 2 120 81 85 0 76 3 222 03 66 68 2 625 I O Connector Power Connector 6 35 250 Optional 1 4 Full Round Shaft Model Number L 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_ _ _ 14...

Page 105: ...ling slips exhibits excessive backlash or can not accommodate typical shaft to shaft misalignments Ultimately the choice of shaft interface or coupling depends on the application whether a precision positioning stage or a low speed conveyor The shaft interface coupling pulley pinion etc must be securely clamped to the shaft with minimum backlash ideally none This primary mechanical interface is cr...

Page 106: ...e prone to failure and often become the weak link when joi motor to a load Set screws deform the metal around the screw s point of contact often resulting in a raised bur on the shaft that can make it hard to remove and replace the coupling element Set screws also tend to slip and sco Clamp close to the motor For maximum secure pulleys and pinions as close to the motor face as practical This effec...

Page 107: ...able engineering margin Don t use set screw type couplings They damage the motor shaft and tend to be less reliable over time than clamp style couplings Do use clamp style couplings These clamp around th circumference of the shaft at one or two points without deforming the shaft surface Don t use rigid couplings they are notoriously intolerant o misalignments Don t u or torsional stiffness is crit...

Page 108: ...ion 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 PULL P NTING ible llowing the manufacturer s installation guidelines en EYS AND PINIONS ULLEY AND PINION MOU Always follow the manufacturers mounting guidelines Mount pulleys and pinions as close to the motor face as poss while still fo Never drill throug...

Page 109: ...ubber to steel can be used successfully with Hard Stop Homing When selecting end stops for a Hard Stop Homing application consider the following Axes with low friction that are easily back driven can tolerate softer rubber end stops and still achieve good homing performance Higher friction applications and those that cannot be back driven will generally require harder end stop material to achieve ...

Page 110: ...res exceeding the ratings of most other motor drives your system should always be designed with the best cooling you can reasonably provide Note ClearPath will shut down to self protect when the rear cover temperature reaches 80 degrees C 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 Inn...

Page 111: ... 3 WHT 2 BLK 1 GRN 7 BRN 6 YEL 122 Pin Assignments Pin Color Name 1 GRN 2 3 4 5 6 7 8 BLK HLFB Input B Input A Enable Input B Input A Enable HLFB WHT BLU RED YEL BRN ORN Factory overmolded connector Standard connector CPM CABLE CTRL MM660 Cable description ClearPath I O connector cable double ended Molex MiniFit Jr 8 position connector to same Use as is or cut in half to make two cables with flyin...

Page 112: ...LK 4 3 RED wire entry view CPM CABLE PWR MS120 Cable description ClearPath power cable This cable connects the DC output of a Teknic IPC 3 or IPC 5 power supply to the ClearPath 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 Color Name 1 RED 2 BLK V GND 1 2 BLK 4 3 RED ...

Page 113: ...RMS 2 Hz 200 r 0 5mm whichever is less Maximum External Shaft Deceleration 250 000 rad s 2 Maximum Ambient Operating Temp For seasonal intermittent duty 70 C 158 F RMS torque output de rated For continuous long term use 55 C 122 F RMS torque output de rated For full rated output speed torque 40 C 104 F Maximum Body Temp 100 C Maximum Rear Cover Temp 70 C Storage Temperature 20 C to 85 C Humidity 0...

Page 114: ...n the ClearP If e m mounting l o make a good PE connection Just insta th o ar casting to a point on the machine that is b unding wire with same AWG nu to c E Use gro e as the ClearPath DC power input Note In scenarios where ClearPath is not connected to a PE Protective E th n such as during bench testing ar retur path or maintenance temporary grounding measures may be necessary to comply with safe...

Page 115: ...NS Never use the machine frame or chassis as a power return Use discrete cable or wires for all power wiring ire gauge 16 18AWG typical for all ClearPath power wiring When in doubt use heavier wire Use only recommended w TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

Page 116: ...tween S and D characteristics D Parallel Delta higher speed lower torque Shaft Seal N Standard dust sealing S Extra Vyton seal for environments with strong abrasives such as fiberglass or where liquid exposure may occur Note Seal option S not available for 1 4 shaft diameter models Motor Shaft Diameter L Standard shaft diameter Note Standard diameter is 1 2 for NEMA 34 models and 3 8 for NEMA 23 m...

Page 117: ...s one increment of motion Steps per count The number of step pulses required to move the motor shaft one count This is often set at one step per count but can be adjusted using the Input Resolution setting in MSP covered later in this section Counts per Step The number of counts the motor shaft will move for each step sent to the ClearPath Step Input This is often set at one step per count but can...

Page 118: ... topic relates to Pulse Burst Positioning and Step and Direction modes only The Input Resolution setting lets you set the number of step pulses n INPUT RESOLU tor adjust required to rotate the motor shaft one revolution It is set via a drop dow menu in the mode settings of Pulse Burst Positioning and Step and Direction modes The following section explains the main reasons for changing the Input Re...

Page 119: ...n t generate pulses fast enough to command desired peak velocity With the above Input Resolution setting it takes only 200 step pulses to make this 800 count motor rotate one full revolution Case 3 You want multiple step pulses to command one n This use case is less typical but can be useful count of rotatio if you need to replace a step motor of differing resolution with a ClearPath and you don t...

Page 120: ...city Control 44 Move Incremental Distance 2 Distance 74 Move Incremental Distance 4 Distance 78 Move to Absolute Position 66 Move to Absolute Position 4 Position 69 Move to Sensor Position 72 Pulse Burst Positioning 82 of Operation SD Family 85 88 Step and Direction Input 85 onnecting power to a ClearPath 18 Fusing 19 Illustration 18 Note on Lower Voltage 16 Requirements 15 Selection 15 Switch pla...

Page 121: ...L E A R P A T H U S E R M A N U A L R E V 1 9 7 110 Teknic Incorporated 115 Victor Heights Pkwy Victor NY 14564 2016 TEKNIC INCORPORATED ALL RIGHTS RESERVED TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 ...

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