The good news is: when you use software controls you don’t need to wire anything
to the inputs. You enable the ClearPath and make moves simply by clicking a few
controls in the UI.
Software
Controls
Hardware
Indicators
Manual Velocity Control Mode: Setup Window
Enter motion parameters. For now, enter the motion parameters and settings as
they appear in the figure above.
Enter maximum (full-scale)
motor velocity for CW and
CCW shaft rotation.
Enter maximum
desired motor
acceleration rate.
Check here to set
motor deceleration
rate to same value
as acceleration rate.
Check to turn on Soft
Controls. Override cannot
be activated when ClearPath
is hardware enabled.
Check to soft enable ClearPath
(This only works when Soft
Controls are active)
Caution:
motor may spin when enabled.
Click arrows to increase or
decrease motor velocity by
increment defined in “Velocity
Resolution” field above. Each
“arrow click” is equivalent to a
hardware quadrature “tick”.
Displays output status
HLFB modes supported:
> Servo On
> AllSYstemsGo
> Speed Output
Enter maximum
desired motor
deceleration rate.
Enter value (1-100) to limit
peak torque capability of
motor as a % of motor’s
maximum peak torque.
Displays commanded speed
(when using hardware inputs).
Set motor to initialize to
either
Zero Velocity
or
Last Commanded
velocity each time
ClearPath is enabled.
Enter desired incremental
increase / decrease in motor
velocity per quadrature tick.
Reverse
sense of motor
direction with respect to
quadrature phasing, or leave
As-Wired
. Eliminates need to
rewire inputs if motor rotates
the “wrong” way initially.
Hardware Input Status LEDs
Light = Input asserted (on)
Dark = Input de-asserted (off)
Set jerk limit. Higher values
result in smoother, more
gradual transitions between
move segments of differing
acceleration; however, overall
move time is increased.
“Has Detents” Checkbox
See text for description.
Teknic, Inc.
- 6 -
ClearPath Quick Start Guide rev.2.2
