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
6 9
M
OVE TO
A
BSOLUTE
P
OSITION
(4-P
OSITION
)
M
ODE
S
UMMARY
Command ClearPath to move to one of four preset locations. Perfect for
replacing air cylinders in scenarios where more power and/or finesse are
needed (and you want to position at more than just two locations).
Absolute Position
An absolute position is referenced to an established “home” position. Your
target positions, in this context, are defined in terms of distance from the
home position. For example, Position 1 might be defined as 2000 encoder
counts from home, while Position 2 might be defined as 5200 encoder
counts from home.
H
OW IT
W
ORKS
Assert the Enable Input to energize the motor. Once enabled ClearPath
automatically homes to a hard stop to establish an absolute home
reference position. Note: Homing is required in this mode.
n be commanded to move to any of four user-
nging the state of Input A and B. Changing these
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: High=Enable Low=Disable
0
1
0
1
0
1
0
1
t
p+
p-
Pos. 1
Pos. 2
Pos. 3
Pos. 4
LOW
LOW
HIGH
LOW
LOW
HIGH
HIGH
HIGH
Notes:
ClearPath must home to a “hard stop” (either upon first enable or upon
every enable) to establish a home reference position. All user-defined target
positions are referenced to the home position.
Pos 1
Home
Pos 2
Pos 3
Pos 4
Absolute Positioning (4-Position Programmable)
Position Control
Absolute Position Mode (4-position): Inputs and Timing Diagram
Notes:
•
Changing the state of Input A and/or B while ClearPath is in
motion cancels the move in progress. ClearPath immediately
ramps to a stop and initiates a new move to the newly indicated
target position.
•
Disable time = 10 mS
T
EKNIC
,
I
NC
.
F
AX
(585)784-7460
V
OICE
(585)784-7454
