C
L E A R
P
A T H
M C / S D
U
S E R
M
A N U A L
R
E V
.
3 . 0 9
1 0 5
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
M
ODE
C
ONTROLS
Enter max. desired
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 enable ClearPath (when
Override Inputs / 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”.
Enter maximum
desired motor
deceleration rate.
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)
“Has Detents” Checkbox
See text for description.
Click to open
Torque Limit
Setup dialog.
Displays HLFB
output status.
Adjust settings for
RAS
TM
(or
optional
g-Stop
TM
) to convert
standard trapezoidal move
profiles into profiles that reduce
noise, resonance, and vibration.
Torque Override Indicator
When lit, the main torque
limit is being overridden by
a secondary, user-set torque
limit (e.g., when an axis is
homing, the main torque
limit may be overridden by
the separate homing torque
limit setting).
D
ESCRIPTION OF
E
NCODER
/K
NOB
S
ETTINGS
M
AX
CW
V
ELOCITY
This setting defines the maximum motor shaft velocity that can be
reached when the quadrature knob is turned in the direction that causes
CW shaft rotation.
M
AX
CCW
V
ELOCITY
This setting defines the maximum shaft velocity that can be reached when
the quadrature knob is turned in the direction that causes CCW shaft
rotation.