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
7 8
M
OVE
I
NCREMENTAL
D
ISTANCE
(4-D
ISTANCE
)
M
ODE
S
UMMARY
Send a trigge
[increment] from its current position. Send multiple, quick trigger pulses
un
r pulse to tell ClearPath to move a user-defined distance
to tell ClearPath to travel a multiple of any distance in one smooth,
interrupted move.
Incremental Positioning
An incremental move is referenced to its own starting position, not to an
absolute “home” reference position. So, if the incremental move distance
is set to +1000 counts, the shaft will move +1000 counts from its current
position each time a trigger pulse is received.
H
OW IT
W
ORKS
Assert the Enable Input to energize the motor. ClearPath can be set to
perform an optional homing routine (home-to-hard stop only in this
mode). Move distance is selected with Inputs A and B. Pulsing the
Enable/Trigger Input launches each move.
Signal
Function
Incremental Distance Settings
Input A
Motor position vs. time
Input B
Enable/
Increment Select A
Increment Select B
Enable
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.2
Dist.3
Dist.4
Incremental Position M
each move. Move distance
is selected with Input A and B.
st of
•
If a trigger pulse is received during the deceleration phase of a
running move, it will not be chained to the original move. In
fact, the “late pulse” will trigger a separate move.
ode: Inputs and Timing Diagram
Notes:
•
A trigger pulse is required to launch
•
To create a longer continuous move, you can send multiple
trigger pulses and ClearPath will automatically “chain” the
move increments together to form a single non-stop move.
Note: To successfully “chain” move increments, the bur
trigger pulses must be sent rapidly. The pulse train must be
received by the ClearPath during the acceleration through
constant velocity portion of move, but not during the
deceleration phase.
T
EKNIC
,
I
NC
.
F
AX
(585)784-7460
V
OICE
(585)784-7454
Содержание ClearPath
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