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1. CPM CABLE CTRL MM660 Cable description ClearPath I O connector cable double ended Molex MiniFit J r 8 position connector to same Use as is or cut in half to make two cables with flying leads Pin Color Name Ca war ina e ver rme TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 97 CPM CABLE PWR MM660 Cable description ClearPath power cable double ended MiniFit Jr 4 position connector to same Use as is or cut in half to make two cables with flying leads 2 BLK 1 wire entry view CPM CABLE PWR MS120 Cable description ClearPath power cable This cable connects the DC output of a Teknic E3PS12 75 power supply to the ClearPath power input connector It features a Sabre 2 position connector to Molex MiniFit Jr 4 position connector 4 3 RED E Eo 2 BLK 1 wire entry view wire entry view Pin Assignments Pin Assignments TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV Be APPENDIX D COMMON SPECIFICATIONS Electrical Power Requirements Supply Voltage Typical Supply Voltage Minimum Supply Voltage Maximum Continuous Bus Current Typical Continuous Bus Current Maximum Idle Power usage from Bus Electrical I O Logic Input Voltage Range Input Current 5V Input Current 28V HLFB Absolute Maximum Voltage HLFB Output Current Maximum HLFB Reverse Current Maximum HL
2. NEMA 23 O N N Gti o N On o V T o0 E N O r S oO QQ 2 Zoo 27 AN 5 QO TDN 2 oo tt To Q O r Q an x lt WoO 1O ar Di aNOE g 7S O16 LION O a_ OU L Jon O 2 i O0 u o N aR lt O CoN O ON ae O O a O a8 O T ma FI i oa SIR Sa tA a CaN o oo920Q i O N OO Ss a tA o N fe Een F _ eee ma owt o 2 oo LH I i Z Ow 0 NSN O S RE T 5 To Or ld O N a V ee Se Es es ee ee ee ee i a rg tr ng rg il N l l ee m m E E E E aS a i C ty ae tO TI a 4 om ee y 1 00 Q OO mmm a l l C2 ln O n 6 3 fod o z t EDU e O Da oll a o n 100 OO 00 OD 62 02 xf 09 49 9 BE o MIMIN gt 00 00 00 CO Cc AININ I IION s LL N pan 3 c oy ow yt O O c Hoo od LL lt 5 f f f f f fa a Q Poi SS i ziIalol O Q 0100109 09 9 v T O LEINININININ ele 5 I I I j vo OD Ss Jz y oy a f 09 SES gt lt ou a oa CON 3g N m T TAn Cc N A ee SOO 5 T Of oaa a DASE 0 Oj rl I f I x FOE gt gt S FL OL rate ana oe ale PEO UO 10 Oro TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 90 MOUNTING CONSIDERATIONS Tip Teknic recommends mounting the motor such that the USB port and status LED are visible and accessible when the motor is
3. Trigger at the end of any positive move after Move Done criteria are met useful for assessing settling performance Trigger at the end of any negative move after Move Done criteria are met useful for assessing settling performance 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 at the time of a fault Trigger on the rising edge of the active waveform Trigger on the falling edge of the active waveform 7 Trigger Mode settings allow you to select exactly when data acquisition begins and ends These controls are analogous to the trigger modes found on a digital storage oscilloscope e Normal Causes scope data collection to occur whenever a valid trigger source is detected e Single Works the same as Normal mode except it captures only a single data set when a valid trigger source is detected TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 31 TEKNIC INC After the single sweep capture data collection automatically stops e Auto This is the rolling always on setting Data is continuously collected refreshed
4. 1 0G or 0 5mm whichever is less 250 000 rad s 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 soeed torque 40 C 104 F 100 C 70 C 20 C to 85 C 0 to 90 Non Condensing 40mm square 45 25 mm bolt center gt 7CFM 60mm square 70 71 mm bolt center gt 14CFM IPC 65 IPC 53 IPC 55 IPC 53 UL recognized CE RoHS UL508C EN 61010 1 pending EN 61326 1 pending USA 3 years FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 99 Teknic Incorporated 1150 E Pittsford Victor Road Pittsford NY 14534 Copyright 2014 Teknic Inc TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454
5. Duty Cycle 0 00 Mot Ready C Override E G E a Inputs Check to turn on Soft Soft Inputs and LEDs Controls Override cannot Emulate hardware inputs For be activated when ClearPath use only when Soft Controls is hardware enabled are active Caution motor may spin when enabled 0 00 PWM Soft Slider Displays commanded Displays output status Emulates PWM velocity when using HLFB modes supported input for use with Soft Controls gt Servo On Soft Controls gt AllSystemsGo gt Speed Output Motor velocity vs PWM duty cycle e Motor velocity is proportional to PWM duty cycle velocity increases as duty cycle increases See figure below e In practice 0 and 100 duty cycle signals static low and static high respectively are invalid PWM states interpreted by ClearPath as PWM turned off This is the equivalent of a zero velocity command Max Velocity user set Velocity TEKNIC INC 0 50 100 PWM Duty Cycle FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 52 e For CW shaft rotation set Input A high For CCW shaft rotation set Input A low e PWM minimum on time and minimum off time 300nS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 RE FOLLOW DIGITAL VELOCITY COMMAND FREQUENCY INPUT MODE SUMMARY Connect a digital variable frequency waveform from your PLC or other device and ClearPath will run at a velocit
6. Enable is de asserted Motor coils are not energized ClearPath is in a lockdown state Caution Motor is energized with shaft locked ClearPath is in a shutdown state Motor coils are not energized ClearPath is connected to a PC but not powered up This indicates low or no DC power MSP Dashboard Note The Position Counter is not displayed in velocity or torque modes TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 MSP SCOPE 84 OVERVIEW The MSP Scope takes real time streaming data from ClearPath and plots it on the Scope Display to provide a dynamic picture of motor performance The scope can be used to display your motor s current torque output tracking error commanded velocity acceleration and more Feedback from the scope is critical for motor tuning servo gain refinement and in the analysis and troubleshooting of electrical mechanical and motion related problems The MSP Scope consists of three major 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 1 Scope Display 2 Strip Chart 3 Scope Controls Elements of the MSP Scope Ga Takhar Path VI OFT contig ation fhe CPM S4P2F Sth net oadl gt frodi ee tht Mode Seo Adored te sr Tunng Mode see USB Cable Type A to Micr
7. Perfect for Move to Absolute Position 2 Positions S v ein a ee replacing air cylinders that move between two positions Command ClearPath to move to one of four preset locations Perfect for Move to Absolute Position 4 Positions x vA replacing air cylinders where more power and finesse is needed and you want to position at more than just two positions Trigger ClearPath to move a user defined distance one of two from its current Move Incremental Distance 2 Distances x A position You can also send multiple quick trigger pulses to tell ClearPath to travel a multiple of any of its user defined distances in one smooth move Trigger ClearPath to move a user defined distance one of four from its current Move Incremental Distance 4 Distances x A position You can also send multiple quick trigger pulses to tell ClearPath to travel a multiple of any of its user defined distances in one smooth move PULSE POSITIONING MODE Use a timer counter on your PLC or a simple circuit to send a burst of pulses to ClearPath and it will move a distance proportional to the number of pulses Pulse Burst Positioning x S sent at your preselected velocity and acceleration This mode gives you most of the flexibility of a step amp direction motion controller without the cost and added complexity TEKNIC ING Fax 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 kye SPIN ON POWER UP MODE SUMMARY This is ClearPath
8. cursor values 5 Trace Storage controls allow you to save and overlay up to two traces on the scope display J ust capture a waveform and click either the STOO or STO1 button Storage 0 and Storage 1 The selected trace is then stored and displayed in either pink STOO or blue STO 1 Hide or show either stored trace by clicking its associated On Off button 6 The Trigger Source Trigger On drop down menu lets you choose what condition s must be met before scope data collection is triggered The following Trigger Source options are available If Trigger Source is set to Start of Positive Command Start of Negative Command Start of Any Command End of Positive Command End of Negative Command End of Any Command End of Positive Settled Move End of Negative Settled Move End of Any Settled Move Voltage T orque Speed Limit Drive Shutdown or Exception Rising Slope Falling Slope MSP Scope will Trigger at the start of any positive move useful for tuning Trigger at the start of any negative move useful for tuning Trigger at the start of any move positive or negative useful for assessing bi directional tuning performance Trigger at the end of any positive move useful for assessing settling performance Trigger at the end of any negative move useful for assessing settling performance Trigger at the end of any move positive or negative useful for assessing bi directional settling
9. present Auto clears at start of next move if cause is no longer present Auto clears at start of next move if cause is no longer present Auto clears when cause is no longer present voltage Commutation Startup Error DC bus too low for proper commutation start up Possible causes brown out incorrect power supply voltage supply configured for higher AC line voltage Firmware ROMsum Error Load config file compatible with motor s firmware version or reset motor to factory defaults Velocity Set Too High Velocity speed limit exceeds motor s factory set maximum speed RAS Change Rejected Unexpected error Contact Teknic for work around or new firmware Speed Too High For RAS Unexpected error Contact Teknic for work around or new firmware MagAlign Distance Error Distance traveled does not match expected value Possible cause motor against an end stop incorrect motor settings MagAlign Direction Error Direction traveled is incorrect Probable cause external forces during MagAlign procedure DSP Watchdog Restart Firmware problem Re flash firmware with same or newer firmware version Return unit to Teknic if problem not solved Travel Limits Violated lockdown Commanded position is on the wrong side of the home position Travel Limits Violated lockdown Commanded position is beyond the Max Travel from Home position as specified in Homing Setup Motor Enable Conflict The hardware inputs
10. turn a tie into a noose or tear out a patch of hair in less than 20 milliseconds by comparison it takes about 100 milliseconds to blink We re not trying to scare you well maybe a little but we want all ClearPath users to stay safe and intact These devices are extremely powerful and dangerous if used carelessly Please read and understand all safety warnings in the ClearPath User Manual before operating a ClearPath Motor Teknic Inc 1 ClearPath Quick Start Guide rev 1 7 Initial Setup Download and install ClearPath MSP Motor Setup Program from the Teknic website http www teknic com downloads MSP is compatible with Windows 8 7 XP and Vista amp Downloads Teknic e D www teknic com downloads Q Apps M Customize Links Favorites Options Personal Stuff Roadrunner webmail E Google Finance Zazzle Img guidelines GoToMyPC Login ClearPath User Manual Filename Description Filetype Size kB CLEARPATH USER MANUAL PDF JSER MANUAL FOR CLEARPATH MODELS MCXX AND SDXX PDF 4695 ClearPath MSP Software Motor Setup Program Filename Description Filetype Size kB MOTOR_SETUP ZIP Teknic website Downloads page Secure your ClearPath to a stable work surface A Quick Grip style bar clamp or bench vise will do the job nicely Tip You can help preserve your motor s finish by covering the vise jaws with tape cardboard or similar Clamp it Teknic Inc 2 ClearPath Q
11. 4 Verify Time msec Move Done setup dialog Move Direction Encoder Scale In Range Window 10 counts 1 line 1 count How Move Done Works Move Done status is achieved when both of the Move Done criteria are met In the above figure Move Done occurs only when the motor is within 10 encoder counts of the commanded position the In Range Window for a minimum of 10 1 milliseconds the Verify Time Note If the encoder swings out of the In Range window during the Verify Time the Move Done timer automatically resets The timer starts a new countdown only when the motor is back within the In Range window Because mechanical systems and settling performance requirements vary by application the user may need to experiment a bit to determine appropriate values for the In Range Window and Verify Time FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 36 Input A and B Filtering A Input 4 amp B Filtering Setup x These setings specity how long ClearFath will wait after it sees an input cross its logic threshhold before it considers the inputto have changed Use low values when solid state devices are connected but use higher values tens of milliseconds when mechanical switthes are connected in orderto debounce the switthes In modes where 4 amp B values only make sense when taken together fe g Absolute Position modes the greater of the two filter values is used
12. 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 a 5 deadband any PWM signal with a duty cycle between 45 and 55 i e in the deadband is interpreted as a zero torque command by ClearPath Note As deadband setting increases the slope of torque vs duty cycle increases as illustrated below Torque a Slope increases as deadband increases Max 10 20 30 40 50 60 70 80 90 100 Duty Cycle FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 RYJ FOLLOW DIGITAL TORQUE COMMAND UNIPOLAR PWM INPUT MODE SUMMARY Connect a digital PWM waveform from your PLC or other device and ClearPath will run at a speed proportional to the duty cycle of the PWM waveform HOW IT WORKS Assert the Enable Input to energize the motor Motor torque is controlled be applying a variable PWM signal to Input B 0 PWM duty cycle commands zero torque and 100 duty cycle commands full scale torque Changes in speed occur at the user defined acceleration rate Direction of shaft rotation is controlled by the state of Input A See Inputs and Timing table below CURA Variable Torque With Unipolar PWM Input Control Signal Function Input Type Logic High CW Low CCW Pulse Variable PWM Duty cycle of applied PWM signal lt
13. Power Supply C Powering up your ClearPath Connect the USB cable from ClearPath to 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 Ga ClearPath MSP 1 1 56 configuration file lt Unloaded lt CPM File Edit Setup Advanced About eee Offline eee erify ClearPath Tuning ClearPath motors can be tuned to work well with a large variety of mechanical systems Name Unloaded lt CPM MCP 23115 RQN 1 1 D Part CPM MCPV 2311S RON 1 1 D User Name Unloaded This motor Description is currently tuned for this mechanical system CLEARPATH RMS Max Velocity Exceptions Is the currentmechanical system the same i one described above r Do not ask again for this motor I will remember to re tune if the mechanics are changed Launching ClearPath MSP Teknic Inc 4 ClearPath Quick Start Guide rev 1 7 Running ClearPath under software control Before wiring switches sensors outputs or mechanical components to your ClearPath try running ClearPath unloaded using only the MSP software controls This will help you get acquainted with the MSP user
14. Settings f Input A Filter Time Constant msec f input A Filter Time Constant msec Cancel TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 Disable Behavior This setting determines how ClearPath will decelerate if it is disabled while still in motion TEKNIC INC A Disable Behavior Setup x When ClearPath s Enable inputis de asserted while the motor is still spinning GlearPath can either 1 decelerate atthe currently set rate and then disable or litcan disable first and stop the spinning by using the dynamic brake feature lt your current deceleration value is low and you wantto stop more quickly upon motor disable use dynamic braking A high deceleration value will often stop the motor faster than dynamic braking Disable Behavior Dynamic Brake Decelerate to Stop Cancel FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 ey MODES OF OPERATION MC FAMILY This section discusses ClearPath MC Family modes of operation including input output functions timing and software features and functions TABLE OF CLEARPATH MC FAMILY OPERATIONAL MODES WV Koyo l Operation Mode Description MCVC MCPV VELOCITY GONTROL MODES Just turn on power and smoothly ramp to your preset velocity For when all you Spin On Power Up vA S need is reliable constant velocity from a brushless motor and a bare minimum of wi
15. TORQUE COMMAND BI POLAR PWM INPUT MODE SUMMARY Connect a digital PWM waveform from your PLC or other device and ClearPath will produce torque proportional to the duty cycle of the PWM waveform HOW IT WORKS Assert the Enable Input to energize the motor Control motor torque by applying a PWM signal to Input B Motor torque changes in proportion to the duty cycle of the applied PWM signal Assert the Inhibit signal Input A to immediately turn off torque See figure below and read text for timing and PWM requirements Torque Control i Follow Digital Torque Command Bi Polar PWM Command Signal Function Input Type Example Timing Torque Direction i Enable Enable Logic High Enable Low Disable 1 o Notes Asserting Inhibit Input causes immediate jump to zero torque See text for t9 information on deadband set up and application Motor torque vs time Inside deadband Inhibit on Follow Digital Torque Command Bi polar PWM Control Inputs and Timing Diagram Notes e PWM input frequency range 20 Hz to 30 kHz e Ifthe PWM signal is off for 50mS or more the PWM input is considered off This is interpreted by ClearPath as a zero torque command e Disable time 10 mS e To command ClearPath to zero torque assert the Inhibit Input Input A De assert Input A to resume normal operation or e Seta PWM deadband to help reliably command zero torque Refer to text on following pages fo
16. The Scope Variable drop down menu lets you select any of 12 ClearPath motion control variables to display These variables include Tracking Error Commanded Velocity Actual Torque Actual Velocity Velocity Error Commanded Torque SGN sign of velocity Measured Position Commanded J erk Commanded Acceleration Max Phase Voltage and Torque Error 2 The Timebase text box lets you adjust the scale of the time axis think Cartesian X axis in units of mS division This allows you to control how a waveform fits horizontally on the Scope Display For example if the Timebase is set to 20mS per division as in the figure above the full horizontal range of the scope is 200mS 10 divisions x 20m division 3 The Range text box lets you change the scale of the amplitude axis think Cartesian Y axis This allows you to control how a waveform fits vertically on the Scope Display For example in the figure above the green trace represents Measured Position and the Range is set to 4000 counts So in this case the center horizontal line represents 0 counts the top horizontal line represents 4000 counts and the bottom line represents 4000 counts 4 Cursor controls allow you to drag the two vertical cursors around on the main scope display and view time and amplitude measurements in FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 real time The delta function automatically displays the difference between
17. WOK Sirain E tees 39 Mode Con ol Surana 40 Martitial Velocity Conn Ol serer aa E EAEE 41 Mode Summa ynares N 41 FOW It WOK sanean a a a eee 41 CLEARPATH USER MANUAL REV 1 84 4 TEKNIC INC Description of Encoder Knob Settings 0000008 42 Ramp Up Down To Selected Velocity cc cccceeeesssesssseeeeees 44 Mode SUIMMIMNALY X svoscestintedrisadsae ta leatiy ecvaaedddianmsaieiciess 44 FHOWIC WOLK aonane A EN 44 Mode ContTo S arera a aa 45 Follow Digital Velocity Command Bi Polar PWM Input 46 Mode summa y sra a 46 HOWIE WOKS eien ie E E A O 46 Mode Control csere aa E A 47 Setting A PWM Deadband Optional 000000e 49 Follow Digital Velocity Command Unipolar PWM Input 50 Mode SUMIMALY ezenami n a E 50 FOWL WOKS srun aaa 50 ModE ConTolS ee AN 51 Follow Digital Velocity Command Frequency Input 53 Mode SUMMALY V aea a Acasa aiamasaees 53 FHOwWIC WORS aoaia A NA 53 Mode CORTON niera a a a aas 54 Follow Digital Torque Command Bi polar PWM Input 55 Mode SUMMA ea a Aa 55 FOwWIt WOKS enaere e a e E EEN 5D Mode OE ONS apene a 56 Setting a PWM Deadband Optional ceeeeees 58 Follow Digital Torque Command Unipolar PWM Input 59 Mode SUPAIMIONY escsivsserreseaattevsveuausoenneisooasdtasainanidsiassaveune 59 FHOWIL WOLK ennn ae aebacsamindae 59 Mode Conois enina a aeaaustdvatastivtevieaters eens 60 Follow Digital Torque Comman
18. a running move it will not be chained to the original move In fact the late pulse will trigger a separate move TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Enter value 1 100 to limit Set Move Increments peak torque capability of Enter move distance for motor as a of motor s each input state maximum peak torque Increment Selection Setup cnts Homing i Disabled Enabled Torque Limit C of max 1 Aof Bot 2 ABN Bot 3 Aof BEN 4 ABT B nl 1 ooo ooo 2 000 2 000 Speed Limit Accel Min Trig Pulse SEIU kents sec Mentsfsec RAS Jerk Limit msj f 2 0 OFF f o0 i Enter maximum Enter motor Set jerk limit Higher values result in Enter value 1 400mS to Click to open Homing motor speed allowed acceleration rate smoother more gradual transitions set how long the Enable Setup window Refer between move segments of differing line must be pulled low to to text for instructions acceleration however overall move qualify as a valid trigger on homing setup time is increased pulse Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and Enable Input A Input B ServedOn Output Commands OnOff Trigger sel 4 sel B a1 Gai at Gi r Override fe Go Trey Ga Ga Set Home Posen Inputs Check to turn on Soft Soft Inputs and LEDs Click during homing Displays output s
19. a zero velocity command by ClearPath See figure above Note As size of deadband setting increases the slope of velocity vs duty cycle increases as illustrated below Max Velocity Slope increases as deadband increases 0 10 0 HD 4 53 70 SO 100 Duty Cycle FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 50 FOLLOW DIGITAL VELOCITY COMMAND UNIPOLAR PWM INPUT MODE SUMMARY Connect a digital PWM waveform from your PLC or other device and ClearPath will run at a speed proportional to the duty cycle of the PWM waveform HOW IT WORKS Assert the Enable Input to energize the motor Once enabled motor velocity is controlled by sending a PWM signal to Input B 0 PWM duty cycle commands zero velocity and 100 minus a little duty cycle commands full scale velocity Changes in velocity occur at the user defined acceleration rate Direction of travel CW CCW is controlled by the state of Input A See Inputs and Timing table below Velocity Control HE Follow Digital Velocity Command Unipolar PWM Command Signal Function Input Type Example Timing Input A Direction Logic High CW Low CCW InputB Velocity Pulse Variable PWM Duly eye ofapplied PWM signal lt 10 gt Logic High Enable Low Disable J R Motor velocity vs time Follow Digital Velocity Command Unipolar PWM Control Inputs and Timing Diagram Notes e PWM input frequency rang
20. and displayed regardless of the trigger source settings e Force Forces the scope to trigger immediately regardless of trigger source setting As with Single mode only one data set is collected and displayed then data collection stops e Stop Causes scope data collection to stop It does not clear previously captured data from the scope display 8 Trigger Position buttons allow you to position the trigger point on the left 10 as shown in the previous figure middle 50 or on the right side 90 of the scope display grid This is useful for viewing events on the scope that occur before during or after the trigger point 9 The Trigger Level lets you select the amplitude at which the scope will trigger 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 effectively cleans up the appearance of the displayed trace by removing higher frequency data content This has an averaging effect on the displayed data that can help mitigate the effect of noise or just unnecessary visual clutter on the displayed signal Scope Filter OFF Effect of Scope Filter on trace display Note The Scope Filter has no effect on motor performance It changes only how scope data is displayed Note Higher f
21. blinks Yellow 4 blinks Yellow 4 blinks Yellow 5 blinks Yellow 6 blinks Yellow 7 blinks Yellow 7 blinks Yellow 7 blinks TEKNIC INC Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Shutdown Affect on Motion N A N A N A N A Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Servo Behavior Servo off Servo off Servo on Servo on Servo off Servo off Servo off Servo off Servo off Servo off Servo off Servo off Servo off Servo off Servo off Servo off How to Clear Exception Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Status or Exception Message Reported in UI No or Low Power Verify DC power is correctly wired and within specified voltage range 24 75VDC Make sure main DC power never droops below 24VDC during motor operation Status Disabled Motor power is turned off Status Performing commutation start
22. cssssssssscccccccccccceceeeeesesesessseenes 95 APPENDIX C CLEARPATH CABLE PINOUTS 96 CPNEGABIE CUR eM D O irena Ta 96 CPM CABLE CT Rt MMG660 snerta 96 CPM CABLE PWR MM660 sssssssssssssesesesesssssessssesenenes 97 CPM CABLE PWR MS DO eroii ierden ni ia as 97 APPENDIX D COMMON SPECIFICATIONS 2 002 0000000 98 TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 6 SAFETY WARNINGS IMPORTANT Read this manual before attempting to install apply power to or operate a ClearPath motor Failure to understand and follow the safety information presented in this document could result in property damage bodily injury or worse SAFETY WARNINGS e Do not wear loose clothing or unconfined long hair when using ClearPath motors Remove ties rings watches and other jewelry before operating an unguarded motor e Do not operate a ClearPath if your alertness cognitive function or motor skills are impaired e Always handle and carry a ClearPath motor by the housing don t carry it by the shaft or any connected cable Be aware that in certain modes of operation ClearPath is designed to spin as soon as main DC power is applied e Always understand how to use a mode of operation and its associated controls before attempting to power enable or otherwise operate a ClearPath motor Install and test all emergency stop devices and controls before using ClearPath B
23. did not match the active software override inputs when the motor was enabled via the hardware enable line Travel Limits Violated warning Commanded position is on the wrong side of the home position Travel Limits Violated warning Commanded position is beyond the Max Travel from Home position as specified in Homing Setup Move Buffer Underrun Possible causes move increments too small or sent too slowly Torque Saturation Power supply may be underpowered for application Torque Limit may be set too low for command Try lowering velocity and or acceleration CLEARPATH USER MANUAL REV 1 84 LED Behavior Exception Affect on STT Ao How to Clear Status or Exception Type Motion Behavior Exception Message Reported in UI Auto clears when Voltage Saturation Green 3 blinks Alert Allows motion Servo on cause is no longer present Auto clears when Over Speed Green 3 blinks Alert Allows motion Servo on cause is no longer present Auto clears when Over Temp Green 3 blinks Alert Allows motion Servo on cause is no longer Internal electronics gt 80 degrees C present Add fan Motor Has Failed Red toggle a T Servo off Not clearable Return to Teknic for repair or replacement If ClearPath shows no LED activity During operation if ClearPath DC bus voltage droops below approximately 18VDC the following will occur e ClearPath will go into shutdown state e The LEDs will turn off Note ClearPath will continue
24. face as possible e Never drill through pin or deform the motor shaft when mounting a pulley or pinion Application Tip To prevent loosening slip some users bond their pulleys and pinions to the motor shaft with a high strength adhesive such as Loctite 638 While this is very effective in preventing pulley slip it can be difficult to undo once the adhesive has cured FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 94 END OF TRAVEL STOPS End of travel stops are typically installed to prevent the moving element of a linear axis from flying off the machine in the event of a use or control error There are a few common types of end stop to consider but the final choice depends on the application objectives and requirements HARD BLOCKS This is usually a solid block of steel aluminum or hard plastic secured at one or both ends of travel and positioned in such a way as to make even repeatable contact with a hard surface on the moving element Hard blocks are very effective at arresting motion but can result in mechanical damage when struck at high speeds In several modes ClearPath must home to a hard stop to establish a home reference position before functional positioning can begin ELASTOMERIC RUBBER STOPS High durometer rubber stops hard rubber can also be used with applications that use HardStop Homing This type of end stop offers a higher level of shock absorption and axis pro
25. interface and some of the different operational modes with no additional wiring involved Note Software control is not meant for use in your finished machine It is intended for test experimentation or just playing around to learn how ClearPath and MSP work In this section we ll discuss some of the basics of ClearPath Software Control For this example we ll be using Manual Velocity Mode available on MCPV and MCVC models Start Manual Velocity Mode On MSP s main menu go to Mode gt Manual Velocity Mode Whenever you select a new mode you ll see an informative popup window such as the one shown below Read everything in the window if you re not familiar with the mode It will save you time and trouble as you learn how to use the mode After reading the window text click OK to proceed Select Operational Mode x Selected Mode Manual Velocity Control Description Manual Velocity Control Use a rotary switch or encoder with quadrature output to set ClearPath s velocity Upon enabling the motor ClearPath will remember your last set velocity or optionally reset to zero speed Input Definitions Enable Asserting this input energizes the motor shaft Input A This input is connected to one of the channels of the quadrature output device Input E This input is connected to the other channel of the quadrature output device Helpful Hints Rotating the quadrature knob in a given direction vill cause an increase i
26. motor torque e Shaft torque increases in the CW direction as PWM duty cycle decreases from 50 to 0 e Shaft torque increases in the CCW direction as PWM duty cycle increases from 50 to 100 e As PWM duty cycle approaches 50 from either direction motor torque approaches 0 e O and 100 duty cycle static low and static high conditions are not valid PWM states ClearPath interprets these values as zero torque commands e PWM minimum on time and minimum off time 300nS Max Torque CCW Rotation Torque O Max Torque CW Rotation 0 10 20 30 40 50 60 70 80 90 100 Duty Cycle PWM duty cycle vs motor torque TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 CFs SETTING A PWM DEADBAND OPTIONAL TEKNIC INC The deadband expands the range about the 50 PWM mark that is interpreted as the zero torque setting by ClearPath This gives the user a reliable way to ensure that motor torque is completely turned off when the PWM duty cycle is set at or close enough to 50 Max Torque CCW Rotation Torque O Le Deadband 5 Max Torque CW Rotation O 10 20 30 40 50 60 70 80 90 100 Duty Cycle 5 PWM deadband setting 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
27. mounted to the machine Don t mount ClearPath over a heat source such as a power supply spindle drive etc Don t mount ClearPath in an unventilated enclosure Do allow for at least 1 of space all the way around each ClearPath ClearPath can be fitted with an external accessory fan if desired ClearPath will perform a protective Shutdown when its internal temperature sensor threshold is exceeded CONNECTING CLEARPATH TO A MECHANICAL SYSTEM While it s obvious that ClearPath must be connected to a mechanical system to do useful work it s not always clear just how to connect the motor to the mechanics Problems arise when a connecting element such as a coupling 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 critical in achieving and maintaining the best possible performance from a servo motion system MOTOR CONNECTION GENERAL TIPS AND GUIDELINES TEKNIC INC Align with care When connecting two shafts such as a motor Shaft to a ball screw shaft the rotating centers must be carefully aligned in both the angular and offset sense to achieve the best pos
28. range 20 Hz up to 30 kHz e Ifthe PWM signal is off for 50mS or more the PWM input is considered off This is interpreted by ClearPath as a zero velocity command e Disable time 10 mS e Command ClearPath to immediately ramp to zero velocity by asserting the Inhibit Input Input A De assert Input A to resume normal operation or e Seta PWM deadband to help reliably command zero velocity Read text for details on deadband setup e PWM Input especially at higher frequencies tends to have more inherent inaccuracy If a very high level of velocity accuracy is important for your application consider using Frequency Input mode TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 MODE CONTROLS Enter maximum motor speed i e full scale speed Enter deadband setting optional See text for description of deadband operation Deadband Max Decel Mente secs f OO Max Accel hents sec 2 0 Decel Accel Enter maximum Check here to set Enter maximum desired motor motor deceleration desired motor acceleration rate rate to same value deceleration rate as acceleration rate 84 Torque Limit C of max foo Enter value 1 100 to limit peak torque capability of motor as a of motor s maximum peak torque RAS Jerk Limit OFF F Set jerk limit Higher values result in smoother more gradual transitions between move segments of differing a
29. sizes Teknic does not sell accessory fans but they are readily available through electronics suppliers including Digikey and Mouser Note As with all electronic products cooler is better for longest life span So even though ClearPath can reliably operate at elevated temperatures exceeding the ratings of most 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 ClearPath NEMA 34 Designed for 60mm fans Mounting Boss 3 places Inner dia 0 125 3 17mm Use 6 or M3 thread cutters Max penetration into boss 0 28 air flow W Fan 60 mm wU 0g IMPORTANT NOT A MOUNTING POINT Do not install a screw here Use only three screws to secure fan to motor ClearPath NEMA 23 Designed for 40mm fans Mounting Boss 4 places Inner dia 0 125 3 17mm Use 6 or M3 thread cutters air flow Max penetration into boss 0 28 W Fan 40 mm TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 96 APPENDIX C CLEARPATH CABLE PINOUTS This section contains pinout information for ClearPath accessory cables available through Teknic and Teknic distribution CPM CABLE CTRL MU120 Cable description ClearPath I O connector cable Molex MiniFit J r 8 position connector to flying leads BLU Ce ver mus
30. to communicate if voltage remains high enough e LEDs will remain off Toggling the Enable will not clear the shutdown Once voltage returns to above approximately 20VDC e ClearPath will remain shutdown but LED will wake up and exhibit yellow blink code 6 see table above for complete description of this exception code e Toggling the enable will clear the shutdown at this point TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 84 1 CLEARPATH USER MANUAL REV INSTALLATION MECHANICAL APPENDIX B MOUNTING DIMENSIONS CLEARPATH NEMA 34 O 0 0F OZY E 92 0F 28 98 O 0 OF 99E 7 9Z OF 0109 006 oSV NAHL S 9 o9 slozz o xy evs ZO0 0 S 8 7D 000 0 poe ee O cS S OZ 9E1 Z9 Y ZSL 6g E 79 86 Lore sere 026Z Live JOJOSUUOZD Alu JOMOd JOJOOUUND O oos 0 Fes OI Z870 O 0 0F 687v oz 9Z OF 96 801 Z6L 0 s Z6L 0 s OZO FSZ LE 800 FOSZ L 080 0 Pee CEE Ajluey JOJOW YE gJea D XXpE l oo l eoz 6 7 arze YST 00 1 1 TH 00 oe py Ty ee hw 3 Qoo gsn JO BOUDIDE O DSPUSWIWUODSy UD4 WUUQ9 PDulunow 104 SIOLIND POSJIUL EW JO 9 104 GZLO XE Ze FAX 585 784 7460 VOICE 585 784 7454 TEKNIC INC CLEARPATH USER MANUAL REV 1 84 MOUNTING DIMENSIONS CLEARPATH
31. to move away from home 200 Offset Distance From Home cents position after homing Offset Direction is CW _ Advanced Settings Homing setup dialog 5 Test and modify your homing setup for consistent repeatable performance FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 PULSE BURST POSITIONING MODE SUMMARY ClearPath will move a distance proportional to the number of pulses sent to Input B This mode offers much of the flexibility of a step and direction system without the need for an expensive indexer to create smooth move trajectories that function is handled by ClearPath s internal trajectory generator This mode is limited to two speeds and one acceleration deceleration rate of the user s choice Note A fairly simple PLC counter or a software loop can be used to generate pulses for use with this mode How IT WORKS Assert the Enable Input to energize the motor Note ClearPath can be configured to perform a homing routine upon enable To execute positioning moves send a high speed stream of pulses to Input B where each pulse represents a small incremental unit of distance Total move distance is determined by total number of pulses sent to Input B All moves are executed at the user defined acceleration and speed setting Direction of motor shaft rotation is controlled by Input A See inputs and timing diagram below Trigger function Alternate Speed Bri
32. until a new move request is received e Disable time 10 mS MODE CONTROLS Enter value 1 100 to limit peak torque capability of Enter max velocity Enter max velocity motor as a of motor s limit for CW rotation limit for CCW rotation maximum peak torque CCW Wel Limit Torque Limit keonts Fec Accel Decel hentsisec2 ents sec RAS Jerk Limit 2 00 Decel Accel 2 00 GFF Enter motor Check here to set Enter motor Set jerk limit Higher values result in acceleration rate motor deceleration deceleration rate smoother more gradual transitions rate to same value between move segments of differing as acceleration rate acceleration however overall move time is increased Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and Enable Input A Input B Servon Output Commands Crniltt CW Request CON Request zi zi zi Override mome De Pre e Check to turn on Soft Soft Inputs and LEDs emulate Displays output status Controls Override cannot hardware inputs For use only HLFB modes supported be activated when ClearPath when Soft Controls are active gt Servo On is hardware enabled Caution motor may spin when gt AllSystemsGo enabled gt Speed Output 3 In this scenario the next move request must be in the opposite direction from the previous move request Thus if the motor was spinning in the CW direction when the move was canceled ClearPath will only
33. up Status Enabled Motor power is on ClearPath will respond to motion commands User Stop ESC key or button was pressed by the user Motor Enable Conflict The hardware inputs did not match the active software override inputs when the motor was enabled via the hardware enable line Max Bus Voltage Exceeded Probable cause high AC line voltage large regenerated voltage upon deceleration Command Speed Too High Probable cause commanded speed velocity is beyond motor spec Tracking Error Limit Exceeded Possible causes excessive friction mechanical misalignment vel accel too high low DC bus voltage RMS Torque Limit Exceeded Possible causes excessive friction mechanical misalignment duty cycle too high undersized motor Excessive Bus Current Probable cause bad tuning low bus voltage Excessive Motor Temp Possible causes ambient temperature too high for motor load poor cooling fan not running if used Momentary Low Bus Voltage Power supply drooped below 18V insufficient current capabilities and impedance too high Old Config File Version Probable cause Firmware updated after config file was saved Create or load new config file Motor Phase Overload Phase current is beyond allowed ADC limit Probable cause incorrect tuning or wrong config file Hard Stop Gave Way A mechanical hard stop was detected during homing but it gave way before homing was completed FAX 585 7
34. 00 Auto med zero Yelocity P puts and Enable Input A Commanded Speed ServoOn Output Commands Ontott Enc A Enc B RPM Gal Gal Servo Off te TEE onee dD S Max 2 Velocity RPM Exceptions tees ll ix TOC Software Controls Manual Velocity Control Mode Setup Window Enter your motion parameters For now just enter the settings as they appear above Many of these parameters are self explanatory but some may require further explanation We ll cover the important ones in a minute See the ClearPath User Manual for a detailed explanation of each setting The Software Controls are circled in red the Hardware Indicators are circled in green Check the Override Inputs box This overrides the hardware inputs and turns on 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 controls are green and ready for use You are just about ready to command motion Inputs and Enable Input A Input B Commanded Speed ServoOn Output Commands Gnif Enc 4 Enc B RPM e e fo DG conten Ao ia Sf Velocity RPM Exceptions Override Inputs Teknic Inc 6 ClearPath Quick Start Guide rev 1 7 Enable the motor Click the Enable box to enable the motor When enabled the motor windings are energized The shaft will hold position and the Status Box lower left of figure below will turn green with the words SW Ena
35. 10 90 OFF gt 1 l Example Timing Logic High Enable Low Disable i Motor torque vs time Variable Torque Mode Unipolar PWM Control Inputs and Timing Diagram Notes e PWM input frequency range 20 Hz to 30 kHz e Ifthe PWM signal is off for 50mS or more the PWM input is considered off This is interpreted by ClearPath as a zero torque command e Disable time 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 60 MODE CONTROLS Enter maximum Enter maximum speed Enter value in mS Determines motor torque i e full ClearPath will shut down if how long ClearPath can spin at scale torque this speed limit is exceeded max speed before shutting down Max Torque Max Speed Over speed Timeout C df max 15 Hardware Input Status LEDs PWM Meter Displays Displays commanded Light Input asserted on duty cycle of PWM source torque when using Dark Input de asserted off connected to Input B hard controls ed Inputs and Enable Input A Input B Torque AllSystemsGo Commands Oratt CATTA Torque OW of Peak Gi Gi 0 Duty Cycle 0 Override z Inputs E C 3s Check to turn on Soft Soft Inputs and LEDs PWM Soft Slider Displays commanded Displays output status Controls Override cannot Emulate hardware inputs For Emulates PWM torque when using HLFB modes supported be activated when ClearPath use only when Soft Controls input for use with
36. 2000 encoder counts from home while Position 2 might be defined as 5200 encoder counts from home How IT WORKS Position Control SINEN Input A Position Select A LOW HIGH LOW 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 After homing ClearPath can be commanded to move to any of four user defined positions by changing the state of Input A and B Changing these inputs has the dual effect of selecting target position and triggering the move See table below for timing and input details All moves execute at the user defined speed and acceleration Absolute Positioning 4 Position Programmable Position Settings Example Timing LOW HIGH HIGH Logic High Enable Low Disable 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 Absolute Position Mode 4 position Inputs and Timing Diagram TEKNIC INC Notes e 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 e Disable time 10 mS FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTR
37. 22222222222 14 Selecting a Power SUPDPLY sccsscccccccccccccccecsesssesssssssssnseeeeeeees 14 ClearPath Power Supply Requirements sss000008 14 Teknic Power Supplies cccscccccccsssssseesccceseeenseessceeees 15 Connecting Power to a ClearPath MOtor cc sssseseseseesreees 16 Before Powering a ClearPath cccccccccccccceceesesessesseeees 16 Connecting I O to a ClearPath MOtor c ccsssssssssssssssrseeees 18 Tear Pal TPUS maa ciccanna cotowesseets 18 ClearPath Output High Level Feedback 00008 22 USER SOFTWARE CLEARPATH MSP 24 DECHON COVETVICW wasiacssisaalessecsstuouwed E ciaadantecouaumeeuntes 24 Minimum System RequireMentts cccccccccsssssssssesseseeeeeeceeeees 24 Installing VISE adira aaa teas 24 Communicating With ClearPath eeeeeeseseeeeeeeerererereeerseseseeeee 24 Items Required for Communication Setup 24 First Time Communication Setup cssccccssssssecceeeees 25 TOUT of ClearP ath MSP irienna a a 26 LITE OVER VIGW o a 26 IMO ECOL O S aiana A 26 Dashboard six ss cttecsinsedcenssaiadsean Se aestadansoaussdanadaeyeiatastasie 27 MSP SOPO an aN ETA 28 ClearPath Meit rensntn saa aa aaa 33 MODES OF OPERATION MC FAMILY 00 002 0000055 38 Table of ClearPath MC Family Operational Modes 00 38 SPION POWER UD esnie ae ua seden NR 39 Mode Sundi yesca A 39 FHOW Ib
38. 84 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV LED Behavior Yellow 7 blinks Exception Type Affect on Motion Disallows motion 1 84 Servo Behavior How to Clear Exception Toggle Enable input Status or Exception Message Reported in UI Excessive Bus Current Probable cause bad tuning low bus Yellow 7 blinks Yellow 7 blinks Yellow strobe Yellow strobe Yellow strobe Yellow strobe Yellow strobe Yellow strobe Green Yellow alternating Green Yellow alternating Green Yellow alternating Green 2 blinks Green 2 blinks Green 2 blinks Green 3 blinks TEKNIC INC Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Disallows motion Allows motion if cause is no longer present Allows motion if cause is no longer present Allows motion if cause is no longer present Servo on Servo on Allows motion Servo on Fax 585 784 7460 VOICE 585 784 7454 Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Toggle Enable input Auto clears at start of next move if cause is no longer
39. ANUAL REV 1 84 TEKNIC INC POWER SUPPLY CONTROL SWITCH The power supply for a ClearPath should not be switched on and off from the DC output side Switching the DC output side especially with 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 FUSING If an external fuse on the power supply s DC output is required to meet compliance standards it should be installed in line with the positive leg of the DC output wiring refer to diagram for fuse placement Use a maximum 10A time delay fuse Note Teknic E3PS12 75 power supply does not have a fuse on the DC output side If on off control is required Power Supply install on AC input side of supply O O DC Output AC Input Fuse 10A Max If DC output fuse is required Da install in line with positive TTI leg of supply s DC output Power supply switching and fusing detail FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 138 CONNECTING I O TO A CLEARPATH MOTOR ClearPath I O allows the user to send and receive control signals from a ClearPath motor There are a total of three digital inputs and one digital output accessible through the 8 position Molex MiniFit J r connector Refer t
40. Bott 2 Alani B otf Enter target velocity for each input state here Velocity Selection Setup kcnts sec 84 45 Torque Limit 3 Aoff B on 4 Alon B on of max Accel Ment sec Enter maximum Check here to set desired motor motor deceleration acceleration rate rate to same value as acceleration rate Decel hents sec Enter maximum desired motor deceleration rate Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Enter value 1 100 to limit peak torque capability of RAS Jerk Limit motor as a of motor s maximum peak torque 2 0 C lt a eee f OFF p q Set jerk limit Higher values result in smoother more gradual transitions between move segments of differing acceleration however overall move time is increased Displays commanded velocity when using hard inputs Inputs and Enable Commands Onit a r Override E a imputa Check to turn on Soft Controls Override cannot be activated when ClearPath is hardware enabled TEKNIC INC Input A VW sel A at Input E Commanded Velocity AllSystemsGo Y zel B kort Sec Gi 4 To To 2 Soft Inputs and LEDs emulate Displays commanded velocity Displays output status hardware inputs For use only when using soft inputs HLFB modes supported when Soft Controls are active gt Servo On Caution motor may spin when gt AllSystemsGo enabled FAX 585 784 7460
41. ClearPath Quick Start Guide Read this to get your ClearPath Motor running in minutes Introduction Thank you for choosing a ClearPath all in one servo system We know that when most people get a new tech product they want to try it out right away For that reason ClearPath is ready to go right out of the box Your ClearPath motor was Shipped to you fully tested and factory preconfigured for unloaded use i e with nothing attached to the shaft This means you can power it up connect to your PC and start making test moves within minutes And when you re ready to connect ClearPath to a mechanical system you ll have the world s most advanced Auto tuning software to help Use this Quick Start Guide to get up and running quickly but refer to the ClearPath User Manual for complete details on safety installation and operation I O Connector DC Power Connector Molex Minifit Jr 8 pos Communication Port Molex Minifit Jr 4 pos USB Micro B Auxilliary PE Protective Earth Connection Point Housing Anodized Aluminum Status LED Sealing Gasket SOS 4 a mene y icy h f a PPeretie iste Die Cast 1o TAT EAEE s i rt i Heatsink e ry re 4 aila e NEMA a Mounting E Stainless Flange Steel Shaft Keyway Parts of a ClearPath READ THIS IMPORTANT WARNING Always use caution and common sense when handling motion control equipment Even the smallest ClearPath Motor is powerful enough to mangle fingers
42. ClearPath is beyond the scope of this document Please refer to the ClearPath User Manual for I O wiring information and specifications Connecting ClearPath to mechanical components e Don t pound or pry the motor shaft e If connecting ClearPath to a screw carefully align the rotating centers of the motor shaft and screw e Avoid solid couplings they are very unforgiving of misalignment e Avoid set screws They don t hold well and tend to damage and deform the motor shaft Use circumferential couplings instead e Tighten all fasteners before operating or tuning couplings mounting screws pinions pulleys You don t want parts flying around at high speed e See the ClearPath User Manual for more tips on connecting ClearPath to mechanical components Teknic Inc 8 ClearPath Quick Start Guide rev 1 7 Auto tuning your system Before you begin the Auto tune process e Disable your ClearPath e Tighten all couplings screws bolts etc e Make sure the axis or machine frame is fully intact e Don t try to tune a system on wheels or on a flimsy card table e Use a beefy bulk linear power supply with a decent capacitor bank and peak current capability such as Teknic model E3PS12 75 e Don t use a switching power supply Most switching supplies do not have the peak current capacitance and regenerated energy management required by high performance servo systems Teknic Inc 9 ClearPath Quick Start Guid
43. FB Output voltage drop 2mA HLFB Output voltage drop 5mA Motor Bearing NEMA34 Maximum Radial Load NEMA34 Maximum Thrust Load NEMA34 Bearing Life NEMA34 Motor Bearing NEMA23 Maximum Radial Load NEMA23 Maximum Thrust Load NEMA23 Bearing Life NEMA23 Environmental Shock peak maximum Vibration RMS 2 Hz 200 Hz Maximum External Shaft Deceleration Maximum Ambient Operating Temp Maximum Body Temp Maximum Rear Cover Temp Storage Temperature Humidity Recommended Optional Fan NEMA23 Recommended Optional Fan NEMA34 Environmental Sealing Front Face with shaft seal option Front Face w o shaft seal option Body rear with dielectric sealing grease in connectors Body rear naked Compliance Regulatory Certifications Electrical Safety EMI Country of Origin Warranty TEKNIC INC 24VDC to 75VDC 21VDC measured at input terminals 90VDC measured at input terminals 1A to 4A application dependent 10A 4W enabled no torque used by axis or load 3W disabled 4 0VDC to 28VDC 7 5mA maximum 12 0mA maximum 30VDC across output terminals 5mA non inductive load 100mA 0 50VDC 0 90VDC 220N 50 Ilbs applied 25mm 1 0in from front bearing 44N 10 Ibs 2 4 x10 to 5 3 x10 revs typ load dependent 110N 25 Ibs applied 25mm 1 0in from front bearing 22N 5 lbs 3 2 x10 to 5 0 x10 revs typ load dependent 10G applied no more than twice
44. LEARPATH USER MANUAL REV 1 84 22 CLEARPATH OUTPUT HIGH LEVEL FEEDBACK TEKNIC INC High Level Feedback HLFB is ClearPath s sole digital output HLFB can be wired to external devices such as the input of a PLC microcontroller or even a simple LED to signal the presence of specific motion conditions HLFB settings can be found on the Advanced drop down menu in ClearPath MSP This output can be left as a no connect if desired Note HLFB is not internally powered and so requires an external 5 24VDC power source capable of sourcing sinking at least 15mA In typical applications power is supplied by the user s PLC control board or external supply Note Not all HLFB modes are supported in all ClearPath operational modes Refer to individual ClearPath operational mode for supported HLFB options o User Circuit ___ ClearPath Internal HLFB Current D e High Level Feedback circuit shown driving an LED 0 24VDC HIGH LEVEL FEEDBACK MODES Servo On In Servo On mode the HLFB output asserts goes high when ClearPath is enabled and not in a shutdown state This signal can be used to monitor ClearPath for shutdowns or as the control 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 as the input to a simple speedometer or tachometer Note The user m
45. OICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 81 CLEARPATH SD STEP AND DIRECTION The ClearPath SD family was designed to replace stepper motor drive combos with a single cost effective unit While all ClearPath SD models function in essentially the same way there are differences in resolution and power between models within the family See the Teknic ClearPath website for complete information on SD Family ClearPaths STEP AND DIRECTION INPUT MODE SUMMARY You provide standard step and direction signals and ClearPath faithfully follows them Use the included RAS Regressive Auto Spline feature to smooth the motion profile This mode is great for replacing stepper motor and drive systems with one compact device 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 SA EHu Step and Direction Input Control Signal Function Input Type Example Timing Logic High CW Low CCW Pulse Digital Step Input 1 l 1 I l 1 l l l l l Logic High Enable Low Disable Notes Maximum pulse input frequency 500 kHz Y Minimum pulse on off time 1uS Motor velocity vs time Step and Direction Inputs and Timing Notes e Maximum pulse input frequency 500 kHz e Minimum p
46. OLS Enter value 1 100 to limit Set Target Positions peak torque capability of Enter move distance from motor as a of motor s home for each input state maximum peak torque Position Selection Setup cents Torque Limit Homing 1 Aof B off 2 Alon B off 3 Aoff B ion 4 Alon B jon C of max 500 1 D00 E 500 2 000 setup Speed Limit Accel kents sec Ments sec RAS Jerk Limit 5 0 05 OFF Enter maximum Enter motor Set jerk limit Higher values result in Click to open Homing motor speed allowed acceleration rate smoother more gradual transitions Setup window Refer between move segments of differing to text for instructions acceleration however overall move on homing setup time is increased Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and Enable Input A Input B Servedn Output Commands OnOff P sel A P sel B Gi a at wt E x Ga x F x an Set Home Posn Check to turn on Soft Soft Inputs and LEDs emulate Click during homing Displays output status Controls Override cannot hardware inputs For use only operation to manually HLFB modes supported be activated when ClearPath when Soft Controls are active set home position gt Servo On is hardware enabled Caution motor may spin when gt AllSystemsGo enabled gt Speed Output HOMING SETUP HARD STOP HOMING In this mode ClearPath must home to a hard stop to establish a home reference posit
47. Position Status Move Status mv Trigger Point _ Idle Not In Range i Positive Gualitying Move 4 Cursor Rone B Cursor iir Negative Drive Events Tm Alerts Operational States Drive Events drv EEE Torque sane Saturation Torque Voltage B Te shutdown Lockdown Voltage Saturation Disabled or Warning Saturation Enable E Hard stopped VO lines Input B State inB Logical state for VO lines out enbl in and inB Input A State mn ae ee ML Steps detected nB only Enable State enbl in S40 and Burst modes f JE Trigger detected tenbl only in OutputState tout R IncPosn and Burst modes MSP Strip Chart Legend TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 33 CLEARPATH MENU TEKNIC INC FILE MENU Load Configuration Ctrl 0 Use this command to load saved ClearPath configuration files extension mtr to your ClearPath Save Configuration Ctrl s Use this command to save your ClearPath configuration settings to a mtr file Reset Config File to Factory Defaults This command restores ClearPath to its factory default configuration EDIT MENU Cut Ctrl x Copy Ctrl c and Paste Ctrl v are the standard Windows Edit commands Motor ID Opens a window that lets you enter a name and brief description for your ClearPath if desired Pz Motor Identity Setup X Name This is a short 25 character node description for the title bar d
48. Soft Controls gt Servo On is hardware enabled are active Caution motor Soft Controls gt AllSystemsGo may spin when enabled gt Speed Output Motor torque vs PWM duty cycle e Motor torque is proportional to PWM duty cycle i e torque increases as duty cycle increases See figure below e O and 100 duty cycle signals static low and static high respectively are invalid PWM states interpreted by ClearPath as PWM turned off This is the equivalent of a zero torque command Max Torque user set Torque 0 50 100 PWM Duty Cycle PWM duty cycle vs torque e For CW torque set Input A high For CCW torque set Input A low e PWM minimum on time and minimum off time 300nS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 61 FOLLOW DIGITAL TORQUE COMMAND FREQUENCY INPUT MODE SUMMARY Connect a digital variable frequency waveform from your PLC or other device and ClearPath will produce torque that is proportional to the frequency of the waveform How IT WORKS Assert the Enable Input to energize the motor Control torque by applying a variable frequency pulse train to Input B Pulse frequency is proportional to commanded torque Direction in which torque is applied CW CCW is controlled by the state of Input A See Inputs and Timing table below OCU Variable Torque With Frequency Input Control Signal Function Input Type Example Timing Logic High CW L
49. TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 19 TEKNIC INC Tip To make a simple manual controller for modes that don t require pulses wire a few toggle switches and a 9V battery to the ClearPath inputs see diagram on previous page The inputs are internally current limited so there s no need for external current limiting resistors MINIMUM INPUT CURRENT REQUIREMENT Devices wired to ClearPath inputs must be able to source sink a minimum current value as described in the figure below Tip if your device PLC microcontroller power supply can source or sink at least 12mA you re covered for all typical input voltages NO Voltage at Minimum Input ClearPath Input Current Required 5 VDC co 12 VDC 24 VDC Min Input Current mA oe 5 9 12 16 20 24 Input Voltage VDC Minimum Input Current ENABLE INPUT 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 and the motor cannot respond to user inputs A WARNING An enabled motor can When Enable is asserted and will spin in a h response to input e Motor windings energize eS ES Lay e Motor wi
50. VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 46 FOLLOW DIGITAL VELOCITY COMMAND BI POLAR PWM INPUT MODE SUMMARY Connect a digital PWM waveform from your PLC or other device and ClearPath will run at a velocity proportional to the duty cycle of that waveform Or use the PWM output from an H bridge driver of a brushed motor setup and ClearPath becomes a high performance drop in replacement HOW IT WORKS Assert the Enable Input to energize the motor Control motor velocity by applying a PWM signal to Input B Motor speed and direction change in proportion to the duty cycle of the PWM signal Assert the Inhibit signal Input A to immediately ramp to zero velocity See figure below and read text for timing and PWM requirements Velocity Control ei Follow Digital Velocity Command Bi Polar PWM Command Signal Function Input Type Example Timing Input A Inhibit optional Logic High Inhibit on Low Inhibit off Input B Speed Direction Pulse Variable PWM Duty cycle of applied PWM signal e 50 2 lt _ 90 10 gt Enable Logic High Enable Low Disable i Notes Asserting Inhibit Input causes immediate ramp to zero speed See text for V information on deadband set up and application Motor velocity vs time Inside deadband Inhibit on Follow Digital Velocity Command Bi Polar PWM Control Inputs and Timing Diagram Notes e PWM input frequency
51. and associated bearing load for applications with a side load e Don t over tighten belts Always read the belt manufacturer s guidelines for proper belt tension but never exceed the ClearPath specification for maximum side load Overly tight belts put undue stress on the motor shaft and bearing systems that can result in premature bearing and shaft failure e Avoid using shaft keys when possible Although the ClearPath includes a keyway feature on the shaft Teknic does not generally recommend the use of keys Keys tend to cause run out and backlash errors particularly in reciprocating precision positioning motion applications e Note Keys should be considered for use in applications where coupling slip could result in a dangerous or hazardous condition Also key use may be appropriate for unidirectional applications where the motor always spins in the same direction as these applications are less prone to key related lash problems e Avoid direct loads In general ClearPath motors are not designed for connection to direct loads direct connection to a grinding wheel for example However direct connection may make sense if the load is of low mass and balanced as with small mirrors for laser applications TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 92 NOTES ON COUPLING SELECTION TEKNIC INC A complete coverage of the topic Coupling Selection for Servo Applications is beyond
52. aneeninnaaGnass 78 Mode SUMMARY eaaeo n eoteokereenhivesseeseebee 78 FOW WOK Sennas anra 78 Mode Controls asn a A 79 Homing Setup Hard Stop Homing sseseeeeees 79 CLEARPATH SD STEP AND DIRECTION 000000000002200 81 Step and Direction INPUT ssena O 81 Mode Summary aici io E E 81 PLOW 1G VV OMS canonis 81 Step and Direction Timing ccccccccccccsessesseseseeeeeees 82 Mode Control erst en ects tataateen tesa 83 Homing Setup Hard Stop Homing cssseseeeeees 84 APPENDIX A LED BLINK CODES 0200ceseeeeneeeeneeenees 85 APPENDIX B MECHANICAL INSTALLATION 002 00005 88 Mounting Dimensions ClearPath NEMA 34 ccccseeeeeeeees 88 Mounting Dimensions ClearPath NEMA 23 ccc0c0seeeeeeees 89 Mounting Considerations sssssssssssssessssseseseeeees 90 Connecting ClearPath to a Mechanical SyStem cc cceeeees 90 Motor Connection General Tips and Guidelines 90 Notes on Coupling Selection c ccssssssccccceceeeeeceeeees 92 Installing Pulleys and Pinions 2 0 0 0 eccceceeeeeesseseeeees 93 Enda Travel SLODS ainu a a I 94 Fard BIOCKS ainnean 94 Flastomeric rubber Stops ssssseceseccccesssseeeeeeeeees 94 Pneumatic aShpots ccccccccscsssseeccccceeessseeescccseeeeees 94 End Stops and Hard Stop Homingd ccsssseeeeeeees 94 Fan Mounting and Cooling
53. antees the moving element of the axis makes solid repeatable contact with the stationary element when driven into it 2 Enable homingin MSP Click the Setup button to open the homing dialog 4 Enter homing parameters See figure next page for description of homing parameters x eis When to Home oie T First Enable After Power Up Every Enable j Homing Direction Select direction of shaft G CCW Counter clockwise CW Clockwise rotation during homing Set asoft limit that will Homing Move Settings prevent ClearPath from moving beyond the H 20 000 Max Travel From Home crits specified distance from home Set to 0 for OFF f2 Homing Speed kents sec Set motor homing 0 10 Homing AccelDecel Ments sec 2 speed and accleration OK Cancel Homing Setup dialog 5 Test and modify your homing setup for consistent repeatable performance TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 APPENDIX A LED BLINK CODES Note In cases where multiple exceptions use the same blink code you must connect ClearPath to a PC running MSP to determine exception type LED Behavior No LED Activity See additional notes below table Yellow on solid Yellow flicker Exception Type N A N A N A Green flicker N A Yellow 2 blinks Yellow 2 blinks Yellow 3 blinks Yellow 4 blinks Yellow 4
54. arPath to smoothly ramp to any of four preset velocities HOW IT WORKS Assign up to four target velocities where positive values cause CCW motion and negative values cause CW motion Assert the Enable Input to start Once enabled ClearPath immediately accelerates to the target velocity indicated by the state of Inputs A and B For example if Input A high and Input B low ClearPath ramps to Velocity 2 Change velocity by changing Inputs A and or B Wate eee Ramp Up Down to Selected Velocity 4 Velocity Programmable Signal Function Velocity Settings logic levels Example Timing Input A Velocity Select A LOW HIGH LOW HIGH Input B Velocity Select B LOW LOW HIGH HIGH Logic High Enable Low Disable 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 Ramp Up Down to Selected Velocity Mode Inputs and Timing Diagram Notes e Assoon as anew velocity command is received by ClearPath as happens when Inputs A and or B are changed ClearPath smoothly ramps to the new target velocity without delay e Ifyou need a convenient way to command ClearPath to stop via the inputs set one of the velocity settings to zero We did this with Velocity 3 in the table above e Disable time 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 MODE CONTROLS 1 Aott
55. below Assert the Enable Input to energize the motor Apply User Commands to start motion ClearPath moves CW or CCW until it interrupts a sensor It then holds position until you issue a new User Command in the opposing direction See table below for Input states and timing details Position Control Move to Sensor Position SEN Function E Timing Input A CW Move Request User Command B Wired in series with Input B i InputB CCW Move Request Enable Enable High Enable Low Disable 1 0 1 o Motor velocity vs time User z z Command A ClearPath Internal switch EEE 5 24VDC User Command B switch Normally Closed Optical Slot Sensors E a de sm ear fom fee hema ima A im fat e ff i a A ol raar aaar assi Move to Sensor Inputs and Timing Diagram with example application sketch TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 Notes e Stay in between the sensors When using an optical slot type sensor the flag must be long enough to continuously interrupt the sensor from the start of deceleration through full stop In addition the deceleration rate must be set to ensure that the flag does not travel past the sensor e Changing the state of either Input A or Input B while ClearPath is in motion effectively cancels the move in progress ClearPath immediately ramps to a stop and holds position
56. bled Software Enabled Click again to disable Disabling removes power from the motor coils Inputs and Enable Input A Input E Commanded Speed ServeOn Output Commands Oniatt Enc 4 Enc B RPM e e e LO az poeme mG sono 0 AS Max 2 Velocity RPM Exceptions SW Enabled I 2 o Enabling ClearPath using Software Controls Spin the motor Click the right arrow on the Soft Knob control to spin counter clockwise Each click increases motor speed by 100 RPM based on the Velocity Resolution setting Click the left arrow and 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 spinning at any time 6 ClearPath MSP 1 1 56 configuration file lt Unloaded lt CPM MCP File Edit Mode Setup Advanced About eee Manual Velocity Contro Encoder Knob Configuration Max CW Velocity Max CCW Velocity Velocity Resolution CR Pht CR Pht R Phi per knob count f O00 2 000 f 00 0 Inputs and Enable Input A Input B Commanded Speed ServoOn Output Commands Onit Enc Enc B RPM py override mG Sotos A a Inputs MIS Max 3 Velocity RPM Exceptions SW Enabled 2 ee 400 Setting Means Max CW Velocity 1000 RPM The motor is limited to 1000 RPM in the clockwise direc
57. cation Asserts when motor reaches the All Systems Go Velocity commanded velocity Asserts when motor reaches the All Systems Go Torque commanded torque HLFB Response by Mode Speed Output Outputs a 50Hz PWM signal Proportional PWM i proportional to motor speed Enable Input Signal Motor Velocity Velocity vs Time 9 gt Q g x LL Servo On All Systems Go Position All Systems Go Velocity All Systems Go Torque HLFB Response by Mode Speed Output Proportional PWM High Level Feedback timing before and after a shutdown 2 n All Systems Go Velocity mode the output asserts when actual motor velocity is within 3 of the commanded velocity or within 24RPM of the commanded velocity whichever value is greater TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL R EV 1 84 24 USER SOFTWARE CLEARPATH MSP SECTION OVERVIEW This section includes the following topics ClearPath MSP System requirements Installing ClearPath MSP software Communicating with ClearPath Tour of ClearPath MSP Overview Advanced Features MINIMUM SYSTEM REQUIREMENTS Operating System Win XP SP3 or later Win 7 Processor 1 GHz or faster Memory 512 MB HD Free Space 512 MB Monitor 1280 x 1024 pixels or higher Other Sound card with speakers optional INSTALLING MSP Launch the MSP installer and follow the on screen prompts Please contact T
58. cceleration however overall move time is increased Hardware Input Status LEDs PWM Meter Displays Displays commanded Light Input asserted on duty cycle of PWM source velocity when using Dark Input de asserted off connected to Input B hard controls CE Inputs and Enable Input A Input B Commanded Velocity AllSystemsGo Commands mAT Inhibit Duty cycle 50 CC korte sec Ga Ga 0 Duty Cycle 0 00 Mot Ready Override zi 2 a M G M 0 00 Check to turn on Soft Soft Inputs and LEDs PWM Soft Slider Displays commanded Displays output status Controls Override cannot Emulate hardware inputs For Emulates PWM velocity when using HLFB modes supported be activated when ClearPath use only when Soft Controls input for use with Soft Controls gt Servo On is hardware enabled are active Caution motor Soft Controls gt AllSystemsGo may spin when enabled gt Speed Output TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 PE Relationship of PWM duty cycle to motor velocity e Shaft velocity increases in the CW direction as PWM duty cycle decreases from 50 to 0 e Shaft velocity increases in the CCW direction as PWM duty cycle increases from 50 to 100 e As PWM duty cycle approaches 50 from either direction motor velocity approaches 0 e In practice O and 100 static low and static high conditions are not valid PWM states ClearPath treats these cases as zero velocity comma
59. commanded velocity or torque FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 13 e Assert at the end of a settled move based on user defined settling requirements e Output a PWM signal proportional to motor speed TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 GETTING STARTED SELECTING A POWER SUPPLY ClearPath motors can be powered from 24 75VDC nominal however the actual minimum DC voltage that will sufficiently power a given application is highly dependent on the application requirements i e how much torque and speed are required as well as motor winding and magnet configuration While Teknic power supplies have been extensively tested and widely used in ClearPath motor applications third party power supplies certainly can power ClearPath motors as well See next page or visit the Teknic website for power supply features specifications and pricing CLEARPATH POWER SUPPLY REQUIREMENTS Nominal Operating Voltage 24 75VDC Absolute Minimum Voltage 21 5VDC Absolute Maximum Voltage 90VDC Voltages as measured at the ClearPath power connector The Ideal ClearPath Power Supply 4s capable of delivering high peak current and handling back EMF reverse voltage generated by the spinning motor that opposes and effectively cancels a portion of the incoming supply voltage Bulk linear supplies basically a transformer rectifier and la
60. d Frequency Input 61 Mod SUMMANY ssa S E 61 FAO WAG VVOEKS samta a a 61 Mode Contolera a ciethnteks elie ieee 62 Move to Absolute Position 2 Position cece eeeeccesesceeeeeeeee 63 Mode SUMMALY ccsccssceeeseeseeeececceceeececececeeeeeseeeeeeeees 63 HOW t WOKS aberi aa a 63 Mode CONTOS nurmitatar Ea 64 Homing Setup Home To Switch cccceseeeeeeeees 64 Move to Absolute Position 4 POSition ccceceeeecesecceesceeecees 66 Mode SUNIA aena 66 HOWIC WO KS ainoina 66 Mode Contool Saoi A 67 Homing Setup Hard Stop Homing 000000e0e 67 Move to Sensor Position eenseesseesseeesseessessserssecsssessesssessseeeses 69 Moe SUMMIMALY aasar e 69 FOW WEA OUIGS aeneae e a 69 WIOGE CONTOS eeoa aA 70 Move Incremental Distance 2 Distance seenseessenseseessees 71 Mode SUTIMIAL y acesies use vis vei a a 71 Howitt WOKS ssi Siessw css ch ncie dees A 71 Mode COR ONS isi sider ssssernacwartdn a AG 72 Homing Setup Home To Switch cccscseeeeeeeees 73 Move Incremental Distance 4 Distance cece eeeceeesceeecees 75 FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 5 M d SUMMA asesir en S 75 FHOW 1G VV OPES inina N 75 Mode COnErO S isc tieceteea tidied rede a T 76 Homing Setup Home To Hard Stop eeeeeeeeeeees 76 Pulse Burst POSIHONIN Gics cicssed sons tances tansheatiey aeara
61. e 20 Hz up to 30 kHz e Ifthe PWM signal is off for 50Ms or more the PWM input is considered off This is interpreted by ClearPath as a zero torque command e Disable time 10 mS e PWM Input especially at higher frequencies tends to have more inherent inaccuracy If a very high level of velocity accuracy is important for your application consider using Frequency Input mode TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 MODE CONTROLS Enter maximum motor speed i e full scale speed Max Accel Max Decel hents sec Mente secs 2 00 Decel Accel f D0 84 51 Torque Limit C of max m Enter value 1 100 to limit Bn peak torque capability of RAS Jerk Limit motor as a of motor s OFF a maximum peak torque Enter maximum Check here to set Enter maximum Set jerk limit Higher values result in desired motor motor deceleration desired motor smoother more gradual transitions acceleration rate rate to same value deceleration rate between move segments of differing as acceleration rate acceleration however overall move time is increased Hardware Input Status LEDs PWM Meter Displays Displays commanded Light Input asserted on duty cycle of PWM source velocity when using Dark Input de asserted off connected to Input B hard controls SS _ Inputs and Enable Input A Input B Commanded Velocity AllSystemsGo Commands mAT DATA Speed On ikentgzec Ga Ga 0
62. e smoother more gradual transitions set how long the Enable window when homing is between move segments of differing line must be pulled low to enabled Refer to text for acceleration however overall move qualify as a valid trigger instructions on homing setup time is increased pulse Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and Enable Input A Input B Servon Output Commands Onoff Trigger Increment Home Switch Ga fi Gat a Override lv BS To r e D G Inputs Check to turn on Soft Soft Inputs and LEDs Displays output status Controls Override Emulate hardware inputs For HLFB modes supported cannot be activated use only when Soft Controls gt Servo On when ClearPath is are active Caution motor gt AllSystemsGo hardware enabled may spin when enabled gt Speed Output TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 HOMING SETUP HOME TO SWITCH TEKNIC INC This mode supports optional home to switch functionality When homing is initiated the motor automatically rotates at the user specified speed acceleration and direction until a switch or sensor is actuated Then ClearPath sets the home position a settable homing offset is optional See homing setup instructions below STANDARD SETTINGS rz Homing Setup x l When to Home E Eeth oren honmg First Enable After Power Up 0 Every Enable is to be performed Homing Direction Sel
63. e capability of Mientstsec t Mientsisec t RAS Jerk Limit On Enable motor as a of motor s maximum peak torque 5 7 Decel Accel f O00 OFF Y Zero velocity Enter maximum Check here to set Enter maximum Setjerk limit Higher values Set motor to initialize to desired motor motor deceleration desired motor result in smoother more Zero Velocty E 1 either Zero Velocity or acceleration rate rate to same value deceleration rate gradual transitions between cero ect Last Commanded as acceleration rate move segments of differing eso velocity each time acceleration however overall ClearPath is enabled move time is increased Hardware Input Status LEDs l Light Input asserted on Displays commanded speed Inputs and Enable Input A Input B Commanded Speed AllSystemsGo Commands Ontott Ene 4 Enc B konte sec e w OVerride i a a Soft Knob gt Inputs Check to turn on Soft Check to soft enable ClearPath Click arrows to increase or Displays output status Controls Override cannot This only works when Soft decrease motor velocity by HLFB modes supported be activated when ClearPath Controls are active Caution increment defined in Velocity gt Servo On is hardware enabled motor may spin when enabled Resolution field above Each gt AllSYstemsGo arrow Click is equivalent to a gt Speed Output hardware quadrature tick DESCRIPTION OF ENCODER KNOB SETTINGS TEKNIC INC MAX CW VELOCITY This setting d
64. e rev 1 7 Start the Auto tuner by selecting Setup gt Auto tune from the main menu Encoder Knol Max CW Vel Fine Tuning octy Velocity Resolution Knob Direction A Torque Limit CR Pht Unte b CR Phd per knob counti aswired C of max 1 000 100 0 100 ia Has Detents Max Accel Max Decel CR Fits R Pils RAS Jerk Limit On Enable 100 000 E Decel Accel 50 000 Auto med zero velocity Inputs and Enable Input A Input B Commanded Speed Servon Gutput Commands Onit Enc 4 Enc B RPM eo 6 CF pont WG conten a gt IS Max Velocity RPM Exceptions SW Enabled I 2 399 Starting Auto tune IMPORTANT Read and follow all on screen directions to the letter The Auto tune application will walk you through the process in a step by step manner Read every word on every window This is not the time to skim Each Auto tune session is different but certain principles apply to all e Be careful Keep your hands hair and clothing away from the motor shaft e Be patient Auto tune can take up to 30 minutes more typically 5 15 minutes e Expect to hear humming buzzing clicks and clacks Loud squeals and buzzes are not uncommon and perfectly normal ClearPath is exploring the limits of the system Teknic Inc 10 ClearPath Quick Start Guide rev 1 7 Before you seek technical assistance please read this I see no status LED and apparently have no power e Pl
65. ect direction of shaft A CO Counter clack wise C CN Clockwise rotation during homing Set a soft limit that will Homing Move Settings prevent ClearPath from moving beyond the specified distance from home Set to 0 for OFF 120 000 Max Travel From Home conte Homing Speed kents cec fz pao Homing AccelDecel Mcntseec 2 At current settings motor will come to a stop 66 cnts past switch detection point Set motor homing speed and accleration Offset Settings Enter a value in counts to tell ClearPath how far to move away from home position after homing 200 Oftest Distance From Home conte Offset Direction is CW 3 Switch Polarity Invert Check here to invert home switch polarity Click to view Advanced Settings section Advanced Settings CK Cancel 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 earlier in this document for switch sensor wiring information 2 In MSP enable homing and click Setup to open the homing setup dialog shown above 3 When to Home Choose to perform a homing sequence either 1 the first time ClearPath is enabled or 2 every time ClearPath is enabled 4 Homing Direction Choose clockwise or counter clockwise shaft rotation during
66. efines the maximum motor shaft velocity that can be reached when the quadrature knob is turned in the direction that elicits CW shaft rotation MAX CCW VELOCITY This setting defines the maximum shaft velocity that can be reached when the quadrature knob is turned in the direction that elicits CCW shaft rotation FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 Pi TEKNIC INC VELOCITY RESOLUTION This setting defines exactly how much i e by what increment motor velocity will increase or decrease per quadrature tick KNOB DIRECTION These setting allow the user to reverse the motor s sense of direction with respect to the quadrature device HAS DETENTS CHECKBOX When unchecked ClearPath treats each quadrature transition it sees at its inputs as a single tick Remember each tick causes an incremental increase or decrease in motor speed When checked ClearPath treats every 4 quadrature transition it sees at its inputs as one tick Remember each tick causes an incremental increase or decrease in motor speed Check this box when using an encoder that has one detent point per full quadrature cycle or if you want to divide your quadrature resolution by four FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 RAMP UP DOWN TO SELECTED VELOCITY MODE SUMMARY Changing the digital inputs on ClearPath from your PLC switches etc causes Cle
67. efly 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 its default speed setting MURR Pulse Burst Positioning Signal Input Type Timing Input A Direction Select Logic High CW _Low CCW Input B Pulse Input Pulse High Speed Pulse Burst mw aa Enable Trigger Logic High Enable Low Disable 1 Se Pulse low to select alternate speed ao Notes Maximum pulse input frequency 500 kHz yap a alternate speed Minimum pulse on off time 1uS s t Motor velocity vs time T Trigger pulse Pulse Burst Positioning Mode Inputs and Timing Diagram TEKNIC INC Notes e The frequency of the pulse train applied to Input B must always be higher than the specified speed limit s This ensures that the motor is never consuming pulses faster than they are being FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 supplied See the Burst Frequency Spec circled in red on the figure below for the range of allowable pulse input frequencies The pulse train can be of constant frequency i e there is no need to ramp pulse frequency up or down as in a step and direction system ClearPath automatically manages acceleration and deceleration profiles with its internal trajectory generator MODE CONTROLS Selec
68. efore 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 e Provide appropriate space around the motor for ventilation and cable clearances e Do not allow cables or other loose items to drape over or rest near the motor shaft e Never place fingers hands or other body parts on or near a powered ClearPath e Thoroughly test all ClearPath applications at low speed to ensure the motor controls and safety equipment operate as expected TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 DISCLAIMER TEKNIC INC The Purchaser is responsible for determining the suitability of products for their different applications The Purchaser must ensure that Seller 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 Seller has made all reasonable efforts to accurately present the information in the published documentation and shall not be responsible for any incorrect information which may result from unintentional oversights Due to continuous product improvements the product specifications as stated in the documentation are subject to change at any time and without notice The Purchaser is responsible for consulting a representative of Seller for detailed information and to determine any cha
69. eknic 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 Establishing a ClearPath communication link is required for setting operational modes defining move parameters and options tuning the motion system and using the MSP Scope to analyze system performance ITEMS REQUIRED FOR COMMUNICATION SETUP TEKNIC INC A ClearPath Motor A DC power supply 24 75VDC nominal and cable A PC running Windows XP or Windows 7 with ClearPath MSP installed A USB cable Type A to Micro B FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 TEKNIC H gt Windows PC Type A Win XP Win 7 with MSP application installed Communication Port USB Micro B USB Cable inna ie SANTAS is ae PETE Pp Ju ClearPath ClearPath Communication Setup FIRST TIME COMMUNICATION SETUP 1 Install MSP software on a qualified Windows PC See previous page for Minimum System Requirements INC 2 Power up ClearPath Apply 24 75VDC to the power input connector Note A lab power supply can be used for basic communication and low power low speed testing 3 Connect ClearPath to the PC with a USB Type A to Micro B cable This is a low cost standard cable 4 Wait In most cases Windows will detect the connected ClearPa
70. el Max Decel ou peak torque capability of hents sec Ments secs RAS Jerk Limit motor as a of motor s maximum peak torque 0 25 E Bees oC eee f 00 OFF Enter maximum Check here to set Enter maximum Set jerk limit Higher values result in desired motor motor deceleration desired motor smoother more gradual transitions acceleration rate rate to same value deceleration rate between move segments of differing as acceleration rate acceleration however overall move time is increased Frequency Meter Hardware Input Status LEDs Displays frequency of Displays commanded Light Input asserted on input signal source velocity when using Dark Input de asserted off connected to Input B hard controls CO Inputs and Enable Input A Input B Commanded Velocity AllSystemsGo Commands Omit Cilla Speed C korte sec Ga Ga 0 00 KHz 0 00 Not Ready C Override E C a 000 Inputa Check to turn on Soft Soft Inputs and LEDs Frequency Soft Slider Displays commanded Displays output status Controls Override cannot Emulate hardware inputs For Emulates frequency velocity when using HLFB modes supported be activated when ClearPath use only when Soft Controls input source for use Soft Controls gt Servo On is hardware enabled are active Caution motor with Soft Controls gt AllSystemsGo may spin when enabled gt Speed Output TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 55 FOLLOW DIGITAL
71. er target velocity maximum peak torque Enter maximum Check here to set Enter maximum Set jerk limit Higher values result in desired motor motor deceleration desired motor smoother more gradual transitions acceleration rate rate to same value deceleration rate between move segments of differing as acceleration rate acceleration however overall move Displays output status time is increased HLFB modes supported gt Servo On gt AllSystemsGo gt Speed Output TEKNIC INC Fax 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 41 MANUAL VELOCITY CONTROL MODE SUMMARY This mode offers fine velocity control from zero to max at the turn of a quadrature output encoder Turn in one direction to increase clockwise motor velocity turn in the other direction to increase counterclockwise velocity ClearPath can be set to resume last velocity or start at zero velocity each time it s enabled HOW IT WORKS Assert the Enable Input to energize the motor Then control motor velocity by sending quadrature signals to ClearPath Inputs A and B Each quadrature signal transition or tick received by ClearPath causes an incremental increase or decrease in motor velocity depending on which direction the encoder is turned i e whether phase A leads B or B leads A NCAT eet Manual Velocity Control Signal Function Input Type Example Timing Velocity Control A Quadrature Velocity Control B Quadra
72. everse Direction RAS Jerk Limit OFF h Set jerk limit Higher values result in smoother more gradual transitions between move segments of differing acceleration however overall move time is increased Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off 84 Enter value 1 100 to limit peak torque capability of motor as a of motor s maximum peak torque Homing i Disabled Enabled Torque Limit C of max SETUR Click to open Homing Setup window when homing is enabled Displays output status HLFB modes supported gt Servo On gt AllSystemsGo gt lnRange Inputs and Enable Input A Input B ServeOn Output Commands Omt Dir OMI Step CON G Gi Gi m n E G O G Jog CO Vel thents sec f 5 Accel htentsisec 2 i Check to turn on Soft Soft Inputs and LEDs Enter motor velocity For Enter motor acceleration Controls Override cannot Emulate hardware inputs For use with Soft Controls For use with Soft Controls be activated when ClearPath is hardware enabled use only when Soft Controls are active Caution motor may spin when enabled TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 84 HOMING SETUP HARD STOP HOMING In this mode ClearPath can be configured to home to a hard stop to establish a home reference position before functional positioning begins 1 Install a hard stop that guar
73. fined positions by changing the state of Inputs A and B see table of Inputs in previous figure EXAMPLE MAKING A MOVE Motion objective Move the load platform from position 1 to position 4 User action Simultaneously set Inputs A and B high This can be done with toggle switches PLC microcontroller or other suitable switching devices Motion result The motor immediately executes a smooth crisp move per the user s acceleration and velocity settings The motor decelerates and settles at position 4 Note ClearPath will actively servo to maintain position until another move command is received unless the system is intentionally disabled powered down or in a shutdown state The Digital Output we call it HLFB for High Level Feedback can be configured to signal when ClearPath completes a move reaches a specified speed or torque or has shut itself down for safety reasons See the section on High Level Feedback for complete details OVERVIEW CONFIGURING CLEARPATH TEKNIC INC ClearPath must be configured and tuned before it can be used in a motion application The main configuration steps are outlined below Each of these points is discussed in greater detail later 1 Install ClearPath software MSP on a qualified Windows PC 2 Connect your I O devices to ClearPath switches PLC microcontroller etc Supply DC power 24 75VDC to ClearPath Connect ClearPath to your PC with a standard USB cable Use Clea
74. homing 5 Homing Move Settings FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 TEKNIC INC a Set Homing Speed and Homing Accel Decel b Enter Max Travel From Home This is maximum distance from the home position in counts that ClearPath can be commanded to move Note ClearPath will not execute a move that would violate this limit See Advanced Settings Behavior on Limit Hit below for additional settings related to this feature 6 Switch Polarity Use this checkbox to change whether Input B the home sensor input must be high or low to be considered asserted ADVANCED SETTINGS Pod Advanced Settings Check here if the axis can spin forever in both Rotary Axis wih Mo Limit on Rotation Amount directions Check here if you need the Offset Direction Same as Homing Direction Homing Offset to be in the same direction as the Behavior on Limit Hit homing move not typical E r Warning Select whether ClearPath issues a Lockdown ora Warning when the Max Hide Advanced Settings OK Cancel Travel From Home value is exceeded Homing Advanced Settings Rotary Setting with No Limit on Rotation Amount Check this box if you have an axis such as a conveyor or turntable that can turn in either direction forever 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
75. ilter setting may filter out meaningful data points from the display peaks in particular Tip In most cases Scope Filter can be left OFF or at the lowest setting FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 32 STRIP CHART The Strip Chart can display a number of additional events and conditions that occur in sync with the primary waveform capture Using the Strip Chart you can view move status mv drive events drv and I O states in real time And because the Strip Chart display is always auto synchronized to the main scope trace there are no settings to deal with MoveDone Click to open ae o qualify time legend window Positive going CCW Trigger point Positive going 10mS move begins move ends eh 7 Ea dry ME a a Z ZT _ out High Level Feedback out High Level Feedback out currently set to All Systems currently set to All Systems drv is low Drive is enabled and OK Go Position Mode Signal goes Go Position Mode goes high inB is low Input B is de asserted low at beginning of move Sae o n qualify time completes inA is low Input A is de asserted enbl is high Enable is asserted MSP Strip Chart display Strip Chart Legend MSP includes a helpful reference chart to help you interpret what s happening on the strip chart To open the legend window click the 2 symbol to the right of the strip chart display Cursors Move Command
76. ion before functional positioning can begin 1 Install a hard stop that guarantees the moving element of the axis will make solid repeatable contact with the stationary element when driven into it 2 Click the Setup button to open the homing dialog 3 Enter homing parameters See figure next page for description of homing parameters TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 68 TEKNIC INC Pz Homing Setup i x sy When to Home ect how often homing a l abenan First Enable After Power Up Every Enable Homing Direction G CON Counter clockwise c CVV Clockwise Select direction of shaft rotation during homing Set a soft limit that will prevent ClearPath from moving beyond the specified distance from home Set to 0 for OFF Set motor homing 0 10 Homing Accel Decel Mcnts sec 2 speed and acceleration Homing setup dialog 4 Test and modify your homing setup for consistent repeatable performance FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 69 MOVE TO SENSOR POSITION MODE SUMMARY Use ClearPath digital inputs to spin the shaft CW or CCW Wire position sensors and switches in series with ClearPath inputs to make an inexpensive two position actuator How IT WORKS Place sensors at opposite ends of your motion path and wire them into the appropriate ClearPath inputs See illustration
77. ion selected The Mode Controls are used to e Enter motion parameters and settings related to the currently selected mode including position acceleration velocity torque and homing parameters e Access Soft Controls Soft Controls allow you to spin your ClearPath with no hardware inputs connected With just MSP and a powered up ClearPath you can enable the motor turn the inputs on and off command motion and monitor the output State Soft Controls are invaluable for configuration testing and troubleshooting tasks TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 DASHBOARD Emergency Stop Button Click here or hit Esc on keyboard to de energize Exception Messages motor coils Toggle Enable Position Counter Displays message to restore operation Displays position associated with any of motor shaft in active ClearPath Motor encoder counts exception condition Status RMS Max 24 Position cnts Velocity kents sec Exceptions _ 1 16 798 RMS Meter Velocity Meter Displays real time and peak Displays motor recorded RMS current shaft velocity in ClearPath shuts down at RMS kcounts sec or RPM 100 to prevent burnout Motor Status Description 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 disabled
78. is mainly used with rotary axes with unlimited bi directional motion such as a turntable or conveyor Behavior on Limit Hit This setting tells ClearPath whether to issue a Warning or a Lockdown if you attempt to move past the Max Travel from Home soft limit setting see Standard Settings on previous page for description of Max Travel from Home Warningvs Lockdown A Lockdown disallows motion You must to toggle Enable to clear a Lockdown The indicator LED on ClearPath flashes alternating yellow and green when a Lockdown occurs e A Warning allows motion only in the direction away from the soft limit and the warning automatically clears itself when the reason for the Warning is no longer present The indicator LED on ClearPath flashes a green 2 blink code when a Warning occurs FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MOVE INCREMENTAL DISTANCE 4 DISTANCE MODE SUMMARY Send a trigger pulse to tell ClearPath to move a user defined distance increment from its current position Send multiple quick trigger pulses to tell ClearPath to travel a multiple of any distance in one smooth uninterrupted 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
79. isplay i e x axis i s Bench Test Motor 1 Description Description of this motors purpose Characters lett 6T r user can enter up to 124 characters in this text box ok cancer Zero Position Ctrl 0 Sets the Position Counter to zero Note In certain modes 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 menu item to convert velocity and acceleration values from encoder counts to RPM revolutions per minute Note Motor position is always displayed in encoder counts FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 34 ADVANCED MENU The Advanced menu gives you access to several ClearPath global features and settings Each Advanced Menu item is listed below along with a screenshot of its dialog window Torque Foldback This feature automatically limits maximum available torque to the user specified value whenever the Move Done criteria are met See Move Done criteria next page for details Fz Torque Foldback x Foldback Settings C Off Move Done is Torque of max Cancel Tracking Error Lim
80. it pa Tracking Error Limit Setup i x In positioning modes ClearPath continuously monitors how closely it s tracking the desired position both during and after moves Ifthe tracking error exceeds the set limit ClearPath assumes that there is an error condition e g mechanical binding and shuts down to protect the motor and mechanics The minimum value is 0 25 revolutions for the equivalent Humber of counts Type zero to turn of this safety feature not recommended Settings 200 Tracking Error Limit ients High Level Feedback Please see section on High Level Feedback TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 35 TEKNIC INC Move Done Criteria Move Done status is used to determine when the All Systems Go Position signal should be asserted at the HLFB output The Move Done Criteria consist of two parameters the In Range Window and the Verify Time These parameters are explained in the screen capture taken from MSP below Pz Move Done Criteria Setup x Move Done is one of several tests that must be passed in order for ClearPath to give you the All Systems Go signal from the Digital Feedback Output ClearPath considers a move done when itis within a specified distance from its target position the In Range Window long enough for itto be sure the move is fully settled the Verify Time Settings fio In Range Window tents 10
81. later in this section Signal Source to ClearPath Inputs 3 Inputs 5 24VDC Compatible PLC __ Pos 1 Pos 2 Pos 3 Pos4 Switches InputA Low HeH Low HIGH ae oleae InputB tow Low HicH HIGH fies Enable HIGH o HIGH Ul FEEDBACK OUTPUT Windows PC With USB port Set move distances Perform tuning op l running MSP e Set Operational Mode lt SS Set speed and acceleration o 7 e e e Manage options e e gto Monitor system performance DC power to ee ClearPath PE i e Power Supply E 24 75VDC d Teknic E3PS12 75 shown i Ca ClearPath Absolute Positioning 4 Position Mode TEKNIC INC Getting started To energize enable the motor simply apply a DC voltage to the Enable input Once enabled the motor is considered live i e the motor is energized and will execute moves in response to state changes at Inputs A and B Caution Depending on mode and settings selected ClearPath can automatically move upon enable with no user changes to the inputs FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 11 In this particular mode ClearPath must home itself to establish an absolute reference position The user s target positions are defined in terms of distance from the home position After homing is complete ClearPath can be commanded to move to any of the prede
82. ll respond to inputs fingers clothing and other objects clear of e Shaft is able to spin motor shaft Enable Current B T 5 24VDC ClearPath Enable Input Caution When ClearPath is in Spin on Power Up mode it can spin as soon as main DC power is applied All inputs including the Enable Input are ignored in this mode 1 Exception when ClearPath is set to Spin on Power Up mode the motor shaft can move as soon as main DC power is applied regardless of the state of the Enable Input Fax 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 20 TEKNIC INC Enable With Trigger function In some ClearPath modes the Enable input also serves as a trigger input In these modes briefly pulsing the Enable input low and immediately back high again causes ClearPath to perform a predefined action such as execute a move change direction of rotation or change velocity See individual operation modes for trigger mode details INPUTS A AND B THE CONTROL INPUTS Inputs A and B are the main user control inputs Their function changes automatically based on the ClearPath mode of operation you choose In some modes simply apply a PWM signal to control velocity or torque In other modes set the inputs 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 t
83. n speed the other direction causes a decrease which can be thought of as an increase in the apposite direction lf you vant to only spin in only one direction set one of the Max Velocity values CV or CON to zerg The motor vill accelerate faster if you spin the knob taster but you can set a traction control Acceleration limit so that you dont accidentally command an acceleration that the motor can not do thich might cause the motor to protectively shut doyvyn Manual Velocity Control Mode Description window Teknic Inc 5 ClearPath Quick Start Guide rev 1 7 After reading the Mode Description previous figure you know that this mode requires a quadrature output device wired to Inputs A and B We re going to skip the hardware and use only the soft controls to emulate the behavior of a quadrature output device This way we can see how the mode works without spending any extra time effort or money 6 ClearPath MSP 1 1 56 configuration file lt Unloaded lt CPM MCP 23115 RQN 1 1 D gt gt modified gt a x Fie Edit Mode Setup Advanced About eee Manual Velocity Control Encoder Knob Configuration Max CW Velocity Max CCW Velocity Velocity Resolution Knob Direction 4 Torque Limit CR Piti CR Pioti R Phi per knob counti C of max as Wired z f 000 2 000 f 00 0 100 r Has Detents Max Accel Max Decel ER Pits CR Pht RAS Jerk Limit On Enable f 00 000 E De an eee 50 0
84. nalyzer G2 ClearPath MSP 1 0 97 configuration file lt CPM_3 22P_800_noLoad gt modified File Edit Mode Setup Advanced Help here Tuning Mode in this case eee Tuning Mode eee Tuning Stimulus Repeat lt gt Profiled gt Mtr Enable 800 Ampl ents 750 Dwell ms fi 00 Accel uents sec2 RAST fi 0 00 Vel kents sec Jog Motion Gains 140 000 Kv 5o00 Knv 25000 Kp out oF Kfv haoo Ki out jeooo Kfa 25000 Kp zero oF Kfj X haoo Ki zero JOFF Trq Bias 100 of max I Posn Gain Track J Apply Fine Tuning _ 16 ms gt C of max 0 10 Accel Quents sec 2 5 0 Vel Tuning Sets peeeeeenent Sto 0 Sto 1 Stiffness Rel 0 Fine Tuning tkents sec TO A OD Ue A E ec Anti hunt Trq Limit S Max 15 Position cnts Velocity kcnts sec Exceptions 0 2 0 00 Timebase Range msidiw ents 100 Time Amplitude ms ents 110 8 0 105 8 0 5 0 n a 2 Trig Posn fio 50 90 Trigger Level ents Click here to show hide UI below this point Scope Controls A set of controls similar to those found on a digital storage oscilloscope for quick convenient waveform capture and analysis Click here to show hide UI below this point ClearPath MSP User Interface MODE CONTROLS The Mode Controls section is the user input area of MSP This part of the UI changes based on the mode of operat
85. nd or more evenly balanced Visit Teknic s website for more information features and specifications Input Voltage Capacitor TU EER Selector Switch 27 000 uF behind main cap v E3PS12 75 Features AC Input B5 Connector BEI e 115 VAC or 230 VAC input compatible e Automatic DC bus dump on power down 5 0 e AC line voltage level selector switch DC Output e Regenerative energy management Connector e Compact design with small footprint M ti Q ounting Bracket ons 0 3 9 8 1 Teknic E3PS12 75 Power Supply The EMF 75 power supply is Teknic s workhorse supply It can power up to three ClearPath motors under worst case loading conditions and as many as ten axes in lighter applications Visit Teknic s website for full specifications and pricing information EMF 75 Features 115 VAC or 230 VAC input compatible High peak current rating Large 47 000 uF capacitor bank Regenerative energy management Power up to 10 axes Capacitor Bank 47 000 uF AC Input Connector p DC Output Terminal Block DC Output Connectors O A Dimensions 11 x 8 x 5 5 Teknic EMF 75 Power Supply TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 16 CONNECTING POWER TO A CLEARPATH MOTOR Connect main DC power to the ClearPath power connector a four position Molex Minifit J r connector For applications with m
86. nds e PWM minimum on time and minimum off time 300nS Max Velocity CCW Rotation Velocity O Zero Velocity Max Velocity CW Rotation 0 10 20 30 40 50 60 70 80 90 100 Duty Cycle Graph of PWM duty cycle vs motor velocity TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 49 SETTING A PWM DEADBAND OPTIONAL TEKNIC INC The deadband expands the range about the 50 PWM mark that is interpreted as the zero velocity setting by ClearPath This gives the user a reliable way to ensure that motor velocity ramps to zero when the PWM duty cycle is set at or close enough to 50 Max Velocity CCW Rotation Velocity O Le Deadband 5 Max Velocity CW Rotation 0 10 20 30 40 50 60 70 80 90 100 Duty Cycle 5 PWM dead band setting Why use a deadband In bi polar mode stopping 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 to be Example If the user sets a 5 dead band any PWM signal with a duty cycle between 45 and 55 will be interpreted as
87. nges of information in the published documentation Should Seller s products be used in an application that is safety critical the Purchaser must provide appropriate safety testing of the products along with providing adequate safety devices guarding warning notices and provide machine specific training to protect the operator from injury FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 8 INTRODUCTION WHAT IS A CLEARPATH Power l l 24 75VDC i l Communication USB to PC omo K l ClearPath is an all in one servo system a precision brushless servo motor with encoder combined with a powerful integrated servo drive trajectory generator and internal controller in a package about the size of a servo motor alone ClearPath brings affordable user friendly precision motion control to everyone from the OEM machine builder and shop automation specialist to the educator artist and maker l Servo AC Torque Compensator Drive CrearPatu Motor AC Servo Feedback Motor Trajectory Pos Speed Generator Sensor ClearPath functional blocks TEKNIC INC ClearPath is a professional level industrial grade product The motor is based on Teknic s Hudson family of brushless servo motors with the same instrument grade bearings stainless steel shaft windings magnets and encoder technology The miniaturized motion control electronics and firmware empl
88. o B a 1 O AN TTS ClearPath m ee Powered MSP Scope Overview TEKNIC INC SCOPE FEATURES e Twelve scope variables e Four trigger modes e Adjustable time base range and trigger position e Two stored traces one live trace e Twelve trigger source presets e Interactive cursors for precise time and amplitude measurements e Strip Chart to display synchronous move drive and I O event timing FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH main MSP Scope TEKNIC INC USER MANUAL REV 1 84 29 SCOPE DISPLAY AND SCOPE CONTROLS The MSP Scope display is modeled after that of a typical hardware oscilloscope as such it has 10 major vertical divisions on the time axis and 8 major horizontal divisions on the amplitude axis Scope Variable Q A Cursor Posttion Measured Stored Trace STO 0 B Cursor i Timebase Commanded Velocity Click and drag neva to position cursors se C Time Amplitude Ursors ims E Live Trace 1 Measured Position A af 1 600 E 106 7 1 600 g5 0 fy Stored Trace STO 1 2__ Trace Storage Actual Torque a toa 0 Trigger On Trigger Point Start of Positive Command Currently at 10 position Trigger Mode Normaj 200mS gt 20 mS division x 10 divisions Force Trig 2 2 bio 50 90 Trigger Level ents 0 00 Scope Filter OFF 1
89. o the inputs to create your own motion profiles Tip All Input functions for a given mode are defined in a table located at the beginning of each operational mode section Engineer s Note In all ClearPath motors the logic level signals are electrically isolated from the DC power input and motor output circuits as well as from the motor case This design feature ensures that control signals will not be compromised due to induced currents from the motor power supply or PWM return path FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 21 CONNECTING DIGITAL OUTPUTS TO CLEARPATH INPUTS ClearPath inputs are compatible with standard digital output formats including open collector transistor and driven outputs from PLCs sensors signal generators microcontrollers and more Transistor Outputs ClearPath Input A FN IN A Current Limiter Nii C a aE Open Collector TAN 1 Required install 1k resistor on output side for cable runs gt 10 feet Recommended for all applications ClearPath Input Current 1 ZN IN Limiter C re Na C PNP Sourcing Driven Outputs Single Ended ClearPath Input Current Signal p O LA Sinking Signal low Input asserted ClearPath Input Signal gt o E Sorc aol Signal high Input asserted Interfacing digital outputs to ClearPath Inputs TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 C
90. o the diagram below for a list of I O connector mating parts readily available from most electronic component suppliers Clearpath I O Features I O Connector Pinout Mating Parts 5 24VDC compatible 4 Enable Connector Housing 8 pos Digitally filtered 1 0 Connector Enable Molex 39 01 2080 Optically isolated Configurable output Many input options Input A Terminals 24 AWG Input A Molex 39 00 0047 L L S Input B Crimp Tool 16 24 AWG Input B Molex 63819 0900 HLFB output Terminal Extractor Tool HLFB output Molex 11 03 0044 HE Cable Stock 8C x 22AWG General Cable C4065A 41 10 This is a general recommendation User is responsible for determining suitability of this cable stock for his her particular application ClearPath I O connector and mating parts CLEARPATH INPUTS The three inputs designated Enable Input A and Input B are designed for use with 5 24 VDC 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 required They are optically isolated digitally filtered current limited and reverse polarity protected for robust long term performance m External Circuit ClearPath Internal 3 Input A 5 24 ia ask ue 7 A Input A 2 Input B 5 24 i co ask VDC 6 4 Input B d ClearPath Inputs shown with simple switch and battery inputs
91. oft Slider Displays commanded Displays output status Controls Override cannot Emulate hardware inputs For Emulates frequency torque when using HLFB modes supported be activated when ClearPath use only when Soft Controls input for use with Soft Soft Controls gt Servo On is hardware enabled are active Caution motor Controls gt AllSystemsGo may spin when enabled gt Speed Output TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 63 MOVE TO ABSOLUTE POSITION 2 POSITION MODE SUMMARY Trigger ClearPath to move to one of two preset locations This mode was designed for replacing hydraulic or pneumatic cylinders that move between two positions How IT WORKS Assert the Enable Input to energize the motor Once enabled ClearPath automatically executes a homing move to a user supplied switch or sensor wired to Input B Once a home position is established ClearPath automatically moves to one of the two user defined positions based on the state of Input A After that just toggle Input A to move between the two target positions 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 could be defined as 5200 encoder counts from home while Position 2 might be defined as 2000 encoder counts from home MOURA Absolute Position 2 P
92. oint Connect a wire between this unthreaded screw boss and your machine chassis to ensure proper motor grounding This feature is typically used only if the motor mount itself is not bonded to the machine s PE terminal TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 10 EXAMPLE APPLICATION ABSOLUTE POSITIONING MODE Read this section for a brief introduction to ClearPath technology and terminology through an example application or visit www teknic com to view the complete series of ClearPath demonstration videos SUMMARY OF OPERATION High Level Feedback Output CLeEARPATH cP 5 24VDC Compatible User settable format PWM or logic level output Speedo tach mode e Move complete signal Brake control signal This section describes only one example application in one mode of operation Absolute Positioning 4 position mode allows you to define up to four target positions and command moves between any of them by changing the logical states of the ClearPath inputs In the figure below a ClearPath model MCPV is coupled to a ball screw positioning stage For now we ll say that ClearPath has already been configured and programmed via the included MSP software This just means that the mode of operation target positions velocity acceleration and options are already stored in ClearPath memory and the motor is ready to go We ll discuss ClearPath configuration and setup a bit
93. osition Programmable Signal Function Input Type Example Timing Position Select Logic High Pos 2 Low Pos 1 Home Switch Logic High Home Low Not Home Logic High Enable Low Disable oP f Notes ClearPath must home to a switch upon enable to establish the Home P zero position to which the other target positions are referenced Absolute Position Mode 2 Inputs and Timing Diagram Notes e Ifthe state of Input A is changed during a move ClearPath will immediately ramp to a stop and move to the newly indicated position e Input B switch polarity can be inverted via a checkbox in the Homing Setup dialog When home switch polarity is inverted ClearPath interprets Input B low as in the home switch and Input B high as not in the home switch e Disable time 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Set Position 1 Set Position 2 Enter distance Enter distance from home in from home in encoder counts encoder counts Speed Limit Accel hents sec Ments sec RAS Jerk Limit f f O0 OFF hd Enter max motor Enter motor Set jerk limit Higher values result in speed allowed acceleration rate smoother more gradual transitions between move segments of differing acceleration however overall move time is increased Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inpu
94. ouplings as a good choice for many servo applications These couplings are moderately priced and widely available from well established manufacturers such as Ruland Cured Jaw Spider Coupling Bellows Coupling Couplings for servo applications Note Curved jaw couplings also known as spider couplings are a good choice for many applications but cannot tolerate a great deal of misalignment or axial motion Also never exceed the manufacturer s rating for maximum torque with zero backlash when using jaw couplings FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 93 Bellows couplings are also excellent for high precision positioning applications Bellows couplings allow for more misalignment than jaw couplings but are generally more expensive Both curved jaw and bellows coupling offer excellent positioning accuracy high speed performance and vibration damping when installed and operated within the manufacturer s specifications and guidelines Coupling Information on the Web Ruland s website has a good collection of technical information on coupling types and coupling selection 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 PULLEYS AND PINIONS TEKNIC INC PULLEY AND PINION MOUNTING e Always follow the manufacturers mounting guidelines e Mount pulleys and pinions as close to the motor
95. ow CCW Pulse Variable Frequency Logic High Enable Low Disable NA Motor torque vs time Variable Torque Mode Frequency Control Inputs and Timing Diagram Notes e Input frequency range 20 Hz to 500 kHz e Ifthe frequency signal is off for 50mS or more the input is considered off This is interpreted by ClearPath as a zero torque command e Disable time 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Set Min Max Frequency During operation motor torque is controlled by Input B signal frequency With the settings below a 30 kHz Enter maximum input signal will command the motor to the Enter maximum speed Enter value in mS Determines motor torque i e full Max Torque setting 25 of peak a 1 kHz ClearPath will shut down if how long ClearPath can spin at scale torque signal will command zero torque this speed limit is exceeded max speed before shutting down Max Torque Max Frequency Min Frequency CS of max 25 Hardware Input Status LEDs Frequency Meter Displays commanded Light Input asserted on Displays frequency of signal torque when using Dark Input de asserted off source connected to Input B hard controls Ce Inputs and Enable Input A Input B Torque AllSystemsGo Commands Omt yy Torque EW of Peak a a 0 00 KHz 0 Not Ready C Override E a E G J Inputs l E Check to turn on Soft Soft Inputs and LEDs Frequency S
96. oy 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 ClearPath from your PC and start moving With just three inputs and one output sending commands and receiving feedback is simple and intuitive ClearPath MSP software is written in plain English with plenty of tips and annotations Use MSP to select a mode of operation set your move parameters and options distance speed acceleration torque and tune the system There s no steep learning curve with ClearPath Flexibility is evident in the many operating modes available ClearPath motors can do e Point to Point Positioning move and settle with precision e Velocity Moves spin at constant rotational speeds e Torque Moves precisely control torque at the shaft e Stepper Emulation use standard step and direction signals FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REv 1 84 9 ClearPath motors are at home in applications ranging from variable speed conveyors to multi axis positioning robots to kinetic sculptures And while most ClearPath customers have a specific application in mind it s nice to know that your ClearPath can be reprogrammed to perfo
97. ported be activated when ClearPath use only when Soft Controls set home position gt Servo On is hardware enabled are active Caution motor gt AllSystemsGo may spin when enabled gt Speed Output HOMING SETUP HARD STOP HOMING In this mode ClearPath can be configured to home to a hard stop to establish a home reference position before functional positioning begins TEKNIC INC 1 Install a hard stop that guarantees the moving element of the axis makes solid repeatable contact with the stationary element when driven into it Enable homing in MSP FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 80 TEKNIC INC 3 Click the Setup button to open the homing dialog 4 Enter homing parameters See figure below for description of homing parameters ZIT x i gi When to Home koben a A First Enable After Power Up Every Enable Homing Direction G CON Counter clockwise C C Clockwise Select direction of shaft rotation during homing Homing Move Settings f2 Homing Speed kents sec 0 10 Homing Accel Decel Mcnts sec 2 Set a soft limit that will prevent ClearPath from moving beyond the specified distance from home Set tog for OFF Max Travel From Home tenta Set motor homing speed and acceleration Homing setup dialog 5 Test and modify your homing setup for consistent repeatable performance FAX 585 784 7460 V
98. r details on deadband setup TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Enter maximum Enter deadband setting Enter maximum speed motor torque i e optional See text for ClearPath will shut down if full scale torque description of deadband this speed limit is exceeded Max Torque Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and s Enable Input A Commands Onit Inhibit Gi a iv Override a G C a Inputs l Check to turn on Soft Soft Inputs and LEDs Controls Override cannot Emulate hardware inputs For be activated when ClearPath use only when Soft Controls is hardware enabled are active Caution motor may spin when enabled TEKNIC INC PWM Meter Displays duty cycle of PWM source connected to Input B Input E Duty cycle 50 COM O Duty Cycle PWM Soft Slider Emulates PWM input for use with Soft Controls Enter value in mS Determines how long ClearPath can spin at max speed before shutting down Displays commanded torque when using hard controls Torque of Peak o Displays commanded torque when using Soft Controls AllSystemsGo Mot Ready Displays output status HLFB modes supported gt Servo On gt AllSystemsGo gt Speed Output FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 Relationship of PWM duty cycle to
99. rPath MSP software to a Select a mode of operation b Set motion parameters and options acceleration velocity torque safety settings etc c Tune the motor mechanical system 6 Test and adjust settings as needed to optimize quality of motion and overall system performance 7 Disconnect the computer and run your application No computer is needed once setup is complete Save your settings You can save your motor settings to a configuration file the file extension is mtr at any time This allows you to easily test and compare various sets of tuning parameters And if you build many machines of the same design you ll appreciate how quickly you can load a saved configuration file into a new ClearPath FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 12 CLEARPATH I O OVERVIEW TEKNIC INC ClearPath I O provides a flexible high level control interface for your ClearPath motor There are no proprietary connectors cables or sensors so you decide which input devices are right for your ClearPath application Once the inputs are wired up you ll be able to execute moves either by 1 changing the logical on off state of the inputs or 2 by applying a waveform to the appropriate input depending on the mode of operation you choose See Interfacing To ClearPath I O for input and output wiring information Note ClearPath inputs automatically change function based on mode of opera
100. received How IT WORKS 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 MOSCA GE Incremental Positioning 4 Distance Programmable ae a mi Distance Settings Example Timing 1 T aE Increment Select A HIGH HIGH 1 Input B Increment Select B HIGH HIGH 4 Enable Enable Logic High Enable Low Disable Trigger Trigger Pulse Enable line to trigger moves Notes ClearPath can be programmed to home upon enable see text for full i i 1 D3 details Moves are triggered on rising edge of trigger pulse D2 Motor position vs time T Trigger pulse Incremental Position Mode Inputs and Timing Diagram Notes e A trigger pulse is required to launch each move Move distance is selected with Input A and B e 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 burst of 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 e Ifa trigger pulse is received during the deceleration phase of
101. respond to a CCW move request TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MOVE INCREMENTAL DISTANCE 2 DISTANCE MODE SUMMARY Send a trigger pulse to tell ClearPath to move a user defined distance from its current position Send multiple quick trigger pulses to tell ClearPath to travel a multiple of any distance in one smooth uninterrupted 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 How IT WORKS Assert the Enable Input to energize the motor ClearPath can be set to perform an optional homing routine home to switch only in this mode Incremental move distance is selected with Input A Pulsing the Enable Trigger Input launches each move MOSCA Incremental Positioning 2 Incremental Distances Signal Function Input Type Example Timing Increment Select Logic Low Dist 1 High Dist 2 Home Switch optional Logic High Home Low Not Home Enable Enable Logic High Enable Low Disable ama ee a a a Trigger Trigger Pulse Enable line low to trigger moves E e Notes ClearPath can be programmed to home upon enable see text for full details Moves are triggered on rising edge of trigger pulse T Trigger pul
102. rge capacitor perform very well in servo applications Important Thoroughly test your ClearPath application with the intended power supply under worst case full load conditions to ensure sufficient power capacity and adequate power margin Why avoid switching power supplies Switching power supplies are typically not well suited to high power servo applications because they generally have the same peak and continuous current ratings This can lead the user to purchase a large but ultimately under worked power supply just to meet peak current requirements In addition most switchers are not designed to handle the regenerated energy back EMF that a decelerating motor returns to the power supply Without special provisions regenerated energy can cause a switching supply to reset power cycle shut down or even fail TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 15 TEKNIC POWER SUPPLIES Teknic manufactures two field proven 75VDC nominal bulk linear power supplies appropriate for use with ClearPath motors These supplies specifically designed for use with servo systems effectively manage peak current demand regenerated energy and include several built in protective features TEKNIC MODEL E3PS12 75 The E3PS12 75 power supply can power one ClearPath motor under worst case loading conditions and as many as six ClearPaths in applications where current demand per motor is lighter a
103. ring It doesn t get any easier than this Fine control of velocity from zero to max velocity at the turn of a knob Remembers your last set velocity or resets to zero velocity when motor is enabled Manual Velocity Control By changing digital inputs from your PLC switches etc ClearPath will Hamp UpiPewn torselectee veoeity smoothly ramp to one of four preset velocities Follow Digital Velocity Command Bipolar PWM Command D l Connect a digital waveform PWM or frequency from your PLC or other device and ClearPath will run at a velocity proportional to the waveform Or use the PWM output from an H bridge driver of a brushed motor setup and ClearPath becomes a high performance drop in replacement Follow Digital Velocity Command Unipolar PWM Command Follow Digital Velocity Command Frequency Command ba N a a a A SS TORQUE CONTROL MODES Follow Digital Torque Command y ff Bipolar PWM Command Follow Digital Torque Command S S ClearPath will apply a variable torque or force or tension in proportion to a Unipolar PWM Command digital command PWM or frequency supplied to the inputs Follow Digital Torque Command Y Y4 Frequency Command POSITION CONTROL MODES Use ClearPath digital inputs to spin the shaft CW or CCW Wire your position Move to Sensor Position v v sensors or switches in series with the inputs to make an inexpensive two position actuator Command ClearPath to move to one of two preset locations
104. rm a different job in minutes Safety and self protection features are standard ClearPath will rapidly shut down if it becomes overloaded overheated detects a hard stop or exceeds any of the safety or motion limits you specify Made in USA Each ClearPath motor is built and tested in our upstate New York manufacturing facility so you can be certain you re getting a high quality fully tested motion control product right out of the box Additionally Teknic backs up each ClearPath motor with a generous three year warranty PARTS OF A CLEARPATH I O Connector DC Power Connector Molex Minifit Jr 8 pos Communication Port 7 Molex Minifit Jr 4 pos USB Micro B Auxilliary PE Protective Earth Sealing ail Gasket Housing Anodized Aluminum Connection Point Status LED Die Cast mt ELTU A 3 i WYN E F Heatsink ATW Ee E EA A My s ate NEMA Mounting T Stainless Flange Steel Shaft Keyway ClearPath Motor DC Power Connector Apply main DC power 24 75VDC to this 4 position Molex MiniFit J r connector I O connector Access ClearPath s three inputs and one output through this 8 position Molex MiniFit J r connector USB Communication Port Use this port to connect ClearPath to a Windows PC with a standard USB Type A to Micro B cable Status LED Tri color LED Indicates operational status of ClearPath device See appendix for key to LED codes Auxiliary PE Protective Earth Connection P
105. s simplest mode of operation J ust turn on power and ClearPath smoothly ramps to your preset velocity Use this mode for applications that require reliable constant velocity and a bare minimum of wiring HOW IT WORKS Apply main DC power and ClearPath immediately ramps up to your target velocity target velocity and acceleration are defined by the user during setup ClearPath spins at the target velocity until DC power is removed All inputs are ignored but the output High Level Feedback is functional Note When power is removed in this mode ClearPath may stop abruptly or coast a short distance depending on the application and motor winding configuration Carefully test your loaded ClearPath application for stopping behavior before deploying Velocity Control te Spin On Power Up Signal Function Input Type Example Timing Main DC Power er V Caution Motor shaft may spin as soon as main DC power is applied Notes All inputs are ignored in this mode High Level Feedback is available Motor will free wheel when DC power is removed unless external braking force is applied Motor may stop abruptly depending on load conditions Motor velocity vs time E Motor free wheeling Spin On Power Up Mode Inputs and Timing Diagram TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 40 MODE CONTROLS Enter value 1 100 to limit peak torque capability of motor as a of motor s Ent
106. se Incremental Position Mode Inputs and Timing Diagram Notes e A trigger pulse is required to launch each incremental move Move distance is selected with Input A e 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 seamless move Note To successfully chain move increments the burst of trigger pulses must be sent rapidly They must be received by the ClearPath during the acceleration through constant velocity portion of move but not during the deceleration phase If a trigger pulse is received during the deceleration phase of a move that move will run to completion motor will stop Then the next incremental move will execute TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Enter value 1 100 to limit Set Increment 1 Set Increment 2 peak torque capability of Enter move distance Enter move distance motor as a of motor s in encoder counts in encoder counts maximum peak torque Increment Selection Setup cents Homing Disabled Enabled Torque Limit Speed Limit Accel Min Trig Pulse Setup kentsfsec Ments secs RAS Jerk Limit ms f 2 oo OFF x f oo A Enter max motor Enter motor Set jerk limit Higher values result in Enter value 1 400mS to Click to open Homing Setup speed allowed acceleration rat
107. sible motion quality and longest motor bearing life Angular misalignment a Offset misalignment Some couplings are more forgiving of misalignment than others but in general misalignment can cause undesired vibration noise shortened bearing life and even broken motor FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 91 shafts For a white paper on the topic of shaft alignment click here e Use lightweight components Aluminum couplings pinions and pulleys add significantly less inertia to the motion system than steel parts of the same size In most applications lower inertia is preferable because it allows the motor and attached mechanics to accelerate harder and move and settle faster e Avoid using set screws Coupling devices with set screws are prone to failure and often become the weak link when joining a motor to aload 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 score the shaft e Tip Couplings pulleys and pinions with circumferential clamping mechanisms tend not to damage motor shaft hold better and are easier to replace than those that use set screws e Clamp close to the motor For maximum performance secure pulleys and pinions as close to the motor face as practical This effectively reduces the lever arm
108. t number of input Enter value 1 400mS to pulses required to Check to reverse set min time the Enable rotate the motor shaft direction of motor line must be pulsed low to exactly one revolution shaft rotation select the alternate speed Min Alt Pulse Reverse Direction Enter value 1 100 to limit peak torque capability of motor as a of motor s maximum peak torque Homing Disabled E Enabled Torque Limit CE of max f j Speed Limit At Speed Limit Accel SEUR kents sec Burst Freq Spec AN kerts sec uientsfsec 2 RAS Jerk Limit f 0 352 0 SO0kHz las 5 00 OFF h To Enter primary Displays allowable Enter alternate Enter motor Set jerk limit Higher values Click to open Homing motor speed range of input pulse motor speed acceleration result in smoother more Setup window when frequencies based on gradual transitions between homing is enabled Input Resolution and move segments of differing Speed Limit settings acceleration however overall move time is increased Hardware Input Status LEDs Light Input asserted on Dark Input de asserted off Inputs and Enable Input A Input B Servon Output Commands Ont Alt Spd Dir Oy Step yy Gi G Seana iz Ss wo Trg M Gi Jog EEY Set Home Fosn Check to turn on Soft Soft Inputs and LEDs Click during homing Displays output status Controls Override cannot Emulate hardware inputs For operation to manually HLFB modes sup
109. tatus Controls Override cannot Emulate hardware inputs For operation to manually HLFB modes supported be activated when ClearPath use only when Soft Controls set home position gt Servo On is hardware enabled are active Caution motor gt AllSystemsGo may spin when enabled gt Speed Output HOMING SETUP HOME TO HARD STOP Homing is optional in this mode Follow the instructions below to set up Hard Stop homing 1 Install a hard stop that guarantees the moving element of the axis makes solid repeatable contact with the stationary element when driven into it 2 Enable homingin MSP 3 Click the Setup button to open the homing dialog 4 Enter homing parameters See figure next page for description of homing parameters TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 TEKNIC INC Pz Homing Setup ii When to Home z AE aia First Enable After Power Up Every Enable Homing Direction Select direction of shaft a CON Counter clockwise C CW Clockwise rotation during homing Set a soft limit that will Homing Move Settings prevent ClearPath from moving beyond the 420 000 Max Travel From Home cnts specified distance from home Set to 0 for OFF f2 Homing Speed kents sec Set motor homing 0 10 Homing Accel Decel Mcnts sec 2 speed and accleration Offset Settings Enter a value in counts to tell ClearPath how far po Shee
110. tection than hard blocks Spongy low durometer rubber stops are not recommended in most cases They offer little benefit over a hard end stop during an axis crash PNEUMATIC DASHPOTS Pneumatic hard stops dashpots offer excellent shock absorption performance but are considerably more expensive than hard blocks Examples of specialized dashpots include the hydraulic cylinder in an automobile shock absorber as well as many automatic door closers END STOPS AND HARD STOP HOMING End stops from medium durometer rubber to steel can be used successfully with Hard Stop Homing When selecting end stops for a Hard Stop Homing application consider the following e Axes with low friction that are easily back driven can tolerate softer rubber end stops and still achieve good homing performance e Higher friction applications and those that cannot be back driven will generally require harder end stop material to achieve best Hard Stop Homing performance e Beprepared to test and experiment with different end block materials to ensure proper homing operation with your mechanical system TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 95 FAN MOUNTING AND COOLING All ClearPath motors have unthreaded mounting bosses on the rear casting to accommodate a standard DC fan 60mm for NEMA 34 motors or 40mm for NEMA23 size motors See the diagram below for mounting dimensions hardware and supported fan
111. ted e Check the ClearPath User Manual Appendix A for blink code details clues and possible fixes e Any Shutdown accompanied by a red flashing LED is bad news If you see this and cannot clear it you ll probably have to return your ClearPath for repair or replacement How do I reset my ClearPath to factory default settings If you need to return ClearPath to its original shipped to you state use File gt Reset Config File To Factory Defaults All parameters and settings will be over written and ClearPath will be returned to the default factory configuration Teknic Inc 11 ClearPath Quick Start Guide rev 1 7 A USER MANUAL CLEARPATH MOTORS CLEARPATH MODELS MCXX AND SDXX VERSION 1 84 AUGUST 1 2014 TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 THIS PAGE INTENTIONALLY LEFT BLANK TABLE OF CONTENTS TABLE OF CONTENTS dsini ae ARNEO 3 SAFETY WARNINGS 222 2022 e nee e nee eee ee eee eee eee eee 6 DOLELY VV AILS eeoa a A a 6 Disdale asese A 7 INTRODUCTION srci a A a a a a a SA 8 Whati a ClCarP at aaan aaa A A auc 8 PariSsOr a Clean Pac eano 9 Example Application Absolute Positioning Mode 10 Summary of Operation cccecccecsseeesssessssesererereseseneees 10 Overview Configuring ClearPath ssssseseseeeeees 11 ClearPath I O OVErVIEW eeseeeeeeeeeseesesesererererererrereresereee 12 GETTING STARTED nasannnn2222222222222 222222222 2
112. th and install the correct USB driver automatically This step can take a few minutes to complete Proceed only after Windows reports the device is installed and ready for use 5 Launch MSP software by double clicking the desktop icon or selecting from the Programs menu Teknic gt ClearPath MSP gt ClearPath MSP Setup Program Additional Notes MSP is designed to communicate with one ClearPath at a time There is no networking provision Before tuning a ClearPath the motor must be powered up connected to a PC running MSP and enabled The host PC can be disconnected after configuration and tuning are complete While ClearPath does not use a PC connection during normal operation you can connect a PC to ClearPath at any time for manual control system analysis diagnostic and troubleshooting tasks FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 TOUR OF CLEARPATH MSP Ul OVERVIEW Menu Bar Mode of operation is displayed Mode Controls This section of the UI changes based on mode selected Tuning Mode is currently selected Dashboard Displays ClearPath Enable status real time encoder position and velocity and Exception information Scope Display Displays live and stored scope data Includes interactive cursors for precision measurements Strip Charts Displays motion and I O events synced to the live scope trace Function is somewhat analogous to that of a data a
113. the scope of this document but many articles and resources can be found on the web for those interested in learning more Because there are so many different coupling styles and applications selecting the right coupling for a particular application can be challenging General Guidelines for Coupling Selection Teknic has a few guiding principles when it comes to coupling selection for servo applications Keep in mind that these are rules of thumb and may not apply to every application In general e Don t undersize the coupling Understand how much torque your application requires and stay within the coupling manufacturers specifications Always leave reasonable engineering margin e Don t use set screw type couplings They damage the motor Shaft and tend to be less reliable over time than clamp style couplings e Do use clamp style couplings These clamp around the circumference of the shaft at one or two points without deforming the shaft surface e Don tuse rigid couplings they are notoriously intolerant of misalignments e Don t use beam style helical couplings if vibration damping or torsional stiffness is critical to your application Beam couplings tend to resonate whine at higher speeds e Don t use any coupling that requires you to drill into deform or pin the motor shaft Coupling Recommendation Teknic often recommends zero backlash curved jaw couplings commonly referred to as spider c
114. tion Max CCW Velocity 2000 RPM The motor is limited to 2000 RPM in the counter clockwise direction Velocity Resolution 100 RPM per click Each click of the Soft Knob will cause a speed increase or decrease of 100 RPM Tip If you only want ClearPath to spin clockwise set Max CCW Velocity to zero Teknic Inc 7 ClearPath Quick Start Guide rev 1 7 A few things you should know when operating your ClearPath e If you see a small warning triangle appear anywhere in the Mode Controls section hover your cursor over it and read the associated warning that pops up it s like a tool tip e If you exceed your power supply s capability ClearPath will tell you You ll see warnings or shutdowns in the Exceptions field at lower right of the UI THIS IS OK Try lowering your acceleration and or velocity until the warning stops e Most shutdowns are caused by wimpy power supplies mechanical problems or bad settings If your ClearPath goes into shutdown it is probably just reporting a problem but is probably not the cause of the problem e You can clear most shutdowns by toggling the Enable Input however if you don t correct the underlying problem you ll most likely keep getting shutdowns e IF THE STATUS LED FLASHES RED there s a real problem with your ClearPath Seek support assistance Wiring Inputs and Output switches sensors PLCs etc ClearPath has three inputs and one output Wiring I O devices to your
115. tion selected See the Operation Mode section for input function ClearPath I O Connector L O Enable 5 24VDC o 8 Enable User Inputs Switches z PLC 7 O18 Input A e Micro controller 5 24VDC e Sensors O Input A e Signal generator O Input B 5 24VDC o 46 Input B High Level O HLFB Feedback 5 24VDC Output 4 O HLFB Overview of ClearPath inputs and output Enable Input Asserting the Enable input logical 1 high 5 24VDC energizes the motor coils De asserting Enable logical 0 low state 0 volts removes power from the motor coils Inputs A and B Once enabled ClearPath can respond to the state of Inputs A and B In the previous example if Input A and B are both de asserted i e logical 0 low zero volts the load platform will move to position 1 if both inputs are switched high the load platform will move to position 4 ClearPath supports a wide range of input devices from simple toggle switches to sensors relays PLC outputs microcontroller outputs and more can be wired to a ClearPath And when you change modes the inputs automatically change function to match ClearPaths motors have no tiny jumpers or DIP switches to manage High Level Feedback HLFB ClearPath s HLFB output can be set up to alert the user or control system to one of several conditions HLFB can be configured to e Change state if a Shutdown occurs e Assert when ClearPath is running at your
116. ts and i Enable Input A Input B Commands Oniott Position Home Switch Ga a at Override z a BES BES BES Inputs Check to turn on Soft Soft Inputs and LEDs Controls Override Emulate hardware inputs For cannot be activated use only when Soft Controls when ClearPath is are active Caution motor hardware enabled may spin when enabled HOMING SETUP HOME TO SWITCH Enter value 1 100 to limit peak torque capability of motor as a of motor s maximum peak torque Torque Limit Homing Setup Click to open Homing Setup window Refer to text for instructions on homing setup AllSystemsGo Mot Read Displays output status HLFB modes supported gt Servo On gt AllSystemsGo gt Speed Output Homing is required in this mode Follow the instructions below to set up switch homing 1 Securely fasten a limit switch or sensor to one end of the motion axis and wire it to Input B 2 Click the Setup button to open the homing dialog 3 Enter homing parameters See figure next page for description of homing parameters TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 65 xj When to Home Select how often homing Sony hey aa u ai First Enable After Power Up Every Enable Homing Direction Select direction of shaft G CON Counter clockwise r OA Clockwise rotation during homing G Set a soft limit that will Homing Move Settings pre
117. ture Logic High Enable Low Disable Motor velocity vs time Knob encoder rotation reversed Manual Velocity Control Inputs and Timing Diagram Notes e Disable time 10 mS QUADRATURE SIGNAL SOURCE To use this mode you ll need a device that can generate quadrature signals in the 5 24VDC range Many users choose an optical or mechanical incremental encoder for this task but a microcontroller or digital signal generator will work as well Note mechanical quadrature encoders are generally the least expensive option 90 A leads B electrically for CCW rotation Rotary encoder with quadrature output Quadrature output from a rotary encoder aka the knob TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 MODE CONTROLS Has Detents Checkbox See text for description 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 Reversed A3 V ired Enter desired incremental increase decrease in motor velocity per quadrature tick Enter maximum full scale motor velocity for CW and CCW shaft rotation Reversed Velocity Velocity Resolution kensfsec per knob count Knob Dirgetion Torque Limit C of max Reversed Y 1 0 f 00 Haz Detents TY Enter value 1 100 to limit Max Accel Max Decel peak torqu
118. ug in and turn on power supply e Connect power cable to ClearPath e Check power supply fuse e Verify wall outlet is powered If not reset breaker e Was the power wiring reversed at some point If so you re ClearPath is probably damaged and requires repair I see the status LED but there is no communication between ClearPath and my PC e Disconnect the USB cable from both sides close MSP restart MSP and reconnect the USB cable e Are you using a USB 3 0 port Try a USB 2 0 port or a USB 2 0 hub plugged into a USB 3 0 port ClearPath is compatible with fully compliant USB 3 0 ports however there are known issues with the USB 3 0 ports made by certain manufacturers Everything was working fine but Auto tune failed to complete e Make sure there s only one version of MSP installed on your computer e If your power supply is a switcher 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 run between 24 and 75 VDC but require adequate power to do so Try a beefier supply I m getting shutdowns e A shutdown seldom means your ClearPath is broken or defective e Shutdowns with yellow or green blink codes usually mean that ClearPath is reporting a problem but it is unlikely to be the problem Connect ClearPath to your PC running MSP and look in the Exceptions field to see what s being repor
119. uick Start Guide rev 1 7 IMPORTANT Check voltage polarity at the power cable connector Reversing voltage polarity Swapping positive and negative leads will damage your ClearPath and void the warranty Teknic power supplies and cables are pre tested for proper polarity Never wire AC wall current directly to a ClearPath ClearPath Operating Range 24 75VDC Absolute Max Voltage 90VDC IMPORTANT TEST POWER POLARITY BEFORE CONNECTING POWER TO CLEARPATH C g Power Cable Connector viewed looking into connector 1a S e e 6a Teknic E3PS12 ClearPath Motor Power Supply Ei Basic power polarity test Start with power supply unplugged and discharged This will prevent electrical arcing from damaging your ClearPath power terminals over time Always turn off and discharge 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 you did it wrong UNPLUG AND DISCHARGE power supply before disconnecting or connecting power to ClearPath Teknic E3PS12 75 ClearPath Motor Unplug and discharge the power supply before connecting it to your ClearPath Teknic Inc 3 ClearPath Quick Start Guide rev 1 7 Plug the power cable into the ClearPath power connector 1 Plug in and turn on the power supply 2 The status LED at rear of ClearPath should be on and solid yellow Teknic E3PS12 75
120. ulse on off time luS See diagram next page for important timing information e Motion occurs on the rising edge of each step input pulse e Time before Disable 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 82 STEP AND DIRECTION TIMING The ClearPath Step Input is positive edge triggered d so ClearPath registers a step only when Input B sees the rising edge of a step input pulse i e an electrical transition from low to high Refer to the diagram below for details and important step and direction signal timing requirements ClearPath can be configured to move one count for each step received or one count per x steps received based on the Input Resolution setting Note In this example 1 step at Input B 1 count of shaft motion This ratio can be changed using Input Resolution setting e by Steps register on Step rising edges only i Input B Direction Input A pw Minimum step pulse width 1 uS cyc Minimum step cycle time 2uS ds Minimum time between direction change and step input change 25nS ee ee FF hr dh Minimum direction hold time 1uS ClearPath minimum step and direction input timing diagram TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV MODE CONTROLS Select number of input pulses required to rotate Check to reverse the motor shaft exactly direction of motor one revolution shaft rotation R
121. ultiple ClearPath motors power can be daisy chained from motor to motor as shown below The diagram below includes a list of power connector mating parts readily available from most electronic component suppliers Power Connector Pinout Mating Parts Power Supply E3PS12 75 shown Connector Housing 4 pos Molex 39 01 3045 Terminals 16AWG Molex 39 00 0078 Crimp Tool 16 24 AWG Molex 638 19 0900 Terminal Extractor Tool Molex 1 1 03 0044 Cable Stock 2C x 16AWG Belden 1307A This is a general recommendation User is responsible for determining suitability of this cable stock for his her particular application ClearPath Motors __ ClearPath Power Supply Connection BEFORE POWERING A CLEARPATH e Check for proper DC power polarity before connecting power to a ClearPath Reversing DC power polarity may damage the unit and void the warranty e Make sure the power supply is turned off and discharged before connecting to a ClearPath Connecting and disconnecting the motor from a charged power supply will cause electrical arcing that can damage the connector pins over time e Never connect a ClearPath motor directly to an AC outlet This will damage the ClearPath motor and void the warranty e ClearPath NEMA 23 series motors auto rotate upon power up to initialize 90 typ Call Teknic if power up motion is may be problematic TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER M
122. ust use external circuitry or an appropriate device to interpret PWM signals All Systems Go Position This mode is typically used as a move done signal In ASG Position mode the HLFB output asserts goes high when ClearPath is enabled and settled within a user specified distance from the target position for a user specified period of time For example the output can be set to assert when the motor is within 10 counts of the target position for at least 10 mS All Systems Go Velocity This mode is most often used to signal when ClearPath has reached commanded velocity In ASG Velocity mode the output asserts goes high when ClearPath is enabled and running within a certain tolerance FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 84 23 band of the commanded velocity This output can be used to signal when a conveyor or rotary tool has reached operating speed Note this signal is de asserted low during periods of acceleration and deceleration All Systems Go Torque In ASG Torque mode the HLFB output asserts goes high when the ClearPath is enabled and the motor shaft is within a tolerance band of the user specified torque Enable Input Signal Motor Velocity ot Velocity vs Time accel constant velocity decel Example Move Asserts when motor is enabled Servo On and not in a shutdown state All Systems Go Position Asserts when motor is settled per user MoveDone specifi
123. vent ClearPath from moving beyond the 120 000 Max Travel From Home cents specified distance from home Set to 0 for OFF f2 Homing Speed kents sec Set motor homing 0 10 Homing Accel Decel Mcnts sec 2 speed and accleration At current settings motor will come to a stop 66 crits past switch detection point Check here to match Switch Polarity yersvichprtywtn al Tne ClearPath Lets you use NO or NC devices 2 l Advanced Settings OK Cancel Homing setup dialog 4 Test and modify your homing setup for proper performance How Switch Homing Works e During homing the axis is automatically driven toward the homing switch at the user specified direction and speed e 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 CLEARPATH USER MANUAL REV 1 84 66 MOVE TO ABSOLUTE POSITION 4 POSITION MODE SUMMARY 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
124. y proportional to the frequency of the waveform How IT WORKS Assert the Enable Input to energize the motor Then control velocity by applying a variable frequency pulse train to Input B Pulse frequency is proportional to commanded velocity Direction of travel CW CCW is controlled by the state of Input A See Inputs and Timing table below Velocity Control iali Follow Digital Velocity Command Frequency Input Control Signal Function Input Type Example Timing Logic High CW Low CCW Pulse Variable Frequency Logic High Enable Low Disable NA y na i if Motor velocity vs time Follow Digital Velocity Command Frequency Input Control Inputs and Timing Diagram Notes e Input frequency range 20 Hz to 500 kHz e Ifthe frequency signal is off for 50mS or more the input is considered off This is interpreted by ClearPath as a zero velocity command e Disable time 10 mS TEKNIC INC FAX 585 784 7460 VOICE 585 784 7454 CLEARPATH USER MANUAL REV 1 MODE CONTROLS 84 54 Set Min Max Frequency During operation motor speed is Enter maximum controlled by Input B signal frequency With the settings below a 30 motor speed i e kHz signal at Input B will cause the motor to spin at the Max Speed full scale speed setting 20 kcounts sec a 1 kHz signal will command zero speed Max Frequency Min Frequency Torque Limit CE of max Enter value 1 100 to limit Max Acc

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