Teknic CLEARPATH MCVC Series User Manual
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Teknic CLEARPATH MCVC Series User Manual

Nema 23 and nema 34 frame sizes
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U
M
SER
ANUAL
C
P
U
M
LEAR
ATH
SER
ANUAL
M
MCVC, MCPV, SDSK, SDHP
ODELS
NEMA 23
NEMA 34 F
S
AND
RAME
IZES
V
3.09 J
30, 2020
ERSION
UNE

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Summary of Contents for Teknic CLEARPATH MCVC Series

  • Page 1 ANUAL LEAR ANUAL MCVC, MCPV, SDSK, SDHP ODELS NEMA 23 NEMA 34 F RAME IZES 3.09 J 30, 2020 ERSION...
  • Page 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HIS PAGE INTENTIONALLY LEFT BLANK . (585) 784-7454 EKNIC...

  • Page 3: Table Of Contents

    YSTEM Selecting a DC Bus Power Supply..........31 ClearPath Operating Voltage ........... 31 Notes on "Lower Voltage" Bus Power Supplies....32 Teknic Power Supplies.............33 Before Powering a ClearPath...........33 Power Supply Switching and Fusing .......34 Basic Power Connection (2 motors) ..........35 Power Chaining (multiple motors)..........35 Using a Power Hub ..............36...
  • Page 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Power Hub: Things to Know..........42 ..........43 NPUTS AND UTPUTS I/O Connector Parts and Pinout..........43 ClearPath Inputs ................44 Input Current Draw ............44 Warning: Inductive Loads and ClearPath I/O ....45...
  • Page 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Mode Controls..............100 Spin On Power Up ..............101 Mode Description ............101 I/O Functions..............101 Mode Controls..............
  • Page 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L I/O Functions..............132 Mode Controls..............133 Move Incremental Distance (2-Distance, Home-to-Switch) ..134 Mode Description ............134 I/O Functions..............
  • Page 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Connecting ClearPath to a Mechanical System......163 Motor Connection: General Tips and Guidelines ..163 Notes on Coupling Selection..........

  • Page 8: Quick Start Guide

    ATERIAL Check out the ClearPath overview video. This is a great way to learn about ClearPath motors (and Teknic as well). Note: There's a great ClearPath demonstration at time reference 3:50. Try watching a few ClearPath operational mode videos. There is a separate short video for most ClearPath operational modes.

  • Page 9: Clearpath Quick Setup

    Clamp or vise MSP S NSTALL LEAR OFTWARE MSP is a free download from Teknic's website. Click here for a direct link. To install MSP, save the zip file to your local computer, extract the .exe file, and run it.

  • Page 10: Check Dc Bus Power Polarity

    Before you connect DC power to your ClearPath motor, use a voltmeter to verify that DC bus power is wired with the proper polarity. This is particularly important if the cables were not made by Teknic. For Teknic DC power cables (PN: CPM-CABLE-PWR-MS120), test DC voltage at pins 3 and 2 as shown below (pin 3 is v+ and pin 2 is GND).

  • Page 11: Connect Clearpath To Your Pc

    ATH TO Connect ClearPath to a USB port on your PC with a high quality USB type- A to micro B cable (Teknic PN: CPM-CABLE-USB-120). If this is a first-time connection, wait for ClearPath to automatically install its driver software before proceeding.

  • Page 12: Spin Your Motor Under Msp Software Control

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L MSP S OTOR NDER OFTWARE ONTROL The best way to learn about a ClearPath operational mode is to try it under software control.
  • Page 13 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 3. Select Mode>Velocity>Ramp Up/Down to Selected Velocity 4. A dialog window will open (see below). Please read all of the text presented, especially if you're unfamiliar with how the op mode works.
  • Page 14 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 5. The mode controls window will appear as shown below. To follow along, enter the settings as they appear below. Enter target velocity for Click to open Torque each input state here.
  • Page 15 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 6. Click the Override Inputs checkbox. This turns on the software controls. You may notice that the other Soft Controls are no longer grayed out.
  • Page 16 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 9. Make some moves. With the motor enabled, change Inputs A and B as shown below to spin at different velocities. Feel free to experiment.

  • Page 17: Spinning A Model Sdhp Or Sdsk

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L SDHP SDSK PINNING A ODEL Note: Spinning ClearPath models MCVC and MCPV is covered in the previous section.
  • Page 18 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 4. In MSP, Select Mode>Step and Direction. The mode controls window will open. 5. Set Units to RPM as shown in the figure below. This just tells MSP in what units to display distance, velocity, and acceleration.
  • Page 19 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 9. Check the Enable checkbox. Caution: the motor is now energized and capable of motion. Enable using Soft Controls 10.

  • Page 20: If You Experience A Motor Shutdown Or Warning

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L XPERIENCE A OTOR HUTDOWN OR ARNING • If you see a small triangular warning icon (figure below) anywhere in the Mode Controls section, hover your cursor over the triangle to read the message (like a tool tip).

  • Page 21: Auto-Tuning

    Don’t try to tune a system on wheels or a flimsy table. • Use a power supply designed for use with motor drives such as Teknic’s IPC-3 or IPC-5 series, or use a beefy “bulk” linear power supply with at least 10,000 microfarads of capacitance. •...

  • Page 22: Before You Seek Technical Help

    Verify wall outlet is powered and no circuit breakers are tripped. • If you accidentally reversed DC power to your ClearPath motor, it is very likely damaged and must be returned to Teknic. Issue: The status LED is working, but my ClearPath and PC are not communicating.

  • Page 23: Safety Warnings

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L AFETY ARNINGS 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 death.

  • Page 24: General Disclaimer

    If Teknic’s products are used in an application that is safety critical, the User must provide appropriate safety testing of the products, adequate safety devices, guarding, warning notices and machine-specific training to protect the operator from injury.

  • Page 25: Introduction

    Sensor Output (1) ClearPath functional blocks ClearPath is a professional level, industrial grade product. The motor subsystem is based on Teknic’s Hudson family of brushless servo motors, with similar instrument grade bearings, stainless steel shaft, windings, rare earth magnets, and encoder technology. The servo drive...
  • Page 26 Made in USA. Each ClearPath motor is built and tested in our 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. . (585) 784-7454...

  • Page 27: Parts Of A Clearpath Motor

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ARTS OF A LEAR OTOR I/O Connector Configuration Port (Molex Minifit Jr. 8 pos.) DC Power Connector (USB Micro-B) Auxilliary PE...

  • Page 28: Example Application: Absolute Positioning Mode

    Range: 24-75VDC Target Positions Model shown: Teknic IPC-5 (75VDC) ClearPath Absolute Positioning (4-Position) Mode Getting started. To energize 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.

  • Page 29: Overview: Configuring A Clearpath

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L In this particular mode, ClearPath must perform a homing operation (all of the target positions are defined in terms of distance from the "home" reference position).

  • Page 30: Overview: Clearpath I/O

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L VERVIEW LEAR 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.

  • Page 31: Powering A Clear Path System

    Teknic power supplies have been extensively tested and widely used in ClearPath applications, but third-party (non-Teknic) power supplies can be used as well. See next page for Teknic power supply overview. Please visit the Teknic website for power supply features, specifications, and pricing.

  • Page 32: Notes On "Lower Voltage" Bus Power Supplies

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L "L " B OTES ON OWER OLTAGE OWER UPPLIES ClearPath motors can and do work with power supplies as low as 24 volts DC, provided that the power supply has sufficient voltage, current, and capacitance to meet your application's motor torque and speed requirements.

  • Page 33: Teknic Power Supplies

    EKNIC OWER UPPLIES Teknic manufactures two 75VDC power supplies designed specifically for powering motor drives—the IPC-3 and IPC-5. These supplies effectively manage peak current demand, regenerated energy, and include several built-in protective features. They are ideal for use with ClearPath motors.

  • Page 34: Power Supply Switching And Fusing

    DC output wiring as shown below. Use a maximum 10A time delay fuse. Note: Teknic IPC power supplies are not internally fused on the DC output side.

  • Page 35: Basic Power Connection (2 Motors)

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ASIC OWER ONNECTION MOTORS One or two motors can be connected directly to the IPC-3 or IPC-5 power supply as shown below.

  • Page 36: Using A Power Hub

    A N U A L SING A OWER The Power Hub (Teknic PN POWER4-HUB) is an optional ClearPath accessory board that: Distributes DC bus power to as many as four ClearPath motors per Power Hub, thus eliminating the need for special "power chaining"...

  • Page 37: Power Hub: Things To Know

    OWER OMPLIANCE OTES • Any 3rd party (non-Teknic) power supply used with the Power Hub, should be current limited or fused to 25A or less using 25A, 300VDC (UL Listed) fuses. • If UL compliance is a consideration, select a DC, UL Listed fuse.

  • Page 38: Parts Of A Power Hub

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ARTS OF A OWER 75V DC Bus Output Bus 24V Power LED 24VDC Logic Power Input &...

  • Page 39: Connections For A Single Power Hub System

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONNECTIONS OR A INGLE OWER YSTEM IPC-5 75VDC 24VDC Bus Supply Aux. Supply 75VDC Bus Out 75VDC Bus Input/ Power Hub...

  • Page 40: Connections For A Dual Power Hub System

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONNECTIONS OR A OWER YSTEM Two Power Hubs powering 8 ClearPath motors (24V) L UXILIARY OGIC OWER...

  • Page 41: Power Hub Led Codes

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L LED C OWER ODES POWER OVERLOAD OVERTEMP DROPOUT AUX-SHDN Power Hub LEDs LED Name Color LED On Indicates LED Off Indicates...

  • Page 42: Power Hub: Things To Know

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OWER HINGS TO • Damage Warning: Reversing DC bus power polarity to the Power Hub will permanently damage it. Use a meter to verify correct DC bus power polarity before connecting the power supply to the Power Hub.

  • Page 43: Nputs And Utputs

    5 pin 8 Teknic Control Cable pin 8 pin 5 Molex MiniFit Jr. Teknic Control Cable Pin Assignments 8-position connector Color Name HLFB + Input B + 7 - BRN...

  • Page 44: Clearpath Inputs

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L LEAR NPUTS The three inputs, designated Enable, Input A, and Input B, are designed for use with 5-24VDC logic levels and pulses from a wide variety of signal sources and devices including PLCs, microcontrollers, and even mechanical switches, with no external resistors required.

  • Page 45: Warning: Inductive Loads And Clearpath I/O

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ARNING NDUCTIVE OADS AND LEAR When power is suddenly removed from an inductive load, the inductor is left with residual stored energy that, if discharged into a circuit without surge suppressing components, can weaken, damage, or destroy susceptible components in the discharge path.

  • Page 46: The Enable Input

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L NABLE NPUT The Enable Input controls power to the motor coils. When a ClearPath is powered up and the Enable Input is asserted (i.e.

  • Page 47: Input Wiring

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 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 other sources of common mode noise or ground loops.

  • Page 48: Clearpath Output (Hlfb)

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (HLFB) LEAR UTPUT ClearPath has one, user settable, multi-purpose, digital output called the HLFB Output (HLFB stands for "High-Level Feedback"). The HLFB output conveys motor and motion-related feedback to your PLC, microprocessor, or other control device.

  • Page 49: Hlfb Modes: Common To All Clearpath Op Modes

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB M ODES OMMON LEAR ODES This section discusses HLFB modes that are available for all ClearPath operational modes.
  • Page 50 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (PPR) ULSES EVOLUTION In Pulses Per Revolution (PPR) mode, the HLFB sends a user-selectable number of pulses for each revolution of the motor.

  • Page 51: Hlfb Modes: For Clearpath Positioning Modes

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB M ODES LEAR OSITIONING ODES The following HLFB modes are available only in positioning op modes. Enable Input Move Profile Velocity vs Time...
  • Page 52 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Note: The HLFB output deasserts while moving, or if the motor's actual position falls out of the ±X encoder count In-Range window. ASG-P OSITION ATCHED...

  • Page 53: Hlfb Modes: For Clearpath Velocity Modes

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB M ODES LEAR ELOCITY ODES Note: The following HLFB modes are available in Velocity operating modes only.
  • Page 54 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ASG-V ELOCITY ATCHED ASG-Velocity Latched works in the same way as ASG-Velocity except that the HLFB output latches once asserted (conducting).

  • Page 55: Hlfb Output: For Clearpath Torque Modes

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB O UTPUT LEAR ORQUE ODES The following HLFB mode is available only in Torque operating modes. ASG (A ) - T YSTEMS...

  • Page 56: Hlfb Output Wiring Examples

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB O UTPUT IRING XAMPLES Any external circuit or device to be connected to the ClearPath HLFB output should conform to the guidelines below.
  • Page 57 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L HLFB "S " O AS A OURCING UTPUT The HLFB output can be used as a sourcing switch as shown below. When using a sourcing topology, place a fuse in series with the DC supply’s positive output (prior to connection to the HLFB+ pin of the ClearPath).
  • Page 58 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • To learn more about pull up resistors and digital circuits, Google search: pull up resistor for digital input.
  • Page 59 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Brake OUTPUT OUTPUT S O L I D S T A T E R E L A Y Crydom DC60S3 INPUT INPUT...

  • Page 60: User Software (Clear Path Msp)

    1280 x 1024 pixels or higher Other: Sound card with speakers (optional) NSTALLING Download the MSP installer from Teknic's website. Follow the on-screen prompts to complete installation. OMMUNICATING LEAR After MSP is installed on your PC, follow the directions below to establish a communication link between your ClearPath and PC.

  • Page 61: Items Required For Communication Setup

    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>ClearPath MSP> ClearPath MSP Setup Program. Communication Notes •...

  • Page 62: Tour Of Clearpath Msp Software

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L MSP S OUR OF LEAR OFTWARE UI O VERVIEW MSP User Interface ONTROLS The Mode Controls section contains settings specific to the currently active operational mode.

  • Page 63: Torque Limit Setup

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ORQUE IMIT ETUP The Torque Limit Setup dialog lets you specify the maximum amount of torque that your motor is allowed to apply in either direction of rotation.
  • Page 64 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L DVANCED ORQUE IMIT ETTINGS Select "Advanced Settings" to open additional torque limit settings, including Torque Zone Limiting and Symmetric vs. Independent Torque Limiting (more detail on these features below).
  • Page 65 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Symmetric Torque Limits Select "Symmetric Limits" if you want the same torque limit for both directions of rotation.
  • Page 66 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Zone Limits (Normal) Use the "Zone Limits" torque feature to set up directional torque limits in different user-defined position zones along an axis of travel.
  • Page 67 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Zone Limits (Clamped) Zone Limits can be particularly useful in clamping applications. In the example below, the moving platform ("Load") is designed to move to the left or right to clamp a work piece against a fixed metal block.

  • Page 68: Dashboard

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ASHBOARD The Dashboard section of the UI contains several virtual gauges and readouts related to your ClearPath motor's performance and operational status.

  • Page 69: Msp Menus

    ClearPath to its factory default configuration. Important: Resetting to factory defaults will cause the motor's existing configuration data to be overwritten. Export XML file (Ctrl+L)... Teknic support use. This command exports an XML file containing a snapshot of the current Soft Scope data and system information.
  • Page 70 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 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.
  • Page 71 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ETUP Setup Menu Tuning>Auto-tune... Select this menu item to begin an Auto-Tuning session. The Auto-Tune software is designed to walk you through the tuning process in a safe, step-by-step manner.
  • Page 72 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Units Use the Units menu item to tell MSP which units to display for velocity and acceleration.
  • Page 73 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L DVANCED Advanced Menu item are described below. The Advanced menu provides access to additional specialized features and settings. Advanced Menu High-Level Feedback...
  • Page 74 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Enable Actions... Select this menu item to configure ClearPath's Position Recovery feature. The Position Recovery feature returns your ClearPath motor to its last commanded position if it is moved while disabled, or if main DC bus power drops out temporarily.
  • Page 75 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Disable Actions... This dialog lets you tell ClearPath what stopping method to use when the motor is disabled, either dynamic braking, decelerate under power, or coast to a stop.
  • Page 76 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Tracking Error Limit... The Tracking Error Limit tells ClearPath how much positional error to allow before throwing an exception and shutting down.
  • Page 77 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Move Done Torque Foldback... This dialog allows you to automatically limit ClearPath's available torque when ClearPath has achieved "Move Done"...
  • Page 78 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Power and Temperature... Use this dialog to: • Tell ClearPath whether to shut down or just issue a warning when DC bus voltage falls below the minimum operating voltage setting as can happen when a power supply droops.
  • Page 79 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Vector Regen Shunt (VRS)... Vector Regen Shunt (VRS) Setup The Help menu provides additional resources for topics you may have questions on.
  • Page 80 Help Me Select a Mode: Select this option to navigate to the Teknic "Videos" page. From there, you can view various demo videos featuring each ClearPath operational mode. TekTips Videos: This option will take you to the Teknic "Videos"...

  • Page 81: Msp Software Scope

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L MSP S OFTWARE COPE This section contains a discussion of the main features and functions of the MSP Scope.

  • Page 82: Scope User Interface & Controls

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L & C COPE NTERFACE ONTROLS The MSP Scope display was designed to look and work like a hardware oscilloscope.
  • Page 83 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Scope Variable Definition Position Error (also referred to as "Tracking Error") displays Position Error [F3] the difference between commanded position and actual position.
  • Page 84 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Filter “cleans up” the appearance of the live trace by removing higher frequency data content. This has an averaging effect on the displayed waveform that will generally reduce visual clutter.
  • Page 85 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L The Trigger Source ("Trigger On”) drop down menu lets you choose what condition(s) must be met before scope data collection begins. The following Trigger Source options are available: If Trigger Source is set to: MSP Scope will:...
  • Page 86 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Trigger Mode settings allow you to specify exactly when to start data acquisition. These controls are analogous to the trigger modes found on a hardware o-scope.
  • Page 87 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Cursors Window (see window at right.) MSP Scope Display (left) and Cursors window (right) The Cursors window features: •...
  • Page 88 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L TRIP HART The Strip Chart can display a number of additional events and conditions that occur in sync with the primary waveform capture.

  • Page 89: Operational Modes : Mcvc And Mcpv

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L : MCVC MCPV PERATIONAL ODES MCVC MCPV ABLE OF PERATIONAL ODES ODELS This section lists the operational modes for ClearPath models MCVC and MCPV only.
  • Page 90 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Positioning Modes (cont'd) MCVC MCPV Description This mode starts by finding a user-defined, shaft angle home position.

  • Page 91: Mode Description

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM C OLLOW IGITAL ORQUE OMMAND OLAR OMMAND Available on MCVC + MCPV ESCRIPTION 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.
  • Page 92 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Enter deadband setting (optional). See text for Enter max. desired Enter max. speed limit Click to open Enter value to specify how long description of deadband.
  • Page 93 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Relationship of PWM duty cycle to motor torque • Shaft torque increases in the CW direction as PWM duty cycle decreases from 50% to 0%.
  • Page 94 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM D ETTING A EADBAND The deadband expands the range about the 50% PWM mark that is interpreted as the “zero torque setting”...
  • Page 95 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM C OLLOW IGITAL ORQUE OMMAND NIPOLAR OMMAND Available on MCVC + MCPV ESCRIPTION Connect a digital PWM waveform from your PLC or other device, and ClearPath will generate torque that is proportional to the duty cycle of the PWM waveform.

  • Page 96: Mode Controls

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Enter max. torque Enter max. speed limit Click to open Enter value to specify how long desired (i.e.

  • Page 97: Mode Description

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OLLOW IGITAL ORQUE OMMAND REQUENCY OMMAND Available on MCVC + MCPV ESCRIPTION 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.

  • Page 98: Mode Controls

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Set Min/Max Frequency. During operation, motor torque is controlled by Input B signal frequency. With settings shown below, a 10 kHz input signal will Enter max.

  • Page 99: Mode Description

    M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ELECTED ELOCITY Available on MCVC + MCPV ESCRIPTION Changing the digital inputs on ClearPath (using your PLC, switches, etc.) causes ClearPath to smoothly ramp between any of four user defined velocities.

  • Page 100: Mode Controls

    1 0 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Enter target velocity for Click to open Torque each input state here. Limit Setup dialog.

  • Page 101: Mode Description

    1 0 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OWER Available on MCVC + MCPV ESCRIPTION This is ClearPath’s simplest mode of operation. Just turn on power and ClearPath smoothly ramps to your preset velocity.
  • Page 102 1 0 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Click to open Torque Enter target velocity. Limit Setup dialog. Torque Override Indicator When lit, the main torque limit is being overridden by a secondary, user-set torque...

  • Page 103: Mode Description

    1 0 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ANUAL ELOCITY ONTROL Available on MCVC + MCPV ESCRIPTION This mode offers fine velocity control from zero to a user-defined maximum at the turn of a quadrature output device (such as a quadrature output encoder).
  • Page 104 1 0 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L UADRATURE IGNAL OURCE To use this mode you’ll need a quadrature output device (usually an encoder) that can generate two channel (quadrature A/B) signals in the 5- 24VDC range.
  • Page 105 1 0 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS “Has Detents” Checkbox Reverse sense of motor See text for description. direction with respect to quadrature phasing, or leave Enter desired incremental...
  • Page 106 1 0 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ELOCITY ESOLUTION This setting defines exactly how much (i.e., by what increment) motor velocity will increase or decrease per quadrature “tick”.

  • Page 107: Mode Description

    1 0 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM C OLLOW IGITAL ELOCITY OMMAND OLAR OMMAND WITH NHIBIT Available on MCVC + MCPV ESCRIPTION Connect a digital PWM waveform from your PLC or other device, and...
  • Page 108 1 0 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L axis from stopping when it should, a deadband can be specified so that any duty cycle that falls within +/- the deadband amount from 50% is considered a command for zero speed.
  • Page 109 1 0 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Relationship of PWM duty cycle to motor velocity • Shaft velocity increases in the CW direction as PWM duty cycle decreases from 50% to 0%.
  • Page 110 1 1 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L A PWM D ETTING EADBAND PTIONAL The deadband expands the range about the 50% PWM mark that is interpreted as the “zero-velocity setting”...
  • Page 111 1 1 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM C OLLOW IGITAL ELOCITY IPOLAR OMMAND WITH ARIABLE ORQUE Available on MCVC + MCPV ESCRIPTION Control velocity and maximum torque independently and concurrently...
  • Page 112 1 1 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Assert input A to operate using purely the Alternate Torque Limits.
  • Page 113 1 1 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Torque Override Indicator When lit, the main torque limit is being Enter optional overridden by a secondary, user-set torque deadband setting.
  • Page 114 1 1 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM I OLLOW IGITAL ELOCITY OMMAND NIPOLAR NPUT Available on MCVC + MCPV ESCRIPTION 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...
  • Page 115 1 1 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Check box to invert how PWM duty cycle is measured by ClearPath. Enter max.
  • Page 116 1 1 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • For CW shaft rotation, set Input A high. For CCW shaft rotation, set Input A low.

  • Page 117: Mode Description

    1 1 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OLLOW IGITAL ELOCITY OMMAND REQUENCY NPUT Available on MCVC + MCPV ESCRIPTION Connect a digital variable frequency waveform from your PLC or other device, and ClearPath will run at a velocity proportional to the frequency...
  • Page 118 1 1 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Set Min/Max Frequency. During operation, motor speed is controlled by Input B signal frequency. With Enter max.

  • Page 119: Mode Description

    1 1 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OVE TO ENSOR OSITION Available on MCVC + MCPV ESCRIPTION This mode is mainly intended to be used in two-position back and forth applications (like replacing a pneumatic cylinder).

  • Page 120: I/O Functions

    1 2 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L I/O F UNCTIONS Enable Input - Asserting this input energizes the motor shaft. Input A - This input is used to make the motor spin in the CW (clockwise) direction.

  • Page 121: Mode Controls

    1 2 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Click to open Enter max velocity Enter max velocity Torque Limit desired for CW rotation.
  • Page 122 1 2 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (2-P OVE TO BSOLUTE OSITION OSITION OME TO WITCH Available on MCVC + MCPV ESCRIPTION Trigger ClearPath to move to one of two preset locations.
  • Page 123 1 2 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • The user-defined positions can be 'taught' instead of entered numerically through MSP. To do this, the motor must be in a Logic Backup Power (LBP) state (using a ClearPath POWER4- HUB board).

  • Page 124: Mode Description

    1 2 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (4-P OVE TO BSOLUTE OSITION OSITION OME TO Available on MCPV ESCRIPTION Command ClearPath to move to one of four preset locations.
  • Page 125 1 2 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L target is in the same direction as the current motion, the move will continue until the new target location is reached.

  • Page 126: Mode Controls

    1 2 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Set Target Positions Click to open Click to open Enter move distance (from Torque Limit Homing home) for each input state.
  • Page 127 1 2 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (16-P OVE TO BSOLUTE OSITION OSITION OME TO Available on MCPV ESCRIPTION Command ClearPath to move to one of 16 preset positions by toggling Input B (between 1 and 16 times) to specify a target position [position...
  • Page 128 1 2 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Deasserting Input A resets the position selection index to 0. •...

  • Page 129: Mode Description

    1 2 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (4-D NCREMENTAL ISTANCE ISTANCE OME TO Available on MCPV ESCRIPTION Send a trigger pulse to tell ClearPath to move a user-defined distance [increment] from its current position.
  • Page 130 1 3 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L increments together to form a single non-stop move. Note: To successfully “chain” move increments, the burst of trigger pulses must be sent rapidly.

  • Page 131: Mode Controls

    1 3 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Torque Override Indicator When lit, the main torque limit is being overridden by a secondary, user-set torque limit (e.g., when an axis is homing, Set Move Increments...
  • Page 132 1 3 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (2-D NCREMENTAL ISTANCE ISTANCE OME TO Available on MCPV ESCRIPTION Change the state an input to tell ClearPath to move a user-defined, incremental distance from its current position.
  • Page 133 1 3 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Multiple position increments can be smoothly chained together (i.e., with no stops in between) by toggling Input A before ClearPath starts decelerating.

  • Page 134: Mode Description

    1 3 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (2-D NCREMENTAL ISTANCE ISTANCE WITCH Available on MCPV ESCRIPTION Send a trigger pulse to tell ClearPath to move a user-defined distance from its current position.

  • Page 135: Mode Controls

    1 3 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L 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).

  • Page 136: Mode Description

    1 3 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L (1-D NCREMENTAL ISTANCE ISTANCE WITCH Available on MCPV ESCRIPTION ClearPath will make an incremental move when the state of Input A changes.

  • Page 137: Mode Controls

    1 3 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Multiple position increments can be smoothly chained together (i.e., with no stops in between) by toggling Input A before ClearPath starts decelerating.

  • Page 138: I/O Functions

    1 3 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ULSE URST OSITIONING Available on MCPV ESCRIPTION ClearPath will move a distance proportional to the number of pulses sent to Input B.
  • Page 139 1 3 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L pulses and ClearPath creates a smooth motion profile for you automatically. ONTROLS Select number of input pulses required to...
  • Page 140 1 4 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ULTI ENSOR OSITIONING DIRECTIONAL OME TO Available on MCPV ESCRIPTION Move to a maximum of 16 different positions using simple I/O from your PLC, microcontroller or similar to control ClearPath's direction and position.
  • Page 141 1 4 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Homing is required in this mode; it can be performed upon first enable after power up, or upon every enable.

  • Page 142: Mode Description

    1 4 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ULTI ENSOR OSITIONING NIDIRECTIONAL ENSORLESS OMING Available on MCPV ESCRIPTION Use simple I/O from your PLC, microcontroller etc. to command ClearPath to move to the sensor or switch of your choosing.
  • Page 143 1 4 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Select which edge Select whether a transition at Input A sensor actuation Once a sensor is will start a move.
  • Page 144 1 4 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ULTI ENSOR OSITIONING NIDIRECTIONAL OME TO ENSOR Available on MCPV ESCRIPTION Use simple I/O from your PLC, microcontroller etc.

  • Page 145: Mode Controls

    1 4 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Select whether a sensor actuation Once a sensor is turns Input B on or off. entered, ClearPath ignores sensors until it Click to open...

  • Page 146: Mode Description

    1 4 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L PWM C OLLOW IGITAL OSITION OMMAND NIPOLAR OMMAND Available on MCPV ESCRIPTION ClearPath will servo to a position between two user-defined limits proportional to the PWM duty cycle of the signal on input B.

  • Page 147: Mode Controls

    1 4 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Check box to invert how PWM duty cycle is measured by ClearPath. Click to open Click to open NO CHECK...

  • Page 148: I/O Functions

    1 4 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OLLOW IGITAL OSITION OMMAND REQUENCY OMMAND Available on MCPV UMMARY ClearPath will servo to a position between two user-defined limits based on the frequency of the signal on Input B.

  • Page 149: Mode Controls

    1 4 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Set Min/Max Frequency. During operation, motor position is controlled by Input B signal frequency. Example;...

  • Page 150: Operational Modes : Sdsk And Sdhp

    1 5 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L : SDSK SDHP PERATIONAL ODES The ClearPath SD (Step & Direction) family was designed to replace stepper motor and drive systems with a single, cost-effective unit.
  • Page 151 1 5 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Select number of input Check to reverse pulses required to rotate direction of motor Click to open Torque the motor shaft exactly...
  • Page 152 1 5 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L TEP AND IRECTION IMING The ClearPath Step Input is “positive edge-triggered”, so ClearPath registers a step only when Input B sees the rising edge of a step input pulse (i.e.

  • Page 153: Mode Description

    1 5 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L UADRATURE NPUT Available on SDSK + SDHP ESCRIPTION You send 2-channel quadrature signals and ClearPath moves in response. This mode is great for replacing quadrature driven stepper systems with a single compact device that costs less and does more.
  • Page 154 1 5 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Minimum pulse width (for high and low states) = 715 nS. •...

  • Page 155: Mode Controls

    1 5 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ONTROLS Select number of input Check to reverse pulses required to rotate direction of motor Click to open Torque the motor shaft exactly...
  • Page 156 1 5 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L A: LED B PPENDIX LINK ODES Note: In cases where multiple exceptions use the same blink code, connect ClearPath to a PC running MSP to read exception type.
  • Page 157 RAS Change Rejected Toggle Enable Yellow - strobe Shutdown Disallows motion Servo off Unexpected error. Contact Teknic for input work-around or new firmware. Speed Too High For RAS Toggle Enable Yellow - strobe Shutdown Disallows motion Servo off Unexpected error.
  • Page 158 Motor Has Failed Motor Not clearable Red Toggle Disallows Motion Servo off Return to Teknic for repair or Failure (typically) replacement. If ClearPath shows no LED activity During operation, if ClearPath DC bus voltage droops below approximately 18VDC, the following will occur: •...
  • Page 159 1 5 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • The LED will remain off. Toggling the Enable will not clear this shutdown. Once voltage returns to approximately 20VDC or higher: •...

  • Page 160: Mounting Dimensions: Power4-Hub

    1 6 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L B: M PPENDIX ECHANICAL NSTALLATION : POWER4-HUB OUNTING IMENSIONS Ø .155 ±.004 3.94 ±0.10 THRU 27.06 1.065 78.38...

  • Page 161: Mounting Dimensions: Clearpath Nema 34

    1 6 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L NEMA 34 OUNTING IMENSIONS LEAR . (585) 784-7454 EKNIC...

  • Page 162: Mounting Dimensions: Clearpath Nema 23

    1 6 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L NEMA 23 OUNTING IMENSIONS LEAR . (585) 784-7454 EKNIC...

  • Page 163: Motor Mounting Considerations

    A N U A L OTOR OUNTING ONSIDERATIONS Tip: Teknic recommends mounting the motor such that the USB port and status LED are visible and accessible when the motor is mounted to the machine. • Do not mount ClearPath over a heat source such as a power supply, spindle drive, etc.
  • Page 164 • Avoid using shaft keys when possible. Although 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.

  • Page 165: Notes On Coupling Selection

    “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: •...

  • Page 166: Installing Pulleys And Pinions

    1 6 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Bellows couplings are also excellent for high precision positioning applications. Bellows couplings allow for more misalignment than jaw couplings but are generally more expensive.

  • Page 167: About End-Of-Travel Stops

    1 6 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L BOUT RAVEL TOPS 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.

  • Page 168: Fan Mounting And Cooling

    DC fan (60mm for NEMA 34 motors, or 40mm for NEMA23 size motors). See the diagram below for mounting dimensions, hardware and supported fan sizes. Teknic does not sell accessory fans, but they are readily available through electronics suppliers including Digikey and Mouser.

  • Page 169: Mating Connector Information

    1 6 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L C: M PPENDIX ATING ONNECTORS AND ABLE INOUTS ATING ONNECTOR NFORMATION Amazon IPC-5 ntelligent...

  • Page 170: Cable Pinout: Cpm-Cable-Ctrl-Mu120

    1 7 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L : CPM-CABLE-CTRL-MU120 ABLE INOUT Cable description: ClearPath I/O connector cable. Overmolded Molex MiniFit Jr.
  • Page 171 ABLE INOUT Cable description: ClearPath power cable. This cable connects the DC output of a Teknic IPC-3 or IPC-5 power supply to the ClearPath power input connector. It features a Sabre 2-position connector to Molex MiniFit Jr. 4-position connector. 121"...

  • Page 172: Appendix D: Common Specifications

    1 7 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L D: C PPENDIX OMMON PECIFICATIONS Electrical Power Requirements: Supply Voltage, Typical: 24VDC to 75VDC Supply Voltage, Absolute Min: 21.5VDC (as measured at input terminals)

  • Page 173: Appendix E: Grounding And Shielding

    1 7 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L E: G PPENDIX ROUNDING AND HIELDING (PE) C ROTECTIVE ARTH ONNECTION Compliance Note: ClearPath must be properly connected to the machine’s Protective Earth terminal to meet EMC emissions specification EN-61000-6-4, and EMC immunity specification EN-61000-6-2, as well...

  • Page 174: Power Returns

    1 7 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OWER ETURNS Never use the machine frame or chassis as a power return. Use •...

  • Page 175: Appendix F: Circuit Schematics

    1 7 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L F: C PPENDIX IRCUIT CHEMATICS POWER4-HUB S CHEMATIC SIMPLIFIED POWER4-HUB simplified schematic .
  • Page 176 1 7 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L G: C PPENDIX LEAR UMBER Example Part Number C P M - S D H P - 3 4 4 1 S - E L N ®...

  • Page 177: Appendix H: Miscellaneous Topics

    1 7 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L H: M PPENDIX ISCELLANEOUS OPICS OMING NTRODUCTION Why Home? In many servo positioning applications, the moving element of the stage (i.e., the load) must be precisely positioned at a known location along the stroke of the axis before accurate positioning can begin.

  • Page 178: Terms Used In This Section

    1 7 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ERMS ECTION Please read the below definitions to familiarize yourself with a few frequently used ClearPath homing terms.

  • Page 179: Homing Settings

    1 7 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OMING ETTINGS Homing dialog settings are explained below. OMING ETTINGS OMMON TO ODES These homing settings are common to all ClearPath Automatic Homing setups.
  • Page 180 1 8 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OMING ETTINGS THER Homing Torque Limit (Hard Stop Homing only) When homing is initiated, ClearPath lowers the torque limit to this value. The Main Torque Limit is automatically restored after homing is complete.
  • Page 181 1 8 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L the zero position). ClearPath will not execute any move that would violate this travel limit.
  • Page 182 1 8 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Precision Homing The Precision Homing feature was created to help ensure that ClearPath always finds the exact same Software Home (zero) position, even in cases where the hard stop or home switch has slipped, bent, or otherwise drifted in position.
  • Page 183 1 8 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Manual Homing aka "User Seeks Home" Manual Homing is available in Step & Direction and Pulse Burst Positioning modes only.
  • Page 184 1 8 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Advanced Settings Check here if the axis can spin “forever” in both directions.

  • Page 185: Typical Homing Sequences

    1 8 5 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L YPICAL OMING EQUENCES This section enumerates the main steps involved in the most common ClearPath homing scenarios.
  • Page 186 1 8 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L ANUAL OMING EQUENCE The user Enables ClearPath. (Enabling energizes the motor coils and puts ClearPath in Manual Homing mode.) 2.

  • Page 187: Precision Homing

    1 8 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L RECISION OMING Precision Homing helps assure home position repeatability even if the Physical Home (sensor or hard stop) is not perfect, such as when a hard stop wears out, shifts position, or becomes deformed.
  • Page 188 1 8 8 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L RECISION OMING ETUP Precision Homing dialog in Homing Setup window To calibrate ClearPath to your mechanics, you only need to complete one initial homing operation.

  • Page 189: Homing Methods Listed By Operational Mode

    1 8 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OMING ETHODS ISTED BY PERATIONAL Sensor Homing is available in the following modes: •...

  • Page 190: Msp Motion Generator

    1 9 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L MSP M OTION ENERATOR The Motion Generator in MSP allows you to quickly and easily jog and test your ClearPath motors (and any connected mechanics) with no external switches or sensors required.
  • Page 191 1 9 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Repeat >> Profiled - Move repeatedly in the same direction. Click + or - button to launch repeating moves in the same direction.

  • Page 192: Encoder And Input Resolution

    1 9 2 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L NCODER AND NPUT ESOLUTION NTRODUCTION This section includes a discussion of the following topics: •...

  • Page 193: Positioning Resolution

    1 9 3 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L OSITIONING ESOLUTION Positioning Resolution—also called "Commandable Resolution"—is the ClearPath motor's working encoder resolution. This is the encoder resolution you specified when ordering your ClearPath.
  • Page 194 1 9 4 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L • Case #2. You want one step pulse to command multiple counts of motion.

  • Page 195: Ras And G-Stop (Vibration And Resonance Suppression)

    AND G IBRATION AND ESONANCE UPPRESSION RAS (Regressive Auto-Spline) and g-Stop are Teknic's proprietary, vibration and resonance suppression features. Although these features work somewhat differently, both were designed to help produce smooth motion, reduce machine vibration, improve settling time, and decrease audible noise.
  • Page 196 1 9 6 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Although RAS adds some time to the move (in the millisecond range), it can actually reduce overall move time by reducing settling time and/or allowing for the use of higher acceleration limits.
  • Page 197 1 9 7 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L RAS S SD M ANUAL ETTINGS OTORS In MC and SD ClearPath op modes, you can manually select a single numerical RAS setting from the drop down list as shown below.

  • Page 198: G-Stop Tuning

    Teknic. Teknic Video: g-Stop To understand how g-Stop works, watch the Teknic video on this topic here. Note: This video was created for the ClearPath-SC family of motors, so the UI shown in the video is slightly different from that of MSP.
  • Page 199 1 9 9 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L Increase Attack until the machine vibration has improved to the desired level of performance.

  • Page 200: Appendix H: Logic Power Supply Sizing

    2 0 0 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L H: L PPENDIX OGIC OWER UPPLY IZING This section was designed to help users estimate how much power (wattage) to specify when selecting a logic power supply for a ClearPath system.

  • Page 201: Index

    2 0 1 M C / S D U . 3 . 0 9 L E A R A T H S E R A N U A L NDEX Arduino, 58 I/O Connector, 27 Auto-Tune Incremental vs. Absolute Distance, 132, 134, 136 Failure to complete, 32 Input A How to, 21...
  • Page 202 Requirements, 31 Trigger Position, 84 Selection, 31 Trigger Source (Trigger On), 85 Switch placement, 34 Setup, 61 Teknic power supplies, 33 System Requirements, 60 Trouble Shooting, 32 User Interface, 62 Warnings, 33 Spin on Power-Up Pulley and Pinion Mounting, 166...
  • Page 203 . 3 . 0 9 L E A R A T H S E R A N U A L Teknic, Incorporated 115 Victor Heights Pkwy Victor, NY 14564 © 2020 TEKNIC INCORPORATED, ALL RIGHTS RESERVED . (585) 784-7454 EKNIC...

This manual is also suitable for:

Clearpath mcpv seriesClearpath sdsk seriesClearpath sdhp seriesClearpath cpm-mcvc-3421s-rln

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