Teknic CLEARPATH MCVC Series User Manual page 109

C P M C / S D U
L E A R A T H
T , I .
EKNIC NC
M R . 3 . 0 9
S E R A N U A L E V
Relationship of PWM duty cycle to motor velocity
• Shaft velocity increases in the CW direction as PWM duty cycle
decreases from 50% to 0%.
• Shaft velocity increases in the CCW direction as PWM duty cycle
increases from 50% to 100%.
• As PWM duty cycle approaches 50%—from either direction—motor
velocity approaches 0.
• In practice, O% and 100% (static low and static high conditions) are
not valid PWM states. ClearPath treats these cases as zero-velocity
commands.
• PWM minimum on time and minimum off time = 300nS.
Max. Velocity
(CCW Rotation)
Velocity = 0
Max. Velocity
(CW Rotation)
0 10
Graph of PWM duty cycle vs. motor velocity
Zero
Velocity
20 30 40 50 60 70
Duty Cycle
1 0 9
80 90 100
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