Teknic CLEARPATH MCVC Series User Manual page 114

C P M C / S D U
L E A R A T H
F D
OLLOW IGITAL
M D
ODE ESCRIPTION
Velocity Control
Follow Digital Velocity Command (Unipolar PWM Command)
Signal Function
Input A Direction
Input B Velocity
Enable Enable
Trigger NA
Notes:
I/O F
UNCTIONS
T , I .
EKNIC NC
M R
S E R A N U A L E V
V C
ELOCITY OMMAND
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.
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.
Input Type
Logic: High=CW Low=CCW
Pulse: Variable PWM
Duty cycle of applied PWM signal (%)
Logic: High=Enable Low=Disable
NA
Enable Input - Asserting this input energizes the motor shaft.
Input A - This input selects the direction of rotation.
Input B - This input is connected to a PWM signal whose duty cycle
represents the desired speed.
Output (HLFB) - See HLFB section for available modes.
Notes:
•
PWM input frequency range: 20 Hz up to 30 kHz.
•
If the PWM signal is off for 50mS or more the PWM input is
considered off. This is interpreted by ClearPath as a zero-
velocity command.
•
Disable time = 10 mS
•
For applications with the highest sensitivity to velocity
accuracy, consider using frequency input control (described in
next section).
. 3 . 0 9
(U
NIPOLAR
Available on
MCVC + MCPV
Example Timing
1
0
1
0
10%
1
0
1
0
v
Motor velocity vs. time
1 1 4
PWM I )
NPUT
90% OFF
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