Teknic ClearPath-SCSK Series User Manual
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Teknic ClearPath-SCSK Series User Manual

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U
M
SER
ANUAL
C
P
-SC M
LEAR
ATH
OTORS
M
SCSK
SCHP
ODELS
AND
NEMA 23
NEMA 34 F
S
IN
AND
RAME
IZES
V
1.36 M
17, 2020
ERSION
ARCH
T
, I
T
. ( 5 8 5 ) 7 8 4 - 7 4 5 4
E K N I C
N C
E L

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  • Page 1 ANUAL -SC M LEAR OTORS SCSK SCHP ODELS NEMA 23 NEMA 34 F RAME IZES 1.36 M 17, 2020 ERSION ARCH . ( 5 8 5 ) 7 8 4 - 7 4 5 4 E K N I C...
  • Page 2 - S C U . 1 . 3 6 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

    FAQ: "What size power supply should I use?" ....27 Considering a "Lower Voltage" Bus Power Supply?..28 Additional Power Supply Considerations .......29 Teknic IPC-3 and IPC-5 Power Supplies ........30 Teknic Model IPC-3 ............30 Teknic Model IPC-5 ............30 Before Powering Your ClearPath-SC System ......31 Power Supply Switching and Fusing .......32...
  • Page 4 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB: Things to Know........35 POWER4-HUB: Compliance Notes.........35 Parts of a POWER4-HUB ..........36 Connections: One POWER4-HUB ........37 Connections: Two POWER4-HUBs.........38 Auxiliary (24V) Logic Power Supply .......39 POWER4-HUB LEDs............
  • Page 5 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Mounting Dimensions: Power Hub..........93 Connecting ClearPath-SC to a Mechanical System.....94 Motor Connection: General Tips and Guidelines ...94 Notes on Coupling Selection..........96 Installing Pulleys and pinions .........97 About End-of-Travel Stops............98...

  • Page 6: Quick Start Guide

    In the ClearPath-SC development model, Teknic provides you with the sFoundation, an advanced motion software library. ClearPath-SC is compatible with C++ for Windows/Linux and .NET languages (such as C#) for Windows.

  • Page 7: Description Of System Components

    OWER UPPLY The DC Bus Power Supply provides main power to your ClearPath-SC motors. A Teknic IPC-5, 75VDC supply is shown above, but ClearPath-SC motors can be powered from other supplies in the 24–75VDC range. POWER4-HUB The POWER4-HUB distributes DC bus power and backup logic power to as many as four ClearPath-SC motors per hub.

  • Page 8: Parts Of A Clearpath-Sc Motor

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L -SC M ARTS OF A LEAR OTOR Industry-leading, programmable, brushless servo motor with precision optical encoder, built in controller, trajectory generator, servo compensator, and torque drive.

  • Page 9: System Setup

    NSTALL LEAR OFTWARE Update your Windows installation. See note below for details. 2. Download the ClearView installer from Teknic's website: https://www.teknic.com/downloads/ 3. Launch the ClearView Installer. Follow the on-screen prompts. Important Software Installation Note If your Windows installation is not up to date, ClearView may not run properly on your PC.

  • Page 10: Install The Sc Hub "End-Of-Loop" Jumper

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L 2. I SC H "E " J NSTALL THE UMPER Place one (and only one) jumper block on the 2-pin header associated with the last motor connected to your SC Hub.

  • Page 11: Connect Clearpath-Sc System Components

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L 3. C -SC S ONNECT LEAR YSTEM OMPONENTS Before applying power, connect all ClearPath-SC components as shown in the hookup diagrams later in this section.
  • Page 12 . 1 . 3 6 L E A R A T H S E R A N U A L YSTEM OOKUP IAGRAM ITH A OWER Teknic IPC-5 75VDC Power Supply Windows (or Linux) 24VDC Supply 75VDC Inputs OUTPUTS (2 per axis)
  • Page 13 L E A R A T H S E R A N U A L YSTEM OOKUP IAGRAM ITHOUT OWER Windows (or Linux) Teknic IPC-5 Inputs 75VDC Power Supply (2 per axis) Expansion Connector Axis 3 Axis 2 Axis 1 Axis 0 RS-232...

  • Page 14: Test The Dc Bus Power Polarity

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L 4. T DC B EST THE OWER OLARITY Before applying DC bus power to your motor, please perform this quick test.

  • Page 15: Establish Communication (Usb Or Rs-232 / Serial)

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L 5. E (USB RS-232 / S STABLISH OMMUNICATION ERIAL Next, you'll need to establish communication between your PC and the ClearPath-SC motors you want to control.
  • Page 16 4. In ClearView software go to File>Preferences. 5. Click the drop down menu in the section labeled "First". 6. Select the COM port [n] you identified above. Click "Done". Select "Teknic ClearPath 4-axis Comm Hub" for First COM port . (585) 784-7454 EKNIC...
  • Page 17 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L RS-232, S ERIAL OMMUNICATION Important: If you choose serial communication, your serial port must support a minimum of 230k baud to run ClearView software. If you do not know what speeds are supported by your serial port, check Windows Device Manager under Ports, or refer to your computer's documentation.

  • Page 18: Test Spin Your Motors Using Clearview

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L OTORS SING LEAR Note: This section describes how to spin an unloaded motor (i.e. a motor with nothing attached to the shaft).

  • Page 19: Safety Warnings

    - S C U . 1 . 3 6 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, power up, 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.

  • Page 20: 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 21: Introduction

    ClearPath-SC all-in-one servo motor ClearPath-SC is a rugged, 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.
  • Page 22 Made in USA. Each ClearPath-SC 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. And, Teknic backs up each ClearPath-SC motor with a three year warranty. . (585) 784-7454 EKNIC...

  • Page 23: Parts Of A Clearpath-Sc Motor

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L -SC M ARTS OF A LEAR OTOR ClearPath I/O Connector (Molex Minifit Jr. 8 position) Diagnostic Port DC Bus Power Connector (USB micro-B) Auxilliary PE...

  • Page 24: Example Clear Path -Sc Systems

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L -SC S XAMPLE LEAR YSTEMS The ClearPath-SC system was created with both design flexibility and expandability in mind. This section shows a few examples of systems that can be built with ClearPath-SC components.

  • Page 25: Medium System (Single Port, 3 Sc4-Hubs)

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L , 3 SC4-HUB EDIUM YSTEM INGLE Motion related sensors & signals (connected through to each motor) E-stop circuit Safety Controls...

  • Page 26: Large System (Multiple Ports And Sc4-Hubs)

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L SC4-HUB ARGE YSTEM ULTIPLE ORTS AND Motion related sensors & signals (connected through to each motor) E-stop circuit Safety Controls...

  • Page 27: Powering A Clear Path -Sc

    So, selecting a power supply often begins with an educated guess followed by real-world testing. If you need to power several motors running at high speed and high torque, consider trying a Teknic IPC-5, 75VDC power supply. Start with one supply but keep in mind that you can add another supply later if your application requires more power.

  • Page 28: Considering A "Lower Voltage" Bus Power Supply

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L "L " B ONSIDERING A OWER OLTAGE OWER UPPLY ClearPath-SC motors do work with DC bus power supplies down to 24VDC, but the supply must have sufficient voltage, current, and capacitance to meet your system's torque and speed requirements.

  • Page 29: Additional Power Supply Considerations

    Engineer's Note: It is very common for machine requirements to change during the development cycle (e.g. "We need higher accelerations, and higher speeds, NOW!"). For that reason, Teknic often recommends beginning a machine project with a robust 75VDC supply. That way, if the...

  • Page 30: Teknic Ipc-3 And Ipc-5 Power Supplies

    EKNIC OWER UPPLIES Teknic designed the IPC-3 and IPC-5 power supplies specifically for servo systems like the ClearPath-SC. These supplies deliver a tightly regulated 75VDC and feature large capacitor banks to prevent debilitating droop during peak current demand. The IPC supplies also feature advanced regenerated energy management and many built-in safety and protective features.

  • Page 31: Before Powering Your Clearpath-Sc System

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L -SC S EFORE OWERING LEAR YSTEM • Check for proper DC bus power polarity. Reversing DC power polarity will permanently damage the unit.

  • Page 32: Power Supply Switching And Fusing

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

  • Page 33: Direct Power Connection

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L IRECT OWER ONNECTION One or two motors can be connected directly to the IPC-3 or IPC-5 power supply as shown below.

  • Page 34: Using The Power4-Hub

    A N U A L POWER4-HUB SING THE 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 35: Power4-Hub: Things To Know

    POWER4-HUB: C 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 36: Parts Of A Power4-Hub

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB ARTS OF A 75V DC Bus Output Bus 24V Power LED 24VDC Logic Power Input & Passthrough Overload LED Input &...

  • Page 37: Connections: One Power4-Hub

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB ONNECTIONS IPC-5 75VDC 24VDC Bus Supply Aux. Supply 75VDC Bus Out 75VDC Bus Input/ Power Hub Passthrough 75VDC Bus Out (x4) AC Source...

  • Page 38: Connections: Two Power4-Hubs

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB ONNECTIONS Two POWER4-HUBs powering 8 ClearPath-SC motors . (585) 784-7454 EKNIC...

  • Page 39: Auxiliary (24V) Logic Power Supply

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L (24V) L UXILIARY OGIC OWER UPPLY The Power Hub and SC Hub each require 24VDC to function. (This is labeled as "24VDC Aux.

  • Page 40: Power4-Hub Leds

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB LED POWER OVERLOAD OVERTEMP DROPOUT AUX-SHDN POWER4-HUB LEDs LED Name Color LED On Indicates LED Off Indicates Aux.

  • Page 41: Communication And I/O (The Sc4-Hub)

    SC4-HUB) OMMUNICATION AND NTRODUCTION The SC Hub (Teknic part number SC4-HUB) is the center of communication and I/O routing for all ClearPath-SC systems. The SC Hub links the application computer and I/O devices to your ClearPath-SC motors. Up to four SC Hubs can be linked together to create systems of 16 motors on a single USB or RS-232 port.

  • Page 42: Parts Of An Sc4-Hub

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L SC4-HUB ARTS OF AN Global Stop Global Stop Input 24V Input/Passthrough OPEN GLOBAL STOP 24V Power Brake 0 LED Motor Data...

  • Page 43: Clearpath I/O Connector

    LEAR ONNECTOR This connector sends communication and input signals from the SC Hub to the ClearPath-SC motor. The required cable is a straight-through, 8-pin to 8-pin Molex MiniFit Jr. cable (Teknic P/N: CPM-CABLE-CTRL- MU120). LOOP EADERS Place a jumper block on the 2-pin header associated with the last motor connected to your SC Hub.

  • Page 44: Input Aandb Connectors

    Cables used for SC inputs can be a maximum of 100 feet (30 m) long. However, longer cable runs may be possible if the cable stock is of high quality, low capacitance, twisted pair construction. Contact Teknic if you need input cables longer than 100 feet (30 m).
  • Page 45 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L 46999-0567 Axis 0 Input B Input A 46999-0565 46999-0565 S1D-13-F S1D-13-F GRN LED GRN LED Schematic snippet: Input A and B INIMUM URRENT EQUIREMENT...

  • Page 46: Brake Control Connectors

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L RAKE ONTROL ONNECTORS These two, 2-pin Molex Minifit Jr. connectors allow you to control "power-off" style 24VDC inline brakes. They can also be used as general purpose outputs (GPOs) to control any 24VDC device through your application code.
  • Page 47 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L RAKE ONTROL IRCUIT The figure below shows a schematic fragment of one of the Brake Control circuits (Brake Control 0).
  • Page 48 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ETTING RAKE ONTROL EHAVIOR IN LEAR The Brake Control outputs can be toggled manually or set to automatic operation through the ClearView Actions menu: Actions>Brake 0, or Actions>Brake 1.

  • Page 49: Global Stop Connector

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L LOBAL ONNECTOR This 2-pin Molex Minifit Jr. connector allows you to connect the E-Stop output from a safety controller to your SC Hub. Important Safety Note: Ensure this feature is used only with ISO 13849 approved safety controls.

  • Page 50: Safety Controls Concept Sketch

    The figure below was included to provide some context for how one might approach the design of safety controls for a ClearPath-SC System. It is not a tested or proven design. As such, Teknic makes no promise or guarantee as to the safety or suitability of this design for any machine application.

  • Page 51: Configuration Software (Clear View )

    • Run Windows Update. See note Windows Update and ClearView below. • Download the ClearView installer from https://www.teknic.com/downloads/. • Launch the ClearView installer. Follow on-screen prompts to complete installation. Windows Update and ClearView Installation If your Windows installation is not up to date, ClearView may not run properly.

  • Page 52: Establishing Communication With Your System

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L STABLISHING OMMUNICATION YSTEM See ClearPath-SC Quick Start Guide. LEAR OFTWARE NTERFACE VERVIEW The ClearView UI is presented in four parts: the Menu, Manual Controls, Dashboard, and Soft Scope.

  • Page 53: Manual Motor Controls

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ANUAL OTOR ONTROLS The Manual Motor Controls comprise a set of tools designed to help you test and exercise your ClearPath-SC motors without writing a single line of code.

  • Page 54: Dashboard

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ASHBOARD The Dashboard features virtual indicators and readouts for motor status, encoder position, motor velocity, bus voltage, input states, exception messages, and more.

  • Page 55: Soft Scope

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L COPE VERVIEW The ClearView Soft Scope takes real-time streaming data from your ClearPath-SC motor and plots it on a scope display in an intuitive, easy-to- interpret manner.
  • Page 56 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L COPE ISPLAY AND COPE ONTROLS The ClearView Scope display is modeled after a typical hardware oscilloscope. It has 10 major vertical divisions (the time axis), and 8 major horizontal divisions (the amplitude axis).
  • Page 57 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Cursor controls display time and amplitude measurements of the live trace. Note: the time readout for the cursors is referenced to the Trigger Point (that's where t = 0).
  • Page 58 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L • Normal - Causes scope data collection to begin whenever a valid trigger source is detected. •...
  • Page 59 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L TRIP HART The Strip Chart provides a visual overview of your motor status, input states, and motion performance. A quick look at the strip chart can tell you if the motor is enabled, shut down, hit a limit, whether the inputs are asserted or not.

  • Page 60: Clearview Menus

    All existing settings will be overwritten. Save your current configuration as a .mtr file (described above) if you think you'll need to use it some other time. Export XML File Beta feature for Teknic internal use at this time. . (585) 784-7454 EKNIC...
  • Page 61 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Preferences Opens a dialog that lets you manage COM port settings and event sounds in ClearView. Port Assignments Event Sounds Control Click drop down menu...
  • Page 62 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Motor ID Select this menu item to open a window as shown below. There you can enter a customized name for your motor.
  • Page 63 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ETUP The Setup Menu provides a simple, no code required, way to manage frequently used motion control actions and events such as input behaviors, homing, torque limiting, software limits, Auto-tune, and more.
  • Page 64 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Torque Limiting Setup This menu item brings up a selection of conditional torque limiting options (see figure below). Torque Limiting Setup Example: the above conditional statement (indicated with a red star) reads: Limit CCW(+) torque when Input A turns on.
  • Page 65 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Homing Setup The Homing Setup dialog lets you quickly set up frequently used homing parameters without the need to code them into your application software. Homing Setup Software Limit Setup This feature lets you define travel limits in terms of encoder position, with...
  • Page 66 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Auto-Tune Select this menu item to begin an Auto-Tuning session. The software is designed to walk you through the Auto-Tune process in a safe, step-by- step manner.
  • Page 67 Software Command Select Software Command if you intend to command motor motion using only your application software and motion functions in the Teknic sFoundation library. This is the default setting and most common operating mode used with SC family motors.
  • Page 68 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Units Use this menu item to tell ClearView which units to display for velocity and acceleration. Velocity and acceleration can expresses in terms of encoder counts or RPM.
  • Page 69 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L CTION Action Menu Homing Actions This menu item provides access to several homing controls, parameters, and homing status indicators. Use these controls to simulate, test, and refine your homing routine without writing code.
  • Page 70 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Clear E-Stop (Shift+F12) Clears E-stop and returns motors to previous operating states. Clear All Exceptions (Shift+Ctrl+F12) Clears exception state and messages.
  • Page 71 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ETAILS The Details Menu provides access to setup dialogs for the ClearPath-SC features listed below: • Tracking error limit •...
  • Page 72 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Move Status Indicators Setup Move Status Indicators Setup Dialog E-Stop Deceleration Rate Setup . (585) 784-7454 EKNIC...
  • Page 73 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Vector Regen Shunt (VRS) Actions Upon Disable . (585) 784-7454 EKNIC...
  • Page 74 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Power and Temperature . (585) 784-7454 EKNIC...
  • Page 75 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L CCESS A second computer (or a second port on the same computer) can be connected to your ClearPath-SC via the rear Diagnostic Port. The Access Menu lets you specify which of the ports has full control of the motor (only one can).

  • Page 76: Sing The Iagnostic Hannel

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L SING THE IAGNOSTIC HANNEL This section describes how to access and use the Diagnostic Channel of your ClearPath-SC motor.

  • Page 77: Connecting To The Diagnostic Channel

    ClearView's Motor List 2. Next, connect a USB cable from the motor's Diagnostic Port to a free USB port on the Application PC, or to a USB port on a separate "Diagnostic PC" if desired. Teknic Part # Diagnostic Port CPM-CABLE-USB-120 Micro-B Type ‘A’...
  • Page 78 A T H S E R A N U A L 4. Select the "Second" drop down COM port list. Select Teknic ClearPath System (COMx) and click Done. Select the Diagnostic COM port as shown 5. The Motor List in ClearView should change to reflect the addition of a motor communicating on the Diagnostic Channel (circled in red below).

  • Page 79: Changing Diagnostic Channel Access Modes

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L HANGING IAGNOSTIC HANNEL CCESS ODES Select the motor of interest from the Motor List (It should appear under the "Rear USB: ONLINE"...

  • Page 80: Troubleshooting Diagnostic Channel Connections

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ROUBLESHOOTING IAGNOSTIC HANNEL ONNECTIONS If your motors stop communicating with ClearView on one or both channels, or if you get baud rate errors when connecting or reconnecting to the Diagnostic Port, follow these steps: On the SC hub: Remove the 24V power and the USB connector.

  • Page 81: Software Library And Sdk Overview

    System level functions • Software Development Kit (SDK) Where do I find the sFoundation SDK on my PC? 64-bit systems [DRIVE]:\Program Files (x86)\Teknic\ClearView\sdk\ 32-bit systems [DRIVE]:\Program Files\Teknic\ClearView\sdk\ OUNDATION LASS IERARCHY The sFoundation libraries are organized into a logical hierarchy (see diagram next page) to help software developers understand class relationships and find relevant functions quickly.
  • Page 82 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L class objects (objects which interface with USB or serial ports). Port class objects, in turn, “own” all of the instances of the Node class objects. You would use Node class objects to create and execute positional moves, and to query the node's real-time status (Is the motor enabled? Is the move done?).
  • Page 83 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L sFoundation Class Hierarchy . (585) 784-7454 EKNIC...

  • Page 84: Inode (Node Level Classes)

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L EVEL LASSES The INode class is used to interface with a node in an application (remember, each node is just a motor). Node level functions and structures are defined separately for each node in a system, so your application will have one instance of each of these structures for each node (motor) in your system.

  • Page 85: Iport (Port Level Classes)

    (available on advanced models only). IHoming This class object gives you hooks into Teknic's homing engine so you can initiate, and check the status of a homing move. Note: The IHoming class does not configure homing parameters (homing direction, homing speed, etc.).

  • Page 86: Sysmanager (System Level Class)

    LASS Sometimes called the "root object" for the sFoundation, this is the main application class used to interface with Teknic nodes attached to serial and/or USB ports. Its purpose is to coordinate actions among the various ports, and, to some extent, within the node environment.

  • Page 87: Software Development Kit (Sdk)

    SDK L HERE S THE OCATED The SDK files are copied to your local machine as part of the ClearView installation process, and can be found in one the following directories: [YOUR_DRIVE]:\Program Files (x86)\Teknic\ClearView\sdk\ [YOUR_DRIVE]:\Program Files\Teknic\ClearView\sdk\ . (585) 784-7454 EKNIC...

  • Page 88: Appendix A: Motor Led Blink Codes

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L A: M LED B PPENDIX OTOR LINK ODES Note: The motor LED periodically blinks off to indicate active communication between the motor and the host PC.

  • Page 89: Appendix B: Mechanical Index

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L B: M PPENDIX ECHANICAL NDEX -SC NEMA 34 OUNTING IMENSIONS LEAR . (585) 784-7454 EKNIC...

  • Page 90: Mounting Dimensions: Clearpath-Sc Nema 23

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L -SC NEMA 23 OUNTING IMENSIONS LEAR . (585) 784-7454 EKNIC...

  • Page 91: Motor Mounting, Thermal Considerations

    ClearPath-SC will perform a protective shutdown when its internal temperature sensor threshold is exceeded. 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.

  • Page 92: Mounting Dimensions: Sc Hub

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L : SC H OUNTING IMENSIONS 3.94 Ø 0.155 THRU SC Hub Mounting DImensions 20.65 0.813 90.42 3.560 83.41 3.284...

  • Page 93: Mounting Dimensions: Power Hub

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L OUNTING IMENSIONS OWER Ø .155 ±.004 3.94 ±0.10 THRU 27.06 1.065 78.38 77.72 74.55 3.086 3.060 2.935 w/ connector overhang...

  • Page 94: Connecting Clearpath-Sc To A Mechanical System

    - S C U . 1 . 3 6 L E A R A T H S E R A N U A L ONNECTING LEAR TO A ECHANICAL YSTEM ClearPath-SC motor must be connected to a mechanical system to do any useful work, but it’s not always clear just how to connect the motor to the rest of the machine.
  • Page 95 • Avoid using shaft keys when possible. Although ClearPath-SC 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 96: 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 97: Installing Pulleys And Pinions

    - S C U . 1 . 3 6 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 98: About End-Of-Travel Stops

    - S C U . 1 . 3 6 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 99: Fan Mounting And Cooling

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

  • Page 100: Appendix C: Connector Mating Parts

    Important: For D and E, observe differences in specified terminal, wire gauge, and crimp tool. While the same connector housing is used for D and E, the associated circuits carry significantly different max. voltage and current loads. AWG values listed are the actual wire gauges used in Teknic-manufactured cables. . (585) 784-7454...

  • Page 101: Clearpath-Sc Motor: Common Specifications

    1 0 1 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L D: S PPENDIX PECIFICATIONS -SC M LEAR OTOR OMMON PECIFICATIONS Electrical Power Requirements: Supply Voltage, Typical: 24VDC to 75VDC Supply Voltage, Absolute...
  • Page 102 1 0 2 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Environmental Sealing: Front Face, with shaft seal option: IP65 Front Face, without shaft seal option: IP53 Body/rear, with dielectric...

  • Page 103: Power4-Hub Specifications

    1 0 3 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L POWER4-HUB S PECIFICATIONS 24V power input (aux. power supply) Specified voltage range: 20VDC to 30VDC Absolute maximum input voltage: 40 VDC Current draw:...

  • Page 104: Sc4-Hub Specifications

    1 0 4 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L SC4-HUB S PECIFICATIONS USB Standard USB 2.0 w/hub, USB 1.1 direct Power Draw If 24V is present, 0.4mA max If 24V is not present, 150mA max.

  • Page 105: Appendix E: Grounding And Shielding

    1 0 5 - S C U . 1 . 3 6 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-SC 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 as EMC electrical safety specification EN-61010 (for CE/UL compliance).

  • Page 106: Power Returns

    1 0 6 - S C U . 1 . 3 6 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 107: Appendix F: Circuit Schematics

    1 0 7 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L F: C PPENDIX IRCUIT CHEMATICS All schematics in this section are functionally accurate. Certain advanced circuit elements have been omitted for clarity.

  • Page 108: Sc4-Hub Schematic (Simplified)

    1 0 8 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L SC4-HUB S CHEMATIC SIMPLIFIED ClearPath 0 ClearPath 0 Data input indicator Data input indicator Data to ClearPath ->...
  • Page 109 1 0 9 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L Global Stop Input Global Stop Input DTR Brake 0 DTR Brake 0 BAS21 BAS21 BAS21 BAS21...

  • Page 110: Appendix G: Wiring The Inputs

    1 1 0 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L G: W PPENDIX IRING THE NPUTS Each ClearPath-SC motor has two available inputs (Input A and B). Inputs are wired to the SC Hub and passed to the motor via the ClearPath I/O connector as shown below.

  • Page 111: Application Example: Wiring An Optical Sensor To An Input

    1 1 1 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L PPLICATION XAMPLE IRING AN PTICAL ENSOR TO AN NPUT The example below is based on the Omron EE-SX670 optical slot sensor. SC-Hub Internal ClearPath I/O OMRON EE-SX670...

  • Page 112: Appendix H: Motor Part Number Key

    PPENDIX OTOR UMBER Use the chart below to decode your ClearPath-SC part number, or visit Teknic's website and enter your motor part number into the search tool for complete information including specifications, torque-speed curves, and links to drawings and documentation.

  • Page 113: Appendix I: Logic Power Supply Sizing

    1 1 3 - S C U . 1 . 3 6 L E A R A T H S E R A N U A L I: 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 114: Appendix J: How To Make A 24V Logic Supply Cable

    (sensors, brakes, etc.). 2. Order a Teknic CPM-CABLE-M2P2P-120. This is a 120" (10-ft.), 2-pin Molex to 2-pin Molex cable as shown below. CPM-CABLE-M2P2P-120...

  • Page 115: Appendix K: Clear Path -Sc Cable Pinouts

    -SC C PPENDIX LEAR ABLE INOUTS This section contains pinout information for ClearPath-SC accessory cables available through Teknic and Teknic distribution. CPM-CABLE-CTRL-MU120 Cable description: ClearPath-SC I/O connector cable, double-ended, straight through. Molex MiniFit Jr. 8-position connector to same. Factory Standard...

  • Page 116: Cpm-Cable-Pwr-Mm660

    CPM-CABLE-PWR-MM660 CPM-CABLE-PWR-MS120 Cable description: ClearPath-SC power cable. This cable connects the DC output of a Teknic IPC-3 or IPC-5 power supply to the ClearPath-SC power input connector. It features a Sabre 2-position connector to Molex MiniFit Jr. 4-position connector. 121"...
  • Page 117 . 1 . 3 6 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...

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