Teknic CLEARPATH MCVC Series Manual de usuario

SER

ANUAL

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ANUAL

ODELS

MCVC,

MCPV,

SDSK,

SDHP

NEMA

AND

NEMA

RAME

IZES

ERSION

3.09

UNE

30,

2020

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HIS PAGE INTENTIONALLY LEFT BLANK

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ABLE OF

ONTENTS

ABLE OF

ONTENTS

...................................................3

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....................................................8

Please Read This Important Warning...........................................8

Before You Begin (Suggested Viewing Material) ..........................8

ClearPath Quick Setup...................................................................9

Required Items ..................................................................9

Install ClearPath MSP Software ........................................9

Secure Your Motor.............................................................9

Check DC Bus Power Polarity.......................................... 10

Power Up Your ClearPath................................................ 10

Connect ClearPath to Your PC..........................................11

Open ClearPath MSP (Motor Setup Program).................11

Spin Your Motor Under MSP Software Control.......................... 12

Spinning a Model MCPV or MCVC.................................. 12

Spinning a Model SDHP or SDSK ................................... 17

If You Experience a Motor Shutdown or Warning......................20

Auto-Tuning................................................................................. 21

Before You Seek Technical Help..................................................22

AFETY

ARNINGS

...................................................23

Personal Safety Warnings............................................................23

CE Compliance Warnings............................................................23

General Disclaimer ......................................................................24

NTRODUCTION

..........................................................25

What is a ClearPath Motor?.........................................................25

Parts of a ClearPath Motor ..........................................................27

Example Application: Absolute Positioning Mode .....................28

Summary of Operation ....................................................28

Overview: Configuring a ClearPath.............................................29

Overview: ClearPath I/O .............................................................30

OWERING A

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YSTEM

............................. 31

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

Power Hub Overview Diagram........................................36

Power Hub: Things to Know............................................37

Power Hub: Compliance Notes ....................................... 37

Parts of a Power Hub .......................................................38

Connections For a Single Power Hub System.................39

Connections For a Dual Power Hub System ...................40

Auxiliary (24V) Logic Power Supply ...............................40

Power Hub LED Codes .................................................... 41

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Power Hub: Things to Know............................................42

NPUTS AND

UTPUTS

................................................43

I/O Connector Parts and Pinout..................................................43

ClearPath Inputs ..........................................................................44

Input Current Draw .........................................................44

Warning: Inductive Loads and ClearPath I/O ................45

The Enable Input .............................................................46

Inputs A and B: The Control Inputs ................................46

Input Wiring ....................................................................47

ClearPath Output (HLFB)............................................................48

HLFB Modes: Common To All ClearPath Op Modes......49

HLFB Modes: For ClearPath Positioning Modes............ 51

HLFB Modes: For ClearPath Velocity Modes .................53

HLFB Output: For ClearPath Torque Modes.................. 55

HLFB Output Wiring Examples ......................................56

SER

OFTWARE

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MSP).........................60

Section Overview......................................................................... 60

MSP Minimum System Requirements....................................... 60

Installing MSP............................................................................. 60

Communicating With ClearPath Via MSP ................................. 60

Items Required for Communication Setup ..................... 61

First-Time Communication Setup................................... 61

Tour of ClearPath MSP Software.................................................62

Main UI Overview............................................................62

Mode Controls..................................................................62

Torque Limit Setup..........................................................63

Dashboard........................................................................68

MSP Menus ......................................................................69

MSP Software Scope .................................................................... 81

Overview ..........................................................................81

Scope Features .................................................................81

Scope User Interface & Controls .....................................82

PERATIONAL

ODES

MCVC

AND

MCPV .................89

Table of Operational Modes: Models MCVC and MCPV ............89

Follow Digital Torque Command (Bi-Polar PWM Command)... 91

Mode Description ............................................................ 91

I/O Functions................................................................... 91

Mode Controls..................................................................92

Setting a PWM Deadband................................................94

Follow Digital Torque Command (Unipolar PWM Command)..95

Mode Description ............................................................95

I/O Functions...................................................................95

Mode Controls..................................................................96

Follow Digital Torque Command (Frequency Command) .........97

Mode Description ............................................................97

I/O Functions...................................................................97

Mode Controls..................................................................98

Ramp Up/Down To Selected Velocity .........................................99

Mode Description ............................................................99

I/O Functions...................................................................99

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Mode Controls................................................................100

Spin On Power Up ..................................................................... 101

Mode Description .......................................................... 101

I/O Functions................................................................. 101

Mode Controls................................................................102

Manual Velocity Control............................................................ 103

Mode Description..........................................................103

I/O Functions................................................................. 103

Mode Controls................................................................ 105

Description of Encoder/Knob Settings ......................... 105

Follow Digital Velocity Command (Bi-Polar PWM Command with

Inhibit) ....................................................................................... 107

Mode Description .......................................................... 107

I/O Functions................................................................. 107

Mode Controls................................................................108

Setting A PWM Deadband (Optional)........................... 110

Follow Digital Velocity (Bipolar PWM Command with Variable

Torque)........................................................................................ 111

Mode Description ........................................................... 111

I/O Functions.................................................................. 111

Mode Controls.................................................................113

Follow Digital Velocity Command (Unipolar PWM Input) .......114

Mode Description ...........................................................114

I/O Functions..................................................................114

Mode Controls.................................................................115

Follow Digital Velocity Command (Frequency Input)...............117

Mode Description ...........................................................117

I/O Functions..................................................................117

Mode Controls................................................................ 118

Move to Sensor Position .............................................................119

Mode Description ...........................................................119

I/O Functions................................................................. 120

Mode Controls.................................................................121

Move to Absolute Position (2-Position, Home to Switch) ........ 122

Mode Description .......................................................... 122

I/O Functions................................................................. 122

Mode Controls................................................................ 123

Move to Absolute Position (4-Position, Home to Hard Stop) .. 124

Mode Description .......................................................... 124

I/O Functions................................................................. 124

Mode Controls................................................................ 126

Move to Absolute Position (16-Position, Home to Hard Stop). 127

Mode Description .......................................................... 127

I/O Functions................................................................. 127

Mode Controls................................................................128

Move Incremental Distance (4-Distance, Home to Hard Stop)129

Mode Description .......................................................... 129

I/O Functions................................................................. 129

Mode Controls.................................................................131

Move Incremental Distance (2-Distance, Home to Hard Stop)132

Mode Description .......................................................... 132

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I/O Functions................................................................. 132

Mode Controls................................................................ 133

Move Incremental Distance (2-Distance, Home-to-Switch) .... 134

Mode Description .......................................................... 134

I/O Functions................................................................. 134

Mode Controls................................................................ 135

Move Incremental Distance (1-Distance, Home-to-Switch)..... 136

Mode Description .......................................................... 136

I/O Functions................................................................. 136

Mode Controls................................................................ 137

Pulse Burst Positioning..............................................................138

Mode Description ..........................................................138

I/O Functions.................................................................138

Mode Controls................................................................ 139

Multi-Sensor Positioning: Bi-directional (Home to Hard Stop)140

Mode Description ..........................................................140

I/O Functions.................................................................140

Mode Controls.................................................................141

Multi-Sensor Positioning: Unidirectional (Sensorless Homing)142

Mode Description .......................................................... 142

I/O Functions................................................................. 142

Mode Controls................................................................ 143

Multi-Sensor Positioning: Unidirectional (Home to Sensor)... 144

Mode Description .......................................................... 144

I/O Functions................................................................. 144

Mode Controls................................................................ 145

Follow Digital Position Command: Unipolar PWM Command 146

Mode Description .......................................................... 146

I/O Functions................................................................. 146

Mode Controls................................................................ 147

Follow Digital Position Command: Frequency Command .......148

Mode Summary..............................................................148

I/O Functions.................................................................148

Mode Controls................................................................ 149

PERATIONAL

ODES

SDSK

AND

SDHP ................150

Step & Direction.........................................................................150

Mode Description .......................................................... 150

I/O Functions.................................................................150

Mode Controls.................................................................151

Step and Direction Timing............................................. 152

Quadrature Input....................................................................... 153

Mode Description .......................................................... 153

I/O Functions................................................................. 153

Mode Controls................................................................ 155

PPENDIX

LED

LINK

ODES

..............................156

PPENDIX

ECHANICAL

NSTALLATION

.................160

Mounting Dimensions: POWER4-HUB....................................160

Mounting Dimensions: ClearPath NEMA 34.............................161

Mounting Dimensions: ClearPath NEMA 23............................ 162

Motor Mounting Considerations................................... 163

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Connecting ClearPath to a Mechanical System......................... 163

Motor Connection: General Tips and Guidelines ......... 163

Notes on Coupling Selection.......................................... 165

Installing Pulleys and pinions ....................................... 166

About End-of-Travel Stops........................................................ 167

Hard Blocks.................................................................... 167

Elastomeric (rubber) Stops ........................................... 167

Pneumatic (dashpots).................................................... 167

End Stops and Hard Stop Homing................................ 167

Fan Mounting and Cooling........................................................168

PPENDIX

ATING

ONNECTORS AND

ABLE

INOUTS

............................................................................... 169

Mating Connector Information ................................................. 169

Cable Pinout: CPM-CABLE-CTRL-MU120............................... 170

Cable Pinout: CPM-CABLE-CTRL-MM660.............................. 170

Cable Pinout: CPM-CABLE-PWR-MM660................................171

Cable Pinout: CPM-CABLE-PWR-MS120..................................171

PPENDIX

OMMON

PECIFICATIONS

................... 172

PPENDIX

ROUNDING AND

HIELDING

................ 173

Protective Earth (PE) Connection ............................................. 173

Grounding and Shielding........................................................... 173

Power Returns ........................................................................... 174

PPENDIX

IRCUIT

CHEMATICS

.......................... 175

POWER4-HUB Schematic (simplified)..................................... 175

PPENDIX

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ART

UMBER

......... 176

PPENDIX

ISCELLANEOUS

OPICS

..................... 177

Homing .......................................................................................177

Introduction....................................................................177

Terms Used In This Section........................................... 178

Homing Settings ............................................................ 179

Typical Homing Sequences............................................ 185

Precision Homing .......................................................... 187

Homing Methods Listed by Operational Mode............. 189

MSP Motion Generator..............................................................190

Motion Generator Controls ........................................... 190

Encoder and Input Resolution .................................................. 192

Introduction................................................................... 192

Terms used in this section ............................................. 192

Native Resolution .......................................................... 192

Positioning Resolution................................................... 193

Input Resolution Setting in MSP................................... 193

RAS and g-Stop (Vibration and Resonance Suppression)........ 195

RAS (Regressive Auto-Spline)....................................... 195

g-Stop Tuning ................................................................198

PPENDIX

OGIC

OWER

UPPLY

IZING

............. 200

NDEX

......................................................................201

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This section was designed to help you get your ClearPath motor up and

running quickly and safely.

TEMS

OVERED IN THIS

ECTION

•How to download and install ClearPath MSP (setup and

configuration software)

•How to power up your ClearPath motor

•How to connect your ClearPath to a PC and establish

communication

•How to spin your unloaded1ClearPath motor under MSP software

control

LEASE

EAD

HIS

MPORTANT

ARNING

Always use caution and common sense when handling motion control

equipment. Even the smallest ClearPath motor is powerful enough to

seriously damage fingers, turn a tie into a noose, or tear out a patch of hair

and/or scalp in just a few milliseconds (by comparison, it takes between

100 and 400 milliseconds to blink). We’re not trying to scare you (...OK

maybe a little) but we do want all ClearPath users to stay safe and fully

intact. These devices are very powerful and can be extremely

dangerous if used carelessly. Please read and understand all safety

warnings in the ClearPath User Manual before operating a ClearPath

motor.

EFORE

EGIN

UGGESTED

IEWING

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. Each video

includes an overview of the operating mode, a brief discussion of software

controls and settings, and a demonstration featuring a real mechanical

system.

ClearPath Video Links

https://www.teknic.com/watch-video/

https://www.youtube.com/channel/UC4Q91tGO80QMSHyy1SoHrtg

1Unloaded means with nothing attached to the motor shaft. ClearPath comes factory

preconfigured for unloaded operation. ClearPath must be tuned whenever it is

connected to a new type of mechanical system.

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ETUP

EQUIRED

TEMS

•ClearPath motor

•DC Bus Power supply (with cables) 24-75 VDC

•Windows PC (Win 7, 8.1, 10)

•USB cable (USB type-A to micro-B)

•Clamp or vise

NSTALL

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MSP

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.

ECURE

OUR

OTOR

Injury Warning: To prevent broken toes, and damage to your motor,

always secure your ClearPath motor to a stable, flat, level work surface

before operating it; otherwise, your motor will buck and jump during

operation. A “quick-grip” style clamp or vise is recommended.

Tip: If you use a vise to secure your motor, you can preserve the motor's

finish by taping the vise jaws or by placing scrap cardboard or wood

between the vise and the motor body. Do not over tighten vise.

CLAMP MOTOR

to a stable work surface.

Clamp it!

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HECK

OWER

OLARITY

Damage Warning: Reversing DC power polarity to your ClearPath

motor will permanently damage it.

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).

This should display a positive voltage reading.

2 (GND)

Teknic IPC-5

Power Supply

VDC

ClearPath

Voltage Range

24-75VDC

3 (V+)

Power Connector

(Molex 4-pin)

Polarity test from pin 3 (V+) to pin 2 (GND) shows a positive 75 volts

OWER

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1. Begin with the power supply turned off or unplugged.

2. Connect the DC power cable from the power supply to the

ClearPath motor's 4 pin connector.

3. Turn on (plug in) the power supply.

Power up sequence

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