Teknik ClearPath User manual

READ THIS CLEARPATH QUICK START GUIDE
OR
CLICK HERE TO CONTINUE ON TO THE CLEARPATH USER MANUAL
Introduction
Congratulations on choosing a ClearPath all-in-one servo system. We know that
when most people get a new tech product, they want to try it out right away. For
that reason ClearPath is ready to go right out of the box. Your ClearPath motor was
shipped to you fully tested and factory preconfigured for unloaded use (i.e. for use
with nothing attached to the shaft). This means you can power it up, connect to your
PC, and start making test moves within minutes. And, when you’re ready to connect
ClearPath to a mechanical system, you’ll have the world’s most advanced Auto-
tuning software to help. Use this Quick Start Guide to get up and running quickly,
but refer to the ClearPath User Manual for complete details on safety, installation,
and operation.
Communication Port
(USB Micro-B)
DC Power Connector
(Molex Minifit Jr. 4 pos.) Auxilliary PE
(Protective Earth)
Connection Point
I/O Connector
(Molex Minifit Jr. 8 pos.)
Stainless
Steel Shaft
NEMA
Mounting
Flange
Die Cast
Heatsink
Sealing
Gasket
Housing
(Anodized Aluminum)
Keyway
Status LED
Parts of a ClearPath
ReadThisWarning!
Always use caution and common sense when handling motion control equipment.
Even the smallest ClearPath Motor is powerful enough to remove 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 about 100 milliseconds to blink). We’re not trying to alarm you
(OK, maybe a little) but we do want all ClearPath users to stay safe
and fully intact .
These devices are extremely powerful and dangerous if used carelessly. Please read
and understand all safety warnings in the ClearPath User Manual before operating a
ClearPath Motor.
Teknic, Inc. - 1 - ClearPath Quick Start Guide rev.2.2

Initial Setup
Download and install ClearPath MSP (Motor Setup Program) from the Teknic website:
http://www.teknic.com/downloads. MSP is compatible with Windows 8, 7, XP and
Vista.
Teknic website: Downloads page
Secure your ClearPath to a stable work surface. A “Quick-Grip” style bar clamp or
bench vise works well. Tip: You can help preserve your motor’s finish by covering the
vise jaws with tape.
ClearPath Motor
CLAMP MOTOR
to a stable work surface.
Clamp it!
Teknic, Inc. - 2 - ClearPath Quick Start Guide rev.2.2

IMPORTANT! Check voltage polarity at the power cable connector. Reversing voltage
polarity (swapping positive and negative leads) will damage your ClearPath and void
the warranty. Teknic power supplies and cables are pre-tested for proper polarity.
Never wire AC (wall current) directly to a ClearPath.
ClearPath Motor
GND
GND
V+
V+
IMPORTANT!
TEST POWER POLARITY
BEFORE CONNECTING
POWER TO CLEARPATH.
12
43
looking into connector
Teknic IPC-5
Power Supply
VDC
ClearPath Operating Range
24-75VDC
Absolute Max. Voltage = 90VDC
Basic power polarity test
Start with power supply unplugged. This will prevent electrical arcing from damaging
your ClearPath power terminals over time. Always turn off your power supply before
connecting or disconnecting the power cable from a ClearPath. If you hear an
electrical “snap” when you plug in the power connector, you did it wrong.
ClearPath Motor
Unplug power supply before connecting
or disconnecting to ClearPath.
Teknic IPC-5
Power Supply
Unplug the power supply before connecting it to your ClearPath
Teknic, Inc. - 3 - ClearPath Quick Start Guide rev.2.2

Plug the power cable into the ClearPath power connector (1).
Plug in the power supply (2). The status LED at rear of ClearPath should be on and
solid yellow.
ClearPath Motor
Teknic IPC-5
Power Supply
2
1
Powering up your ClearPath
Connect the USB cable from ClearPath to your PC. For first-time connections, wait for
ClearPath to auto-install its drivers before proceeding. This should take less than a
minute.
Run MSP software. After you launch MSP, ClearPath will establish USB
communication with your PC. MSP will then identify your ClearPath Motor by model.
You’ll see a windows layout that looks similar to the one shown below. Click “Yes” in
the dialog box to continue.
Launching ClearPath MSP
Teknic, Inc. - 4 - ClearPath Quick Start Guide rev.2.2

Running ClearPath under software control
Before connecting switches, sensors or other I/O devices to your ClearPath, try
running it under software control. This gives you the opportunity to play with any
ClearPath mode you’re interested with no additional wiring burden. We used Manual
Velocity Mode (available on ClearPath MCPV and MCVC models) for this example.
Note: Software control is great for test, development or just learning how ClearPath
modes work; however it is not intended for use in a final machine implementation.
Start Manual Velocity Mode. On MSP’s main menu, go to Mode>Manual Velocity
Mode
. Whenever you select a ClearPath mode, you’ll see a selection window open
(see figure below).
Read all of the text in the window . It explains how the mode
works.
Manual Velocity Control Mode: Description window
Teknic, Inc. - 5 - ClearPath Quick Start Guide rev.2.2

The good news is: when you use software controls you don’t need to wire anything
to the inputs. You enable the ClearPath and make moves simply by clicking a few
controls in the UI.
Software
Controls
Hardware
Indicators
Manual Velocity Control Mode: Setup Window
Enter motion parameters. For now, enter the motion parameters and settings as
they appear in the figure above.
Enter maximum (full-scale)
motor velocity for CW and
CCW shaft rotation.
Enter maximum
desired motor
acceleration rate.
Check here to set
motor deceleration
rate to same value
as acceleration rate.
Check to turn on Soft
Controls. Override cannot
be activated when ClearPath
is hardware enabled.
Check to soft enable ClearPath
(This only works when Soft
Controls are active) Caution:
motor may spin when enabled.
Click arrows to increase or
decrease motor velocity by
increment defined in“Velocity
Resolution”field above. Each
“arrow click”is equivalent to a
hardware quadrature“tick”.
Displays output status
HLFB modes supported:
> Servo On
> AllSYstemsGo
> Speed Output
Enter maximum
desired motor
deceleration rate.
Enter value (1-100) to limit
peak torque capability of
motor as a % of motor’s
maximum peak torque.
Displays commanded speed
(when using hardware inputs).
Set motor to initialize to
either ZeroVelocity or
Last Commanded
velocity each time
ClearPath is enabled.
Enter desired incremental
increase / decrease in motor
velocity per quadrature tick.
Reverse sense of motor
direction with respect to
quadrature phasing,or leave
As-Wired.Eliminates need to
rewire inputs if motor rotates
the“wrong”way initially.
Hardware Input Status LEDs
Light = Input asserted (on)
Dark = Input de-asserted (off )
Set jerk limit. Higher values
result in smoother,more
gradual transitions between
move segments of differing
acceleration;however, overall
move time is increased.
“Has Detents”Checkbox
See text for description.
Teknic, Inc. - 6 - ClearPath Quick Start Guide rev.2.2

Check the “Override Inputs” box. This overrides the hardware inputs and activates
Software Controls. Notice that the Enable control box is no longer grayed out, while
the Hardware Indicator LEDs now
are grayed out. Also, the “Soft Knob” control is
now green and ready for use.
Override Inputs
Teknic, Inc. - 7 - ClearPath Quick Start Guide rev.2.2

Enable the motor by clicking the Enable check box. This immediately energizes the
motor coils.
When a ClearPath is enabled:
The Status changes from Disabled (yellow) to SW Enabled (green). Note: SW
Enabled stands for “Software Enabled”.
The motor shaft will now actively servo to maintain its present position.
Enabling ClearPath using Software Controls
Spin the motor. Click the right arrow on the Soft Knob control to spin counter-
clockwise. Each click increases motor speed by 100 RPM based on the Velocity
Resolution setting. Click the left arrow and you’ll see motor speed will decrease by
100 RPM (technically it’s increasing speed in the opposite direction) until you’re back
to zero speed. Keep clicking the left arrow and the motor shaft will soon be spinning
clockwise, increasing in speed by 100 RPM per click. Look at the Velocity Display to
see how fast you’re spinning at any time.
Setting Means
Max CW Velocity=1000 RPM The motor is limited to 1000 RPM in the
clockwise direction.
Max CCW Velocity=2000 RPM The motor is limited to 2000 RPM in the
counter-clockwise direction.
Teknic, Inc. - 8 - ClearPath Quick Start Guide rev.2.2

Velocity Resolution=100 RPM per click Each click of the “Soft Knob” will cause a speed
increase or decrease of 100 RPM.
Tip: If you only want ClearPath to spin clockwise, set “Max CCW Velocity” to zero.
What to do if you get a shutdown or a warning:
•If you see a small “warning triangle” appear anywhere in the Mode Controls
section, hover your cursor over it and read the associated warning that pops up
(it’s like a tool tip).
•If you exceed your power supply’s capability ClearPath will tell you. You’ll see
warnings or shutdowns in the Exceptions field at lower right of the UI. (THIS IS
OK!) Try lowering your acceleration and/or velocity until the warning stops.
•Most shutdowns are caused by weak power supplies, mechanical problems or
bad settings. If your ClearPath experiences a shutdown, it is reporting a
problem, but is probably not the actual cause of the problem.
•You can clear most shutdowns by toggling the Enable Input; however if you
don’t address the underlying problem, you’ll likely keep getting shutdowns.
•IF THE STATUS LED FLASHES RED, there’s a real problem with your ClearPath.
Seek support assistance.
Wiring Inputs and Outputs
ClearPath has three inputs and one output. Wiring I/O devices to your ClearPath is
beyond the scope of this document. Please refer to the ClearPath User Manual for I/O
wiring information and specifications.
Connecting ClearPath to mechanical components
•Don’t pound or pry the motor shaft.
•If connecting ClearPath to a screw, carefully align the rotating centers of the
motor shaft and screw.
•Avoid solid couplings; they are very unforgiving of misalignment.
•Avoid set screws. They don’t hold well and tend to damage and deform the
motor shaft. Use circumferential couplings instead.
•Tighten all fasteners before operating or tuning (couplings, mounting screws,
pinions, pulleys). You don’t want parts flying around at high speed.
•See the ClearPath User Manual for more tips on connecting ClearPath to
mechanical components.
Teknic, Inc. - 9 - ClearPath Quick Start Guide rev.2.2

Auto-tuning your system
Before you begin the Auto-tune process:
•Disable your ClearPath.
•Tighten all couplings, screws, bolts, etc.
•Make sure the axis or machine frame is fully intact.
•Don’t try to tune a system on wheels or on a flimsy card 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
uF of output capacitance.
•Don’t use a switching power supply. Most switching supplies do not have the
peak current, capacitance and regenerated energy management required by
high performance servo systems.
Start the Auto-tuner by selecting Setup>Auto-tune from the main menu
Starting Auto-tune
IMPORTANT! Read and follow all on screen directions.
The Auto-tune application will take you through the process in a step-by-step
manner. Read every word on every window.
During the Auto-tune process:
•Be careful. Keep your hands, hair and clothing away from the motor shaft.
•Be patient. Auto-tune can take up to 30 minutes (more typically 5-15 minutes).
•Be calm. Expect to hear humming, buzzing, clicks and clacks. Loud squeals and
buzzes are perfectly normal while ClearPath explores the limits of the system.
Teknic, Inc. - 10 - ClearPath Quick Start Guide rev.2.2

Teknic, Inc. - 11 - ClearPath Quick Start Guide rev.2.2
Before you seek technical assistance:
The status LED on the back is not lit, and my ClearPath apparently has no power.
•Plug in and turn on power supply.
•Connect power cable to ClearPath.
•Check power supply fuse (if any).
•Verify wall outlet is powered and no circuit breakers are tripped.
•If you accidentally reversed DC power to your ClearPath, it is probably
damaged.
The status LED is working, but my ClearPath and PC are not communicating.
•Disconnect the USB cable from ClearPath and your PC, close MSP, restart MSP,
and reconnect the USB cable.
•Are you using a USB 3.0 port? Try a USB 2.0 port or a USB 2.0 hub plugged
into a USB 3.0 port. ClearPath is compatible with fully compliant USB 3.0 ports,
however there are known issues with the USB 3.0 ports made by certain
manufacturers.
Auto-tune failed to complete.
•Check to see if more than one version of MSP is installed on your computer.
Always uninstall older versions of MSP before upgrading.
•If your power supply is a switcher or an underpowered “bulk” linear supply with
insufficient current and/or capacitance, and cannot tolerate regenerated
energy, you’ll have problems running Auto-tune. ClearPaths can operate
between 24 and 75 VDC, but they require adequate power to do so.
My ClearPath is experiencing shutdowns.
•A shutdown seldom means your ClearPath is broken or defective.
•Shutdowns with yellow or green blink codes usually mean that ClearPath is
reporting a problem, but it is unlikely to be the problem. Connect ClearPath to
your PC running MSP and look in the “Exceptions” field to see what’s being
reported.
•Check the ClearPath User Manual (Appendix A) for blink code details, clues,
and possible fixes.
•If you see a shutdown accompanied by a red flashing LED and cannot clear it,
you’ll probably have to return your ClearPath for repair or replacement. Check
the Teknic website for repair/return information.
How do I restore my ClearPath to its factory default settings?
If you need to return ClearPath to its original state (i.e., configured exactly
how it was shipped to you), use
File>Reset Config File To Factory Defaults . All
parameters and settings will be over-written and ClearPath will be returned to
its default factory configuration.

U SER M ANUAL
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LEAR P ATH M OTORS
C OVERS CPM-MC XX AND CPM-SD XX
V
ERSION 1.97 J UNE 10, 2016

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T ABLE OF C ONTENTS
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ABLE OF C ONTENTS ................................................... 3
S AFETY W ARNINGS ..................................................... 7
Personal Safety Warnings..............................................................7
CE Compliance Warnings..............................................................7
General Disclaimer ........................................................................8
I NTRODUCTION ............................................................ 9
What is a ClearPath Motor?...........................................................9
Parts of a ClearPath Motor ..........................................................10
Example Application: Absolute Positioning Mode ......................11
Summary of Operation .....................................................11
Overview: Configuring a ClearPath................................. 12
ClearPath I/O: Overview ................................................. 13
G ETTING S TARTED .................................................... 15
Selecting a Power Supply............................................................. 15
ClearPath Power Supply Voltage Specs........................... 15
Important Note on Lower Voltage Power Supplies......... 16
Teknic Power Supplies..................................................... 17
Connecting Power to a ClearPath Motor.....................................18
Before Powering a ClearPath...........................................18
Connecting I/O to a ClearPath Motor.........................................20
ClearPath Inputs..............................................................20
ClearPath Output (HLFB) ...............................................24
U SER S OFTWARE (C LEAR P ATH MSP)........................ 27
Section Overview .........................................................................27
Minimum System Requirements.................................................27
Installing MSP .............................................................................27
Communicating With ClearPath .................................................27
Items Required for Communication Setup .....................27
First-Time Communication Setup...................................28
Tour of ClearPath MSP Software.................................................29
Main UI Overview............................................................29
Mode Controls..................................................................29
Dashboard........................................................................30
MSP Scope ....................................................................... 31
ClearPath Menu...............................................................36
M ODES OF O PERATION : MC F AMILY ........................... 41
Table of ClearPath MC Family Operational Modes .................... 41
Spin On Power Up .......................................................................42
Mode Summary................................................................42
How it works....................................................................42
Mode Controls..................................................................43
Manual Velocity Control..............................................................44
Mode Summary................................................................44

C LEAR P ATH U SER M ANUAL R EV . 1.97 4
How it works....................................................................44
Mode Controls..................................................................45
Description of Encoder/Knob Settings ...........................45
Ramp Up/Down To Selected Velocity.........................................47
Mode Summary................................................................47
How it works....................................................................47
Mode Controls..................................................................48
Follow Digital Velocity Command (Bi-Polar PWM Input) .........49
Mode summary................................................................49
How it works....................................................................49
Mode Controls..................................................................50
Setting A PWM Deadband (Optional).............................52
Follow Digital Velocity Command (Unipolar PWM Input)........53
Mode summary................................................................53
How it works....................................................................53
Mode Controls..................................................................54
Follow Digital Velocity Command (Frequency Input)................56
Mode summary................................................................56
How it Works ...................................................................56
Mode Controls..................................................................57
Follow Digital Torque Command (Bi-polar PWM Input)...........58
Mode Summary................................................................58
How it works....................................................................58
Mode Controls..................................................................59
Setting a PWM Deadband (Optional).............................. 61
Follow Digital Torque Command (Unipolar PWM Input)..........62
Mode summary................................................................62
How it works....................................................................62
Mode Controls..................................................................63
Follow Digital Torque Command (Frequency Input) .................64
Mode summary................................................................64
How it Works ...................................................................64
Mode Controls..................................................................65
Move to Absolute Position (2-Position) ......................................66
Mode Summary................................................................66
How it Works. ..................................................................66
Mode Controls..................................................................67
Homing Setup (Home-To-Switch) ..................................67
Move to Absolute Position (4-Position) ......................................69
Mode Summary................................................................69
How it Works ...................................................................69
Mode Controls..................................................................70
Homing (Automatic Hard Stop Homing)........................ 71
Move to Sensor Position..............................................................72
Mode Summary................................................................72
How it Works ...................................................................72
Mode Controls..................................................................73
Move Incremental Distance (2-Distance) ...................................74
Mode Summary................................................................74
How it Works ...................................................................74
Mode Controls..................................................................75
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Homing Setup (Home-To-Switch) ..................................76
Move Incremental Distance (4-Distance)...................................78
Mode Summary................................................................78
How it Works...................................................................78
Mode Controls..................................................................79
Homing (Automatic Hard Stop Homing) ...................... 80
Pulse Burst Positioning................................................................82
Mode Summary................................................................82
How it Works...................................................................82
Mode Controls..................................................................83
Homing Setup (Hard Stop Homing)...............................83
C LEAR P ATH SD (S TEP AND D IRECTION )..................... 85
Step and Direction Input.............................................................85
Mode Summary................................................................85
How it Works...................................................................85
Step and Direction Timing ..............................................86
Mode Controls..................................................................87
Homing Setup (Hard Stop Homing).............................. 88
A PPENDIX A: LED B LINK C ODES ............................... 89
A PPENDIX B: M ECHANICAL I NSTALLATION .................. 92
Mounting Dimensions: ClearPath NEMA 34..............................92
Mounting Dimensions: ClearPath NEMA 23..............................93
Mounting Considerations................................................94
Connecting ClearPath 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
Hard Blocks......................................................................98
Elastomeric (rubber) Stops .............................................98
Pneumatic (dashpots)......................................................98
End Stops and Hard Stop Homing..................................98
Fan Mounting and Cooling..........................................................99
A PPENDIX C: C LEAR P ATH C ABLE P INOUTS .............. 100
CPM-CABLE-CTRL-MU120......................................................100
CPM-CABLE-CTRL-MM660.....................................................100
CPM-CABLE-PWR-MM660...................................................... 101
CPM-CABLE-PWR-MS120........................................................ 101
A PPENDIX D: C OMMON S PECIFICATIONS ................... 102
A PPENDIX E: G ROUNDING AND S HIELDING ................ 103
Protective Earth (PE) Connection.............................................103
Grounding and Shielding...........................................................103
Power Returns ...........................................................................104
A PPENDIX F: P ART N UMBER K EY ............................. 105
A PPENDIX G: E NCODER R ESOLUTION AND I NPUT
R ESOLUTION ........................................................... 106
Introduction...............................................................................106
Terminology used in this section...............................................106
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Internal [Encoder] Resolution ..................................................106
Positioning Resolution...............................................................106
Input Resolution Setting (in MSP)............................................107
Input Resolution Use Cases...........................................107
I NDEX ......................................................................109
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S AFETY W 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 worse.
P ERSONAL S AFETY W ARNINGS
•Do not wear loose clothing or unconfined long hair when using
ClearPath motors. Remove ties, rings, watches and other jewelry
before operating an unguarded motor.
•Do not operate a ClearPath motor if your alertness, cognitive
function, or motor skills are impaired.
•Always handle, and carry a ClearPath motor by the housing (don’t
carry it by the shaft or any connected cable). Be aware that in
certain modes of operation ClearPath is designed to spin as soon
as main power is applied.
•Always understand how to use a mode of operation and its
associated controls before attempting to power, enable, or
otherwise operate a ClearPath motor.
•Install and test all emergency stop devices and controls before
using ClearPath.
•Before applying DC power, secure the ClearPath motor to a stable,
solid work surface and install a finger-safe guard or barrier
between the user and the motor shaft.
•Provide appropriate space around the ClearPath motor for
ventilation and cable clearances.
•Do not allow cables or other loose items to drape over, or rest near
the ClearPath motor shaft.
•Never place fingers, hands, or other body parts on or near a
powered ClearPath motor.
•Thoroughly test all ClearPath applications at low speed to ensure
the motor, controls, and safety equipment operate as expected.
CE C OMPLIANCE W ARNINGS
•There are no user serviceable parts inside.
•Follow all instructions and use the product only as directed.
•Safety of any system incorporating this equipment is the
responsibility of the system designers and builders.
•The machine designers need to recognize and incorporate
required warning symbols, guards and shields for ClearPath
motors that are used in applications that can result in the
external accessible parts of their machine exceeding a
temperature of 65 Celsius. This is required as a method to
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reduce burns. A tool shall be required to remove any guards
and/or shields.
•The ClearPath motor requires a path from its chassis to the
Protective Earth (P.E.) connection made to the machine it is
installed in. The connection should electrically have the same or
larger effective wire gauge or current handling capability as the
DC power supplied to the ClearPath Motor.
•Any maintenance or repair guide should state that power should
be removed 1st, and then protective earth ground conductor can
be disconnected. The protective earth ground conductor then
shall be the 1st wire reconnected, and the power shall be
connected after the Safety Ground connection is secure.
•When the ClearPath motor is mounted in an application where
the shaft end is higher than the electrical connection end of the
motor, the USB connector plug provided by Teknic must be
installed. The USB plug in these installations becomes an
element to prevent the spread of fire per EN 61010-1 section
9.3.2 part c.
G ENERAL D ISCLAIMER
The User is responsible for determining the suitability of products for their different
applications. The User must ensure that Teknic's products are installed and utilized in
accordance with all local, state, federal and private governing bodies and meet all
applicable health and safety standards.
Teknic has made all reasonable efforts to accurately present the information in the
published documentation and shall not be responsible for any incorrect information which
may result from oversights. Due to continuous product improvements, the product
specifications as stated in the documentation are subject to change at any time and
without notice. The User is responsible for consulting a representative of Teknic for
detailed information and to determine any changes of information in the published
documentation.
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.
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I NTRODUCTION
W HAT IS A C LEAR P ATH M OTOR ?
ClearPath is an all-in-one servo system: a precision brushless servo motor
(with encoder) combined with a powerful integrated servo drive,
trajectory generator, and internal controller, in a package about the size of
a servo motor alone. ClearPath brings affordable, user-friendly, precision
motion control to everyone from the OEM machine builder and shop
automation specialist, to the educator, artist, and maker.
Output (1)
Power
(24-75VDC)
Inputs (3)
Communication
USB to PC
AC Servo
Motor
Encoder
AC Torque
Drive
Pos./Speed
Sensor
Servo
Compensator
Trajectory
Generator
Feedback
Position
ClearPath functional blocks
ClearPath is a professional level, industrial grade product. The
motor is based on Teknic’s Hudson family of brushless servo motors, with
the same instrument grade bearings, stainless steel shaft, windings,
magnets, and encoder technology. The miniaturized motion control
electronics and firmware employ the same field-proven technology and
advanced motion control algorithms used by our OEM customers in
automated machines in service around the world.
ClearPath Simplicity begins with a quick, uncomplicated setup. Install
the included MSP software, connect ClearPath to your PC via USB, and
configure and tune your ClearPath. Once setup is complete, disconnect
ClearPath from your PC and start moving. With just three inputs and one
output, sending commands and receiving feedback is simple and intuitive.
ClearPath MSP software is written in plain English with plenty of tips
and annotations. Use MSP to select a mode of operation, set your move
parameters and options (distance, speed, acceleration, torque) and tune
the system. There’s no steep learning curve with ClearPath.
Flexibility is evident in the many operating modes available. ClearPath
motors can do:
•Point-to-Point Positioning (move and settle with precision).
•Velocity Moves (spin at constant rotational speeds).
•Torque Moves (precisely control torque at the shaft).
•Stepper Emulation (use standard step-and-direction signals).
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