Clearpath User Manual

USER MANUAL
CLEARPATH USER MANUAL
MODELS MCVC, MCPV, SDSK, SDHP

NEMA 23 AND NEMA 34 FRAME SIZES
VERSION 3.16 / AUGUST 26, 2021
CLEARPATH MC/SD USER MANUAL REV. 3.16 2
THIS PAGE INTENTIONALLY LEFT BLANK
TEKNIC, INC. TEL. (585) 784-7454

TABLE OF CONTENTS
TABLE OF CONTENTS ................................................... 3
QUICK START GUIDE.................................................... 9
Please Read This Important Warning ...........................................9
Before You Begin (Suggested Viewing Material) ..........................9
ClearPath Quick Setup................................................................. 10
Required Items ................................................................ 10
Install ClearPath MSP Software ...................................... 10
Secure Your Motor........................................................... 10
Check DC Bus Power Polarity...........................................11
Power Up Your ClearPath.................................................11
Connect ClearPath to Your PC......................................... 12
Open ClearPath MSP (Motor Setup Program)................ 12
Spin Your Motor Under MSP Software Control.......................... 13
Spinning a Model MCPV or MCVC.................................. 13
Spinning a Model SDHP or SDSK ................................... 18
DAMAGE WARNING: ClearPath Inputs/Outputs ..................... 21
If You Experience a Motor Shutdown or Warning......................22
Auto-Tuning.................................................................................23
Before You Seek Technical Help..................................................24
SAFETY WARNINGS ................................................... 25
Personal Safety Warnings............................................................25
CE Compliance Warnings............................................................25
General Disclaimer ......................................................................26
INTRODUCTION .......................................................... 27
What is a ClearPath Motor?......................................................... 27
Parts of a ClearPath Motor ..........................................................29
Example Application: Absolute Positioning Mode .....................30
Summary of Operation ....................................................30
Overview: Configuring a ClearPath ............................................. 31
Overview: ClearPath I/O .............................................................32
POWERING A CLEARPATH SYSTEM ............................. 33
Selecting a DC Bus Power Supply................................................33
ClearPath Operating Voltage ...........................................33
Notes on "Lower Voltage" Bus Power Supplies...............34
Teknic Power Supplies.....................................................35
Before Powering a ClearPath...........................................35
Power Supply Switching and Fusing ...............................36
Basic Power Connection (2 motors) ............................................ 37
Power Chaining (multiple motors).............................................. 37
Using a Power Hub ......................................................................38
Power Hub Overview Diagram ........................................38
Power Hub: Things to Know............................................39
Power Hub: Compliance Notes .......................................39
Parts of a Power Hub .......................................................40
Connections For a Single Power Hub System ................. 41
Connections For a Dual Power Hub System ...................42
Auxiliary (24V) Logic Power Supply ...............................42
TEKNIC, INC. TEL. (585) 784-7454

Power Hub LED Codes ....................................................43

Power Hub: Things to Know............................................44
INPUTS AND OUTPUTS ................................................45
I/O Connector Parts and Pinout..................................................45
ClearPath Inputs ..........................................................................46
Input Current Draw .........................................................46
How Inductive Loads Can Damage ClearPath I/O .........47
How to Protect Your Motor From Inductive Kickback ... 47
The Enable Input .............................................................48
Inputs A and B: The Control Inputs ................................48
Input Wiring ....................................................................49
ClearPath Output (HLFB)............................................................50
HLFB Output Wiring Examples ...................................... 51
HLFB Modes: Common To All ClearPath Op Modes......54
HLFB Modes: For ClearPath Positioning Modes............56
HLFB Modes: For ClearPath Velocity Modes .................58
HLFB Output: For ClearPath Torque Modes ................. 60
USER SOFTWARE (CLEARPATH MSP).........................62
Section Overview..........................................................................62
MSP Minimum System Requirements ........................................62
Installing MSP..............................................................................62
Communicating With ClearPath Via MSP ..................................62
Items Required for Communication Setup .....................63
First-Time Communication Setup...................................63
Tour of ClearPath MSP Software.................................................64
Main UI Overview............................................................64
Mode Controls..................................................................64
Torque Limit Setup ..........................................................65
Dashboard........................................................................70
MSP Menus ...................................................................... 71
MSP Software Scope ....................................................................83
Overview ..........................................................................83
Scope Features .................................................................83
Scope User Interface & Controls .....................................84
OPERATIONAL MODES: MCVC AND MCPV .................91
Table of Operational Modes: Models MCVC and MCPV ............ 91
Follow Digital Torque Command (Bi-Polar PWM Command)...93
Mode Description ............................................................93
I/O Functions...................................................................93
Mode Controls..................................................................94
Setting a PWM Deadband................................................96
Follow Digital Torque Command (Unipolar PWM Command)..97
I/O Functions...................................................................97
Mode Controls..................................................................98
Follow Digital Torque Command (Frequency Command) .........99
I/O Functions...................................................................99
Mode Controls................................................................100
Ramp Up/Down To Selected Velocity ....................................... 101
TEKNIC, INC. TEL. (585) 784-7454

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

I/O Functions................................................................. 101
Mode Controls................................................................ 102
Spin On Power Up ..................................................................... 103
I/O Functions................................................................. 103
Mode Controls................................................................104
Manual Velocity Control............................................................ 105
Mode Description.......................................................... 105
I/O Functions................................................................. 105
Mode Controls................................................................ 107
Description of Encoder/Knob Settings ......................... 107
Follow Digital Velocity Command (Bi-Polar PWM Command with
Inhibit) .......................................................................................109
Mode Description ..........................................................109
I/O Functions.................................................................109
Mode Controls................................................................ 110
Setting A PWM Deadband (Optional)............................112
Follow Digital Velocity (Bipolar PWM Command with Variable
Torque)........................................................................................113
Mode Description ...........................................................113
I/O Functions..................................................................113
Mode Controls.................................................................115
Follow Digital Velocity Command (Unipolar PWM Input) .......116
I/O Functions..................................................................116
Mode Controls.................................................................117
Follow Digital Velocity Command (Frequency Input)...............119
I/O Functions..................................................................119
Mode Controls................................................................ 120
Move to Sensor Position .............................................................121
I/O Functions................................................................. 122
Mode Controls................................................................ 123
Move to Absolute Position (2-Position, Home to Switch) ........ 124
I/O Functions................................................................. 124
Mode Controls................................................................ 125
Move to Absolute Position (4-Position, Home to Hard Stop) .. 126
I/O Functions................................................................. 126
Mode Controls................................................................ 128
Move to Absolute Position (16-Position, Home to Hard Stop). 129
I/O Functions................................................................. 129
Mode Controls................................................................ 130
Move Incremental Distance (4-Distance, Home to Hard Stop) 131
I/O Functions..................................................................131
Mode Controls................................................................ 133
TEKNIC, INC. TEL. (585) 784-7454

Move Incremental Distance (2-Distance, Home to Hard Stop) 134

I/O Functions................................................................. 134
Mode Controls................................................................ 135
Move Incremental Distance (2-Distance, Home-to-Switch) .... 136
I/O Functions................................................................. 136
Mode Controls................................................................ 137
Move Incremental Distance (1-Distance, Home-to-Switch)..... 138
I/O Functions................................................................. 138
Mode Controls................................................................ 139
Pulse Burst Positioning..............................................................140
I/O Functions.................................................................140
Mode Controls.................................................................141
Multi-Sensor Positioning: Bi-directional (Home to Hard Stop)142
I/O Functions................................................................. 142
Mode Controls................................................................ 143
Multi-Sensor Positioning: Unidirectional (Sensorless Homing)144
I/O Functions................................................................. 144
Mode Controls................................................................ 145
Multi-Sensor Positioning: Unidirectional (Home to Sensor) ... 146
I/O Functions................................................................. 146
Mode Controls................................................................ 147
Follow Digital Position Command: Unipolar PWM Command 148
I/O Functions.................................................................148
Mode Controls................................................................ 149
Follow Digital Position Command: Frequency Command ....... 150
Mode Summary.............................................................. 150
I/O Functions................................................................. 150
Mode Controls.................................................................151
OPERATIONAL MODES: SDSK AND SDHP ................152
Step & Direction......................................................................... 152
I/O Functions................................................................. 152
Mode Controls................................................................ 153
Step and Direction Timing............................................. 154
Quadrature Input....................................................................... 155
I/O Functions................................................................. 155
Mode Controls................................................................ 157
APPENDIX A: LED BLINK CODES ..............................158
APPENDIX B: MECHANICAL INSTALLATION .................162
Mounting Dimensions: POWER4-HUB.................................... 162
Mounting Dimensions: ClearPath NEMA 34............................ 163
TEKNIC, INC. TEL. (585) 784-7454

Mounting Dimensions: ClearPath NEMA 23............................ 164

Motor Mounting Considerations................................... 165
Connecting ClearPath to a Mechanical System......................... 165
Motor Connection: General Tips and Guidelines ......... 165
Notes on Coupling Selection.......................................... 167
Installing Pulleys and pinions ....................................... 168
About End-of-Travel Stops........................................................ 169
Hard Blocks.................................................................... 169
Elastomeric (rubber) Stops ........................................... 169
Pneumatic (dashpots).................................................... 169
End Stops and Hard Stop Homing................................ 169
Fan Mounting and Cooling........................................................ 170
APPENDIX C: MATING CONNECTORS AND CABLE PINOUTS
............................................................................... 171
Mating Connector Information ..................................................171
Cable Pinout: CPM-CABLE-CTRL-MU120............................... 172
Cable Pinout: CPM-CABLE-CTRL-MM660.............................. 172
Cable Pinout: CPM-CABLE-PWR-MM660............................... 173
Cable Pinout: CPM-CABLE-PWR-MS120................................. 173
APPENDIX D: COMMON SPECIFICATIONS ................... 174
APPENDIX E: GROUNDING AND SHIELDING ................ 175
Protective Earth (PE) Connection ............................................. 175
Grounding and Shielding........................................................... 175
Power Returns ........................................................................... 176
APPENDIX F: CIRCUIT SCHEMATICS .......................... 177
POWER4-HUB Schematic (simplified)......................................177
APPENDIX G: CLEARPATH PART NUMBER KEY ......... 178
APPENDIX H: MISCELLANEOUS TOPICS ..................... 179
Homing ...................................................................................... 179
Introduction................................................................... 179
Terms Used In This Section...........................................180
Homing Settings ............................................................ 181
Typical Homing Sequences............................................ 187
Precision Homing .......................................................... 189
Homing Methods Listed by Operational Mode..............191
MSP Motion Generator.............................................................. 192
Motion Generator Controls ........................................... 192
Encoder and Input Resolution .................................................. 194
Introduction................................................................... 194
Terms used in this section ............................................. 194
Native Resolution .......................................................... 194
Positioning Resolution................................................... 195
Input Resolution Setting in MSP................................... 195
RAS and g-Stop (Vibration and Resonance Suppression)........ 197
RAS (Regressive Auto-Spline) ....................................... 197
g-Stop Tuning ............................................................... 200
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX H: LOGIC POWER SUPPLY SIZING ..............202

INDEX ......................................................................203
TEKNIC, INC. TEL. (585) 784-7454

QUICK START GUIDE

This section was designed to help you get your ClearPath motor up and
running quickly and safely.
ITEMS COVERED IN THIS SECTION

x How to download and install ClearPath MSP (setup and
configuration software)
x How to power up your ClearPath motor
x How to connect your ClearPath to a PC and establish
communication
x How to spin your unloaded 1 ClearPath motor under MSP software
control
PLEASE READ THIS IMPORTANT WARNING

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.
BEFORE YOU BEGIN (SUGGESTED VIEWING MATERIAL)

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
1
Unloaded 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.
TEKNIC, INC. TEL. (585) 784-7454

CLEARPATH QUICK SETUP
REQUIRED ITEMS
x ClearPath motor
x DC Bus Power supply (with cables) 24-75 VDC
x Windows PC (Win 7, 8.1, 10)
x USB cable (USB type-A to micro-B)
x Clamp or vise
INSTALL CLEARPATH MSP SOFTWARE

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.
SECURE YOUR MOTOR

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!
TEKNIC, INC. TEL. (585) 784-7454

CHECK DC BUS POWER POLARITY

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.
Power Connector
(Molex 4-pin) ClearPath VDC
Voltage Range
24-75VDC
Teknic IPC-5
Power Supply 4
2 (GND)
3 (V+) 1
Polarity test from pin 3 (V+) to pin 2 (GND) shows a positive 75 volts
POWER UP YOUR CLEARPATH

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.
1 3
2
Power up sequence
TEKNIC, INC. TEL. (585) 784-7454

CONNECT CLEARPATH TO YOUR PC

Connect ClearPath to a USB port on your PC with a high quality USB type-
A to micro B cable (Teknic PN: CPM-CABLE-USB-120). If this is a first-time
connection, wait for ClearPath to automatically install its driver software
before proceeding. This should only take a minute or so.
Damage Warning: Do not use USB cables of unknown origin (e.g.
found in a junk drawer) with your ClearPath. Non-standard cables may be
incompatible with ClearPath, and may even damage your motor.
Teknic Part # USB Comm Port

CPM-CABLE-USB-120
Micro-B
Type ‘A’
Windows PC
(Win 7, 8.1, 10 with
MSP application installed)
ClearPath
Motor
Connect ClearPath to your PC
OPEN CLEARPATH MSP (MOTOR SETUP PROGRAM)

After you open MSP, ClearPath will attempt to establish communication
with your PC. If all is well, you will briefly see a window like the one
below.
Open MSP (Motor Setup Program)
TEKNIC, INC. TEL. (585) 784-7454

SPIN YOUR MOTOR UNDER MSP SOFTWARE CONTROL

The best way to learn about a ClearPath operational mode is to try it
under software control. MSP includes simple software controls that
emulate hardware inputs and outputs, so you can try different modes of
operation without wiring a single switch or sensor.
Note: ClearPath Soft Controls are great for test, development and
training, but are not meant to be used as the control system for your
machine.
SPINNING A MODEL MCPV OR MCVC

Spinning Step & Direction models (SDSK and SDHP) is covered in the
next section.
For models MCPV and MCVC we will use the mode Ramp Up/Down To
Selected Velocity. Feel free to try any mode available in the Mode drop
down menu. Each mode is described in its own section later in this
manual.
1. Open MSP software. The "Tuning" dialog will appear. For now
select the bottom option (run with no load).
2. From the MSP menu, select Setup>Units>Counts; RPM;

RPM/s. This just tells MSP how to display distance, velocity,
and acceleration.
TEKNIC, INC. TEL. (585) 784-7454

3. Select Mode>Velocity>Ramp Up/Down to Selected Velocity.
4. A dialog window will open (see below). Please read all of the
text presented, especially if you're unfamiliar with how the op
mode works. Click OK to proceed.
TEKNIC, INC. TEL. (585) 784-7454

5. The mode controls window will appear as shown below. To

follow along, enter the settings as they appear below.
Enter target velocity for Click to open Torque

each input state here. Limit Setup dialog.
Torque Override Indicator

When lit, the main torque limit is being
overridden by a secondary, user-set torque
limit (e.g., when an axis is homing, the main
torque limit may be overridden by the
Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or separate homing torque limit setting).
desired motor motor deceleration desired motor optional g-StopTM) to convert
acceleration rate. rate to same value deceleration rate.. standard trapezoidal move
as acceleration rate. profiles into profiles that reduce
noise, resonance, and vibration.
Hardware Input Status LEDs

Light = Input asserted (on) Displays commanded velocity
Dark = Input de-asserted (off) (when using hard inputs).
Check to turn on Soft Soft Inputs and LEDs emulate Displays commanded velocity Displays HLFB
Controls. Override cannot hardware inputs. For use only (when using soft inputs). output status.
be activated when ClearPath when Soft Controls are active.
is hardware enabled. Caution: motor may spin when
enabled.
Mode Controls for mode "Ramp Up/Down to Selected Velocity"
TEKNIC, INC. TEL. (585) 784-7454

6. Click the Override Inputs checkbox. This turns on the software

controls. You may notice that the other Soft Controls are no
longer grayed out.
Soft Controls
Use to emulate hardware inputs.
Override Inputs
Check here to turn on Soft Controls.
Note: Override cannot be activated
when ClearPath is hardware enabled.
Enable Control Input A Control Input B Control

Check to energize motor windings. Check here to assert Input A. Check here to assert Input B.
Uncheck to de-energize. Uncheck to de-assert. Uncheck to de-assert.
Check "Override Inputs" box to turn on Soft Controls
7. Safety check! Before proceeding, make sure that the motor is

securely clamped down and the shaft is safely positioned away
from fingers, clothing, hair, cables, etc.
8. Click the Enable Control. Caution: the motor is now
energized and capable of motion.
Motor Status Emergency Stop Button

Currently indicates the Click here (or hit ESC on keyboard)
motor is Software Enabled to immediately trigger a shutdown.
Toggle Enable Control to clear.
Enable ClearPath using Soft Controls
TEKNIC, INC. TEL. (585) 784-7454

9. Make some moves. With the motor enabled, change Inputs

A and B as shown below to spin at different velocities. Feel free
to experiment. Try changing velocities, accelerations, and RAS
settings.
0 RPM
A off B off
+10 RPM
A on B off
-100 RPM
A off B on
+500 RPM
A on B on
Change velocity and direction by checking Inputs A and B
ADDITIONAL NOTES
x The direction of shaft rotation is set by entering a "+" or "-" sign
in front of the velocity settings (see top of figure above). "+" will
cause CCW rotation, "-" will cause CW rotation.
TEKNIC, INC. TEL. (585) 784-7454

SPINNING A MODEL SDHP OR SDSK

Note: Spinning ClearPath models MCVC and MCPV is covered in the
previous section.
ClearPath SD models have one mode: Step and Direction. We'll open that
mode and get the motor spinning using MSP software controls.
1. Open MSP software.
2. Establish USB communication to your motor.
3. The "Tuning" dialog will appear. For now select the bottom
option (run with no load) and hit "Next".
TEKNIC, INC. TEL. (585) 784-7454

4. In MSP, Select Mode>Step and Direction. The mode controls

window will open.
5. Set Units to RPM as shown in the figure below. This just tells
MSP in what units to display distance, velocity, and
acceleration.
6. Disable homing (see figure below).
7. Click the Override Inputs checkbox. This turns on the

software controls. You may notice that the other Soft Controls
are no longer grayed out.
Soft Controls
Use to emulate hardware inputs.
Override Inputs
Check here to turn on Soft Controls.
Note: Override cannot be activated
when ClearPath is hardware enabled.
Enable Control Jog motor Jog motor counter-

Check to energize motor windings. clockwise clockwise
Uncheck to de-energize.
Check "Override Inputs" to turn on Soft Controls

8. Safety check! Before proceeding, make sure that the motor is
securely clamped down and the shaft is safely positioned away
from fingers, clothing, hair, cables, etc.
TEKNIC, INC. TEL. (585) 784-7454

9. Check the Enable checkbox. Caution: the motor is now

energized and capable of motion.
Enable using Soft Controls
10. Make some moves. With the motor enabled, click the jog
button. Change direction by checking Input A. Test different
velocity and acceleration settings.
Click and hold to jog buttons to spin your ClearPath-SD motor
TEKNIC, INC. TEL. (585) 784-7454

DAMAGE WARNING: CLEARPATH INPUTS/OUTPUTS

Never connect “unprotected” inductive loads across your ClearPath
motor’s input or output circuits. If you have inductive devices such as
relay coils, solenoids, contactor coils, power-off brakes, (any device that
works by intermittently powering and unpowering a large inductor/coil)
connected across your ClearPath inputs or outputs, you will damage or
destroy the ClearPath I/O circuits. Damage of this nature manifests as
inputs or outputs not working, and can happen immediately or over time.
Always install a protection diode across any coil wired across
your ClearPath inputs and output to prevent high voltage
discharge spikes from permanently damaging the motor.
Please read the section How Inductive Loads Can Damage ClearPath I/O
for more information on how to protect your ClearPath motor from this
type of damage.
TEKNIC, INC. TEL. (585) 784-7454

IF YOU EXPERIENCE A MOTOR SHUTDOWN OR WARNING

x If you see a small triangular warning icon (figure below)
anywhere in the Mode Controls section, hover your cursor over
the triangle to read the message (like a tool tip).
Hover cursor over "warning triangle" to read its message
x 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 does not mean that the motor is
broken.) Try lowering the acceleration and/or velocity of your
moves until the warning goes away.
x The majority of shutdowns are caused by weak power supplies,
mechanical problems, and/or inappropriate settings. If your
ClearPath experiences a shutdown, it is reporting a problem, but
is not necessarily causing the problem.
x You can clear most shutdowns by toggling the Enable Input, but if
you don’t fix the underlying problem, you will probably continue
to have shutdowns.
x IF THE STATUS LED FLASHES RED, your ClearPath motor has
identified an internal hardware problem and needs to be returned
for repair or replacement.
TEKNIC, INC. TEL. (585) 784-7454

AUTO-TUNING
Tuning is required whenever you bolt your ClearPath motor to a new
or different mechanical system. The Auto-Tune feature simplifies this
formerly complicated and time consuming process.
BEFORE YOU BEGIN THE AUTO-TUNE PROCESS:

x Disable your motor.
x Recommended: Turn off your PC's sleep mode. If your PC goes
into standby, sleep, or hibernation mode during Auto-Tune, the
process will fail.
x Tighten all couplings, fasteners, pinions, and belts to the
manufacturer's specifications.
x Make sure the axis or machine frame is fully intact.
x Don’t try to tune a system on wheels or a flimsy table.
x 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 microfarads of capacitance.
x Don’t use a weak switching power supply.
STARTING THE AUTO-TUNER

In MSP, click Setup>Auto-tune.
Start the Auto-Tuner
Important: The Auto-Tune application was carefully designed to walk

users through the tuning process in a safe, step-by-step manner. Anyone
engaged in Auto-Tuning must be able to read, understand, and follow all
instructions presented.
DURING THE AUTO-TUNE PROCESS

x Be careful. Immobilize your motor with bolts or clamps. Keep
your hands, hair and clothing away from the motor shaft and
mechanical system.
x Be patient. Auto-Tune can take up to 30 minutes (5-15 minutes
is more typical).
x Be calm. Expect to hear humming, buzzing, clicks and clacks.
Loud squeals and buzzes are perfectly normal while ClearPath
explores the limits of your mechanical system.
TEKNIC, INC. TEL. (585) 784-7454

BEFORE YOU SEEK TECHNICAL HELP
Issue: The status LED on the motor is not lit, and my ClearPath
apparently has no power.
x Connect power cable to ClearPath.
x Plug in and turn on power supply.
x Verify wall outlet is powered and no circuit breakers are tripped.
x If you accidentally reversed DC power to your ClearPath motor, it
is very likely damaged and must be returned to Teknic.
Issue: The status LED is working, but my ClearPath and PC are
not communicating.
x Disconnect the USB cable from ClearPath and your PC, close
MSP, restart MSP, and reconnect the USB cable.
x 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.
Issue: Auto-Tune failed to complete.
x Check to see if more than one version of MSP is installed on your
computer. Always uninstall previous versions of MSP before
installing new versions.
x 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. ClearPath motors can operate between 24 and 75
VDC, but they require adequate power to Auto-Tune.
Issue: My ClearPath is getting shutdowns.
x A shutdown seldom means your ClearPath is broken or defective.
x 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.
x Check the ClearPath User Manual (Appendix A) for blink code
details, clues, and possible fixes.
x If you see a shutdown accompanied by a red flashing LED, 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
as it was when we shipped it 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.
TEKNIC, INC. TEL. (585) 784-7454

SAFETY WARNINGS
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 death.
PERSONAL SAFETY WARNINGS
x 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.
x Do not operate a ClearPath motor if your alertness, cognitive
function, or motor skills are impaired.
x Always handle, and carry a ClearPath motor by the housing (don’t
carry it by the shaft or cables).
x Be aware that in certain modes of operation ClearPath is designed
to spin as soon as DC bus power is applied.
x Always understand how to use a mode of operation and its
associated controls before attempting to operate a ClearPath
motor.
x Install and test all emergency stop devices and controls before
using ClearPath.
x 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.
x Provide appropriate space around the ClearPath motor for
ventilation and cable clearances.
x Do not allow cables or other loose items to drape over, or rest near
the ClearPath motor shaft.
x Never place fingers, hands, or other body parts on or near a
powered ClearPath motor.
x Thoroughly test all ClearPath applications at low speed to ensure
the motor, controls, and safety equipment operate as expected.
CE COMPLIANCE WARNINGS
x Do not open device enclosure. There are no user serviceable
parts inside this product.
x Follow all instructions and use the product only as directed.
x Safety of any system incorporating this equipment is the
responsibility of the system designers and builders.
x 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
TEKNIC, INC. TEL. (585) 784-7454

external accessible parts of their machine exceeding a

temperature of 65 Celsius. This is required as a method to
reduce burns. A tool shall be required to remove any guards
and/or shields.
x ClearPath motors require that a path exist between the motor
chassis and the Protective Earth (PE) connection of the machine
to which it is affixed. (Note: The PE connection is often satisfied
by simply bolting the motor to the machine; however it is the
users responsibility to verify the PE connection.) If an external
grounding wire is required, use the same or larger wire gauge as
used between the DC power supply and ClearPath Motor.
x Any maintenance or repair guide created by the user shall state
that power shall be removed before the Protective Earth ground
conductor is disconnected. When reconnecting power, the
Protective Earth ground conductor shall be the first wire
reconnected. Main power may be reconnected only after the
Safety Ground connection is secure.
x 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.
GENERAL DISCLAIMER
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.
TEKNIC, INC. TEL. (585) 784-7454

INTRODUCTION
WHAT IS A CLEARPATH MOTOR?

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.
Power
(24-75VDC)
Servo AC Torque
Compensator Drive
Communication
USB to PC
Encoder
Position AC Servo
Feedback Motor
Inputs (3)
Trajectory Pos./Speed
Generator Sensor
Output (1)
ClearPath functional blocks
ClearPath is a professional level, 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. The servo drive
electronics and motion control firmware employ the same state-of-the-art
technology and advanced motion control algorithms as our high-end, non-
integrated servo control products.
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:
x Point-to-Point Positioning (move and settle with precision).
x Velocity Modes (spin at constant rotational speeds).
x Torque Modes (precisely control torque at the shaft).
x Stepper Emulation (use standard step-and-direction signals).
TEKNIC, INC. TEL. (585) 784-7454

ClearPath motors are at home in applications ranging from variable speed

conveyors to multi-axis positioning robots, to kinetic sculptures. And,
while most ClearPath customers have a specific application in mind, it’s
reassuring to know that your ClearPath can be reprogrammed to perform
a different job in just a few minutes.
Safety and self-protection features are standard. ClearPath will
rapidly shut down if it becomes overloaded, overheated, detects a hard
stop, or exceeds any of the safety or motion limits you specify.
Made in USA. Each ClearPath 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. Additionally,
Teknic backs up each ClearPath motor with a generous three year
warranty.
TEKNIC, INC. TEL. (585) 784-7454

PARTS OF A CLEARPATH MOTOR
I/O Connector
DC Power Connector (Molex Minifit Jr. 8 pos.) Configuration Port
(Molex Minifit Jr. 4 pos.) (USB Micro-B) Auxilliary PE
(Protective Earth)
Housing Connection Point
(Anodized Aluminum)
Status LED
Sealing
Gasket
Die Cast
Heatsink
Silicone Plug
Covers USB Port*
(see note below)
NEMA
Mounting Stainless
Flange Steel Shaft
* Always keep USB port covered
Keyway
with silicone plug when port is not in use.
ClearPath Motor
DC Power Connector - Apply main DC power (24-75VDC) to this 4-

position Molex MiniFit Jr. connector.
I/O Connector - Access ClearPath’s three inputs and one output through
this 8-position Molex MiniFit Jr. connector.
Configuration Port - Use this port to connect ClearPath to a Windows
PC with a standard USB (Type A to Micro-B) cable. Cover port with
included silicone plug when not in use.
Status LED - Tri-color LED Indicates operational status of ClearPath
device. See Appendix A for LED codes.
Auxiliary PE (Protective Earth) Connection Point - Typically used
only if the motor mounting bracket or plate is not bonded to the machine’s
PE terminal. See Appendix E: Grounding and Shielding for complete
details. To use, connect a wire between this screw boss and your machine
chassis to ensure a good connection to the machine’s Protective Earth
terminal.
TEKNIC, INC. TEL. (585) 784-7454

EXAMPLE APPLICATION: ABSOLUTE POSITIONING MODE

Read this section for a brief introduction to ClearPath technology and
terminology through an example application. Please visit
https://www.teknic.com/watch-video/ to view ClearPath application
videos.
SUMMARY OF OPERATION
Note: This section describes only one example application in one mode of
operation. Absolute Positioning (4-position) mode allows you to define up
to four target positions and command moves between any of them simply
by changing the logical states of the ClearPath inputs.
In the figure below, a ClearPath model MCPV is coupled to a ball screw
positioning stage. For now, we’ll say that ClearPath has already been
configured and programmed via the included MSP software. This just
means that the mode of operation, target positions, velocity, acceleration,
and options are already stored in ClearPath memory and the motor is
tuned and ready to go. ClearPath configuration and setup will be
discussed later in this section.
Signal Source (to ClearPath Inputs)

3 Inputs / 5-24VDC Compatible:
Example Input Settings
• PLC Input Control
• Switches High
Target Position 1 2 3 4
• Sensors Low
Input A state LOW HIGH LOW HIGH
• Encoder A B En Input B state LOW LOW HIGH HIGH
• Microcontroller Enable state HIGH
HLFB (High-Level Feedback)

5-24VDC Compatible
• User-settable
• Move Done mode BB-CO
HLFB Output
uired
• PWM Speed Output mode
• Brake Control signal C req
• Servo On mode
BiiBiiBiiBiiBiiBiiBiiBii
No P r setup!
afte Windows PC
With USB port
Running MSP software
• Set Operational Mode
ANNIICO
ANNIICO
• Set speeds and accelerations
• Set move distances
• Manage options
JWunsch 2014
• Perform tuning
H • Monitor system performance
DC power to Regenerated
ClearPath energy back to
to power supply DC Power Supply
1 2 3 4 Range: 24-75VDC
Target Positions Model shown:
Teknic IPC-5 (75VDC)
ClearPath Absolute Positioning (4-Position) Mode
Getting started. To energize the motor, simply apply a DC voltage to the

Enable input. Once enabled, the motor is considered “live”, i.e. the motor
is energized and will execute moves in response to state changes at Inputs
A and B.
Caution: Depending on the exact mode and settings selected, ClearPath
may automatically move upon enable with no user changes to the inputs.
TEKNIC, INC. TEL. (585) 784-7454

In this particular mode, ClearPath must perform a homing operation (all

of the target positions are defined in terms of distance from the "home"
reference position). Setting up your homing parameters is easy, and only
has to be done once (using the included MSP software).
After homing is complete, ClearPath can be commanded to move to any of
the four target positions by changing the state of Inputs A and B.
EXAMPLE: MAKING A MOVE
Motion objective: Move the load platform from position#1 to position
#4.
User action: Simultaneously set Inputs A and B high. This can be done
with toggle switches, PLC, microcontroller, or other compatible device.
Motion result: The motor immediately begins a move based on the
user’s acceleration and velocity settings. The motor then decelerates and
settles at position #4. Note: ClearPath will actively servo to maintain
position until another move command is received, unless the system is
intentionally disabled, powered down, or in a shutdown state.
The Digital Output (we call it HLFB, for High-Level Feedback) can be
configured to signal when ClearPath completes a move, reaches a
specified speed or torque, or shuts itself down for safety reasons. See the
section on Outputs (High-Level Feedback) for more on HLFB modes.
OVERVIEW: CONFIGURING A CLEARPATH

ClearPath must be configured and tuned before it can be used
in a motion application. The main configuration steps are outlined
below. Each of these points is discussed in greater detail later.
1. Install ClearPath software (MSP) on a qualified Windows PC.
2. Connect your I/O devices to ClearPath (switches, PLC,
microcontroller, etc.).
3. Supply DC power (24-75VDC) to ClearPath.
4. Connect ClearPath to your PC with a standard USB cable.
5. Use ClearPath MSP software to:
a. Select a mode of operation.
b. Set motion parameters and options (acceleration,
velocity, torque, safety settings, etc.).
c. Tune the motor to the mechanical system.
6. Test and adjust settings as needed to optimize quality of
motion and overall system performance.
7. Disconnect the computer. Cover USB port with the included
silicone plug, and run your application. No computer is
needed once setup is complete.
Save your settings! You can save your ClearPath settings to a motor
configuration file—the file extension is .mtr—at any time. This allows you
to easily test and compare various sets of tuning parameters. And, if you
build many machines of the same design, you’ll appreciate how quickly
you can load a saved configuration file into a new ClearPath.
TEKNIC, INC. TEL. (585) 784-7454

OVERVIEW: CLEARPATH I/O

ClearPath I/O provides a flexible high-level control interface for your
ClearPath motor. There are no proprietary connectors, cables or sensors,
so you decide which input devices are right for your ClearPath application.
Once the inputs are wired up, you’ll be able to execute moves either by 1)
changing the logical (on/off) state of the inputs or 2) by applying a pulse
or PWM signal to the appropriate input. See the chapter on Inputs and
Outputs for I/O wiring information.
Note: ClearPath inputs automatically change function based on mode of
operation selected. See the Operation Mode section for input function.
ClearPath
I/O Connector
4 Enable
5-24VDC
8 Enable
User Inputs
• Switches
• PLC 3 Input A
• Micro-controller 5-24VDC
• Sensors 7 Input A
• Signal generator
2 Input B
5-24VDC
6 Input B
High-Level 1 HLFB
Feedback 5-24VDC
(Output) 5 HLFB
Simplified overview of ClearPath inputs and output
Enable Input. Asserting the Enable input (logical 1, high, 5–24VDC)

energizes the motor coils. Deasserting Enable (logical 0, low state, 0 volts)
removes power from the motor coils.
Inputs A and B. Once enabled, ClearPath can respond to the state of
Inputs A and B. ClearPath supports a wide range of input devices, from
simple toggle switches to sensors, relays, PLC outputs, microcontroller
outputs, and more can be wired to a ClearPath.
High-Level Feedback (HLFB). ClearPath’s HLFB output can be set up
to alert the user or control system to one of several conditions. HLFB can
be configured to:
x Change state if a Shutdown occurs.
x Signal when ClearPath is running at your commanded velocity
or torque.
x Signal the end of a move (based on user-defined settling
requirements).
x Output a PWM signal whose duty cycle is proportional to motor
speed, or torque.
TEKNIC, INC. TEL. (585) 784-7454

POWERING A CLEARPATH SYSTEM
SELECTING A DC BUS POWER SUPPLY

ClearPath motors can be powered from 24–75VDC power supplies;
however the actual minimum voltage and current required to power a
ClearPath in a given application is highly dependent on the application
requirements (i.e. how much torque and speed is required) as well as
motor winding and magnet configuration.
Teknic power supplies have been extensively tested and widely used in
ClearPath applications, but third-party (non-Teknic) power supplies can
be used as well. See next page for Teknic power supply overview. Please
visit the Teknic website for power supply features, specifications, and
pricing.
CLEARPATH OPERATING VOLTAGE
RECOMMENDED OPERATING VOLTAGE: 24–75VDC

Note: Always operate ClearPath within the recommended operating
voltage range (24VDC to 75VDC). If measuring the actual bus voltage
reaching your ClearPath motor, probe directly on the ClearPath power
connector.
The ideal ClearPath power supply…

…is capable of delivering high peak current and handling back-EMF
(reverse voltage generated by the spinning motor that "cancels” a portion
of the incoming supply voltage). A power supply specifically designed for
motor drive power—like Teknic’s “Intelligent Power Center” supplies
(IPC-3 and IPC-5)—will have these features, and are ideal for servo
systems like ClearPath. “Bulk” linear power supplies—basically a
transformer, rectifier, and large capacitor—can also work adequately.
Normal switching-mode power supplies are not generally the best choice.
Important: Thoroughly test your ClearPath application with the
intended power supply under worst case, full load conditions to ensure
sufficient power capacity and adequate operating margin.
Why you should avoid (most) switching power supplies

Switching power supplies are typically not well suited to high power servo
applications because they generally have the same peak and continuous-
current ratings. This can lead the user to purchase a large but ultimately
under-worked power supply just to meet peak current requirements.
In addition, most switchers are not designed to handle the regenerated
energy (back-EMF) that a decelerating motor returns to the power supply.
Without special provisions, regenerated energy can cause a switching
supply to reset, power cycle, shut down, or even fail.
TEKNIC, INC. TEL. (585) 784-7454

NOTES ON "LOWER VOLTAGE" BUS POWER SUPPLIES

ClearPath motors can and do work with power supplies as low as 24 volts
DC, provided that the power supply has sufficient voltage, current, and
capacitance to meet your application's motor torque and speed
requirements. This assumes that the motor has been properly sized for the
application.
IMPORTANT: An underpowered supply can result in ClearPath
performance limitations and problems including the following:
x ClearPath is unable to complete the auto-tuning process.
The ClearPath auto-tuning feature uses aggressive moves to test
the limits of each mechanical system. A weak power supply (i.e.
one that can't handle the peak current demands required by
ClearPath) may "droop" the supply below ClearPath's minimum
operating voltage, about 21.5VDC. This can cause loss of
communication and/or a safety shutdown. Needless to say, if
Auto-Tune cannot run to completion, you probably have an
underpowered supply.
x ClearPath completes the auto-tuning process but
experiences certain warnings or shutdowns during
programmed motion. If Auto-Tune runs to completion, but
you experience torque saturation, voltage saturation, or both
during regular machine operation, you may be exceeding the
supply's voltage and/or current capability.
If you have an underpowered DC bus supply

If you suspect your power supply is underpowered, one of these solutions
may work for you:
x Lower the commanded acceleration and/or velocity.

Sometimes lowering commanded acceleration and/or velocity
can reduce the burden on a weaker power supply enough to
eliminate shutdowns caused by "power starvation".
x Upgrade to a more powerful supply. Look for a supply
with higher voltage, higher peak and continuous current
ratings, and a large capacitor bank.
x Modify your existing power supply. In some cases adding
a large capacitor and a few inexpensive components to an
underpowered supply can boost the supply's output
satisfactorily. Note: Consult your power supply manufacturer
before making any modifications to a commercial product.
TEKNIC, INC. TEL. (585) 784-7454

TEKNIC POWER SUPPLIES

Teknic manufactures two 75VDC power supplies designed specifically for
powering motor drives—the IPC-3 and IPC-5. These supplies effectively
manage peak current demand, regenerated energy, and include several
built-in protective features. They are ideal for use with ClearPath motors.
Teknic IPC-3 Teknic IPC-5
Teknic 75VDC IPC family power supplies
TEKNIC MODEL IPC-3

The IPC-3 open-frame power supply can typically power one to four
ClearPath motors. The actual number depends on the application—fewer
when the motors are generating high torque continuously at high speeds,
and more when the motors are intermittently using bursts of power like in
many point-to-point positioning systems. Please visit Teknic’s website
(www.teknic.com) for more information, features, and specifications.
TEKNIC MODEL IPC-5

The IPC-5 fully enclosed power supply can typically power two to six
ClearPath motors. The actual number depends on the application—fewer
when the motors are generating high torque continuously at high speeds,
and more when the motors are intermittently using bursts of power like in
many point-to-point positioning systems. Please visit Teknic’s website
(www.teknic.com) for more information, features, and specifications.
BEFORE POWERING A CLEARPATH

x Check for proper DC power polarity before connecting power
to a ClearPath. Reversing DC power polarity may damage the
unit and void the warranty.
x Verify that the power supply is turned off and discharged
before connecting to a ClearPath. Connecting and
disconnecting the motor from a charged power supply will
cause electrical arcing that can damage the connector pins
over time.
x Never connect a ClearPath motor directly to an AC outlet.
This will damage the ClearPath motor and void the warranty.
TEKNIC, INC. TEL. (585) 784-7454

x It is acceptable to daisy chain power to several ClearPath

motors provided that the combined current draw of the
motors does not exceed 10A during operation. If total
combined current draw is expected to exceed 10A, star power
wiring should be used.
x When a ClearPath motor is powered on, a startup routine
energizes the motor for a few milliseconds. During this
startup routine it is not uncommon for a small amount of
motion to occur (1˚ typical).
POWER SUPPLY SWITCHING AND FUSING
POWER SUPPLY CONTROL SWITCH

The power supply for a ClearPath should not be switched on and off from
the DC output side. Switching the DC output side, especially with
inexpensive relays, will ultimately result in poor performance (drop outs)
due to pitting, corrosion and contact welding. If a power switch is
required, install it such that the supply is disconnected from the AC input
side (see figure below).
POWER SUPPLY FUSING

If you require an external fuse on your power supply’s DC output (to meet
compliance standards for example) it should be installed in line with the
positive leg of the DC output wiring as shown below. Use a maximum 10A
time delay fuse. Note: Teknic IPC power supplies are not internally fused
on the DC output side.
If DC output fuse is required,

install in line with positive (+)
DC Output leg of DC output as shown.
Fuse @10A Max.

Fuse Use slow blow type fuse
If required, install power

switch on AC input side
of supply.
Power Supply ClearPath Motor

AC Input (IPC-5 shown)
Power supply switching and fusing detail
TEKNIC, INC. TEL. (585) 784-7454

BASIC POWER CONNECTION (2 MOTORS)

One or two motors can be connected directly to the IPC-3 or IPC-5 power
supply as shown below. To connect more than two motors, consider
chaining power or using the optional Power Hub board.
IPC-5 75VDC
Bus Supply
75VDC
Bus Out
75VDC 75VDC
(Bus In) (Bus In)
AC Source
110/220VAC
ClearPath Motors
Direct Connection
POWER CHAINING (MULTIPLE MOTORS)

For applications with several ClearPath motors, chaining power from
motor to motor may be preferable. You will have to fabricate power cables
as shown below to chain power from motor to motor.
Power Supply Power Connector Pinout Mating Parts

(IPC-5 shown)
WIRE ENTRY VIEW Connector Housing 4 pos.
Molex/39-03-9042 (black)
Terminals 16AWG
4. GND 3. V+
Molex/39-00-0078 (loose)
2. GND 1. V+ Molex/39-00-0077 (reel)
Crimp Tool 16 AWG

Molex/200218-2200
Terminal Extractor Tool

Molex/11-03-0044
Cable Stock 2/16AWG (black)

Belden/9410
Note: NEMA 34 motors are shown at left. NEMA 23 models have

4-pin and 8-pin connector positions swapped, but pinouts and
signal names are functionally identical for both motor sizes.
ClearPath Motors
Power Chaining ClearPath motors. See Appendix C for full connector information.
TEKNIC, INC. TEL. (585) 784-7454

USING A POWER HUB

The Power Hub (Teknic PN POWER4-HUB) is an optional ClearPath
accessory board that:
1. Distributes DC bus power to as many as four ClearPath motors
per Power Hub, thus eliminating the need for special "power
chaining" cables.
2. Delivers low voltage logic power backup to your ClearPath
motors. Logic power backup keeps the motors' electronics "alive"
even if DC bus power is dropped. This translates to uninterrupted
communication, continuous status monitoring, and retention of
encoder position.
Note: You will be unable to spin your motors when using only logic power
backup. Logic power backup will keep the motor electronics alive, but is
not designed to run motors.
POWER HUB OVERVIEW DIAGRAM
ClearPath
Motors
Control
Signal
Source
24VDC Supply
(required)
DC OUT
DC IN to motors
A single Power Hub can

DC Bus Power Hub distribute DC bus power
Power Supply
to up to 4 motors.
(24-75VDC)
Power Hub in a ClearPath system
TEKNIC, INC. TEL. (585) 784-7454

POWER HUB: THINGS TO KNOW

x Logic backup power is not designed to spin motors. It
is designed to maintain uninterrupted, low voltage power to
the motor electronics (encoder, DSP, communication, I/O, and
associated circuits).
x Damage Warning: Reversing DC bus power polarity to
the Power Hub will permanently damage it. Use a
meter to verify correct DC bus power polarity before
connecting the power supply to the Power Hub.
x Do not "hot swap" DC power connectors. Turn off DC
bus power supply before connecting a motor to the Power
Hub. Connecting and disconnecting the motor from a live
power supply will cause electrical arcing that will damage
the connectors over time.
x Logic backup power should not be used as a means of
switching DC bus power on and off. To control DC bus
power, use a contactor on the AC side of the DC bus power
supply.
x Do not connect more than two Power Hubs to a power
supply. Continuous and peak current usage must not exceed
the power supply's specifications.
It is the user's responsibility to ensure that the DC bus power
supply has sufficient continuous and peak power to meet
their application requirements.
x Do not attempt to power more than four ClearPath
motors from a single Power Hub.
POWER HUB: COMPLIANCE NOTES

x 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.
x If UL compliance is a consideration, select a DC, UL Listed
fuse.
x For those seeking a Class G fuse, the SC-25 from Eaton Cooper
Bussmann, or OSLCO25 from Littelfuse is recommended. Fuse
holders (also rated this way) include the HPS-FF and TCFH30N
(from ECB/Littelfuse respectively).
TEKNIC, INC. TEL. (585) 784-7454

PARTS OF A POWER HUB
75V DC Bus Output Bus 24V Power LED 24VDC Logic Power *
Input & Passthrough Overload LED Input & Passthrough
* Note: 24VDC Logic Power

is required for operation.
V+ GND
Board Thermal
Shutdown LED
75V Dropout LED

(Aux. power active)
GND V+ Aux. (Logic) Power

Overload LED
Power Output
To ClearPath Motors
Parts of a Power Hub
DC Bus Power Input/Passthrough (Qty. 2) - Supply 24-75VDC

power from your DC Bus Supply to either of these connectors (they are
wired in parallel). The other connector can be used to daisy chain bus
power to a second Power Hub if desired, or left unconnected.
DC Bus Power Outputs (Qty. 4) - These four connectors supply bus
power to your ClearPath motors. In addition, if power is dropped, they
carry aux. power to keep maintain motor communication to the host
application. They are fully short-circuit protected.
24VDC Logic Power Input, with Passthrough (Qty. 2) - Supply low
power 24VDC logic power to either of these connectors (they are wired in
parallel). The other connector can be used to daisy chain power to a
second Power Hub.
Power Hub LEDs - There are 5 LED indicators on a Power Hub. Please
refer to the section "Power Hub LEDs" (later this section) for a complete
explanation of what the Power Hub LEDs indicate.
TEKNIC, INC. TEL. (585) 784-7454

CONNECTIONS FOR A SINGLE POWER HUB SYSTEM
IPC-5 75VDC 24VDC

Bus Supply Aux. Supply
75VDC
Bus Out
75VDC Bus Input/

Passthrough Power Hub
75VDC Bus Out (x4)
AC Source
110/220VAC
ClearPath Motors
Single Power Hub System
TEKNIC, INC. TEL. (585) 784-7454

CONNECTIONS FOR A DUAL POWER HUB SYSTEM
(Bus In)
75VDC
75VDC Bus Out (x4)
75VDC Bus Input/
Passthrough
(Bus In)
75VDC
Power Hub
(Bus In)
75VDC
Aux. Supply
24VDC
75VDC Bus Out (x4)

75VDC Bus Input/
Passthrough
(Bus In)
75VDC
IPC-5 75VDC
Bus Supply
Bus Out
75VDC
110/220VAC
AC Source
Two Power Hubs powering 8 ClearPath motors
AUXILIARY (24V) LOGIC POWER SUPPLY

The Power Hub requires 24VDC to function. This is labeled as "24VDC
Aux. Supply" above. See appendix " Logic Power Supply Sizing" for power
budgeting information. Note: Never use the main DC bus power supply
(even if it is 24VDC) for this purpose.
TEKNIC, INC. TEL. (585) 784-7454

POWER HUB LED CODES
POWER
OVERLOAD
OVERTEMP
DROPOUT
AUX-SHDN
Power Hub LEDs
LED Name Color LED On Indicates LED Off Indicates

Aux. 24V supply voltage
POWER Normal operation.
Green not detected. Hub not
24V Power Aux. 24V supply voltage detected.
functional.
Short (or near short) circuit at bus
output. Power Hub electronically
OVERLOAD
Output Bus Overload
Red disconnects bus input from bus Normal operation.
output in this case as a protective
measure.
Board temperature has exceeded
OVERTEMP 105qC. (Note: After an overtemp Normal operation.
Red
Board Thermal Shutdown event, LED will turn off when board (Board temp is < 105qC.)
temp falls below 95qC.)
Bus supply has "dropped out",
DROPOUT
75V Dropout LED
Red meaning the DC Bus has fallen below Normal operation.
18.2 VDC. Aux. power is active.
Motor bus has dropped out and aux.
supply is in an overloaded state. (The
AUX-SHDN motor load has exceeded 1000mA for
Red Normal Operation
Aux. Power Overload >20mS.) This is a latching shutdown.
You must cycle the aux. power
supply to clear.
TEKNIC, INC. TEL. (585) 784-7454

POWER HUB: THINGS TO KNOW
x Damage Warning: Reversing DC bus power polarity to

the Power Hub will permanently damage it. Use a meter to
verify correct DC bus power polarity before connecting the power
supply to the Power Hub.
x Do not "hot swap" power connectors. Turn off DC bus

power supply before connecting a motor to the Power Hub.
Connecting and disconnecting the motor from a live power supply
will cause electrical arcing that will pit and carbonize connectors
over time.
x Do not attempt to power more than four ClearPath

motors from a single Power Hub.
x Do not connect more than two Power Hubs to a power

supply. Continuous and peak current usage must not exceed the
power supply's specifications.
Important: While it is acceptable to chain two Power Hubs

together, it is the user's responsibility to ensure that the DC bus
power supply has sufficient continuous and peak power to meet
their application requirements.
TEKNIC, INC. TEL. (585) 784-7454

INPUTS AND OUTPUTS

ClearPath inputs and output (I/O) allow the user to send and receive
control signals from a ClearPath motor. There are a total of three digital
inputs and one digital output accessible through the 8-position Molex
MiniFit Jr. connector. Refer to the diagram below for a list of I/O
connector mating parts.
DAMAGE WARNING: Never connect unprotected inductive loads
(things like relay coils, solenoids, contactor coils, etc.) such that they can
discharge across ClearPath Inputs or outputs. Doing so will irreversibly
damage the ClearPath motor inputs/outputs. See the section How
Inductive Loads Can Damage ClearPath I/O for more.
I/O CONNECTOR PARTS AND PINOUT
Clearpath I/O Features I/O Connector Pinout Mating Parts

D 5-24VDC compatible 4 Enable + Connector Housing 8 position
D Digitally filtered I/O Connector 8 Enable - Molex/39-03-9082 (black)
D Optically isolated
3 Input A+ Terminals 22-28 AWG
D Configurable output 8 7 6 5 7 Input A - Molex/39-00-0047 (loose)
D Many input options onss 4 3 2 1
Molex/39-00-0046 (reel)
2 Input B +
wire entry view 6 Input B - Crimp Tool 22-28 AWG
1 HLFB (output) +
Molex/63819-1000
5 HLFB (output) -
Terminal Extractor Tool
Molex/11-03-0044
Cable Stock 8/22 AWG

Belden 9421
Note: NEMA 34 motor shown at left. NEMA 23 models
have 4-pin and 8-pin connector positions swapped, but pinouts
and signal names are functionally identical for both motor sizes.
5
pin 5 pin 8
1
Teknic Control Cable
4 pin 8 pin 5
Molex MiniFit Jr.
8 8-position connector Teknic Control Cable Pin Assignments
Pin Color Name
1 GRN HLFB +
2 BLK Input B +
7 - BRN 6 - YEL
3 WHT Input A +
8 - ORN 5 - RED 4 BLU Enable +
5 RED HLFB -
4 - BLU 1 - GRN 6 YEL Input B -
3 - WHT 2 - BLK 7 BRN Input A -
Wire entry view 8 ORN Enable -
ClearPath I/O connector and mating parts
TEKNIC, INC. TEL. (585) 784-7454

CLEARPATH INPUTS
Damage Warning: Protect Your Inputs and Outputs

To prevent motor I/O damage, never connect unprotected inductive loads
(things like relay coils, solenoids, contactor coils, brake coils, etc.) such
that they can discharge across ClearPath inputs or outputs. Doing so will
blow out the ClearPath motor I/O circuits, causing permanent damage to
the motor. See the section How Inductive Loads Can Damage ClearPath
I/O for more information on preventing this kind of damage.
The three inputs, designated Enable, Input A, and Input B, are designed
for use with 5-24VDC logic levels and pulses from a wide variety of signal
sources and devices including PLCs, microcontrollers, and even
mechanical switches, with no external resistors required.
External Circuit ClearPath Internal
4 Enable+ Current
Limiter
5-24 +
VDC
8 Enable-
3 Input A+ Current
Limiter
5-24 +
VDC
7 Input A-
2 Input B+ Current
Limiter
5-24 +
VDC
6 Input B-
ClearPath Inputs shown with simple switches
INPUT CURRENT DRAW

The table and graph below illustrate the maximum current draw by the
ClearPath input circuits for the range of acceptable input voltages.
12
Min. Input Current (mA)
11
Voltage at Minimum Input
10 ClearPath Input Current Required
5 VDC 8 mA
9
12 VDC 9 mA
8 24 VDC 12 mA
5 9 12 16 20 24
Input Voltage (VDC)
Maximum input current draw at given input voltages
TEKNIC, INC. TEL. (585) 784-7454

HOW INDUCTIVE LOADS CAN DAMAGE CLEARPATH I/O

Your ClearPath input and output circuits can be damaged if exposed to
high voltage, inductive kickback. Inductive kickback is manifested as the
short term, high voltage spikes produced by coil-actuated (inductive)
devices when power is removed from the coil. Such devices include
contactor coils, mechanical relay coils, solenoids, and power-off brakes.
NO DIODE PROTECTION DIODE PROTECTION

CLEARPATH INPUT CLEARPATH INPUT
9
24VDC 24VDC
Input + Input +
Relay, Relay,
Solenoid, Solenoid,
Contactor 80+ VDC Contactor
Brake, etc. Brake, etc.
Input - Input -
Energy dissipates
in diode/coil circuit
Coil de-energized here Coil de-energized here

Vcoil = 24VDC Vcoil = 24VDC
0 VDC at ClearPath input
DAMAGING
80+VDC at ClearPath input
Use a flyback diode (right) to protect ClearPath inputs and outputs.
Without a “safe” discharge path, such as provided by a flyback

diode, when the coil from an inductive device is de-energized it
can produce a very high voltage spike that will damage
ClearPath inputs connected in parallel with the coil. These
voltage spikes can peak in the hundreds of volts for tens of milliseconds.
And, while ClearPath I/O circuits are very robust, they are not designed to
manage hundreds of volts above their operating range of 4-28VDC.
HOW TO PROTECT YOUR MOTOR FROM INDUCTIVE KICKBACK

1) Avoid connecting inductive loads (coils) such that they can discharge
across your ClearPath inputs or output. Use a separate power supply for
inductive devices to isolate them from low voltage digital devices.
2) If you must connect a coil-actuated device across your ClearPath I/O,
add a protection diode in parallel with the coil in the polarity
shown above. FYI: Protection diodes are referred to by various names
including flyback diode, snubber diode, or catch diode. We recommend
using a common 1N4004 diode for most applications.
TEKNIC, INC. TEL. (585) 784-7454

THE ENABLE INPUT

The Enable Input controls power to the motor coils. When a ClearPath
is powered up and the Enable Input is asserted (i.e. 5–24VDC is present at
the Enable Input) the motor windings energize and ClearPath is able to
respond to control signals at Inputs A and B.
When Enable is deasserted power to the motor coils is removed and the
motor cannot respond to user inputs 2.
Safety Note: The Enable Input is not designed for safety compliance use.
Main power must be removed to ensure safety.
WARNING!
An enabled motor can When Enable is asserted:
and will spin in
response to input • Motor windings energize
states. Always keep • Motor will respond to inputs
fingers, clothing, and
other objects clear of • Shaft is able to spin
motor shaft.
Enable + Current
Limiter
5-24VDC
Enable -
ClearPath Enable Input
Caution: When ClearPath is in “Spin on Power-Up” mode, it can spin as

soon as main DC power is applied. All inputs, including the Enable Input,
are ignored in this mode. For safety reasons, ClearPath motors never ship
configured in "Spin on Power-Up" mode.
Enable-With-Trigger function. In a few ClearPath modes, the Enable
input also serves as a trigger input. In these modes, briefly pulsing the
Enable input low (and immediately back high again) causes ClearPath to
perform a predefined action, such as execute a move, change direction of
rotation, or change velocity. See individual operation modes for trigger
mode details.
INPUTS A AND B: THE CONTROL INPUTS

Inputs A and B are the main user control inputs. Their function changes
automatically based on the ClearPath mode of operation you choose. In
some modes simply apply a PWM signal to control velocity or torque. In
other modes, set the inputs high or low to move a preset distance, ramp to
a target velocity, change direction, or move until a sensor trips. For
ClearPath SD models, apply standard step and direction signals to the
inputs to create your own motion profiles.
Tip: Input A and Input B functions are defined at the beginning of each
operational mode section.
Engineer’s Note: In all ClearPath motors, the input signals are
electrically isolated from the DC power bus and motor output circuits, as
2
Exception: when ClearPath is set to “Spin on Power Up” mode, the motor shaft can move
as soon as main DC power is applied, regardless of the state of the Enable Input.
ClearPath motors never ship configured in this mode.
TEKNIC, INC. TEL. (585) 784-7454

well as from the motor case. This design feature ensures that control
signals will not be compromised due to induced currents from the motor,
power supply, or other sources of common mode noise or ground loops.
INPUT WIRING
ClearPath inputs are compatible with standard digital outputs including
open collector transistor, and driven outputs from PLCs, sensors, signal
generators, microcontrollers and more.
Transistor Outputs
ClearPath Input
Input + Current
+V Limiter
NPN / Sinking 1k*
Input-
“Open Collector”
For Step & Direction and Pulse Burst Modes with transistor
outputs (as shown here) install a 1k resistor* at the output side
of the controller for cable runs longer than 10 feet.
+V
ClearPath Input
PNP / Sourcing Input + Current
Limiter
1k*
Input-
For 5V input voltage use a 1/4W resistor

*NOTE For 24V input voltage use a 2W resistor
Driven Outputs, Single-Ended

ClearPath Input
Input + Current
+V Limiter
Sinking Input-
Signal
Signal low = Input asserted
ClearPath Input
Input + Current
Signal Limiter
Sourcing Input-
Signal high = Input asserted
Interfacing digital outputs to ClearPath Inputs
Engineer’s Note: 5V differential outputs are not directly compatible

with ClearPath inputs because differential drivers' guaranteed output
voltage swing is typically not guaranteed to meet the ClearPath input
minimum input voltage requirements.
While differential drivers may work initially, they may fail over time as the
environment changes, i.e. the motor heats up, components age, and so
forth. This can result in erratic operation that is difficult to debug.
TEKNIC, INC. TEL. (585) 784-7454

CLEARPATH OUTPUT (HLFB)

ClearPath has one, user settable, multi-purpose, digital output called the
HLFB Output (HLFB stands for "High-Level Feedback"). The HLFB
output conveys motor and motion-related feedback to your PLC,
microprocessor, or other control device.
The HLFB configuration dialog is accessed from the Advanced menu as
shown below. Advanced>High-Level Feedback.
HLFB output can be used to signal:

x If the servo drive is enabled or in a shutdown (Servo On mode).
x When the commanded move is complete and settled to the user's
specifications (ASG-Position mode).
x How well the motor is following your positioning or velocity
commands (In Range).
x Motor speed, via PWM output (Speed Output mode).
x Motor position, via PPR output (Pulses Per Revolution).
x Motor torque, via PWM output (Torque Output mode).
Note: The HLFB circuit is not internally powered; it requires an external

5–24VDC power supply capable of sourcing/sinking at least 1mA, non-
inductive. In typical HLFB applications, power is supplied by the PLC,
control board, or an external supply. See Appendix D for complete HLFB
specifications.
(User Circuit) ClearPath Internal
HLFB + 1 Current
Limiter
5-24VDC
HLFB - 5
High-Level Feedback circuit
TEKNIC, INC. TEL. (585) 784-7454

HLFB OUTPUT WIRING EXAMPLES

Any external circuit or device to be connected to the ClearPath HLFB
output should conform to the guidelines below. Proper circuit
design/selection greatly reduces the probability of electrically damaging
the output, particularly in the event of a common production mistake such
as an accidental short or reversed wiring.
HLFB AS A "SINKING" OUTPUT

The HLFB output can be used as a sinking output as shown below. This
topology provides ClearPath with a high level of immunity from damage if,
for example, the circuit is shorted to machine chassis. Such a short would
simply make the output appear like a closed circuit.
Note: the preceding assumes the DC supply return is connected to chassis
ground at one location in the machine.
5-24VDC
(Supply)
PLC Input
IN +
ClearPath Internal
IN - HLFB + Current
Limiter
HLFB -
5-24VDC
(Return)
5-24VDC
(Supply)
Microcontroller
Digital Input Pull-up resistor ClearPath Internal
(1k - 20k typical)
IN HLFB + Current
Limiter
GND (Return) HLFB -
HLFB as a sinking output
TEKNIC, INC. TEL. (585) 784-7454

HLFB AS A "SOURCING" OUTPUT

The HLFB output can be used as a sourcing switch as shown below. When
using a sourcing topology, place a fuse in series with the DC supply’s
positive output (prior to connection to the HLFB+ pin of the ClearPath).
Use a fast acting fuse rated for 100mA max.
5-24VDC
(Supply) ClearPath Internal
HLFB + Current
Limiter
PLC Input
IN + HLFB -
IN -
5-24VDC
(Return)
5-24VDC
(Supply) ClearPath Internal
Microcontroller HLFB + Current

Limiter
Digital Input
IN HLFB -
Pull-up resistor
(1k - 20k typical)
GND (Return)
HLFB as a sourcing output
Current Limiting the HLFB Output

Whether you use sourcing or sinking topology, current supplied to the
HLFB circuit from an external device should be limited to 30mA
maximum. Although ClearPath includes built-in current limiting, a series
connected, current limiting resistor may still be necessary to protect the
HLFB Output’s internal circuitry. A series resistor of 2000Ω @ 24VDC,
1100Ω @ 12VDC, 500Ω @ 5VDC can help prevent an overloaded or blown
circuit.
Note: Any circuit or external device that you intend to connect to the
HLFB output may already be appropriately current limited. Consult the
device’s user manual for its output current rating.
Tips on microcontroller inputs

x Check your microcontroller documentation to see if the inputs
already have internal pull-up resistors before adding an
external pull-up. If a pull-up/pull-down is too large >10,000
Ω, an additional lower value resistor may be required.
x Most Arduinos let you "turn on" or "turn off" internal pull-up
resistors with a simple line of code. See link below for more
information on Arduino inputs.
TEKNIC, INC. TEL. (585) 784-7454

x To learn more about pull up resistors and digital circuits,

Google search: pull up resistor for digital input.
Arduino on the Web
For more information related to Arduino digital inputs and pull-up
resistors, check out the following link:
https://www.arduino.cc/en/Tutorial/DigitalPins
HLFB APPLICATION EXAMPLES
HLFB Driving a LED

The HLFB circuit is not internally powered; it requires an external 5–
24VDC power supply capable of sourcing/sinking at least 1mA, non-
inductive. In typical HLFB applications, power is supplied by the PLC,
control board, or an external supply. See Appendix D for complete HLFB
specifications.
(User Circuit) ClearPath Internal
HLFB + 1 Current
Limiter
5-24VDC
HLFB - 5
HLFB Driving LED
HLFB Driving a Brake Via Solid State Relay

ClearPath's HLFB output circuit can directly drive the input of some solid
state relays (SSRs) such as the Crydom DC60S3 shown below.
Using the Servo On HLFB mode, ClearPath can indirectly control power
to devices such as a 24V "power-off" brake. See sketch below for example
wiring details.
+
* +
Brake
24VDC
-
* Inductive loads must

be diode suppressed. OUTPUT
+1 OUTPUT 2
SOL ID STATE R EL AY
Crydom DC60S3
4 INPUT +3
INPUT
ClearPath Internal
1 HLFB + +
Current
Limiter 5-24VDC
-
5 HLFB -
HLFB circuit controlling an SSR / brake setup
TEKNIC, INC. TEL. (585) 784-7454

HLFB MODES: COMMON TO ALL CLEARPATH OP MODES

This section discusses HLFB modes that are available for all ClearPath
operational modes. Later in this section we cover HLFB modes unique to
Position, Velocity , and Torque operational modes.
1
Enable Input 0
V+
Move Profile
Velocity vs Time 0
V-
Servo On
0
Speed Output
0
PWM DUTY CYCLE (%) 5% 40% 5% 40% 5%
1
Pulses Per
Revolution (PPR)
0
1
Measured
Torque
0
PWM DUTY CYCLE (%) 50% 90% 80% 60% 50% 10% 20% 40% 50%
PWM Active
HLFB Timing: HLFB output modes available in all ClearPath op modes
SERVO ON
In Servo On mode, the HLFB output asserts (conducts) when ClearPath is
enabled and not in a shutdown state. This signal is often used to monitor
ClearPath for shutdowns, or as the control signal for an external brake.
Note: the HLFB circuit cannot directly drive an external brake.
SPEED OUTPUT
In Speed Output mode, the HLFB outputs a 45 Hz or 482 Hz (user
selectable) PWM waveform whose duty cycle varies in proportion to actual
motor speed. The duty cycle scales as a percentage of the maximum motor
speed configured in the currently selected operating mode.
x 5% duty cycle = 0% max speed
x 95% duty cycle = 100% max speed
The HLFB output deasserts (i.e., 0% duty cycle, "off", non-conducting)

when the motor is disabled or shutdown.
Note: Speed Output is not available in the Ramp to Selected Velocity and
Step and Direction operating modes.
TEKNIC, INC. TEL. (585) 784-7454

PULSES PER REVOLUTION (PPR)

In Pulses Per Revolution (PPR) mode, the HLFB sends a user-selectable
number of pulses for each revolution of the motor. The choices are: 1, 2,
4, 8, or 16 pulses per revolution.
Notes
x The frequency of output pulses is proportional to the speed of the
motor.
x When motor speed is constant, the PPR pulses will exhibit a ~50%
duty cycle.
x When the motor shaft is stopped, the HLFB output can be either
"fixed" high or "fixed" low.
x As long as the motor maintains logic power, the output will
produce pulses corresponding to motor shaft rotation, even if the
motor is disabled or in a shutdown.
MEASURED TORQUE
In Measured Torque mode, the HLFB outputs a 45 Hz or 482 Hz (user-
selectable) PWM waveform that varies in duty cycle between 5% and 95%
to indicate direction and magnitude of motor shaft torque as follows:
x 5% duty cycle = 100% peak torque, CW direction
x 50% duty cycle = zero torque
x 95% duty cycle = 100% peak torque CCW direction
TEKNIC, INC. TEL. (585) 784-7454

HLFB MODES: FOR CLEARPATH POSITIONING MODES

The following HLFB modes are available only in positioning op modes.
1
Enable Input 0
v+
Move Profile
Velocity vs Time 0
v-
+10
Position Error
0
.
in encoder counts
-10
1
In-Range: Position
(Range: +/- 10 counts)
0
1
ASG-Position
1
ASG-Position
Latched
0
ASG-Position 1
w/Measured Torque
0
NOTE: PWM DUTY CYCLE VARIES WITH MEASURED TORQUE
ASG-Position, Latched 1
w/Measured Torque
0
Move Done Verify Time PWM Active In Range Not in Range
HLFB Timing: HLFB output modes available only in ClearPath positioning op modes
IN RANGE-POSITION
The HLFB output asserts (conducts) when the motor is enabled, not
shutdown, and the measured motor position is In Range (±X encoder
counts) of the current commanded position. The In Range parameters are
set in the HLFB Setup dialog.
ASG (ALL SYSTEMS GO) - POSITION

In ASG-Position mode the HLFB output asserts (conducts) when the
motor is enabled, not in a shutdown, and is considered "Move Done"
(explained below).
"Move Done" occurs when the motor has settled within ±X encoder
counts of the final target position, for at least Y milliseconds (where X and
Y are user-settable in the HLFB Setup dialog).
TEKNIC, INC. TEL. (585) 784-7454

Note: The HLFB output deasserts while moving, or if the motor's actual
position falls out of the ±X encoder count In-Range window.
ASG-POSITION LATCHED
ASG-Position Latched works in the same way as ASG-Position except that
the HLFB output latches once asserted (conducting). The output remains
asserted until the motor is disabled, goes into a shutdown, or receives a
motion command.
Even if the motor is momentarily pushed "Out-of-Range" at the end of a
move, the HLFB will remain asserted (conducting).
ASG-POSITION WITH MEASURED TORQUE

ASG-Position with Measured Torque works in the same way as ASG-
Position except during commanded motion, the HLFB outputs a 45 Hz or
482 Hz (user selectable) PWM waveform that varies in duty cycle between
5% and 95% to indicate direction and magnitude of motor shaft torque as
follows:
x 95% duty cycle = 100% peak torque CCW direction.
ASG-POSITION LATCHED WITH MEASURED TORQUE

ASG-Position Latched with Measured Torque is a combination of all the
previous ASG-Position modes. During commanded motion the HLFB
outputs a PWM waveform to indicate motor shaft torque. Once the motor
reaches "Move Done" at the target position, the HLFB output latches
(stays on) even if the motor is pushed "Out-of-Range" until it is disabled,
goes into a shutdown, or receives a motion command.
TEKNIC, INC. TEL. (585) 784-7454

HLFB MODES: FOR CLEARPATH VELOCITY MODES

Note: The following HLFB modes are available in Velocity operating
modes only.
1
Enable Input 0
v+
Move Profile
Velocity vs Time 0
v-
+3%
Velocity Error
0
Units:. % of
Commanded Velocity -3%
1
In-Range: Velocity
Range: +/- 3%
0
1
ASG-Velocity
1
ASG-Velocity
Latched
0
ASG-Velocity 1
w/Measured Torque
0
NOTE: PWM DUTY CYCLE VARIES WITH TORQUE
ASG-Velocity, Latched 1
w/Measured Torque
0
NOTE: PWM DUTY CYCLE VARIES WITH TORQUE
“At Target Velocity” Verify Time PWM Active In Range Not in Range
HLFB Timing: HLFB output modes available only in ClearPath velocity op modes
ASG (ALL SYSTEMS GO) - VELOCITY

In ASG-Velocity mode the HLFB output asserts (conducts) when the
motor is enabled, not shutdown, and is "At Target Velocity".
"At Target Velocity" occurs when the motor has settled within ±X% of the
final target velocity, for at least Y milliseconds (where X and Y are user-
settable through the MSP software).
Note: The HLFB output deasserts during periods of commanded
acceleration and deceleration (i.e., when the velocity command is
changing), or if the motor's actual position falls out of the ±X% In-Range
window.
TEKNIC, INC. TEL. (585) 784-7454

ASG-VELOCITY LATCHED
ASG-Velocity Latched works in the same way as ASG-Velocity except that
the HLFB output latches once asserted (conducting). The output remains
asserted until the motor is disabled, goes into a shutdown, or receives a
new velocity command.
Even if the motor is momentarily pushed out-of-range when being
commanded to move at constant velocity, the HLFB will remain asserted
(conducting).
ASG-VELOCITY WITH MEASURED TORQUE

ASG-Velocity with Measured Torque works in the same way as ASG-
Velocity except, during commanded acceleration and deceleration the
HLFB outputs a 45 Hz or 482 Hz (user selectable) PWM waveform that
varies in duty cycle between 5% and 95% to indicate direction and
magnitude of motor shaft torque as follows:
x 95% duty cycle = 100% peak torque CCW direction.
ASG-VELOCITY LATCHED WITH MEASURED TORQUE

ASG-Velocity Latched with Measured Torque is a combination of all the
previous ASG-Velocity modes. During commanded acceleration the HLFB
outputs a PWM waveform to indicate motor shaft torque. Once the motor
reaches "At Target Velocity", the HLFB output latches on (Conducting)
even if the motor is momentarily pushed "Out-of-Range" until the motor
is disabled, goes into a shutdown, or receives a new velocity command.
IN RANGE - VELOCITY
During operation, HLFB asserts (conducts) when the motor is enabled,
not shutdown, and the actual velocity is "In-Range" (±X%) of the
commanded velocity. The "In-Range" window X, can be set through the
MSP software.
TEKNIC, INC. TEL. (585) 784-7454

HLFB OUTPUT: FOR CLEARPATH TORQUE MODES

The following HLFB mode is available only in Torque operating modes.
ASG (ALL SYSTEMS GO) - TORQUE

The HLFB output asserts (conducts) when the motor is enabled, not
shutdown, and is producing the commanded torque.
The HLFB output deasserts (non-conducting) when the motor is disabled,

shutdown, or if the motor cannot produce the commanded torque for one
of the following reasons:
x The supplied bus voltage is not high enough for the motor to
produce the commanded torque at the current motor velocity.
x The motor is at or above the max motor speed setting in MSP and
motor torque is limited to prevent an over-speed shutdown.
TEKNIC, INC. TEL. (585) 784-7454

TEKNIC, INC. TEL. (585) 784-7454

USER SOFTWARE (CLEARPATH MSP)
SECTION OVERVIEW
This section includes information on the following topics:
x ClearPath MSP System requirements
x Installing ClearPath MSP software
x Communicating with ClearPath
x Tour of ClearPath MSP
x Overview of ClearPath advanced features
MSP MINIMUM SYSTEM REQUIREMENTS

Operating System: Win 7, 8.1, 10
Processor: 1 GHz or faster
Memory: 512 MB
HD Free Space: 512 MB
Monitor: 1280 x 1024 pixels or higher
Other: Sound card with speakers (optional)
INSTALLING MSP
Download the MSP installer from Teknic's website. Follow the on-screen
prompts to complete installation.
COMMUNICATING WITH CLEARPATH VIA MSP

After MSP is installed on your PC, follow the directions below to establish
a communication link between your ClearPath and PC.
Note: Establishing a ClearPath communication link is required for setting
operational modes, defining move parameters and options, tuning the
motion system, and using the MSP Scope to analyze system performance.
TEKNIC, INC. TEL. (585) 784-7454

ITEMS REQUIRED FOR COMMUNICATION SETUP

x A ClearPath motor
x A DC power supply (24–75VDC nominal) with appropriate
cables
x A PC running Windows 7, 8.1, or 10 with ClearPath MSP
installed
x A USB cable (Type A to Micro-B) configured for high speed data
transfer. "Charging only" cables will not work.
DC Power
Configuration
Port (USB Micro-B) Supply
24-75VDC
Micro-B
Windows PC Type ‘A’ USB Cable

(Win 7, 8.1, 10 with
MSP application installed)
ClearPath Motor
ClearPath Communication Setup
FIRST-TIME COMMUNICATION SETUP

1. Install MSP software on a qualified Windows PC. See previous
page for Minimum System Requirements.
2. Power up ClearPath. Apply 24-75VDC to the power input
connector.
3. Connect ClearPath to your PC with a USB Type A to Micro-B
cable.
4. Wait! In most cases Windows will detect the connected
ClearPath and install the correct USB driver software
automatically. This step can take a few minutes to complete.
Proceed only after Windows reports the device is installed and
ready for use.
5. Launch MSP software by double clicking the desktop icon or
selecting from the Programs menu: Teknic>ClearPath MSP>
ClearPath MSP Setup Program.
Communication Notes
x MSP can communicate with only one ClearPath at a time.
x Before tuning a ClearPath, the motor must be powered up
and connected to a PC running MSP.
x ClearPath does not use a PC connection during normal
machine operation. You can always connect your
ClearPath to a PC at any time to use MSP's diagnostic and
troubleshooting tools.
TEKNIC, INC. TEL. (585) 784-7454

TOUR OF CLEARPATH MSP SOFTWARE
MAIN UI OVERVIEW
MSP User Interface
MODE CONTROLS
The Mode Controls section contains settings specific to the currently
active operational mode. Mode Controls automatically change whenever a
different mode of operation is selected. The Mode Controls allow you to:
x Enter motion parameters and settings related to the
currently selected mode. These parameters include position,
acceleration, velocity, torque limits, homing parameters, and
more.
x Access Soft Controls. Soft Controls allow you to spin your
ClearPath with no external hardware required. With just MSP, a
powered up ClearPath motor, and a USB cable you can enable
the motor, turn the inputs on and off, command motion, and
monitor the HLFB output state. Soft Controls are designed for
configuration, testing, and troubleshooting tasks.
x Set homing parameters. Homing is discussed in a separate
section later in this manual.
x Set Torque limits. The Torque Limit settings are explained
below.
TEKNIC, INC. TEL. (585) 784-7454

TORQUE LIMIT SETUP

The Torque Limit Setup dialog lets you specify the maximum amount of
torque that your motor is allowed to apply in either direction of rotation.
In addition, Advanced Settings allow you to specify different torque
limits for each direction of travel, and dynamic torque limits based on
motor position (Zone Limits).
To open the Torque Limit dialog, click the Setup button in the Mode
Controls section (see figure below).
Direction of Applied Torque

Positive torque, (+) = torque applied in the counterclockwise
direction of rotation (looking into the motor shaft).
Negative torque (-) = torque applied in the clockwise direction of
rotation (looking into the motor shaft).
Torque Limit Setup dialog
TEKNIC, INC. TEL. (585) 784-7454

ADVANCED TORQUE LIMIT SETTINGS

Select "Advanced Settings" to open additional torque limit settings,
including Torque Zone Limiting and Symmetric vs. Independent
Torque Limiting (more detail on these features below).
Click “Show” to open

Advanced Torque
Limit Settings
Advanced Torque Limit Setup dialog
TEKNIC, INC. TEL. (585) 784-7454

Symmetric Torque Limits

Select "Symmetric Limits" if you want the same torque limit for both
directions of rotation.
In the example below, torque is capped at 90% of the motor's peak torque
in both the CW (-) and CCW (+) directions of rotation.
Limit 1: +90% Limit 2: -90%

The motor can apply up to The motor can apply up to
90% of its peak torque in the 90% of its peak torque in the
counterclockwise direction. clockwise direction.
90% CCW 90% CW

Symmetric Torque Limits
Independent Torque Limits

Select "Independent Limits" if you want to set different torque limits for
each direction of travel.
Limit 1: +50% Limit 2: -100%

The motor can apply up to The motor can apply up to
50% of its peak torque in the 100% of its peak torque in
counterclockwise direction. the clockwise direction.
50% CCW 100% CW

Independent Torque Limits
TEKNIC, INC. TEL. (585) 784-7454

Zone Limits (Normal)

Use the "Zone Limits" torque feature to set up directional torque limits in
different user-defined position zones along an axis of travel. See example
below.
Note: The ClearPath system must be homed to use Zone Limits.
In this zone, torque applied In this zone, torque applied

1 in the “positive” (CCW) direction will 2 in the “negative” (CW) direction will
be limited to 10% of peak torque. be limited to 20% of peak torque.
0 20,000 50,000 80,000 100,000

Load
Main Torque Limit

applies in this section
Zone Torque Limits ("Normal" Zone Move Done Style)
TEKNIC, INC. TEL. (585) 784-7454

Zone Limits (Clamped)

Zone Limits can be particularly useful in clamping applications. In the
example below, the moving platform ("Load") is designed to move to the
left or right to clamp a work piece against a fixed metal block.
To set up clamping:
1. Define your Zone Torque Limits as desired. See example below.
2. Set the "In-Zone Tracking Limit" to zero (OFF). This will prevent
unwanted tracking error shutdowns from occurring during
clamping.
3. Set Zone Move Done Style to "Clamped".
Application Tip: When moving the motor into a clamping position,
you must send enough pulses to ensure that the motor is fully pressed
into the object being clamped.
2
In-Zone Tracking Limit may be increased (or
turned off altogether) when axis is in a
Clamping Zone to prevent nuisance tracking
error shutdowns during clamping operation.
In this zone, torque applied In this zone, torque applied

1 in the “positive” (CCW) direction will 2 in the “negative” (CW) direction will
be limited to 5% of peak torque. be limited to 5% of peak torque.
0 20,000 50,000 80,000 100,000

Load
Clamping Block Work piece

(Hard Stop) to be clamped
Zone Torque Limits (Clamped Move Done Style)
TEKNIC, INC. TEL. (585) 784-7454

DASHBOARD
The Dashboard section of the UI contains several virtual gauges and
readouts related to your ClearPath motor's performance and operational
status.
Emergency Stop Button

Click here (or hit “Esc” on
keyboard) to de-energize Exception Messages
motor coils. Toggle Enable Position Counter Displays message
to restore operation. Displays position associated with any
of motor shaft in active ClearPath
Motor encoder counts. exception condition.
Status
RMS Meter Velocity Meter

Displays real-time (and peak Displays motor
recorded) RMS current. shaft velocity in
ClearPath shuts down at RMS= kcounts/sec or RPM.
100% to prevent burnout.
Motor Status Description

ClearPath is enabled via user hardware.
Caution: Motor is energized and capable of motion.
ClearPath is enabled via MSP software controls.
Caution: Motor is energized and capable of motion.
ClearPath is disabled (Enable is de-asserted).
Motor coils are not energized.
ClearPath is in a lockdown state.
Caution: Motor is energized with shaft “locked” .
ClearPath is in a shutdown state.
Motor coils are not energized.
ClearPath is connected to a PC but not powered up.
(This indicates low or no DC power.)
TEKNIC, INC. TEL. (585) 784-7454

MSP MENUS
FILE MENU
Load Configuration (Ctrl+O)... Use this command to load saved
ClearPath configuration files (extension .mtr) to your ClearPath.
Save Configuration (Ctrl+S)... Use this command to save your
ClearPath configuration settings to a .mtr file.
Reset Config File to Factory Defaults... This command restores
ClearPath to its factory default configuration. Important: Resetting to
factory defaults will cause the motor's existing configuration data to be
overwritten.
Export XML file (Ctrl+L)... Teknic support use. This command
exports an XML file containing a snapshot of the current Soft Scope data
and system information.
Create Support Package... Teknic support use. This command creates
a .zip file containing comprehensive system diagnostic data typically for
use by a Teknic engineer.
Firmware Update... Use this command to update your motor's
firmware.
EDIT MENU
Cut (Ctrl-x), Copy (Ctrl-c), and Paste (Ctrl-v) are the standard
Windows Edit commands.
Motor ID. Opens a window that lets you enter a name and brief
description for your ClearPath if desired.
Motor Identity Setup Window
TEKNIC, INC. TEL. (585) 784-7454

Zero Position (Ctrl+0): Sets the Position Counter to zero. Note: In

certain modes, double-clicking the Position Counter directly in the UI will
also zero the counter.
Reset RMS Peak This applies to the RMS Meter in the Dashboard
section of MSP. Click this menu item to reset RMS Max (this is the
maximum RMS value recorded since last motor reset).
MODE MENU
Select ClearPath operating modes from this drop down menu. Note: the
number and type of available operating modes varies by ClearPath model.
Motion Generator
The Motion Generator is a special op mode that allows you to command
test moves and jog your ClearPath motor using software controls only.
This means you can exercise your motor and attached mechanics without
wiring a single switch or sensor.
Mode Menu
TEKNIC, INC. TEL. (585) 784-7454

SETUP MENU
Setup Menu
Tuning>Auto-tune...
Select this menu item to begin an Auto-Tuning session. The Auto-Tune
software is designed to walk you through the tuning process in a safe,
step-by-step manner.
Important: To avoid personal injury, crashes, and machine damage,
carefully read and follow all on-screen instructions presented during the
Auto-Tune process.
Auto-Tune in the Setup Menu
Tuning>Fine Tuning
This menu item provides a convenient way to "touch up" tuning
performance. Turn on the control by checking Apply Fine Tuning. Move
the slider left for quieter performance, move it right for increased dynamic
stiffness. Uncheck to turn Fine Tuning off.
Fine Tuning Control
TEKNIC, INC. TEL. (585) 784-7454

Units
Use the Units menu item to tell MSP which units to display for velocity
and acceleration. Velocity and acceleration can be displayed in terms of
encoder counts or RPM. Distances are always displayed in encoder counts.
Units Selection Menu
Show Scope
This option opens MSP's built-in software oscilloscope ("Scope" for short)
for troubleshooting and diagnostics.
See section, " MSP Software Scope ", for more detailed information
on the features and functions of the MSP Scope.
TEKNIC, INC. TEL. (585) 784-7454

ADVANCED MENU
Advanced Menu item are described below. The Advanced menu provides
access to additional specialized features and settings.
Advanced Menu
High-Level Feedback...
(Abbreviated "HLFB".) This is ClearPath's digital output. The HLFB dialog
lets you choose from several different HLFB modes. HLFB can send a
signal to indicate things like move completion, turn on brake, motor has
shut down, and several more.
For more details on HLFB modes and timing, please refer to the Inputs
and Outputs chapter of this manual.
High-Level Feedback dialog (set to ASG (All Systems Go) mode)
TEKNIC, INC. TEL. (585) 784-7454

Enable Actions...
Select this menu item to configure ClearPath's Position Recovery
feature. The Position Recovery feature returns your ClearPath motor to its
last commanded position if it is moved while disabled, or if main DC bus
power drops out temporarily. See use cases below.
Action Upon Enable dialog
Position Recovery: Example #1

Your motor was operating normally, but then went "disabled" due to a
shutdown. While disabled, it was moved an unknown distance from its
last commanded position. You need it to return to its last known position
the next time it is enabled. Note: Main DC bus power must be on at all
times in this scenario.
Result
If Position Recovery is on, and if Homing is set to "Home on first enable
after power up" (or turned off) enabling the motor will cause it to
automatically return to its last commanded position at the specified
velocity and acceleration.
Position Recovery: Example #2:

Your motor was operating but then loses DC bus power for a short
period of time. You need the motor to return to its last commanded
position when main DC power is restored. Note: a Power Hub with
uninterrupted Logic Backup Power is required in this scenario.
Solution: If Position Recovery is active, and the Logic Power Backup
Supply from the Power Hub is uninterrupted, then when main DC bus
power is restored the motor will automatically return to its last
commanded position at the specified velocity and acceleration.
TEKNIC, INC. TEL. (585) 784-7454

Disable Actions...
This dialog lets you tell ClearPath what stopping method to use when the
motor is disabled, either dynamic braking, decelerate under power, or
coast to a stop.
Action Upon Disable
TEKNIC, INC. TEL. (585) 784-7454

Tracking Error Limit...

The Tracking Error Limit tells ClearPath how much positional error to
allow before throwing an exception and shutting down.
Tracking Error is the difference between ClearPath's commanded position
and its actual position (in units of encoder counts). The phrase "Tracking
error" is used interchangeably with the phrase "position error" throughout
this manual.
Tracking Error Limit Setup
Input A & B Filtering...

This dialog lets you independently set digital filtering for the two
ClearPath inputs. This can be helpful when "bouncy" mechanical switches
are wired to the inputs.
Input Filtering Setup
TEKNIC, INC. TEL. (585) 784-7454

Move Done Torque Foldback...

This dialog allows you to automatically limit ClearPath's available torque
when ClearPath has achieved "Move Done" status.
The Move Done Criteria consist of two parameters: the “In-Range
Window” and the “Verify Time”. For complete information, please read
the dialog window below.
Move Done Criteria Setup
TEKNIC, INC. TEL. (585) 784-7454

Power and Temperature...

Use this dialog to:
x Tell ClearPath whether to shut down or just issue a warning when
DC bus voltage falls below the minimum operating voltage setting
as can happen when a power supply droops.
x View the temperature of your ClearPath motor's circuit board.
x Set the temperature threshold at which ClearPath throws an over-
temperature shutdown. This should typically remain at the default
setting.
Power and Temperature Settings
TEKNIC, INC. TEL. (585) 784-7454

Vector Regen Shunt (VRS)...
Vector Regen Shunt (VRS) Setup
HELP MENU
The Help menu provides additional resources for topics you may have
questions on.
Help Menu
Help menu topics include the following:

o System Manual: Select this option to navigate directly to the
user manual for your specific product.
o Mode Video: Select this option to navigate to the demo video or
manual.
o Getting Started: This option will take you directly to a video
that explains how to initially set up your ClearPath motor. The
video walks you through different MSP features and parameters.
The video also includes a brief demo of ClearPath testing with
MSP.
TEKNIC, INC. TEL. (585) 784-7454

o Diagnostic Tools: Click this option to watch a video that

explains how to use MSP's built-in software oscilloscope and
diagnostic tools for troubleshooting and performance
measurement.
o Inputs not working?: This resource will take you to a simple
step-by-step process for how to test the ClearPath inputs if you
are trying to troubleshoot a potential issue.
o Help Me Select a Mode: Select this option to navigate to the
Teknic "Videos" page. From there, you can view various demo
videos featuring each ClearPath operational mode.
o TekTips Videos: This option will take you to the Teknic
"Videos" page where you can watch different tutorials on topics
ranging from Auto-Tune to Teknic's RAS feature to the differences
between Stepper motors and ClearPath servo motors.
o Status Output (HLFB) Help: Click this menu item to be taken
directly to the "HLFB" section in the ClearPath User Manual.
o Tuning a two-motor axis: Select this option to learn more
about the process for tuning a dual-driven axis.
o About...: This menu item will give you a summary of your
ClearPath specifications including the model number, hardware
version, firmware version, MSP Installer version, serial number,
and other useful information.
TEKNIC, INC. TEL. (585) 784-7454

MSP SOFTWARE SCOPE

This section contains a discussion of the main features and functions of
the MSP Scope.
OVERVIEW
The MSP software oscilloscope (or just "scope") takes real-time streaming
data from your ClearPath motor and plots it on a virtual display similar to
that of a hardware oscilloscope.
The scope can be used to display your motor’s real-time shaft torque,
position error, commanded velocity, acceleration, and more. The scope is
an indispensible tool for those who routinely analyze and troubleshoot
electrical, mechanical, and motion-related problems on machines with
ClearPath motors.
To open the scope in MSP navigate to Setup>Show Scope.
Opening the MSP Scope
SCOPE FEATURES
x 13 scope variables
x 4 trigger modes
x Adjustable time base, range, reference "zero" level, and trigger
position
x Dual Trace Capability: 2 stored traces + 2 live traces.
x Twelve trigger source presets
x Click-and-drag cursors for precise time and amplitude
measurements
x Strip Charts that synchronously display motion, drive, and I/O
event timing
x Envelope mode that continuously stores and updates maximum
and minimum trace values over a user-defined period of time.
x Cursor "Zoom" feature to help you quickly magnify a user-
defined area of the scope display
TEKNIC, INC. TEL. (585) 784-7454

SCOPE USER INTERFACE & CONTROLS

The MSP Scope display was designed to look and work like a hardware
oscilloscope. MSP Scope has 10 major vertical divisions (the time axis),
and 8 major horizontal divisions (the amplitude axis).
See below for a list of MSP Scope features numbered on the figure below.
MSP Scope and Cursors window
1 The Timebase field lets you set the scale of the time axis (in units of
ms/division). This setting lets you control how a waveform fits
(horizontally) on the scope display.
2 The Scope Variable drop down menu lets you select any of 13
ClearPath motion control variables to display. The Scope variables are
listed below and described in detail on the next page.
MSP Scope Variables (see next page for full descriptions)
x Position Error
x Commanded Velocity
x Measured Torque
x Utilized Torque
x Velocity Error
x Bus Voltage
x Max Phase Voltage
x Commanded Torque
x Measured Position
x Commanded Acceleration
x Commanded Jerk
x Torque Error
x Measured Velocity
TEKNIC, INC. TEL. (585) 784-7454

Scope Variable Definition

Position Error (also referred to as "Tracking Error") displays
Position Error [F3] the difference between commanded position and actual
position.
Velocity, Commanded Commanded Velocity displays the actual commanded velocity
[F4] vs. time motion profile coming from your controller or MSP.
Measured Torque graphs the actual torque that the motor is
Torque, Measured [F5]
using during (as a percentage of peak torque).
Torque Utilization plots the percentage of available peak

Torque Utilization [F6] torque in use over time. This is particularly useful if you have
a power limited motor and need to know how close to
available peak torque the motor is operating.
Velocity Error shows the difference between commanded
Velocity Error (Gated) velocity and actual velocity during constant velocity
command.
Bus Voltage
Bus Voltage displays ClearPath's DC bus voltage in real time.
Max Phase Voltage displays the greatest voltage running
Max Phase Voltage
through ClearPath's phase wires.
Commanded torque displays the required torque to complete
Torque, Commanded
the given command from your controller or MSP.
Measured Position displays the actual position of ClearPath in
Position, Measured
terms of encoder counts.
Acceleration, Commanded Acceleration shows the actual acceleration
Commanded command coming from your controller or MSP.
Commanded Jerk displays the derivative of the commanded
Jerk, Commanded
acceleration.
Torque Error displays the difference between commanded and
Torque Error (peak)
actual torque.
Measured Velocity displays ClearPath shaft velocity in either
Velocity, Measured
RPM or encoder counts per second.
3 The Vertical Scale lets you change the scale of the amplitude axis in
terms of units per division. This allows you to control how a waveform fits
(vertically) on the Scope display.
4 Envelope Mode allows you to capture the minimum and maximum

amplitude envelope of a displayed variable, typically generated over many
sweeps of the scope.
Important note: To use Envelope Mode, you must be on Channel 1,
and running a repeat move, and have the scope's trigger mode set to
"Normal".
TEKNIC, INC. TEL. (585) 784-7454

5 Filter “cleans up” the appearance of the live trace by removing higher
frequency data content. This has an averaging effect on the displayed
waveform that will generally reduce visual clutter.
Effect of Scope Filter on trace display
Note: The Scope Filter has no effect on motor performance. It only

changes the appearance of displayed scope data.
Note: Be careful! A high filter setting may filter out meaningful data (fast
peaks in particular).
Tip: In most cases Scope Filter can be left “OFF” or at the lowest setting.
6 Trace Storage controls allow you to save and display one trace per
channel on the scope display. Just capture a waveform and click either the
"Store A" or "Store B" button. The selected trace is then stored and
displayed in either pink (Store A) or blue (Store B). Hide or show either
stored trace by clicking its associated Show/Hide button.
7 The Trigger Level lets you select the amplitude (of the variable you
are currently measuring) at which the scope will trigger.
Note: Trigger Level can only be used when Trigger Source is set to
“Rising Slope” or “Falling Slope”.
Tip: Use Trigger Level when the Trigger Mode is set to “Normal” or
“Single” to facilitate waveform display at a fixed trigger point.
8 Trigger Position buttons allow you to place the trigger point on the
left, middle, or right side of the scope display grid. This is useful for
viewing events on the scope that occur before, during, or after the trigger
event.
TEKNIC, INC. TEL. (585) 784-7454

9 The Trigger Source ("Trigger On”) drop down menu lets you
choose what condition(s) must be met before scope data collection begins.
The following Trigger Source options are available:
If Trigger Source is set to: MSP Scope will:

Start of Positive Command Trigger at the start of any positive move; useful for
tuning.
Start of Negative Command Trigger at the start of any negative move; useful for
tuning.
Start of Any Command Trigger at the start of any move (positive or negative);
useful for assessing bi-directional tuning performance.
End of Positive Command Trigger at the end of any positive move; useful for
assessing settling performance.
End of Negative Command Trigger at the end of any negative move; useful for
assessing settling performance.
End of Any Command Trigger at the end of any move (positive or negative);
useful for assessing bi-directional settling.
Trigger at the end of any positive move after Move Done

End of Positive Settled Move criteria are met; useful for assessing settling
performance.
Trigger at the end of any negative move after Move

End of Negative Settled Move Done criteria are met; useful for assessing settling
performance.
Trigger at the end of any move (positive or negative)

End of Any Settled Move after Move Done criteria are met; useful for assessing
settling performance.
Trigger on first occurance of saturation (voltage or

torque) or upon speed limiting; useful for determining
Voltage/Torque/Speed Limit
which moves (or segments of moves) exceed these
thresholds.
Trigger on the assertion of an exception or safety

Drive Shutdown or Exception shutdown; useful for determining the operational status
at the time of a fault.
Rising Slope Trigger on the rising edge of the active waveform.

Falling Slope Trigger on the falling edge of the active waveform.
TEKNIC, INC. TEL. (585) 784-7454

10 Trigger Mode settings allow you to specify exactly when to start data
acquisition. These controls are analogous to the trigger modes found on a
hardware o-scope.
x Normal - Causes scope data collection to start whenever a valid
trigger source is detected.
x Single - Works the same as Normal mode, except it captures
only a single data set when a valid trigger source is detected.
After the single sweep capture, data collection automatically
stops.
x Auto - This is the scrolling, “always on” setting. Data is
continuously collected, refreshed, and displayed regardless of
the trigger source setting.
x Force - Forces the scope to trigger immediately, regardless of
trigger source setting. As with Single mode, only one data set is
collected and displayed; then data collection stops.
x Stop – Causes scope data collection to stop.
11 Legend - Scope Traces - This is a visual key to the symbols you

will see on the MSP Scope display.
MSP Scope Legend
12 Show/Hide Window opens or closes Cursor Control Window.
TEKNIC, INC. TEL. (585) 784-7454

13 Cursors Window (see window at right.)
MSP Scope Display (left) and Cursors window (right)
The Cursors window features:

x Real-time, numeric display of cursor data, including delta
calculation showing the difference between cursor values.
x "Zoom Between" button allows one-click magnification of the
area of the scope display between the vertical cursors.
x "Measure Move" button automatically places the vertical
cursors at the beginning and end of a "live" move.
x "Hide" and "Show" buttons let you view or hide vertical
and/or horizontal cursors as desired.
x "Reset" button automagically relocates cursors to their default,
initial positions.
TEKNIC, INC. TEL. (585) 784-7454

STRIP CHART
The Strip Chart can display a number of additional events and conditions
that occur in sync with the primary waveform capture. Using the Strip
Chart you can view move status (mv), drive events (drv), and I/O states in
real time. And, because the Strip Chart display is always auto-
synchronized to the main scope trace, there are no settings to deal with.
MSP Strip Chart
TEKNIC, INC. TEL. (585) 784-7454

OPERATIONAL MODES: MCVC AND MCPV
TABLE OF OPERATIONAL MODES: MODELS MCVC AND MCPV

This section lists the operational modes for ClearPath models MCVC and
MCPV only. ClearPath SD (step & direction) models are covered in the
section Operational Modes: SDSK and SDHP (which follows this section).
Velocity Control Modes MCVC MCPV Description

Just turn on power and smoothly ramp to your
preset velocity. For when all you need is reliable,
Spin On Power Up 9 9 constant velocity from a brushless motor, and a
bare minimum of wiring. It doesn't get any easier
than this.
Fine control of velocity from zero to max velocity
at the turn of a knob. Remembers your last set
Manual Velocity Control 9 9 velocity or resets to zero velocity when motor is
enabled.
By changing digital inputs (from your PLC,
Ramp Up/Down to Selected Velocity 9 9 switches, etc.), ClearPath will smoothly ramp to
one of four preset velocities.
Follow Digital Velocity Command
Bipolar PWM Command (with Inhibit) 9 9
Follow Digital Velocity Command Connect a digital waveform (PWM or frequency)
Bipolar PWM Command with Variable Torque 9 9 from your PLC or other device, and ClearPath will
run at a velocity proportional to the waveform. Or,
use the PWM output from an H-bridge driver of a
Unipolar PWM Command 9 9 brushed motor setup and ClearPath becomes a
high-performance drop-in replacement.

Frequency Command 9 9
Torque Control Modes MCVC MCPV Description
Follow Digital Torque Command
Bipolar PWM Command 9 9
ClearPath will apply a variable torque (or force or
Unipolar PWM Command 9 9 tension) in proportion to a digital command (PWM
or frequency) supplied to the inputs.

Frequency Command 9 9
Positioning Modes MCVC MCPV Description
Use ClearPath digital inputs to spin the shaft CW
or CCW. Wire your position sensors or switches
Move to Sensor Position 9 9 in series with the inputs to make an inexpensive,
precision two position actuator.
A trigger pulse starts ClearPath moving in the
direction signaled on Input A. When Input B sees
Multi-Sensor Positioning: Bi-directional a count of transitions equal to the count of trigger
Home to Hard Stop 8 9 pulses, ClearPath will ramp to a stop at the user-
defined rate. (These transitions are typically
switch closures or sensor interruptions.)
TEKNIC, INC. TEL. (585) 784-7454

Positioning Modes (cont'd) MCVC MCPV Description

This mode starts by finding a user-defined, shaft
angle home position. Then, upon seeing a
transition on Input A, ClearPath will start to move
in one, fixed, user-defined direction, at one of two
Multi-Sensor Positioning: Unidirectional
Sensorless Homing 8 9 velocities. ClearPath will ramp to a stop at the
user-defined rate when Input B has seen a count
of transitions equal to the count of transitions on
Input A. (These transitions are typically switch
closures or sensor interruptions.)
Use simple I/O from your PLC, microcontroller
etc. to command ClearPath to move to the sensor
Multi-Sensor Positioning: Unidirectional
Home to Sensor 8 9 or switch of your choosing. Direction, speed, and
acceleration are all user-defined in MSP. Optional
homing (home-to-sensor) is available.
Command ClearPath to move to one of two
Move to Absolute Position: 2 Positions
Home to Switch 9 9 preset locations. Perfect for replacing air cylinders
that move between two positions.
Command ClearPath to move to one of four
preset locations. Perfect for replacing air cylinders
Move to Absolute Position: 4 Positions
Home to Hard Stop 8 9 where more power and finesse is needed, and in
cases where you want to move to more than two
positions.
ClearPath will move to one of sixteen user-
defined positions when Input A is asserted,
Move to Absolute Position: 16 Positions depending on the number of times Input B is
Home to Hard Stop 8 9 pulsed. ClearPath can seek for the hard stop
home position the first time it is enabled after
power up, or each time it is enabled.
ClearPath will make an incremental move when
the state of Input A changes. If automatic homing
Move Incremental Distance: 1 Increment is on, ClearPath will seek for the home switch
Home to Switch 8 9 connected to Input B the first time it is enabled
after power up, or, if desired, each time it is
enabled.
Trigger ClearPath to move a user-defined
distance (one of two) from its current position.
Move Incremental Distance: 2 Increments
Home to Switch 8 9 You can also send multiple, quick trigger pulses
to tell ClearPath to travel a multiple of any of its
user-defined distances in one smooth move.
ClearPath will make one of two incremental
moves (based on the Input B setting) when Input
Move Incremental Distance: 2 Increments A changes state. If automatic homing is on,
Home to Hard Stop 8 9 ClearPath will seek for the hard stop home
position the first time it is enabled after power up,
or, if desired, each time it is enabled.
Trigger ClearPath to move a user-defined
distance (one of four) from its current position.
Move Incremental Distance: 4 Increments
Home to Hard Stop 8 9 You can also send multiple, quick trigger pulses
to tell ClearPath to travel a multiple of any of its
user-defined distances in one smooth move.
ClearPath will servo to a position between two
Follow Digital Position Command
Unipolar PWM Command 8 9 user-defined limits proportional to the PWM duty
cycle of the signal on Input B.
ClearPath will servo to a position between two
Follow Digital Position Command
Frequency Command 8 9 user-defined limits based on the frequency of the
signal on Input B.
Use a timer/counter on your PLC (or a simple
circuit) to send a burst of pulses to ClearPath, and
it will move a distance proportional to the number
Pulse Burst Positioning 8 9 of pulses sent, at your preselected velocity and
acceleration. This mode gives you most of the
flexibility of a "step & direction" motion controller
without the cost and added complexity.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL TORQUE COMMAND (BI-POLAR PWM COMMAND)

Available on
MCVC + MCPV
MODE DESCRIPTION
Connect a digital PWM waveform from your PLC or other device, and
ClearPath will produce torque proportional to the duty cycle of the PWM
waveform.
Assert the Enable Input to energize the motor. Control motor torque by
applying a PWM signal to Input B. Motor torque changes in proportion to
the duty cycle of the applied PWM signal. Assert the Inhibit signal (Input
A) to immediately turn off torque. See figure below and read text for
timing and PWM requirements.
Torque Control Follow Digital Torque Command (Bi-Polar PWM Command)
Signal Function Input Type Example Timing

1
Input A Inhibit (optional) Logic: High=Inhibit on Low=Inhibit off 0
1
Input B Torque/Direction Pulse: Variable PWM 0
Duty cycle of applied PWM signal (%) 50% 90% 20%

1
Enable Enable Logic: High=Enable Low=Disable 0
1
Trigger NA NA 0
Notes: Asserting Inhibit Input causes immediate jump to zero torque. See text for tq
information on deadband set up and application.
t
Motor torque vs. time
Inside deadband Inhibit on
I/O FUNCTIONS
Enable Input - Asserting this input energizes the motor shaft.
Input A - This input forces the torque to zero regardless of the input
PWM duty cycle.
Input B - This input is connected to a PWM signal whose duty cycle
represents the desired torque.
Output (HLFB) - See HLFB section for available modes.
Notes:
x PWM input frequency range: 20 Hz to 30 kHz.
x If the PWM signal is off for 50mS (or more) the PWM input is
considered off. This is interpreted by ClearPath as a zero-torque
command.
x Disable time = 10 mS
x To command ClearPath to zero torque, assert the Inhibit): Input

(Input A). Deassert Input A to resume normal operation.
or
x Set a PWM deadband: to help reliably command zero torque.
Refer to text on following pages for details on deadband setup.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Enter deadband setting

Enter max. desired (optional). See text for Enter max. speed limit Enter value to specify how long Click to open
motor torque (i.e., description of deadband. (ClearPath will shut down if ClearPath can spin at Max Speed Torque Limit
full scale torque). operation. this speed limit is exceeded.) before shutting down. Setup dialog.
Check box to invert how PWM duty

cycle is measured by ClearPath. Torque Override Indicator
NO CHECK overridden by a secondary, user-set torque
Duty cycle is % of period high
CHECK torque limit may be overridden by the
Duty cycle is % of period low separate homing torque limit setting).
Hardware Input Status LEDs PWM Meter - Displays Displays commanded

Light = Input asserted (on) duty cycle of PWM source torque (when using
Dark = Input de-asserted (off) connected to Input B. hard controls).
Check to turn on Soft Soft Inputs and LEDs PWM Soft Slider Displays commanded Displays HLFB
Controls. Override cannot Emulate hardware inputs. For Emulates PWM torque (when using output status.
be activated when ClearPath use only when Soft Controls input (for use with Soft Controls).
is hardware enabled. are active. Caution: motor Soft Controls).
may spin when enabled.
TEKNIC, INC. TEL. (585) 784-7454

Relationship of PWM duty cycle to motor torque

x Shaft torque increases in the CW direction as PWM duty cycle
decreases from 50% to 0%.
x Shaft torque increases in the CCW direction as PWM duty cycle
increases from 50% to 100%.
x As PWM duty cycle approaches 50% from either direction, motor
torque approaches 0.
x O% and 100% duty cycle (static low and static high conditions) are not
valid PWM states. ClearPath interprets these values as zero-torque
commands.
x PWM minimum on time and minimum off time = 300nS.
Max. Torque
(CCW Rotation)
Torque = 0
Zero
Torque
Max. Torque
(CW Rotation)
0 10 20 30 40 50 60 70 80 90 100
Duty Cycle
PWM duty cycle vs. motor torque
TEKNIC, INC. TEL. (585) 784-7454

SETTING A PWM DEADBAND

The deadband expands the range about the 50% PWM mark that is
interpreted as the “zero torque setting” by ClearPath. This gives the user a
reliable way to ensure that motor torque is completely turned off when the
PWM duty cycle is set at (or “close enough” to) 50%.
Max. Torque
(CCW Rotation)
Torque = 0
Deadband
(+/- 5%)
Max. Torque
(CW Rotation)
0 10 20 30 40 50 60 70 80 90 100
Duty Cycle
+/- 5% PWM deadband setting
Why use a deadband?

In bi-polar mode, turning off torque is achieved, in theory, by applying a
50% duty cycle PWM signal to Input B. However, it can be difficult to set a
perfect 50% duty cycle. In fact, a very small amount of torque may still be
produced by the motor, even when duty cycle is apparently set to 50%. A
deadband helps guarantee torque is fully off when you expect it to be.
Example: If the user sets a +/-5% deadband, any PWM signal with a
duty cycle between 45% and 55% (i.e., in the deadband) is interpreted as a
zero-torque command by ClearPath.
Note: As deadband setting increases, the slope of torque vs. duty cycle
increases as illustrated below.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL TORQUE COMMAND (UNIPOLAR PWM COMMAND)

Available on
MCVC + MCPV
MODE DESCRIPTION
ClearPath will generate torque that is proportional to the duty cycle of the
PWM waveform.
Assert the Enable Input to energize the motor. Motor torque is controlled
be applying a variable PWM signal to Input B. 0% PWM duty cycle
commands zero torque, and 100% duty cycle commands full-scale torque.
Direction of shaft rotation is controlled by the state of Input A. See Inputs
and Timing table below.
Torque Control Variable Torque With Unipolar PWM Input Control

1
Input A Direction Logic: High=CW Low=CCW 0
1
Input B Torque Pulse: Variable PWM 0
Duty cycle of applied PWM signal (%) 10% 90% OFF

1
1
Trigger NA NA 0
Notes: tq
t
I/O FUNCTIONS
Input A - This input selects the direction of the applied torque.
Notes:
x If the PWM signal is off for 50mS (or more) the PWM input is
command.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Enter max. torque Enter max. speed limit Enter value to specify how long Click to open
desired (i.e. full (ClearPath will shut down if ClearPath can spin at Max Speed Torque Limit
scale torque). this speed limit is exceeded.) before shutting down. Setup dialog.

cycle is measured by ClearPath. Torque Override Indicator
NO CHECK
Duty cycle is % of period high
CHECK torque limit may be overridden by the
Duty cycle is % of period low
separate homing torque limit setting).

Light = Input asserted (on) duty cycle of PWM source torque (when using
Caption
Motor torque vs. PWM duty cycle:

x Motor torque is proportional to PWM duty cycle (i.e. torque
increases as duty cycle increases). See figure below.
x 0% and 100% duty cycle signals (static low and static high
respectively) are invalid PWM states, interpreted by ClearPath
as “PWM turned off”. This is the equivalent of a zero-torque
command.
Max. Torque
(user set)
Torque
0
0 50 100
PWM Duty Cycle (%)
PWM duty cycle vs. torque

x For CW torque, set Input A high. For CCW torque, set Input A
low.
x PWM minimum on time and minimum off time = 300nS
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL TORQUE COMMAND (FREQUENCY COMMAND)

Available on
MCVC + MCPV
MODE DESCRIPTION
Connect a digital variable frequency waveform from your PLC or other
device, and ClearPath will produce torque that is proportional to the
frequency of the waveform.
Assert the Enable Input to energize the motor. Control torque by applying
a variable frequency pulse train to Input B. Pulse frequency is
proportional to commanded torque. Direction in which torque is applied
(CW/CCW) is controlled by the state of Input A. See Inputs and Timing
table below.
Torque Control Variable Torque With Frequency Input Control

1
1
Input B Torque Pulse: Variable Frequency 0
1
1
Trigger NA NA 0
Notes: tq
t
I/O FUNCTIONS
Input A - This input selects the direction of the applied torque.
Input B - This input is connected to a pulse train whose frequency
Notes:
x Input frequency range: 20 Hz to 700 kHz.
x If the frequency signal is off for 50mS or more the input is
command.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Set Min/Max Frequency. During

operation, motor torque is controlled by
Input B signal frequency. With settings
shown below, a 10 kHz input signal will
Enter max. desired command the motor to its Max Torque Enter max. speed limit Enter value to specify how long Click to open
motor torque (i.e., Command (10% of peak ), and a signal of (ClearPath will shut down if ClearPath can spin at Max Speed Torque Limit
full scale torque). 1kHz or less will command zero torque. this speed limit is exceeded.) before shutting down. Setup dialog.

Frequency Meter
Hardware Input Status LEDs Displays frequency of Displays commanded
Light = Input asserted (on) signal connected to torque (when using
Dark = Input de-asserted (off) Input B. hard controls).
TEKNIC, INC. TEL. (585) 784-7454

RAMP UP/DOWN TO SELECTED VELOCITY

Available on
MCVC + MCPV
MODE DESCRIPTION
Changing the digital inputs on ClearPath (using your PLC, switches, etc.)
causes ClearPath to smoothly ramp between any of four user defined
velocities.
Assert the Enable Input to get started. Once enabled, ClearPath reads the
state of Inputs A and B and immediately accelerates to the target velocity
indicated. For example, if Input A is high and Input B is low
ClearPath will ramp to “Velocity 2”. Change to a different velocity by
changing Inputs A and B
Velocity Control Ramp Up/Down to Selected Velocity (4 Velocity Programmable)
Signal Function Velocity Settings (logic levels) Example Timing

Velocity 1 Velocity 2 Velocity 3 Velocity 4
1
Input A Velocity Select A LOW HIGH LOW HIGH 0
1
Input B Velocity Select B LOW LOW HIGH HIGH 0
1
1
Trigger NA NA 0
Tip: Setting one of the programmable velocities to zero (Velocity 3 in the example v Velocity 2
Velocity 1
at right) provides a convenient way to stop the motor via the ClearPath inputs. 0
Velocity 3
Velocity 4 t
Motor velocity vs. time
Ramp Up/Down to Selected Velocity Mode: Inputs and Timing Diagram
I/O FUNCTIONS
Input A - This input, along with Input B, selects which of the four defined
velocities ClearPath will run at.
Input B - This input, along with Input A, selects which of the four defined
velocities ClearPath will run at.
Notes:
x As soon as a new velocity command is received by ClearPath—as
happens when Inputs A and/or B are changed—ClearPath
immediately ramps to the new target velocity without delay.
x For a convenient way to command ClearPath to stop, set one of
the velocity settings to zero. We did this with “Velocity 3” in the
table above.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Enter target velocity for Click to open Torque

each input state here. Limit Setup dialog.

Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or separate homing torque limit setting).
desired motor motor deceleration desired motor optional g-StopTM) to convert
acceleration rate. rate to same value deceleration rate.. standard trapezoidal move

Light = Input asserted (on) Displays commanded velocity
Dark = Input de-asserted (off) (when using hard inputs).
Check to turn on Soft Soft Inputs and LEDs emulate Displays commanded velocity Displays HLFB
Controls. Override cannot hardware inputs. For use only (when using soft inputs). output status.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

SPIN ON POWER UP Available on

MCVC + MCPV
MODE DESCRIPTION
This is ClearPath’s simplest mode of operation. Just turn on power and
ClearPath smoothly ramps to your preset velocity. Use this mode for
applications that require reliable constant velocity and a bare minimum of
wiring.
Apply main DC power and ClearPath immediately ramps up to your target
velocity (target velocity and acceleration are defined by the user during
setup). ClearPath spins at the target velocity until power is removed. All
inputs are ignored, but the output (High-Level Feedback) is functional.
Note: When power is removed, ClearPath may stop abruptly or coast a
short distance depending on the application and motor winding
configuration. Carefully test your loaded ClearPath application for
stopping behavior before deploying.
Velocity Control Spin On Power Up

1
Input A Disabled NA 0 NA
1
Input B Disabled NA 0 NA
1
Enable Disabled NA 0 NA
ON
Main Power OFF
Caution! Motor shaft may spin as soon as main power is applied. v

Notes: All inputs are ignored in this mode. High-Level Feedback is available.
Motor will free-wheel when main power is removed, unless external braking t
force is applied. Motor may stop abruptly depending on load conditions. Motor velocity vs. time
cc_mcsd
Motor free-wheeling
I/O FUNCTIONS
Enable Input - Not used.
Input A - Not used.
Input B - Not used.
Notes:
x To stop the motor, simply remove power and the motor will
stop.
x Other speed modes give you more control of motor behavior,
but require a little more wiring. This mode is the simplest way
to get constant, servo-controlled motion from a brushless
motor."
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Click to open Torque

Enter target velocity. Limit Setup dialog.

Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or torque limit may be overridden by the
desired motor motor deceleration desired motor optional g-StopTM) to convert separate homing torque limit setting).
acceleration rate. rate to same value deceleration rate. standard trapezoidal move
Displays HLFB
output status.
TEKNIC, INC. TEL. (585) 784-7454

MANUAL VELOCITY CONTROL

Available on
MCVC + MCPV
MODE DESCRIPTION
This mode offers fine velocity control from zero to a user-defined
maximum at the turn of a quadrature output device (such as a quadrature
output encoder). Turn in one direction to increase CW motor velocity;
turn in the other direction to increase CCW velocity. When enabled,
ClearPath can either resume running at its last set speed or start at zero
speed (and stay at zero speed until commanded to move).
Assert the Enable Input to energize the motor. Then, control motor
velocity by sending quadrature signals to ClearPath Inputs A and B. Each
quadrature signal transition (or “tick”) received by ClearPath causes an
incremental increase or decrease in motor velocity, depending on which
direction the encoder is turned (i.e. whether phase A leads B or B leads A).
Velocity Control Manual Velocity Control

1
Input A Velocity Control A Quadrature 0
1
Input B Velocity Control B Quadrature 0
1
Trigger NA NA
Notes: v
t
Knob/encoder rotation reversed
I/O FUNCTIONS
Input A - This input is connected to one of the channels of the
quadrature output device.
Input B - This input is connected to the other channel of the quadrature
output device.
Notes:
x Rotating the quadrature knob in one direction will cause an
increase in speed; the other direction causes a decrease (which
can be thought of as an increase in the opposite direction).
x If you want to only spin in only one direction, set one of the Max
Velocity values in MSP (CW or CCW) to zero.
TEKNIC, INC. TEL. (585) 784-7454

THE QUADRATURE SIGNAL SOURCE

To use this mode you’ll need a quadrature output device (usually an
encoder) that can generate two channel (quadrature A/B) signals in the 5-
24VDC range. Many users choose an optical or mechanical incremental
encoder for this task, but a microcontroller or digital signal generator will
work as well.
Example: Wiring a Mechanical Quadrature Output Device to ClearPath
Enable Circuit
Open = Disabled Grayhill PN: 25LB22-Q
Closed = Enabled
COMMON (C)
OUTPUT A OUTPUT B
- 5-24VDC +
Power
Source
- 5-24VDC +
Power
Source
8 7 6 5
4 3 2 1
ClearPath Motor
ClearPath Internal
4 Enable+ Current
Limiter
Grayhill PN: 25LB22-Q 5-24 +
VDC
8 Enable-
A 3 Input A+ Current
Limiter
5-24 7 Input A-
C VDC
+
6 Input B- Current
Limiter
B 2 Input B+
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
“Has Detents”Checkbox Reverse sense of motor

See text for description. direction with respect to
quadrature phasing, or leave
Enter max. desired Enter desired incremental As-Wired. Eliminates need to
motor velocity for CW increase / decrease in motor rewire inputs if motor rotates
and CCW shaft rotation. velocity per quadrature tick. the“wrong”way initially.
Click to open
Torque Limit
Setup dialog.
Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or Set motor to initialize to Torque Override Indicator
desired motor motor deceleration desired motor optional g-StopTM) to convert either Zero Velocity or When lit, the main torque
acceleration rate. rate to same value deceleration rate. standard trapezoidal move Last Commanded limit is being overridden by
as acceleration rate. profiles into profiles that reduce velocity each time a secondary, user-set torque
noise, resonance, and vibration. ClearPath is enabled. limit (e.g., when an axis is
homing, the main torque
limit may be overridden by
the separate homing torque
Hardware Input Status LEDs limit setting).
Light = Input asserted (on) Displays commanded speed
Dark = Input de-asserted (off) (when using hardware inputs).
Check to turn on Soft Check to enable ClearPath (when Click arrows to increase or Displays HLFB
Controls. Override cannot Override Inputs / Soft Controls are decrease motor velocity by output status.
be activated when ClearPath active. Caution: motor may spin increment defined in“Velocity
is hardware enabled. when enabled. Resolution”field above. Each
“arrow click”is equivalent to a
hardware quadrature“tick”.
DESCRIPTION OF ENCODER/KNOB SETTINGS
MAX CW VELOCITY
This setting defines the maximum motor shaft velocity that can be
reached when the quadrature knob is turned in the direction that causes
CW shaft rotation.
MAX CCW VELOCITY

This setting defines the maximum shaft velocity that can be reached when
the quadrature knob is turned in the direction that causes CCW shaft
rotation.
TEKNIC, INC. TEL. (585) 784-7454

VELOCITY RESOLUTION
This setting defines exactly how much (i.e., by what increment) motor
velocity will increase or decrease per quadrature “tick”.
KNOB DIRECTION
This setting allows the user to reverse the motor’s sense of direction with
respect to the quadrature device phasing.
“HAS DETENTS” CHECKBOX

When unchecked, ClearPath treats each quadrature transition it sees as
a single “tick”. (Remember, each tick causes an incremental change in
motor speed.)
When checked, ClearPath treats every 4th quadrature transition it sees
as one “tick”. (Remember, each “tick” causes an incremental change in
motor speed.) Check this box when using an encoder that has one detent
point per full quadrature cycle or if you want to divide your quadrature
resolution by four.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL VELOCITY COMMAND (BI-POLAR PWM COMMAND

WITH INHIBIT)
Available on
MCVC + MCPV
MODE DESCRIPTION
ClearPath will run at a velocity proportional to the duty cycle of that
waveform. Or, use the PWM output from an H-bridge driver of a brushed
motor setup and ClearPath becomes a high-performance drop-in
replacement.
Assert the Enable Input to energize the motor. Control motor speed and
direction by modulating the duty cycle of the PWM signal. Assert the
Inhibit signal (Input A) to immediately ramp to zero velocity. See figure
below and read text for timing and PWM requirements.
Velocity Control Follow Digital Velocity Command (Bi-Polar PWM Command)

1
Input A Inhibit (optional) Logic: High=Inhibit on Low=Inhibit off 0
1
Input B Speed/Direction Pulse: Variable PWM 0

1
1
Trigger NA NA 0
Notes: Asserting Inhibit Input causes immediate ramp to zero speed. See text for v
information on deadband set up and application.
t
Inside deadband Inhibit on
I/O FUNCTIONS
Input A - This input forces the speed to zero regardless of the input PWM
duty cycle.
represents the desired velocity.
Notes:
x PWM input frequency range: 20 Hz up to 30 kHz.
x The output of a standard H-bridge driver for a DC brush motor
is bipolar PWM, so it can be used to allow ClearPath to replace a
DC brush motor without changing anything else in the system.
x A 50% PWM duty cycle means zero speed; near 100% and near
0% duty cycle correspond to opposite directions at the user-
defined maximum speed.
x Input A can be used to command zero speed at any time
(overriding the PWM). Or, if duty cycle drift is preventing the
TEKNIC, INC. TEL. (585) 784-7454

axis from stopping when it should, a deadband can be specified

so that any duty cycle that falls within +/- the deadband amount
from 50% is considered a command for zero speed.
x 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.
x For applications with the highest sensitivity to velocity
accuracy, consider using frequency input control (described
later in this manual).
MODE CONTROLS

cycle is measured by ClearPath.
NO CHECK
Enter max. desired Enter optional deadband Duty cycle is % of period high Click to open
motor speed (i.e., setting. See text for description Torque Limit
CHECK Setup dialog.
full scale speed). of deadband operation.

Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or optional
desired motor motor deceleration desired motor g-StopTM) to convert standard trapezoidal
acceleration rate. rate to same value deceleration rate. move profiles into profiles that reduce
as acceleration rate. noise, resonance, and vibration.

Light = Input asserted (on) duty cycle of PWM source velocity (when using
Controls. Override cannot Emulate hardware inputs. For Emulates PWM velocity (when using output status
TEKNIC, INC. TEL. (585) 784-7454

Relationship of PWM duty cycle to motor velocity

x Shaft velocity increases in the CW direction as PWM duty cycle
x Shaft velocity increases in the CCW direction as PWM duty cycle
x As PWM duty cycle approaches 50%—from either direction—motor
velocity approaches 0.
x In practice, O% and 100% (static low and static high conditions) are
not valid PWM states. ClearPath treats these cases as zero-velocity
commands.
Max. Velocity
(CCW Rotation)
Velocity = 0
Zero
Velocity
Max. Velocity
(CW Rotation)
0 10 20 30 40 50 60 70 80 90 100
Duty Cycle
Graph of PWM duty cycle vs. motor velocity
TEKNIC, INC. TEL. (585) 784-7454

SETTING A PWM DEADBAND (OPTIONAL)

The deadband expands the range about the 50% PWM mark that is
interpreted as the “zero-velocity setting” by ClearPath. This gives the user
a reliable way to ensure that motor velocity ramps to zero when the PWM
duty cycle is set at (or “close enough” to) 50%.
Max. Velocity
(CCW Rotation)
Velocity = 0
Deadband
(+/- 5%)
Max. Velocity
(CW Rotation)
0 10 20 30 40 50 60 70 80 90 100
Duty Cycle
+/- 5% PWM dead band setting
Why use a deadband?

In bi-polar mode, stopping the motor (i.e. commanding “zero velocity”) is
achieved, in theory, by applying a 50% duty cycle PWM signal to Input B.
However, it can be technically challenging to set a perfect 50% duty cycle.
In fact, some very low speed motion may still be observed at the motor
shaft even when duty cycle is apparently set to 50%. A deadband helps to
ensure that actual motor velocity is zero (with no drift) when you expect it
to be.
Example: If the user sets a +/- 5% dead band, any PWM signal with a
duty cycle between 45% and 55% will be interpreted as a zero-velocity
command by ClearPath. See figure above.
Note: As size of deadband setting increases, the slope of velocity vs. duty
cycle increases as illustrated below.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL VELOCITY (BIPOLAR PWM COMMAND WITH

VARIABLE TORQUE)
Available on
MCVC + MCPV
MODE DESCRIPTION
Control velocity and maximum torque independently and concurrently
with this mode. Connect a digital PWM waveform from your PLC or other
device to Input B, and ClearPath will run at a velocity proportional to the
duty cycle of that waveform. Connect a separate digital or PWM signal to
Input A to independently vary your motor's torque limit.
I/O FUNCTIONS
Input A - This input is connected to a signal whose level or PWM duty
cycle represents the desired torque limit.
represents the desired velocity.
Assert the Enable Input to energize the motor.

Velocity Control (Input B). Motor velocity is controlled by sending a
PWM signal to Input B. Velocity is commanded as follows:
x Shaft velocity increases in the CW direction as PWM duty cycle
x Shaft velocity increases in the CCW direction as PWM duty cycle
x As PWM duty cycle approaches 50%—from either side—motor
velocity approaches 0.
x In practice, O% and 100% (static low and static high conditions)
are not valid PWM states. ClearPath treats these cases as zero-
velocity commands.
x All changes in velocity occur at the user-defined acceleration rate.
x Set a PWM deadband to help reliably command zero velocity.
Torque Limit Control (Input A). Vary your motor’s maximum torque
between the "standard" Torque Limits and the Alternate Torque Limits
using either digital or PWM control methods.
For digital torque limit control, toggle between the Torque
Limits and Alternate Torque Limits by changing the state of Input A
as follows:
x Deassert input A to operate using purely the "standard"
Torque Limits.
TEKNIC, INC. TEL. (585) 784-7454

x Assert input A to operate using purely the Alternate Torque

Limits.
For PWM torque limit control, you can vary the active torque
limit linearly between the two torque limit settings by varying the
PWM duty cycle sent to Input A as follows:
x Apply a 0% duty cycle (static low) to operate using purely
the "standard" Torque Limits.
x Apply a 100% duty cycle (static high) to operate using
purely the Alternative Torque Limits.
x Apply a duty cycle anywhere in between 0% and 100% to
create a linear combination of the two limits.
Additional Notes:
considered off.
x Disable time = 10 mS.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

Enter optional overridden by a secondary, user-set torque
Enter max. desired deadband setting. See Enter timespan over limit (e.g., when an axis is homing, the main Displays torque
motor speed (i.e., text for description of which changes made torque limit may be overridden by the limit values that are
full scale speed). deadband operation. to torque limit occur. separate homing torque limit setting). currently in effect.
Click to open Torque Limit Setup dialog.
Enter maximum Check here to set Enter maximum Adjust settings for RASTM (or Check box to invert how PWM duty
desired motor motor deceleration desired motor optional g-StopTM) to convert cycle is measured by ClearPath.
acceleration rate. rate to same value deceleration rate.. standard trapezoidal move NO CHECK
as acceleration rate. profiles into profiles that reduce Duty cycle is % of period high
noise, resonance, and vibration. CHECK
PWM Meter (Torque PWM Meter (Velocity)
Limiting) Displays duty Displays duty cycle of
Hardware Enable Status LED Displays commanded
cycle of PWM signal PWM signal connected
Light = Input asserted (on) velocity (when using
connected to Input A. to Input B.
Dark = Input de-asserted (off) hard controls).
Check to turn on Soft Soft Enable Control Input A Input B Displays commanded Displays HLFB
Controls. Override Check to enable. For PWM Soft Slider PWM Soft Slider velocity (when using output status
cannot be activated use only when Soft Emulates PWM input (for Emulates PWM input (for Soft Controls).
when ClearPath is Controls are active. use with Soft Controls). use with Soft Controls).
hardware enabled. Caution: motor may
spin when enabled.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL VELOCITY COMMAND (UNIPOLAR PWM INPUT)

Available on
MCVC + MCPV
MODE DESCRIPTION
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.
Velocity Control Follow Digital Velocity Command (Unipolar PWM Command)

1
1
Input B Velocity Pulse: Variable PWM 0
Duty cycle of applied PWM signal (%) 10% 90% OFF

1
1
Trigger NA NA 0
Notes: v
t
I/O FUNCTIONS
Input A - This input selects the direction of rotation.
represents the desired speed.
Notes:
considered off. This is interpreted by ClearPath as a zero-
velocity command.
x For applications with the highest sensitivity to velocity
accuracy, consider using frequency input control (described in
next section).
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

Enter max. desired cycle is measured by ClearPath.
Click to open
motor speed (i.e., NO CHECK Torque Limit
full scale speed). Duty cycle is % of period high Setup dialog.
CHECK

acceleration rate. rate to same value deceleration rate.. move profiles into profiles that reduce

Light = Input asserted (on) duty cycle of PWM source velocity (when using
Controls. Override cannot Emulate hardware inputs. For Emulates PWM velocity (when using output status.
Motor velocity vs. PWM duty cycle :

x Motor velocity is proportional to PWM duty cycle (velocity
increases as duty cycle increases). See figure below.
x In practice, 0% and 100% duty cycle signals (static low and
static high respectively) are invalid PWM states, interpreted by
ClearPath as “PWM turned off”. This is the equivalent of a zero-
velocity command.
Max. Velocity
(user set)
Velocity
0
0 50 100
PWM Duty Cycle (%)
TEKNIC, INC. TEL. (585) 784-7454

x For CW shaft rotation, set Input A high. For CCW shaft rotation,
set Input A low.
x PWM minimum on time and minimum off time = 300nS
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL VELOCITY COMMAND (FREQUENCY INPUT)

Available on
MCVC + MCPV
MODE DESCRIPTION
Connect a digital variable frequency waveform from your PLC or other
device, and ClearPath will run at a velocity proportional to the frequency
of the waveform.
Assert the Enable Input to energize the motor. Then, control velocity by
applying a variable frequency pulse train to Input B. Pulse frequency is
proportional to commanded velocity. Direction of travel (CW/CCW) is
controlled by the state of Input A. See Inputs and Timing diagram below.
Velocity Control Follow Digital Velocity Command (Frequency Input Control)

1
1
Input B Velocity Pulse: Variable Frequency 0
1
1
Trigger NA NA 0
Notes: v
t
I/O FUNCTIONS
Input B - This input is connected to a pulse train whose frequency
represents the desired speed.
Notes:
x Actual motor speed in RPM is given by the following equation
[(Input Freq. - Min Freq.) / (Max Freq. - Min Freq.) * User
Defined Max Velocity. For Example, a 120 kHz pulse train
with 100 kHz Min Frequency and 200 kHz Max frequency will
result in a rotational speed of 20% of the user-defined Max
Velocity.
x If the frequency signal is off/interrupted for 50mS or more the
input is considered off. This is interpreted by ClearPath as a
zero-velocity command.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Set Min/Max Frequency. During operation, motor

speed is controlled by Input B signal frequency. With
Enter max. desired the settings below, a 15kHz signal at Input B will cause Click to open
motor speed (i.e., the motor to spin at the Max Speed setting (2000 RPM); Torque Limit
full scale speed). a 5 kHz (or lower) signal will command zero speed. Setup dialog.

Click to open Torque by a secondary, user-set torque
overridden
Limit Setuplimit
dialog.
(e.g., when an axis is homing, the main
acceleration rate. rate to same value deceleration rate.. move profiles into profiles that reduce
JW 2018
Frequency Meter
Hardware Input Status LEDs Displays frequency of Displays commanded
Light = Input asserted (on) input signal source velocity (when using
Check to turn on Soft Soft Inputs and LEDs Frequency Soft Slider Displays commanded Displays HLFB
Controls. Override cannot Emulate hardware inputs. For Emulates frequency velocity (when using output status.
be activated when ClearPath use only when Soft Controls input source (for use Soft Controls).
is hardware enabled. are active. Caution: motor with Soft Controls).
TEKNIC, INC. TEL. (585) 784-7454

MOVE TO SENSOR POSITION Available on

MCVC + MCPV
MODE DESCRIPTION
This mode is mainly intended to be used in two-position back and forth
applications (like replacing a pneumatic cylinder). Use ClearPath digital
inputs to spin the shaft CW or CCW. Wire position sensors or switches in
series with ClearPath inputs to make an inexpensive two position
actuator.
Place sensors at opposite ends of your motion path and wire them into the
appropriate ClearPath inputs. See illustration below.
Assert the Enable Input to energize the motor. Apply User Commands to
start motion. ClearPath moves CW or CCW until it interrupts a sensor. It
then holds position until you issue a new User Command in the opposing
direction. See table below for Input states and timing details.
Position Control Move to Sensor Position
Signal Function Example Timing

1
User Command A Wired in series with Input A 0
1
Sensor A Wired in series with Input A 0
1
Input A CW Move Request 0
1
User Command B Wired in series with Input B 0
1
Sensor B Wired in series with Input B 0
1
Input B CCW Move Request 0
1
Enable Enable: High=Enable Low=Disable 0
v
ccw
cw
User
Command A ClearPath Internal
(switch)
5-24VDC
Input A +
Sensor
‘A’ Input A -
Optical Slot Sensors
Normally Closed
User
Command B
(switch)
5-24VDC
Input B +
Sensor
‘B’ Input B -
Move to Sensor: Inputs and Timing Diagram with example application sketch
TEKNIC, INC. TEL. (585) 784-7454

I/O FUNCTIONS
Input A - This input is used to make the motor spin in the CW
(clockwise) direction.
Input B - This input is used to make the motor spin in the CCW
(counterclockwise) direction.
Notes:
x Position sensors (switches) are used to set the stopping points.
x In the typical application, the switch that detects the end of CW
travel is wired in series with Input A so that the command to
move is interrupted and the motor stops at the desired location.
The CCW switch is similarly wired in series with Input B.
x CCW (counterclockwise) and CW (clockwise) are defined when
you view the motor with the shaft pointing toward you.
x When a switch interrupts the move input, the motor will begin
to decelerate, so the stopped position will be a repeatable
distance beyond the switch. Make sure you leave enough room
after the sensor to avoid hitting the end stops.
x ClearPath will not allow two successive moves in the same
direction, so you don't have to worry about the motor moving
past the switch as it decelerates (and thereby re-asserting the
move input).
x Changing the state of either Input A or Input B while ClearPath
is in motion effectively cancels the move in progress. ClearPath
immediately ramps to a stop and holds position until a new
move request 3 is received.
3
In this scenario, the next move request must be in the opposite direction from the previous
move request. Thus, if the motor was spinning in the CW direction when the move was
canceled, ClearPath will only respond to a CCW move request.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Click to open
Enter max velocity Enter max velocity Torque Limit
desired for CW rotation. desired for CCW rotation. Setup dialog.

Enter desired motor Check here to set Enter desired motor Adjust settings for RASTM (or
acceleration rate. motor deceleration deceleration rate. optional g-StopTM) to convert
rate to same value standard trapezoidal move

Light = Input asserted (on)
Dark = Input de-asserted (off)
Check to turn on Soft Soft Inputs and LEDs emulate Displays HLFB
Controls. Override cannot hardware inputs. For use only output status.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE TO ABSOLUTE POSITION (2-POSITION, HOME TO SWITCH)

Available on
MCVC + MCPV
MODE DESCRIPTION
Trigger ClearPath to move to one of two preset locations. This mode was
designed for replacing hydraulic or pneumatic cylinders that move
between two positions.
Assert the Enable Input to energize the motor. Once enabled, ClearPath
automatically executes a homing move to a [user-supplied] switch or
sensor wired to Input B. Once a home position is established, ClearPath
automatically moves to one of the two user-defined positions (based on
the state of Input A). After that, just toggle Input A to move between the
two target positions.
Absolute Position
An absolute position is referenced to an established “home” position. Your
target positions, in this context, are defined in terms of distance from the
home position. For example, Position 1 could be defined as 5200 encoder
counts from home, while Position 2 might be defined as 2000 encoder
counts from home.
Position Control Absolute Position (2-Position Programmable)

1
Input A Position Select Logic: High=Pos. 2 Low=Pos. 1 0
1
Input B Home Switch Logic: High=Home Low= Not Home 0
1
1
Trigger NA NA 0
Notes: ClearPath must home to a switch upon enable to establish the Home p+ Pos 1 Pos 1
(zero) position to which the other target positions are referenced.
Pos 2 Pos 2 t
p- Home
Motor position vs. time
I/O FUNCTIONS
Input A - This input selects one of two user-defined positions to which
the motor should move.
Input B - This input is connected to the home switch. Its function is
defined in the homing setup dialog.
Notes:
x If the state of Input A is changed during a move, ClearPath will
immediately ramp to a stop and move to the newly indicated
position.
TEKNIC, INC. TEL. (585) 784-7454

x The user-defined positions can be 'taught' instead of entered

numerically through MSP. To do this, the motor must be in a
Logic Backup Power (LBP) state (using a ClearPath POWER4-
HUB board). The main bus power must be off. To teach a
position, deassert the Enable input with the motor in the
position you want to teach (or deassert the Enable and then
move the axis by hand to the desired spot). Set input A to the
binary state you want to teach, and assert the Enable input. The
current location will then be linked to the current input A state.
Deassert Enable and repeat as desired with the other A state.
x Input B switch polarity can be inverted via a checkbox in the
Homing Setup dialog. When home switch polarity is inverted,
ClearPath interprets Input B-low as “in the home switch”, and
Input B-high as “not in the home switch”.
MODE CONTROLS
Set Target Positions Click to open Click to open

Enter move distance (from Torque Limit Homing
home) for each input state. Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Torque Override Indicator Enable teaching mode.
motor speed. acceleration rate. optional g-StopTM) to convert When lit, the main torque limit This allows the user to
standard trapezoidal move is being overridden by a physically move a motor to
profiles into profiles that reduce secondary, user-set torque limit a desired target position
noise, resonance, and vibration. (e.g., when an axis is homing, and save that position to
the main torque limit may be the motor’s memory (as
overridden by the separate opposed to keying in
homing torque limit setting). numerical values.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE TO ABSOLUTE POSITION (4-POSITION, HOME TO HARD STOP)

Available on
MCPV
MODE DESCRIPTION
Command ClearPath to move to one of four preset locations. Perfect for
replacing air cylinders in scenarios where more power and/or finesse are
needed (and you want to position at more than just two locations).
Absolute Position
An absolute position is referenced to an established “home” position.
Your target positions, in this context, are defined in terms of distance
from the home position. For example, Position 1 might be defined as 2000
encoder counts from home, while Position 2 might be defined as 5200
encoder counts from home.
Assert the Enable Input to energize the motor. Once enabled ClearPath
automatically homes to a hard stop to establish an absolute home
reference position. Note: Homing is required in this mode.
After homing, ClearPath can be commanded to move to any of four user-
defined positions by changing the state of Input A and B. Changing these
inputs has the dual effect of selecting target position, and triggering the
move. See table below for timing and input details. All moves execute at
the user-defined speed and acceleration.
Position Control Absolute Positioning (4-Position Programmable)
Signal Function Position Settings Example Timing

Pos. 1 Pos. 2 Pos. 3 Pos. 4
1
Input A Position Select A LOW HIGH LOW HIGH 0
1
Input B Position Select B LOW LOW HIGH HIGH 0
1
1
Trigger NA NA 0
Notes: ClearPath must home to a “hard stop” (either upon first enable or upon p+ Pos 1
Pos 2
every enable) to establish a home reference position. All user-defined target Pos 3
positions are referenced to the home position. Pos 4 t
p- Home
I/O FUNCTIONS
Input A - This input, along with Input B, selects one of four user-defined
positions to which the motor should move.
Input B - This input, along with Input A, selects one of four user-defined
positions to which the motor should move.
Notes:
x If Input A or B changes while the ClearPath is moving, the
behavior will depend on the new move target. If the new move
TEKNIC, INC. TEL. (585) 784-7454

target is in the same direction as the current motion, the move

will continue until the new target location is reached. If the new
move target is in the opposite direction of current motion, the
move will decelerate to a stop and then immediately begin the
move to the new target location.
x The user-defined positions can be 'taught' instead of entered
numerically through MSP. To do this, the motor must be in a
Logic Power Backup (LPB) state (using a ClearPath POWER4-
HUB board). The main bus power must be off.
x To teach a position, deassert the Enable input with the motor
in the position you want to teach (or deassert the Enable and
then move the axis by hand to the desired spot). Set inputs A
and B to the binary state you want to teach, and assert the
Enable input. The current location will then be linked to the
current input A/B state. Deassert Enable and repeat as desired
with other A/B states.
x Changing the state of Input A and/or B while ClearPath is in
motion cancels the move in progress. ClearPath immediately
ramps to a stop and initiates a new move to the newly indicated
target position.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Set Target Positions Click to open Click to open

Enter move distance (from Torque Limit Homing
home) for each input state. Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Torque Override Indicator Enable teaching mode.
motor speed. acceleration rate. optional g-StopTM) to convert When lit, the main torque limit This allows the user to
standard trapezoidal move is being overridden by a physically move a motor to
profiles into profiles that reduce secondary, user-set torque limit a desired target position
noise, resonance, and vibration. (e.g., when an axis is homing, and save that position to
the main torque limit may be the motor’s memory (as
overridden by the separate opposed to keying in
homing torque limit setting). numerical values by hand).
Check to turn on Soft Soft Inputs and LEDs emulate Click during homing Displays HLFB
Controls. Override cannot hardware inputs. For use only operation to manually output status.
be activated when ClearPath when Soft Controls are active. set home position.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE TO ABSOLUTE POSITION (16-POSITION, HOME TO HARD

STOP)
Available on
MCPV
MODE DESCRIPTION
Command ClearPath to move to one of 16 preset positions by toggling
Input B (between 1 and 16 times) to specify a target position [position
index]. then toggle input A to trigger the move.
Absolute Position
An absolute position is referenced to an established “home” position.
Your target positions, in this context, are defined in terms of distance
from the home position. For example, Position 1 might be defined as 1000
encoder counts from home, while Position 2 might be defined as 2000
encoder counts from home, and so forth
Assert the Enable Input to energize the motor. Once enabled, ClearPath
must be homed to a known position.
To make a move, first send between 1 and 16 pulses to Input B (this tells
ClearPath which target position to move to). Then toggle Input A to
trigger the move. Example: to move to target position 9, you would send 9
pulses to input B. Then you would trigger the move by sending a single
pulse to Input A. ClearPath would then move to position 9 at the user-
defined speed and acceleration.
Position Control Absolute Positioning (16 Positions, HS Home)

1
Input A Trigger Pulse to start move (on rising-edge) 0
1
Input B Position Select Pulse input to select target position 0
2 4 9 2
1
Notes: ClearPath must be homed to use this mode (see text for details). p+ P9
P4
P2 P2 t
p- Home Motor position vs. time
I/O FUNCTIONS
Input A - This input triggers the motor to move to one of sixteen user-
selected positions.
Input B - Pulse (assert then deassert) this input 1-16 times to select
which of sixteen user-defined positions the motor will move to when Input
A is asserted.
Notes:
x While Input A is asserted pulses on Input B will be ignored and
the motor will remain at its current position.
TEKNIC, INC. TEL. (585) 784-7454

x Deasserting Input A resets the position selection index to 0.

x Asserting Input A (to move) after pulsing Input B more than 16
times generates a shutdown because an invalid index was
selected. The shutdown can be cleared by toggling the Enable
input.
x An executing move can be superseded by sending a new move
index number command.
x Disable time = 10mS
MODE CONTROLS

When lit, the main torque limit
is being overridden by a
secondary, user-set torque limit
(e.g., when an axis is homing,
Set Target Positions the main torque limit may be Click to open Click to open
Enter move distance (from overridden by the separate Torque Limit Homing
home) for each index position. homing torque limit setting). Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or
motor speed. acceleration rate. optional g-StopTM) to convert
standard trapezoidal move
profiles into profiles that reduce
Displays the current Position noise, resonance, and vibration.
Index number (5 in this example)
and its associated encoder
Hardware Input Status LEDs position. A trigger event on Input
Light = Input asserted (on) A will launch a move to this
Dark = Input de-asserted (off) position (and reset the Index).
be activated when ClearPath when Soft Controls are active. simulate home position.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE INCREMENTAL DISTANCE (4-DISTANCE, HOME TO HARD

STOP)
Available on
MCPV
MODE DESCRIPTION
Send a trigger pulse to tell ClearPath to move a user-defined distance
[increment] from its current position. Send multiple, quick trigger pulses
to tell ClearPath to travel a multiple of any distance in one smooth,
uninterrupted move.
Incremental Positioning
An incremental move is referenced to its own starting position, not to an
absolute “home” reference position. So, if the incremental move distance
is set to +1000 counts, the shaft will move +1000 counts from its current
position each time a trigger pulse is received.
Assert the Enable Input to energize the motor. ClearPath can be set to
perform an optional homing routine (home-to-hard stop only in this
mode). Move distance is selected with Inputs A and B. Pulsing the
Enable/Trigger Input launches each move.
Position Control Incremental Positioning (4-Distance Programmable)
Signal Function Incremental Distance Settings Example Timing

Dist.1 Dist.2 Dist.3 Dist.4
1
Input A Increment Select A LOW HIGH LOW HIGH 0
1
Input B Increment Select B LOW LOW HIGH HIGH 0
Enable/ Enable Logic: High=Enable Low=Disable 1

0
Trigger Trigger Pulse Enable line to trigger moves
Notes: ClearPath can be programmed to home upon enable (see text for full p+ D3 D4 D1 D2
details). Moves are triggered on rising edge of trigger pulse. D1 D2 D1 D2
t
p-
Trigger pulse
I/O FUNCTIONS
Enable Input - Asserting this input energizes the motor shaft. A short
pulse (user-definable) on this input is the trigger that starts a move. (A
"pulse" is a momentary interruption of current into the Enable input.)
Input A - This input, along with Input B, selects which of the four defined
position increments to send upon a trigger pulse.
Input B - This input, along with Input A, selects which of the four defined
position increments to send upon a trigger pulse.
Notes:
x A trigger pulse is required to launch each move. Move distance
is selected with Input A and B.
x To create a longer continuous move, send multiple trigger
pulses and ClearPath will automatically “chain” the move
TEKNIC, INC. TEL. (585) 784-7454

increments together to form a single non-stop move. Note: To

successfully “chain” move increments, the burst of trigger
pulses must be sent rapidly. The pulse train must be received by
the ClearPath during the acceleration through constant velocity
portion of move, but not during the deceleration phase.
x If a trigger pulse is received during the deceleration phase of a
running move, it will not be chained to the original move. In
fact, the “late pulse” will trigger a separate move.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

Set Move Increments the main torque limit may be Click to open Click to open
Enter move distance for overridden by the separate Torque Limit Homing
each input state. homing torque limit setting). Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Use these controls to Adjust settings for RASTM (or Click to adjust
motor speed. acceleration rate. set different speeds and optional g-StopTM) to convert trigger pulse timing.
accelerations for each standard trapezoidal move
position increment. profiles into profiles that reduce

enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE INCREMENTAL DISTANCE (2-DISTANCE, HOME TO HARD

STOP)
Available on
MCPV
MODE DESCRIPTION
Change the state an input to tell ClearPath to move a user-defined,
incremental distance from its current position. Send multiple, quick
transitions to tell ClearPath to travel a multiple of any distance in one
smooth, uninterrupted move.
What is Incremental Positioning?
position each time a move is launched.
Assert the Enable Input to energize the motor. (ClearPath can be set up to
perform an optional home to hard stop upon enable.) Change the state of
Input B to select which of the two move increments is currently active.
Change the state of Input A to launch each move at the user-defined speed
and acceleration. Briefly pulse the Enable input to execute the next move
at the alternate speed limit.
Position Control Incremental Positioning (2 Incremental Distances, HS Home)

1
Input A Increment Position Start move on rising (or falling) edge* 0
1
Input B Increment Select Logic: Low=Dist.1 High=Dist. 2 0
Trigger Trigger Pulse Enable line for Alternate Speed 0
Notes: ClearPath can be programmed to home upon enable (see text for details). p+
*Moves can be triggered on rising or falling edge of Input A (based on user setting). D2 D1
D2
D2
D1 t
Trigger pulse
I/O FUNCTIONS
pulse (user-definable) on this input tells ClearPath to use the alternate
speed limit setting for the next move.
Input A - Turning this input on (or off, if desired) sends the position
increment.
Input B - This input selects which of the two defined position increments
to send.
Notes:
x Send incremental move commands by turning Input A either on
or off (user settable).
TEKNIC, INC. TEL. (585) 784-7454

x Multiple position increments can be smoothly chained together

(i.e., with no stops in between) by toggling Input A before
ClearPath starts decelerating. For example, three quick cycles of
Input A will create one smooth move of three times the length of
the selected position increment.
x If you need to move in both directions, make sure you define
both a positive and a negative position increment.
MODE CONTROLS

Select how you want secondary, user-set torque limit
to launch incremen- (e.g., when an axis is homing,
Set Move Increments tal moves; when Input Enter alternate the main torque limit may be Click to open Click to open
Enter move distance for A turns on, or when it motor speed overridden by the separate Torque Limit Homing
each state of Input B. turns off . (optional). homing torque limit setting). Setup dialog. Setup dialog.

enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE INCREMENTAL DISTANCE (2-DISTANCE, HOME-TO-SWITCH)

Available on
MCPV
MODE DESCRIPTION
Send a trigger pulse to tell ClearPath to move a user-defined distance from
its current position. Send multiple, quick trigger pulses to tell ClearPath to
travel a multiple of any distance in one smooth, uninterrupted move.
Incremental Positioning
position each time a trigger pulse is received.
Assert the Enable Input to energize the motor. ClearPath can be set to
perform an optional homing routine (home-to-switch only in this mode).
Incremental move distance is selected with Input A. Pulsing the
Enable/Trigger Input launches each move.
Position Control Incremental Positioning (2 Incremental Distances)

1
Input A Increment Select Logic: Low=Dist.1 High=Dist. 2 0
1
Input B Home Switch (optional) Logic: High=Home Low= Not Home 0
Trigger Trigger Pulse Enable line low to trigger moves 0
Notes: ClearPath can be programmed to home upon enable (see text for full p+
details). Moves are triggered on rising edge of trigger pulse. D2 D1
D2
D2
D1 t
Trigger pulse
I/O FUNCTIONS
Input A - This input selects which of the two defined position increments
to send upon a trigger pulse.
Input B - This input is connected to the home switch/sensor. Its function
is defined in the homing setup dialog. Home switch polarity can be
inverted if desired.
Notes:
x A trigger pulse is required to launch each incremental move.
Move distance is selected with Input A.
x To create a longer continuous move, you can send multiple
trigger pulses and ClearPath will automatically “chain” the
move increments together to form a single seamless move.
Note: To successfully “chain” move increments, the burst of
trigger pulses must be sent rapidly. They must be received by
TEKNIC, INC. TEL. (585) 784-7454

the ClearPath during the acceleration through constant velocity

portion of move, but not during the deceleration phase. If a
trigger pulse is received during the deceleration phase of a
move, that move will run to completion (motor will stop). Then
the next incremental move will execute.
MODE CONTROLS
Set Move Increments Click to open Click to open

Enter move distance for Torque Limit Homing
each state of Input B. Setup dialog. Setup dialog.

enabled.
TEKNIC, INC. TEL. (585) 784-7454

MOVE INCREMENTAL DISTANCE (1-DISTANCE, HOME-TO-SWITCH)

Available on
MCPV
MODE DESCRIPTION
ClearPath will make an incremental move when the state of Input A
changes. If automatic homing is on, ClearPath will seek for the home
switch connected to Input B the first time it is enabled after power up, or,
if desired, each time it is enabled.
What is Incremental Positioning?
position each time a move is launched.
Assert the Enable Input to energize the motor. ClearPath can be set up to
perform an optional homing routine upon enable (home-to-switch only in
this mode). Change the state of Input A to launch each move at the user-
defined speed and acceleration. Briefly pulse the Enable input to execute
the next move at the alternate speed limit.
Position Control Incremental Positioning (1 Incremental Distance, Home-To-Switch)

1
Input A Start Move Start move on rising (or falling) edge* 0
1
Input B Home Switch Logic: High=Home Low=Not Home 0
Notes: ClearPath can be programmed to home upon enable (see text for details). p+ D1
D1
*Moves can be triggered on either rising or falling edge of Input A ( this is user D1 alt. speed
settable). D1
D1 t
Trigger pulse
I/O FUNCTIONS
speed limit setting for the next move. (A "pulse" is a momentary
interruption of current into the Enable input.)
Input A - Turning this input on (or off, if desired) sends the position
increment.
Input B - This input is connected to the home switch/sensor. Its function
is defined in the homing setup dialog.
Notes:
x Send incremental moves by turning Input A either on or off
(this is user settable).
TEKNIC, INC. TEL. (585) 784-7454

x Multiple position increments can be smoothly chained together

(i.e., with no stops in between) by toggling Input A before
ClearPath starts decelerating. For example, three quick cycles of
Input A will create one smooth move of three times the length of
the position increment.
x The direction of the move is specified by the sign of the position
increment (i.e., a positive position increment will move the
shaft in a counter-clockwise direction, while a negative
increment will cause a move in the clockwise direction).
x Note that this 1 increment mode only allows for movement in
one direction."
MODE CONTROLS

Select how you want secondary, user-set torque limit
to launch incremen- (e.g., when an axis is homing,
tal moves; when Input Enter alternate the main torque limit may be Click to open Click to open
Set Move Increment A turns on, or when it motor speed overridden by the separate Torque Limit Homing
Enter move distance here. turns off . (optional). homing torque limit setting). Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Click to adjust
motor speed. acceleration rate. optional g-StopTM) to convert trigger pulse timing.
standard trapezoidal move
Hardware Input Status LEDs profiles into profiles that reduce
Light = Input asserted (on) noise, resonance, and vibration.
enabled.
TEKNIC, INC. TEL. (585) 784-7454

PULSE BURST POSITIONING

Available on
MCPV
MODE DESCRIPTION
ClearPath will move a distance proportional to the number of pulses sent
to Input B. This mode offers much of the flexibility of a “step-and-
direction” system, without the need for an expensive indexer to create
smooth move trajectories (that function is handled by ClearPath’s internal
trajectory generator). This mode is limited to two speeds and one
acceleration/deceleration rate set by the user.
Note: A fairly simple PLC counter or a software loop can be used to
generate pulses for use with this mode.
Assert the Enable Input to energize the motor. (Note: ClearPath can be
configured to perform a homing routine upon enable.) To execute
positioning moves, send a high speed stream of pulses to Input B, where
each pulse represents an incremental unit of distance. Total move distance
is determined by the number of pulses sent to Input B.
Pulse Positioning Pulse Burst Positioning

1
Input A Direction Select Logic: High=CW Low=CCW 0
1
Input B Pulse Input Pulse: High-Speed Pulse Burst 0

0
Trigger Speed Select Pulse low to select alternate speed
Notes: Absolute Minimum Pulse Width = 715nS. Read notes below for important v alternate speed
information on how to determine min/max pulse input frequency range.
t
Trigger pulse
I/O FUNCTIONS
speed limit setting for the next move.
Input B - This input is connected to the pulse source.
Notes:
x The frequency of the pulse train applied to Input B must always
be higher than the specified speed limit(s). This ensures that the
motor's pulse buffer is never empty. See the “Burst Frequency
Spec” (circled in red on the figure below) for the range of
allowable pulse input frequencies.
x Sending pulses at a fixed frequency is OK; in fact, this is one of
the reasons why this mode was developed. Just send a burst of
TEKNIC, INC. TEL. (585) 784-7454

pulses and ClearPath creates a smooth motion profile for you

automatically.
MODE CONTROLS
Select number of input

pulses required to Check to reverse Click to open Click to open
rotate the motor shaft direction of motor Click to adjust Torque Limit Homing
exactly one revolution. shaft rotation. trigger pulse timing. Setup dialog. Setup dialog.
Enter max. desired Automatically displays Enter alternate Enter max. desired Adjust settings for RASTM (or Torque Override Indicator
motor speed. allowable range of motor speed acceleration rate. optional g-StopTM) to When lit, the main torque
input pulse frequencies (optional). convert standard trapezoidal limit is being overridden by a
(this range is based on move profiles into profiles secondary, user-set torque
Input Resolution and that reduce noise, resonance, limit (e.g., when an axis is
Speed Limit settings). and vibration. homing, the main torque
limit may be overridden by
Hardware Input Status LEDs the separate homing torque
Light = Input asserted (on) limit setting).
enabled.
Note: Input Resolution (see upper left of mode controls screen capture
above) is defined as the number of pulses that must be sent to the motor's
input (Input B in this mode) to make the shaft rotate exactly one
revolution. Please see the Resolution appendix for a detailed discussion of
this topic.
TEKNIC, INC. TEL. (585) 784-7454

MULTI-SENSOR POSITIONING: BI-DIRECTIONAL (HOME TO HARD

STOP) Available on
MCPV
MODE DESCRIPTION
Move to a maximum of 16 different positions using simple I/O from your
PLC, microcontroller or similar to control ClearPath's direction and
position.
Wire up to 16 switches or sensors in series with Input B. Assert the Enable
Input to energize the motor windings. Once homing is complete, a trigger
pulse starts ClearPath moving in the direction indicated by Input A. When
Input B sees a count of transitions equal to the count of trigger pulses,
ClearPath will ramp to a stop at the user-defined rate. (These transitions
are typically switch closures or sensor interruptions.)
Position Control Multi-Sensor Position: Bi-directional (Home to Hard Stop)

1
Input A Direction Select Logic: High=CW Low=CCW 0
1
Input B Sensors Logic: High=On Low=Off 0
Trigger Trigger Pulse Enable line low to trigger moves 0
Notes: ClearPath must be homed before use. p+ P3

P2 P2
Moves are triggered on rising edge of trigger pulse.
P1 P1 t
Trigger pulse
I/O FUNCTIONS
Input B - Transitions on this input count up until they equal the count of
transitions seen on Input A, at which time ClearPath will ramp to a stop.
Notes:
x Up to 16 sensors/switches can be placed along an axis and their
outputs wired-ORed for multiple stops.
x Multiple trigger pulses issued in the same direction before a
sensor is detected will cause the motor to continue through the
number of sensors matching the number of pulses seen.
Example: If you send 3 trigger pulses, ClearPath moves to the
third sensor position.
x ClearPath will always finish moves in one direction before
executing moves commanded in the other direction.
TEKNIC, INC. TEL. (585) 784-7454

x Homing is required in this mode; it can be performed upon first

enable after power up, or upon every enable.
x Time to disable depends on trigger pulse setting. i.e. a longer
trigger pulse setting will result in a longer time to disable.
x Once all sensors are mapped, the motor will stop at the same
position each time, regardless of the direction of approach.
MODE CONTROLS
Select which state of Input Select whether a

A results in clockwise sensor actuation Select sensor
rotation at the motor shaft. turns Input B on or off. discovery method.
Click to open Click to open
Enter total number Torque Limit Homing
of sensors installed. Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Once a sensor is Click to adjust
motor speed. acceleration rate. optional g-StopTM) to convert entered, ClearPath trigger pulse
Automatically displays the standard trapezoidal move ignores sensors until timing.
distance, past a sensor that a profiles into profiles that reduce it has moved at least
noise, resonance, and vibration. this (user defined) Torque Override Indicator
motor will stop. given current When lit, the main torque limit
settings for speed, accel, and distance.
RAS/gStop. secondary, user-set torque limit
Hardware Input Status LEDs Displays current the main torque limit may be
Light = Input asserted (on) commanded overridden by the separate
Dark = Input de-asserted (off) sensor position. homing torque limit setting).
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MULTI-SENSOR POSITIONING: UNIDIRECTIONAL (SENSORLESS

HOMING)
Available on
MCPV
MODE DESCRIPTION
Use simple I/O from your PLC, microcontroller etc. to command
ClearPath to move to the sensor or switch of your choosing. Direction,
speed, and acceleration are all user-defined in MSP.
This mode starts by finding a user-defined, shaft angle home position.
Then, upon seeing a transition on Input A, ClearPath will start to move in
one, fixed, user-defined direction, at one of two velocities. ClearPath will
ramp to a stop at the user-defined rate when Input B has seen a count of
transitions equal to the count of transitions on Input A. (These transitions
are typically switch closures or sensor interruptions.)
Position Control Multi-Sensor Position: Unidirectional (Sensorless Homing)

1
Input A Start Move Start on rising or falling edge* 0
1
Input B Stop Move (Sensor) Stop on rising or falling edge* 0

Trig.
Notes: ClearPath can be programmed to home upon enable (see text for details). p+ Alt.
speed
*User may select rising or falling edge for input action (via MSP setup software).
This diagram shows moves starting on the falling edge of Input A and stopping t
on the falling edge of Input B. Pulse Enable to execute next move at alternate speed. p- Home Motor position vs. time
Trigger pulse
I/O FUNCTIONS
speed limit setting for the next move. (A "pulse" is a momentary
interruption of current into the Enable input.
Input A - A transition on this input starts a move. You can define
whether the move starts on a rising or falling transition.
transitions seen on Input A, at which time ClearPath will ramp to a stop.
Notes:
x This mode can also be used without homing if all the desired
stopping locations are equivalent (e.g., an indexing table with
four positions spaced an even 90 degrees apart).
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Select which edge Select whether a

transition at Input A sensor actuation Once a sensor is
will start a move. turns Input B on or off. entered, ClearPath
ignores sensors until it Click to open Click to open
Select direction has moved at least this Torque Limit Homing
of rotation. (user-defined) distance. Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Enter alternate Click to adjust
motor speed. acceleration rate. optional g-StopTM) to convert motor speed trigger pulse
Automatically displays the standard trapezoidal move limit (optional). timing.
distance, past a sensor that a profiles into profiles that reduce
noise, resonance, and vibration. Torque Override Indicator
motor will stop given the When lit, the main torque limit
current settings for speed, is being overridden by a
accel, and RAS/gStop. secondary, user-set torque limit
Hardware Input Status LEDs the main torque limit may be
Light = Input asserted (on) overridden by the separate
Dark = Input de-asserted (off) homing torque limit setting).
enabled.
TEKNIC, INC. TEL. (585) 784-7454

MULTI-SENSOR POSITIONING: UNIDIRECTIONAL (HOME TO SENSOR)

Available on
MCPV
MODE DESCRIPTION
Use simple I/O from your PLC, microcontroller etc. to command
ClearPath to move to the sensor or switch of your choosing. Direction,
speed, and acceleration are all user-defined in MSP. Optional homing
(home-to-sensor) is available.
This mode starts by finding a home sensor wired to Input A. Then, a
“trigger” pulse on the Enable input starts ClearPath moving in one, fixed,
user-specified direction. When Input B sees a count of transitions equal to
the count of trigger pulses, ClearPath will ramp to a stop at the user-
defined rate. (These transitions are typically switch closures or sensor
interruptions.)
Position Control Multi-Sensor Position: Unidirectional (Home to Sensor)

1
Input A Home Sensor Logic: High=in Home* | Low=not in Home 0
1
Input B Sensors Edge: Stop move on edge transition** 0 1 2 3
4 5 6
Trigger Trigger Pulse Enable Input to trigger moves 0
Notes: p+ sens.6
* User can invert Home switch operating polarity in MSP.
**Diagram shows moves stop on rising edge (transition) of Input B. User may sens.2
sens.3 t
specify either rising or falling edge in MSP. p- sens.1
Home Motor position vs. time
= Trigger pulse
I/O FUNCTIONS
Input A - This input is connected to the home switch. Homing options
are set in the Homing Setup dialog.
trigger pulses seen on the Enable input, at which time ClearPath will ramp
to a stop.
Notes:
x ClearPath can be programmed to home upon enable. If homing
is not needed because all the desired stopping locations are
equivalent (e.g., an indexing table with four positions spaced an
even 90 degrees apart), consider using the Rotary with
Sensorless Homing mode. This will allow the use of a second,
alternate move velocity if desired.
x Moves are triggered by quickly pulsing the Enable input. Moves
stop when sensor count at Input B matches trigger pulse count.
x Trigger pulses made in rapid succession result in longer,
continuous moves.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Select whether a
sensor actuation Once a sensor is
turns Input B on or off. entered, ClearPath
ignores sensors until it Click to open Click to open
Select direction has moved at least this Torque Limit Homing
of rotation. (user-defined) distance. Setup dialog. Setup dialog.
Enter max. desired Enter max. desired Adjust settings for RASTM (or Torque Override Indicator Click to adjust
motor speed. acceleration rate. optional g-StopTM) to convert When lit, the main torque limit trigger pulse
standard trapezoidal move is being overridden by a timing.
Automatically displays the secondary, user-set torque limit
distance, past a sensor that a profiles into profiles that reduce
noise, resonance, and vibration. (e.g., when an axis is homing,
motor will stop given the the main torque limit may be
current settings for speed, overridden by the separate
accel, and RAS/gStop. homing torque limit setting).
enabled.
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL POSITION COMMAND: UNIPOLAR PWM COMMAND

Available on
MODE DESCRIPTION MCPV
ClearPath will servo to a position between two user-defined limits

proportional to the PWM duty cycle of the signal on input B.
Position Control Follow Digital Position: Unipolar PWM Command

1
Home Sensor Logic: High=In Sensor Low=Not in Sens. 0
Input A or 1
Cmd. Lock = ON
Command Lock Logic: High=Lock ON Low=Lock OFF 0
1
Input B Position Pulse: Variable PWM 0
OFF

1
100% 80%
Notes: Home sensor not used in this example. See Homing section for details.
20% 50%
0%
Motor position (as % of total span) vs. time t
I/O FUNCTIONS
Input A - Asserting this input will make ClearPath continue to servo to its
current position regardless of any changes to the duty cycle on Input B.
Alternatively, this signal can be used as a home sensor input.
represents the desired position.
Notes:
x A loss of modulation (meaning Input B has no transitions for
more than 50 ms) is considered an error condition, and
ClearPath will maintain its current position.
x A duty cycle of nearly 0% or 100% (with a state transition at
least every 50 ms) will command ClearPath to move to position
0 or position 1, respectively.
x A duty cycle between 0% and 100% will command a position
proportionally between position 0 and 1.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

cycle is measured by ClearPath.
Click to open Click to open
Define the ends of travel NO CHECK Torque Limit Homing
here (in encoder counts). Duty cycle is % of period high Setup dialog. Setup dialog.
CHECK

(cnts) is being overridden by a
1,600 secondary, user-set torque limit
the main torque limit may be
overridden by the separate
homing torque limit setting).
Enter max. desired Adjust settings for RASTM (or Commanded changes in
motor speed. optional g-StopTM) to convert position will be ignored With Command Lock
standard trapezoidal move until this distance is selected (and the input
profiles into profiles that reduce exceeded. (Prevents asserted) ClearPath will
noise, resonance, and vibration. motor hunting due to servo to its current
command signal dither.) or
Select Home Sensor position regardless of
to use Input A as a changes made to the
home sensor input. PWM duty cycle.
Dark = Input de-asserted (off) Displays HLFB
output status.
Check to turn on Soft Soft Inputs and LEDs emulate Click during homing
Controls. Override cannot hardware inputs. For use only operation to manually
enabled.
caption
TEKNIC, INC. TEL. (585) 784-7454

FOLLOW DIGITAL POSITION COMMAND: FREQUENCY COMMAND

Available on
MODE SUMMARY MCPV
ClearPath will servo to a position between two user-defined limits based

on the frequency of the signal on Input B.
Position Control Follow Digital Position: Frequency Command

1
Home Sensor Logic: High=In Sensor Low=Not in Sens. 0
Input A or 1
Cmd. Lock = ON
Command Lock Logic: High=Lock ON Low=Lock OFF 0
1
Input B Position Pulse: Variable Frequency 0
OFF
Frequency of signal (as % of user-defined freqency range) 20% 80% 50%

1
100% 80%
Notes: Home sensor not used in this example. See Homing section for details.
20% 50%
0%
Motor position (as % of total span) vs. time t
I/O FUNCTIONS
Input A - Asserting this input will make ClearPath continue to servo to its
current position regardless of any changes to the frequency on Input B.
Alternatively, this signal can be used as a home sensor input.
Input B - This input is connected to a digital signal whose frequency
represents the desired position.
Notes:
x A signal frequency on Input B equal to the user-defined
minimum will move the motor to position 0. A frequency equal
to the user-defined maximum will move the motor to position 1.
x Frequencies between the minimum and maximum will
command positions (proportionally) between position 0 and 1.
x If there are no transitions on Input B for 50 ms or more, this
will be considered an error condition, and the motor will hold
its current position.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS
Set Min/Max Frequency. During operation, motor

position is controlled by Input B signal frequency.
Example; based on setting sbelow, a 10 kHz signal will
Set Position Range. command the motor to one end of travel (+100,000) Click to open Click to open
Define the ends of travel and a 5kHz signal will command the motor to the Torque Limit Homing
in encoder counts. other end of travel (+10,000 counts). Setup dialog. Setup dialog.

(cnts) is being overridden by a
1,600 secondary, user-set torque limit
the main torque limit may be
overridden by the separate
homing torque limit setting).
Enter max. desired Adjust settings for RASTM (or Commanded changes
motor speed. optional g-StopTM) to convert in position will be With Command Lock
standard trapezoidal move ignored until this selected (and the input
profiles into profiles that reduce minimum distance is asserted) ClearPath will
noise, resonance, and vibration. exceeded. (Prevents servo to its current
motor hunting due to or position regardless of
command signal dither.) Select Home Sensor
to use Input A as a changes made to the
home sensor input. command frequency.
Dark = Input de-asserted (off) Displays HLFB
output status.
Check to turn on Soft Soft Inputs and LEDs emulate Click during homing
Controls. Override cannot hardware inputs. For use only operation to manually
enabled.
TEKNIC, INC. TEL. (585) 784-7454

OPERATIONAL MODES: SDSK AND SDHP

The ClearPath SD (Step & Direction) family was designed to replace
stepper motor and drive systems with a single, cost-effective unit.
Note: ClearPath SDSK and SDHP models accept quadrature AB signal
sources as well as step & direction signals.
STEP & DIRECTION

Available on
SDSK + SDHP
MODE DESCRIPTION
Enable your ClearPath and send industry standard step & direction
signals to Inputs A and B, and ClearPath faithfully follows them. Use the
included RAS (Regressive Auto Spline) feature to reduce vibration and
noise. This mode is great for replacing stepper motor and drive systems
with a single, compact device that costs less and does more.
ClearPath SD models require step and direction signals generated from an
external device such as an indexer, microcontroller, or similar.
Stepper Replacement Step and Direction Input Control

1
1
Input B Step Pulse: Digital Step Input 0
1
1
Trigger NA NA 0
Notes: Absolute Minimum Pulse Width = 715nS. v
t
Step and Direction Inputs and Timing
I/O FUNCTIONS
Input A - Direction input.
Input B - Step input.
Notes:
x Minimum pulse width (for high and low states) = 715 nS.
x Maximum pulse input frequency = 700kHz at 50% duty
cycle.
x Motion occurs on the rising edge of each step input pulse.
x Time before Disable = 10 mS.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

Check to reverse
pulses required to rotate
direction of motor Click to open Torque
the motor shaft exactly
shaft rotation. Limit Setup dialog.
one revolution.

When lit, the main torque limit is
being overridden by a
(e.g., when an axis is homing, the
Choose pulse input format. main torque limit may be
Set jerk limit. Higher values Click to open Homing
Step & Direction overridden by the separate
result in smoother, more Setup window (when
or homing torque limit setting).
gradual transitions between homing is enabled).
Quadrature
move segments of differing
Hardware Input Status LEDs acceleration; however, overall
Light = Input asserted (on) move time is increased. Displays HLFB
Dark = Input de-asserted (off) output status.
Check to turn on Soft Soft Inputs and LEDs Enter motor velocity. For Enter motor acceleration.
Controls. Override cannot Emulate hardware inputs. For use with Soft Controls. For use with Soft Controls.
be activated when ClearPath use only when Soft Controls
is hardware enabled. are active. Caution: motor
TEKNIC, INC. TEL. (585) 784-7454

STEP AND DIRECTION TIMING

The ClearPath Step Input is “positive edge-triggered”, so ClearPath
registers a step only when Input B sees the rising edge of a step input
pulse (i.e. an electrical transition from low to high). Refer to the diagram
below for details and important step and direction signal timing
requirements.
Note: ClearPath can be configured to move one count for each step
received, or one count per [x steps] received, based on the Input
Resolution setting.
Note: In this example, 1 step received at Input B = 1 count of rotation.
n n-1 n n-1
Position
tpw
Steps register on
Step the rising edge
(Input B)
tpw
Direction
(Input A)
tds tds
tdh
tpw Minimum step pulse width = 715 nS
tds Minimum time between direction change and step input change = 25 nS
tdh Minimum direction hold time = 1 uS
ClearPath step & direction timing
TEKNIC, INC. TEL. (585) 784-7454

QUADRATURE INPUT
Available on
SDSK + SDHP
MODE DESCRIPTION
You send 2-channel quadrature signals and ClearPath moves in response.
This mode is great for replacing quadrature driven stepper systems with a
single compact device that costs less and does more.
To get started, select "Quadrature" from the Input Format drop down
menu in the Mode Controls section.
Assert the Enable Input to energize the motor. Then, send quadrature
pulses from an external controller to ClearPath Inputs A and B to
command motion.
Stepper Replacement Quadrature Signal Control

1
Input A Speed & Dir Pulse: Quadrature A 0
1
Input B Speed & Dir Pulse: Quadrature B 0
1
1
Direction
Trigger NA NA 0 changes
v
ccw
cw t
cc_mcsd
B “leads” A for CCW motion A “leads” B for CW motion

Input A Input A
Input B Input B
Step and Direction Inputs and Timing
I/O FUNCTIONS
Input A - Quadrature A input.
Input B - Quadrature B input.
Notes:
x Input B must lead Input A for CCW motion; Input A must lead
Input B for CW motion.
x Maximum pulse input frequency = 700kHz per channel at 50%
duty cycle.
TEKNIC, INC. TEL. (585) 784-7454

x Minimum pulse width (for high and low states) = 715 nS.
x Minimum time between adjacent channel transitions = 25nS.
x Time before Disable = 10 mS.
TEKNIC, INC. TEL. (585) 784-7454

MODE CONTROLS

Check to reverse
pulses required to rotate
direction of motor Click to open Torque
the motor shaft exactly
shaft rotation. Limit Setup dialog.
one revolution.

When lit, the main torque limit is
being overridden by a
(e.g., when an axis is homing, the
Choose pulse input format. main torque limit may be
Set jerk limit. Higher values Click to open Homing
Step & Direction overridden by the separate
result in smoother, more Setup window (when
or homing torque limit setting).
gradual transitions between homing is enabled).
Quadrature
move segments of differing
Hardware Input Status LEDs acceleration; however, overall
Light = Input asserted (on) move time is increased. Displays HLFB
Dark = Input de-asserted (off) output status.
Quad-A Quad-B
Check to turn on Soft Soft Inputs and LEDs Enter motor velocity. For Enter motor acceleration.
Controls. Override cannot Emulate hardware inputs. For use with Soft Controls. For use with Soft Controls.
be activated when ClearPath use only when Soft Controls
is hardware enabled. are active. Caution: motor
INPUT RESOLUTION SETTING

The Input Resolution setting provides a simple way to change the ratio of
quadrature counts input to encoder counts moved.
Example 1) For a motor with a 6400 count/revolution encoder, setting the
Input Resolution to 6400 quadrature counts/rev. results in a
simple 1:1 relationship. This just means that for each quadrature
count seen at the ClearPath input, the motor shaft will rotate exactly 1
encoder count.
Example 2) For the same 6400 count motor, a setting of 800
quadrature counts per rev. results in a 1:8 relationship. Thus, 1
quadrature count seen at the input will result in 8 encoder counts of
motion at the shaft.
Available Input Resolution Settings

Input Resolution choices are 200, 400, 800, 1600, 3200, 6400, 12800,
25600, and 51200 quadrature counts per revolution.
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX A: LED BLINK CODES

Note: In some cases, several different exceptions types display the same blink code. In this case,
connect ClearPath to a PC running MSP to see specific exception type.
Exception Affect on Servo How to Clear Status or Exception

LED Activity Type Motion Status Exception Message Reported in UI
No (or low) Power
Verify power is correctly wired
and within specified voltage
No LED Activity N/A N/A Servo off N/A range.
Status: Disabled
Yellow – on solid N/A N/A Servo off N/A Motor power is turned off.
Status: Performing
Yellow - flicker N/A N/A Servo on N/A Commutation Start-up
Status: Enabled
Motor power is on. ClearPath will
Green - flicker N/A N/A Servo on N/A respond to motion commands.
User Stop
ESC key or button was pressed
Yellow - 2 blinks Shutdown Disallows motion Servo off Toggle Enable input by the user.
Motor Enable Conflict
The hardware inputs did not
match the active software
override inputs when the motor
was enabled via the hardware
enable line.
Yellow - 2 blinks Shutdown Disallows motion Servo off Toggle Enable input
Max Bus Voltage Exceeded
Probable cause: high AC line

voltage, large regenerated
Yellow - 3 blinks Shutdown Disallows motion Servo off Toggle Enable input voltage upon deceleration.
Power Event Detected
Probable cause: Dropped AC
phase; Bus volts under operating
Yellow - 3 blinks Shutdown Disallows motion Servo off Toggle Enable input voltage.
Command Speed Too High
Probable cause: commanded

speed/velocity is beyond motor
Yellow - 4 blinks Shutdown Disallows motion Servo off Toggle Enable input spec.
Tracking Error Limit Exceeded
Possible causes: excessive

friction, mechanical
misalignment, vel/accel too high,
low DC bus voltage.
RMS Torque Limit Exceeded
Possible causes: excessive
friction, mechanical
misalignment, duty cycle too
high, undersized motor.
TEKNIC, INC. TEL. (585) 784-7454

Excessive Bus Current

Probable cause: bad tuning, low
Yellow - 4 blinks Shutdown Disallows motion Servo off Toggle Enable input bus voltage.
Excessive Motor Temp
Possible causes: ambient

temperature too high for motor
load; poor cooling; fan not
Yellow - 5 blinks Shutdown Disallows motion Servo off Toggle Enable input running (if used).
Momentary Low Bus Voltage
Power supply drooped below
18V, insufficient current
capabilities, and/impedance too
high.
Yellow – 6 blinks Shutdown Disallows motion Servo off Toggle Enable input
Old Config File Version
Probable cause: Firmware
updated after config file was
saved. Create or load new config
file.
Motor Phase Overload
Phase current is beyond allowed
ADC limit. Probable cause:
incorrect tuning or wrong config
file.
Hard Stop Gave Way
A mechanical hard stop was
detected during homing but it
gave way before homing was
completed.
Excessive Bus Current
Probable cause: bad tuning, low
Yellow - 7 blinks Shutdown Disallows motion Servo off Toggle Enable input bus voltage.
Commutation Startup Error
DC bus too low for proper
commutation start-up. Possible
causes: brown out, incorrect
power supply voltage, supply
configured for higher AC line
voltage.
Velocity Set Too High
Velocity/speed limit exceeds
motor's factory-set maximum
Yellow - strobe Shutdown Disallows motion Servo off Toggle Enable input speed.
RAS Change Rejected
Unexpected error. Contact
Teknic for work-around or new
Yellow - strobe Shutdown Disallows motion Servo off Toggle Enable input firmware.
Step Input Timing Error
Possible causes: Step input
pulse width too short, electrical
noise, loose connection, shorted
wires.
Yellow - strobe Shutdown Disallows motion Servo off Toggle Enable input
TEKNIC, INC. TEL. (585) 784-7454

Speed Too High For RAS

Unexpected error. Contact
Teknic for work-around or new
Yellow - strobe Shutdown Disallows motion Servo off Toggle Enable input firmware.
MagAlign Distance Error
Distance traveled does not
match expected value. Possible
cause: motor against an end
stop, incorrect motor settings.
MagAlign Direction Error
Direction traveled is incorrect.
Probable cause: external forces
during MagAlign procedure.
DSP Watchdog Restart
Firmware problem. Re-flash
firmware with same or newer
firmware version. Return unit to
Teknic if problem not solved.
Travel Limits Violated
(lockdown)
Green/Yellow Commanded position is on the

wrong side of the home position.
alternating Lockdown Disallows motion Servo on Toggle Enable input
(lockdown)
Commanded position is beyond
the Max Travel from Home
Green/Yellow position as specified in Homing
Setup.
Motor Enable Conflict
The hardware inputs did not
match the active software
override inputs when the motor
was enabled via the hardware
Green/Yellow enable line.
(warning)
Allows motion (if Auto-clears at start of
Commanded position is on the
cause is no longer next move if cause is wrong side of the home position.
Green – 2 blinks Warning present) Servo on no longer present
(warning)
Commanded position is beyond
Allows motion (if Auto-clears at start of the Max Travel from Home
cause is no longer next move if cause is position as specified in Homing
Setup.
Green – 2 blinks Warning present) Servo on no longer present
Move Buffer Underrun
Allows motion (if Auto-clears at start of Possible causes: move

cause is no longer next move if cause is increments too small or sent too
Green – 2 blinks Warning present) Servo on no longer present slowly.
Torque Saturation
Power supply may be insufficient
for application, torque Limit may
Auto-clears when
be set too low for command. Try
cause is no longer lowering acceleration.
Green - 3 blinks Alert Allows motion Servo on present
TEKNIC, INC. TEL. (585) 784-7454

Voltage Saturation
Available bus voltage maxed
Auto-clears when out. Commanded speed may
exceed motor spec. Try lowering
cause is no longer
speed.
Green - 3 blinks Alert Allows motion Servo on present
Over Speed
Auto-clears when Commanded speed exceeds

cause is no longer motor max speed limit. Try
Green - 3 blinks Alert Allows motion Servo on present lowering speed.
Over Temp
Auto-clears when
cause is no longer Internal electronics above
Green - 3 blinks Alert Allows motion Servo on present shutdown threshold. Add fan.
Power Event Detected
(warning)
Auto-clears when Probable cause: Dropped AC
cause is no longer phase; Bus volts under operating
Green - 3 blinks Alert Allows motion Servo on present voltage.
Motor Has Failed
Return to Teknic for repair or
Red Toggle Motor Failure Disallows Motion Servo off Not clearable replacement.
If ClearPath shows no LED activity

During operation, if ClearPath DC bus voltage droops below approximately 18VDC, the following
will occur:
x ClearPath will go into a shutdown state.
x The LED will turn off. Note: ClearPath will continue to communicate if voltage remains high
enough.
x The LED will remain off. Toggling the Enable will not clear this shutdown.
Once voltage returns to approximately 20VDC or higher:

x ClearPath will remain in a shutdown state but the LED will “wake up” and flash a yellow
blink code 6 (see table above for complete description of this exception code).
x At this point, toggle the enable to clear the shutdown.
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX B: MECHANICAL INSTALLATION
MOUNTING DIMENSIONS: POWER4-HUB
Ø .155 ±.004 3.94 ±0.10 THRU
27.06
1.065
77.72 74.55 78.38

3.060 2.935 3.086
w/ connector
overhang
3.18
.125
1.55
3.18 .061
.125 6.35
101.47 .250
3.995
104.65
4.120
POWER4-HUB Mounting Dimensions
TEKNIC, INC. TEL. (585) 784-7454

TEKNIC, INC.
Model Number “L” Dimension
0
73.03 -0.051
CPM-_ _ _ _ -3411_ - _ _ 79.70 [3.138]
CPM-_ _ _ _ -3421_ - _ _ 98.52 [3.879] 0.000
CPM-_ _ _ _ -3432_ - _ _ 117.52 [4.627] 2.875 -0.002
CPM-_ _ _ _ -3441_ - _ _ 136.70 [5.382]
98.43 0.220 5.60 THRU
2.03
50 [L 2.54] 0.080 3.875
1.969 For #6 or M3.5 thread-cutters
3.18 L .100 [31.75 0.020]
Use to mount optional
.125 60mm x 60mm fan. 1.250 .008
5
Recommended 0.197
clearance for USB
cable 5 45°
0.197
50
1.969 90°
6.70 108.94 ±0.76
0.264 20
0.787 4.289 ±0.030
CLEARPATH MC/SD USER MANUAL REV. 3.16
12.708
USB Access 12.675
0.5003
(3X) 0.4990
44.45 31.75 60.10 ±0.76
1.75 1.250 Shaft Keyway Detail 2.366 ±0.030
MOUNTING DIMENSIONS: CLEARPATH NEMA 34
[20]
[3]
.787 [5] 86.87 ±0.76
12.7 .118
.197 3.420 ±0.030
0.5 Note: Shaft key not included with motor
Key available through McMaster-Carr [5]
Part Number: 96717A181
.197
Description: Metric shaft key
Dimensions: 5mm x 5mm x 20mm
163
TEL. (585) 784-7454

TEKNIC, INC.
[L 2.54]
L .100 53.85 5.20
44.45 2.120
1.750 20.58±0.76 4x .205 THRU
37.68 I/O Connector Power
.810±.03 Connector
1.483 1.90±0.10
10.82
.075±.004
.426
Model Number “L” Dimension
CPM-_ _ _ _ -2310_ - _ _ 84.81 [3.339]
CPM-_ _ _ _ -2311_ - _ _ 84.81 [3.339]
CPM-_ _ _ _ -2321_ - _ _ 103.83 [4.088] 0
38.10-0.051
CPM-_ _ _ _ -2331_ - _ _ 122.83 [4.836]
3 CPM-_ _ _ _ -2341_ - _ _ 141.83 [5.584] .000
Recommended .118
1.500+.002
- 81.85±0.76
Clearance for 3.222±.03
USB Access 3
.118 Shaft Keyway Detail 66.68
2.625
[12]
[1.80]
.472 [3]
.071
.118
12
[3]
.472
.118
9.533
9.500 59.10±0.76
Note: Shaft key not included with motor 2.327±.030
.3753 Key available through McMaster-Carr
.3740 Part Number: 96717A086

Description: Metric shaft key
Optional 1/4" Full Round Shaft Dimensions: 3mm x 3mm x 10mm
1/4” shaft svailable

231x and 232x 3.18
models only 4x .125
20.57
.810 For #6 or M3.5
thread-cutters.
MOUNTING DIMENSIONS: CLEARPATH NEMA 23
Use to mount
optional 40mm x 32
40mm fan 1.260
6.358
6.325
.2503
.2490
32
1.260
164
TEL. (585) 784-7454

MOTOR MOUNTING CONSIDERATIONS

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.
x Do not mount ClearPath over a heat source such as a power
supply, spindle drive, etc. ClearPath will automatically shut
down if its internal temperature exceeds specifications.
x Do not mount ClearPath in an unventilated enclosure.
x Do allow for at least 1” of space around each ClearPath.
x ClearPath can be fitted with an external accessory fan if desired.
See Fan Mounting and Cooling later in this section for
details.
CONNECTING CLEARPATH TO A MECHANICAL SYSTEM

While it’s obvious that ClearPath must be connected to a mechanical
system to do useful work, it’s not always clear just how to connect the
motor to the mechanics.
Problems arise when a connecting element (such as a coupling) slips,
exhibits excessive backlash, or can not accommodate typical shaft-to-shaft
misalignments. Ultimately, the choice of shaft interface or coupling
depends on the application, whether a precision positioning stage or a low
speed conveyor.
The shaft interface (coupling, pulley, pinion, etc.) must be securely
clamped to the shaft with minimum backlash (ideally none). This primary
mechanical interface is critical in achieving and maintaining the best
possible performance from a servo motion system.
MOTOR CONNECTION: GENERAL TIPS AND GUIDELINES

x Align with care. When connecting two shafts—such as a
motor shaft to a screw shaft—the rotating centers must be
carefully aligned in both the angular and offset sense (including
offsets/adjustments for thermal growth) to achieve the best
possible motion quality and longest motor/bearing life.
Some couplings are more forgiving of misalignment than

others, but in general, misalignment will cause undesired
vibration/noise, shortened bearing life, and even broken motor
shafts.
TEKNIC, INC. TEL. (585) 784-7454

x Use lightweight components. Aluminum couplings,

pinions, and pulleys add significantly less inertia to the motion
system than steel parts of the same size. In most applications,
lower inertia is preferable because it allows the motor (and
attached mechanics) to accelerate harder and move and settle
faster.
x Avoid using set screws. Coupling devices with set screws are
prone to failure and often become the weak link when joining a
motor to a load. Set screws deform the metal around the screw’s
point of contact, often resulting in a raised bur on the shaft that
can make it hard to remove and replace the coupling element.
Set screws also tend to slip and score the shaft.
x Tip: Couplings, pulleys and pinions with circumferential
clamping mechanisms tend not to damage motor shaft, hold
better, and are easier to replace than those that use set screws.
x Clamp close to the motor. For maximum performance,
secure pulleys and pinions as close to the motor face as is
practical. This effectively reduces the lever arm (and associated
bearing load) for applications with a side load.
x Don’t over tighten belts. Always read the belt
manufacturer’s guidelines for proper belt tension, but never
exceed the ClearPath specification for maximum side load.
Overly tight belts put undue stress on the motor shaft and
bearing systems that can result in premature bearing and shaft
failure.
x Avoid using shaft keys when possible. Although ClearPath
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.
However, keys should be considered for use in
applications where coupling slip could result in a dangerous or
hazardous condition. Also, key use may be appropriate for
unidirectional applications (where the motor always spins in the
same direction) as these applications are less prone to key-
related lash problems.
x Avoid direct loads. In general, ClearPath motors are not
designed for connection to direct loads (e.g. direct connection to
a grinding wheel). However, direct connection may make sense
if the load is of low-mass and balanced, as with small mirrors
for laser applications.
TEKNIC, INC. TEL. (585) 784-7454

NOTES ON COUPLING SELECTION

A complete coverage of the topic Coupling Selection for Servo
Applications is beyond the scope of this document, but many articles and
resources can be found on the web for those interested in learning more.
Because there are so many different coupling styles and applications,
selecting the “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:
x Don’t undersize the coupling. Understand how much torque
your application requires and stay within the coupling
manufacturers specifications. Always leave reasonable
engineering margin.
x Don’t use set screw type couplings. They damage the motor
shaft and tend to be less reliable over time than clamp style
couplings.
x Do use clamp style couplings. These clamp around the
circumference of the shaft at one or two points without
deforming the shaft surface.
x Don’t use rigid couplings—they are notoriously intolerant of
misalignments.
x Don’t use beam style (helical) couplings if vibration damping
or torsional stiffness is critical to your application. Beam
couplings tend to resonate/whine at higher speeds.
x Don’t use any coupling that requires you to drill into, deform,
or “pin” the motor shaft.
Coupling Recommendation
Teknic often recommends zero-backlash curved jaw couplings
(commonly referred to as “spider couplings”) as a good choice for many
servo applications. These couplings are moderately priced and widely
available from well established manufacturers such as Ruland.
Couplings for servo applications
Note: Curved jaw couplings (also known as spider couplings) are a good
choice for many applications, but cannot tolerate a great deal of
misalignment or axial motion. Also, never exceed the manufacturer’s
rating for “maximum torque with zero backlash” when using jaw
couplings.
TEKNIC, INC. TEL. (585) 784-7454

Bellows couplings are also excellent for high precision positioning

applications. Bellows couplings allow for more misalignment than jaw
couplings but are generally more expensive.
Both curved jaw and bellows coupling offer excellent positioning accuracy,
high speed performance, and vibration damping when installed and
operated within the manufacturer’s specifications and guidelines.
Coupling Information on the Web

Ruland’s website has a good collection of technical information on
coupling types and coupling selection for servo systems. Click here for
access to technical articles, videos, and CAD drawings. Or go to
http://www.ruland.com/a_articles.asp.
INSTALLING PULLEYS AND PINIONS
PULLEY AND PINION MOUNTING

x Always follow the manufacturers mounting guidelines.
x Mount pulleys and pinions as close to the motor face as possible
while still following the manufacturer’s installation guidelines.
x Never drill through, “pin”, or deform the motor shaft when
mounting a pulley or pinion.
Application Tip: To prevent loosening/slip, some users bond their
pulleys and pinions to the motor shaft with a high strength adhesive such
as Loctite #638. While this is very effective in preventing pulley slip, it can
be difficult to undo once the adhesive has cured.
TEKNIC, INC. TEL. (585) 784-7454

ABOUT END-OF-TRAVEL STOPS

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. There are a few common types of end stop to consider, but the final
choice depends on the application objectives and requirements.
HARD BLOCKS
This is usually a solid block of steel, aluminum, or hard plastic secured at
one or both ends of travel and positioned in such a way as to make even,
repeatable contact with a hard surface on the moving element. Hard
blocks are very effective at arresting motion, but can result in mechanical
damage when struck at high speeds.
In several modes, ClearPath must home to a hard stop to establish a home
reference position before functional positioning can begin.
ELASTOMERIC (RUBBER) STOPS

High durometer rubber stops (hard rubber) can also be used with
applications that use HardStop Homing. This type of end stop offers a
higher level of shock absorption and axis protection than hard blocks.
Spongy, low durometer rubber stops are not recommended in most cases.
They offer little benefit over a hard end stop during an axis crash.
PNEUMATIC (DASHPOTS)
Pneumatic hard stops (dashpots) offer excellent shock absorption
performance but are considerably more expensive than hard blocks.
Examples of specialized dashpots include the hydraulic cylinder in an
automobile shock absorber as well as many automatic door closers.
END STOPS AND HARD STOP HOMING

End stops from medium durometer rubber to steel can be used
successfully with Hard Stop Homing. When selecting end stops for a Hard
Stop Homing application consider the following:
x Axes with low friction that are easily back driven can tolerate
“softer” rubber end stops and still achieve good homing
performance.
x Higher friction applications and those that cannot be back
driven will generally require harder end stop material to achieve
best Hard Stop Homing performance.
x Be prepared to test and experiment with different end block
materials to ensure proper homing operation with your
mechanical system.
TEKNIC, INC. TEL. (585) 784-7454

FAN MOUNTING AND COOLING

All ClearPath motors have unthreaded mounting bosses on the rear
casting to accommodate a standard DC fan (60mm for NEMA 34 motors,
or 40mm for NEMA23 size motors). See the diagram below for mounting
dimensions, hardware and supported fan sizes. Teknic does not sell
accessory fans, but they are readily available through electronics suppliers
including Digikey and Mouser.
Note: As with all electronic products, cooler is better for longest life span.
So, even though ClearPath can reliably operate at elevated temperatures
(exceeding the ratings of most other motor drives) your system should
always be designed with the best cooling you can reasonably provide.
Note: ClearPath will shut down to self-protect when the rear cover
temperature reaches 80 degrees C.
ClearPath NEMA 34
Designed for 60mm fans
50mm
1.969” Mounting Boss (3 places)
Inner dia: 0.125” (3.17mm)
air flow
Use #6 or M3.5 thread cutters.
Max penetration into boss: 0.28”
Fan (60 mm)
50 mm
1.969”
REAR END BELL
IMPORTANT: NOT A
MOUNTING POINT.
Do not install a screw here.
Use only three screws to
secure fan to motor.
ClearPath NEMA 23
Designed for 40mm fans
32mm
1.260” Mounting Boss (4 places)
Inner dia: 0.125” (3.17mm)
Use #6 or M3.5 thread cutters.
air flow Max penetration into boss: 0.28”
Fan (40 mm)

1.260”
32mm
REAR END BELL
TEKNIC, INC. TEL. (585) 784-7454

B C E
TEKNIC, INC.
1 1
See IPC-3 / IPC-5 documentation for
wiring instructions for this connector. 1
1
Amazon
IPC-5
A
Power
Center
Intelligent
1
IPC-5 or IPC-3 Power Supply POWER4- HUB ClearPath Motor
Parts listed in table manufactured by Molex Inc. Visit www.molex.com for complete specifications and application information.
Mating Extraction Recommended
1
Ref. Description Connector PN Terminal PN Terminal Desc. Crimp Tool Tool Wire Gauge
MATING CONNECTOR INFORMATION
Molex Sabre, 44441-1002 (natural, UL 94V-2) 43375-0001 Female crimp terminal, 63811-7200 63813-2700
Receptacle, 44441-2002 (black, UL 94V-0) tin plate, 14-16 AWG (14-16 AWG) 16 AWG
A
2 circuits
Molex MiniFit-Jr, 39-01-2020 (natural, UL 94V-2) 39-00-0059 (reel) Female crimp terminal, 63819-0901 11-03-0044
CABLE PINOUTS
Receptacle, 39-01-3025 (black, UL 94V-2) 39-00-0060 (loose) tin plate, 18-24 AWG (18-24 AWG)
B 2 circuits 39-01-3028 (natural, UL 94V-0) 20 AWG
39-03-9022 (black, UL 94V-0)
Receptacle, 39-01-3085 (black, UL 94V-2) 39-00-0047 (loose) tin plate, 22-28 AWG (22-28 AWG)
C 8 circuits 39-01-2085 (natural, UL 94V-0) 22 AWG
39-03-9082 (black, UL 94V-0)
D
Receptacle, 39-01-3045 (black, UL 94V-2) 39-00-0078 (loose) tin plate, (16 AWG)
E 4 circuits 39-01-2045 (natural, UL 94V-0) 16 AWG 16 AWG
APPENDIX C: MATING CONNECTORS AND
39-03-9042 (black, UL 94V-0)
1
AWG values listed are the actual wire gauges used in Teknic-manufactured cables.
171
TEL. (585) 784-7454

CABLE PINOUT: CPM-CABLE-CTRL-MU120

Cable description: ClearPath I/O connector cable. Overmolded Molex
MiniFit Jr. 8-position connector to standard MiniFit Jr. 8-position
connector (no over-mold on one end for easy access to wires).
Factory
Standard overmolded
connector connector
122"
Pin Assignments
7 - BRN 6 - YEL
Pin Color Name
1 GRN HLFB +
8 - ORG 5 - RED
2 BLK Input B +
3 WHT Input A +
4 BLU Enable +
5 RED HLFB - 4 - BLU 1 - GRN
6 YEL Input B -
7 BRN Input A - 3 - WHT 2 - BLK
8 ORN Enable - wire entry view
CABLE PINOUT: CPM-CABLE-CTRL-MM660

Cable description: ClearPath I/O connector cable (double-ended).
Molex MiniFit Jr. 8-position connector to same. Use “as is” or cut in half
to make two cables with flying leads.
662"
Pin Assignments
7 - BRN 6 - YEL
Pin Color Name
1 GRN HLFB +
8 - ORG 5 - RED
2 BLK Input B +
3 WHT Input A +
4 BLU Enable +
5 RED HLFB - 4 - BLU 1 - GRN
6 YEL Input B -
7 BRN Input A - 3 - WHT 2 - BLK
8 ORN Enable - wire entry view
TEKNIC, INC. TEL. (585) 784-7454

CABLE PINOUT: CPM-CABLE-PWR-MM660

Cable description: ClearPath power cable (double-ended). MiniFit Jr.
4-position connector to same. Use “as is” or cut in half to make two cables
with flying leads.
662"
4 3 - RED
Pin Assignments
Pin Color Name
2 BLK GND
3 RED V+
2 - BLK 1
wire entry view
CABLE PINOUT: CPM-CABLE-PWR-MS120

Cable description: ClearPath power cable. This cable connects the DC
output of a Teknic IPC-3 or IPC-5 power supply to the ClearPath power
input connector. It features a Sabre 2-position connector to Molex MiniFit
Jr. 4-position connector.
121"
4 3 - RED
2-BLK 1-RED
2 - BLK 1
wire entry view wire entry view
Pin Assignments Pin Assignments

Pin Color Name Pin Color Name
1 RED V+ 2 BLK GND
2 BLK GND 3 RED V+
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX D: COMMON SPECIFICATIONS

Electrical Power Requirements:
Supply Voltage, Typical: 24VDC to 75VDC
Supply Voltage, Absolute Min: 21.5VDC (as measured at input terminals)
Supply Voltage, Absolute Max: 90VDC (as measured at input terminals)
Continuous Bus Current, Typical: 1A to 4A (application dependent)
Continuous Bus Current, Maximum: 10A
Idle Power usage from Bus 4W (enabled, no torque used by axis or load)
3W (disabled)
Electrical I/O:
Logic Input Voltage Range: 4.0VDC to 28VDC
Input Current @ 5V: 7.5mA (min.)
Input Current @ 28V: 12.0mA (min.)
HLFB Absolute Maximum Voltage 30VDC (across output terminals)
HLFB Output Current, Maximum: 9mA (non-inductive load)
HLFB Output voltage drop @ 2mA: 0.30VDC (+/- 100mV)
HLFB Output voltage drop @ 5mA: 0.55VDC (+/- 100mV)
Motor Bearing, NEMA34:
Maximum Radial Load, NEMA34: 220N (50-lbs), applied 25mm (1.0in) from front bearing
Maximum Thrust Load, NEMA34: 44N (10-lbs)
9 9
Bearing Life, NEMA34: 2.4 x10 to 5.3 x10 revs (typ., load dependent.)
Motor Bearing, NEMA23:
Maximum Radial Load, NEMA23: 110N (25 lbs), applied 25mm (1.0in) from front bearing
Maximum Thrust Load, NEMA23: 22N (5 lbs)
9 9
Bearing Life, NEMA23: 3.2 x10 to 5.0 x10 revs (typ., load dependent.)
Environmental:
Shock (peak, maximum): 10G (applied no more than twice)
Vibration (RMS, 2 Hz-200 Hz): 1.0G or 0.5mm, whichever is less
2
Maximum External Shaft Deceleration: 250,000 rad/s
4
Ambient Temperature : -40°C to +70°C
Maximum Body Temp.: 100°C
Maximum Rear Cover Temp.: 70°C
Humidity: 0% to 95%, Non-Condensing
Recommended Optional Fan, NEMA23: 40mm square, 45.25 mm bolt center, >7CFM
Recommended Optional Fan, NEMA34: 60mm square, 70.71 mm bolt center, >14CFM
Environmental Sealing:
Front Face, with shaft seal option: IP65
Front Face, without shaft seal option: IP53
Body/rear, with dielectric
sealing grease in connectors IP55
Body/rear, no sealing provisions IP53
Compliance:
Regulatory Certifications: UL recognized, CE, RoHS
Electrical Safety: UL508C, EN 61010-1
EMI: EN 61326-1
Country of Origin: USA
Warranty: 3 years
4
The RMS torque limit on certain motors is derated for operation in ambient temperatures
above +40°C. Contact Teknic for derating assistance.
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX E: GROUNDING AND SHIELDING
PROTECTIVE EARTH (PE) CONNECTION
Compliance Note: ClearPath 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).
Connect ClearPath to your machine’s Protective Earth terminal (PE) using
one of the following methods.
x If the motor mounting plate is bonded to machine PE
(typical), most of the work is already done. Simply secure
ClearPath to the mounting plate with conductive fasteners (don’t
use anodized or coated hardware). Ensure direct, bare metal-to-
metal contact between the ClearPath motor face and mounting
surface.
x If the motor mounting plate is not bonded to machine PE
it’s still easy to make a good PE connection. Just install a grounding
wire from ClearPath’s Auxiliary PE Connection Point (located on
the motor’s rear casting) to a point on the machine that is bonded
to machine PE. Use #6-32, thread forming screw, 5/16"
length (McMaster-Carr PN 93878A145). Use grounding wire with
same AWG number (or heavier) as the ClearPath DC power input
wiring.
Note: In scenarios where ClearPath is not connected to a PE (Protective
Earth) return path–such as during bench testing or maintenance–
temporary grounding measures may be necessary to comply with safety
requirements.
GROUNDING AND SHIELDING

x Always maintain separation between isolated control ground and
power ground.
x Shielded cable is not required for ClearPath control cables.
x If you choose to use shielded control cable, connect the cable’s
isolated ground at one point (at the controller only). Do not hook
isolated control ground to the machine frame or chassis at any
other location.
x Do not ground ClearPath I/O circuits to the machine frame or
chassis.
Note: All ClearPath I/O signals are electrically isolated from ClearPath’s
DC power input and motor output circuits, as well as from the motor case.
This design feature helps to ensure that control signals aren’t
compromised by induced currents from the motor, power supply, or
internal PWM.
TEKNIC, INC. TEL. (585) 784-7454

POWER RETURNS
x Never use the machine frame or chassis as a power return. Use
discrete cable or wires for all power wiring.
x Use only recommended wire gauge (16-18AWG typical) for all
ClearPath power wiring. When in doubt, use heavier wire.
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX F: CIRCUIT SCHEMATICS
POWER4-HUB SCHEMATIC (SIMPLIFIED)
RED LED
GRN LED
39-28-1023
POWER4-HUB simplified schematic
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX G: CLEARPATH PART NUMBER

KEY
Example
Part Number
CPM-SDHP-3441S-ELN A
1 2 3 4 5 6 7 8 9 10
®
1 P ro d u c t ID CPM ClearPath Motor
SDSK Step & Direction / “Stepper Killer” (2-3x the power of a similarly sized stepper)
SDHP Step & Direction / High Power model (8-15x the power of a similarly sized stepper)
M CVC Motion Controller / Velocity, Torque, 2 Position Modes
2 F a m ily/M o d e l
M CPV Motion Controller / Position, Velocity, Torque Modes
SCSK Software Control / “Stepper Killer” (3x the power of similarly sized steppers)
SCHP Software Control / High Power model (8-15x the power of similarly sized steppers)
23 NEMA 23 frame
3 M o to r F ra m e S ize
34 NEMA 34 frame
1 82mm
B o d y L e n g th 2 100mm
4 A pproxim ate, excludes
shaft length 3 120mm
4 140mm
0
1
W in d in g /M a g n e tic
5 2 Indicates specific winding design. See your motor's torque-speed curve for more information.
S tru c tu re
5
6
S Series-Wye (higher torque, lower speed)
6 W in d in g T yp e P Parallel-Wye (in between S and D characteristics)
D Parallel-Delta (higher speed, lower torque)
R Positioning Resolution = 800 counts per revolution
7 E n h a n c e d O p tio n s
E Positioning Resolution = 6400 counts per revolution
L Standard (NEMA 34 = 1/2", NEMA 23 = 3/8")
8 S h a ft D ia m e te r
Q 1/4” shaft diameter (available only on NEMA 23 models with body length 1 or 2)
N Standard dust sealing
9 S h a ft S e a l
S Extra PTFE infused polyimide seal. Not available on 1/4” shaft models.
F e a tu re S e t B Basic features; see list below.
10
S C M o d e ls O n ly A Advanced features; see list below.
Basic Features-SC models only Advanced Features-SC models only (Includes all Basic Features)
Velocity moves RAS™ & g-Stop™ (jerk limiting & vibration suppression)
Global torque limit Positive and Negative torque limiting
HardStop foldback (homing) Triggered moves (on input or command, including move groups)
Trapezoidal moves Head-tail moves
Node stops / e-stops Asymmetric moves
Reading and modifying positions A-after-start event generation
RAS™ (jerk limiting) B-before-end event generation
Status register Conditional torque limiting
Warning and alert system Attention generation
Parameter memory Position capture
Safety shutdowns
Soft limits
User defined data
Automatic brake coil control
Group shutdowns
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX H: MISCELLANEOUS TOPICS
HOMING
INTRODUCTION
Why Home? In many servo positioning applications, the moving
element of the stage (i.e., the load) must be precisely positioned at a
known location along the stroke of the axis before accurate positioning
can begin. This is where homing comes in.
When a ClearPath motor is powered up the motor does not know exactly
where its load is positioned along the stroke. Thus, if an application
requires the load to be in a specific location before operations begin, the
motor must be homed.
power’s back on!

click ! Where’d I leave the
carriage this time?
main ON
POWER Carriage
OFF
Enabled
Not Enabled
Home
Not Home
Home Sensor Flag (interrupts sensor)
HOMING (OVERVIEW)
The homing process typically involves moving the motor in a
predetermined direction towards a physical home location (typically a
sensor or hardstop at the end of travel).
When the motor arrives at this location, the position is recorded, and the
motor moves to a predefined offset location. Once at the offset position,
the motor will begin to operate normally as defined by the currently
selected operating mode.
This process ensures that an application will always begin in the same
physical location regardless of the motor's position upon power-up.
TEKNIC, INC. TEL. (585) 784-7454

TERMS USED IN THIS SECTION

Please read the below definitions to familiarize yourself with a few
frequently used ClearPath homing terms.
Physical Home Home Offset

(hard stop or switch typical) Move Distance
(optional)
Software Home
(zero position)
Physical Home Clearance
Motor Load Load

d
Homing Direction
Physical Home - Physical Home is the position of a mechanical

hardstop or home sensor. When the Physical Home is encountered, e.g. a
homing switch is actuated, the position is recorded, and the ClearPath
motor stops and moves away towards the final offset position.
Software Home (zero position) - During homing, once the Physical
Home (sensor or hard stop) is detected, ClearPath's position counter is
adjusted such that the Software Home (zero position) is a user defined
distance from the Physical Home
Physical Home Clearance (setting) - This is the user-defined
distance between Physical Home and Software Home (in encoder counts).
Physical Home Clearance provides safety spacing between the load and
Physical Home. The default setting is 1 motor revolution.
Home Offset Move Distance (setting) - This is an additional, user-
defined parameter which determines the final offset location when
homing is completed. At the end of homing the load will be the specified
distance away from the Software Home.
TEKNIC, INC. TEL. (585) 784-7454

HOMING SETTINGS
Homing dialog settings are explained below.
HOMING SETTINGS: COMMON TO ALL MODES

These homing settings are common to all ClearPath Automatic Homing
setups. They tell ClearPath the basics of when, where, and how to home.
Homing Occurs…
Lets you specify when to home your axis, either 1) the first time ClearPath
is enabled after power up (typical), or 2) every time ClearPath is enabled.
Application Note: If your ClearPath has Logic Power Back-up, and you
select "Homing Upon first Enable after power-up", you must cycle both
power sources (main DC and Logic Power) before homing will be allowed.
Homing Direction
Lets you choose clockwise or counter-clockwise shaft rotation during
homing. Select the direction of motor shaft rotation that will move the
load toward the Physical Home (hard stop, switch, sensor).
Homing Move Settings

Lets you specify homing speed and acceleration. Caution: always test
homing operation at low speed and acceleration.
TEKNIC, INC. TEL. (585) 784-7454

HOMING SETTINGS: OTHER
Homing Torque Limit (Hard Stop Homing only)
When homing is initiated, ClearPath lowers the torque limit to this value.
The Main Torque Limit is automatically restored after homing is
complete.
Switch Polarity (Home To Switch only)

The Switch Polarity checkbox gives you the option of inverting how
ClearPath interprets the home switch input state. This is helpful, for
example, if you have a normally closed home switch and you really needed
a normally open switch.
To test or change the Home Switch Polarity:

1. Actuate the home switch manually, i.e. close the switch or
interrupt the sensor.
2. Read the status indicator from the homing dialog in MSP as
shown above. If it reads "Not in Home" when the switch is
actuated then click the Invert checkbox. "In Home Now" should
display.
3. Release the home switch and verify that "Not in Home" is now
displayed in the status indicator.
"Miscellaneous" Settings
Max Travel From Home (cnts) - (Optional. Set to "0" to turn off.)
This is a software enforced travel limit. It is the maximum distance that
the motor is allowed to travel away from the Software Home position (i.e.,
TEKNIC, INC. TEL. (585) 784-7454

the zero position). ClearPath will not execute any move that would violate
this travel limit.
Physical Home Clearance (cnts) - This is the user-defined distance
between Physical Home and Software Home (in encoder counts). It is
intended to provide safety spacing between the load and Physical Home.
Default setting is 1 motor revolution.
Home Offset Move Distance (cnts) - (Optional. Set to "0" to ignore.)
This parameter determines the final position of the axis relative to the
Software Home. If this parameter is set to zero, the motor will remain at
the Software Home (zero) position when homing is complete.
TEKNIC, INC. TEL. (585) 784-7454

Precision Homing
The Precision Homing feature was created to help ensure that ClearPath
always finds the exact same Software Home (zero) position, even in cases
where the hard stop or home switch has slipped, bent, or otherwise drifted
in position. See the "Precision Homing" section later in this document for
more information.
Precision Homing section of Homing Dialog
Shaft Angle Homing

This homing method was designed with a rotary axis in mind– a rotary
tool changer for example. This method requires no additional sensor or
end of travel hard stop to use.
To use Shaft Angle Homing:

1. Select "Shaft Angle Homing" from the homing dialog (see image
above).
2. Manually move the motor shaft to the desired position.
3. Click "Set Home Angle" button to store the shaft angle in the
motor's memory. This setting will be retained in motor memory,
even if main power to ClearPath is cycled.
Note: on first power-up, the motor may move more than 1 revolution
before reaching the desired shaft angle.
TEKNIC, INC. TEL. (585) 784-7454

Manual Homing aka "User Seeks Home"

Manual Homing is available in Step & Direction and Pulse Burst
Positioning modes only.
When using Manual Homing, the user is responsible for sending homing
moves to ClearPath via step and direction or pulse burst signals.
To use this feature, select the "User Seeks Home" setting in the homing
dialog of Step and Direction or Pulse Burst Positioning mode.
See typical homing sequences section for more information on manual
hard stop homing.
TEKNIC, INC. TEL. (585) 784-7454

Advanced Settings
Check here if the axis can

spin“forever”in both
directions.
Check here if you need the
Homing Offset to be in the
same direction as the
homing move (not typical).
Select whether ClearPath

issues a Lockdown or a
Warning when the“Max
Travel From Home”value is
exceeded.
Homing: Advanced Settings
Rotary Axis with No Limit on Rotation Amount

Check this box if you have an axis such as a conveyor or turntable with
unlimited travel in either direction.
Offset Direction Same as Homing Direction (not commonly used)
Check this box if you want the post-homing offset move to be in the same
direction as the homing move. This setting is mainly used with rotary axes
with unlimited bi-directional motion such as a turntable or conveyor.
Behavior on Travel Limit Hit
This setting tells ClearPath whether to issue either a Warning or a
Lockdown (read note below) if you attempt to move past the “Max Travel
from Home” setting described earlier.
Warning vs. Lockdown

A Lockdown disallows motion until you toggle Enable to clear it. The
indicator LED on ClearPath flashes alternating yellow and green when a
Lockdown occurs.
A Warning allows motion only in the direction away from the soft limit
and the Warning automatically clears when the condition that caused it is
no longer present. The indicator LED on ClearPath flashes a green 2-blink
code when a Warning occurs.
TEKNIC, INC. TEL. (585) 784-7454

TYPICAL HOMING SEQUENCES

This section enumerates the main steps involved in the most common
ClearPath homing scenarios.
For the sake of discussion, we will assume that the ClearPath motor
described in this section is set to home every time it is enabled (as
opposed to homing only the first time it is enabled after power up).
AUTOMATIC SWITCH HOMING SEQUENCE

1. The user Enables ClearPath. (Enabling energizes the motor
coils and puts ClearPath in Automatic Homing mode.)
2. ClearPath automatically moves the load toward Physical Home
(a sensor) at the user-specified acceleration, speed, and
direction.
3. The sensor is actuated. The point of actuation is defined as
Physical Home. The Software Home (zero position) is defined
to be the Physical Home Clearance away from the Physical
Home.
4. The motor begins to decelerate.
5. The motor stops at some point past the sensor location
(determine by homing velocity and deceleration).
6. ClearPath moves towards the offset location as defined by the
[Home Offset Move Distance] parameter. If this value is zero,
ClearPath moves to the Software Home (zero position).
7. Homing is complete. ClearPath can now act on motion
commands.
AUTOMATIC HARD STOP HOMING SEQUENCE

coils and puts ClearPath in Automatic Homing mode.)
2. ClearPath automatically moves the load toward Physical Home
(a hard stop in this case) at the user-specified acceleration,
speed, and direction.
3. The load hits the hard stop, triggering the Hard Stop Detection
algorithm. Holding torque against the hard stop is
automatically rolled back.
4. Physical Home is established. This then defines the Software
Home(zero position) to be the Physical Home Clearance away
from the Physical Home.
5. ClearPath moves away from the Physical Home to the offset
location specified in the [Home Offset Move Distance]
parameter. If this value is zero, ClearPath moves to the
Software Home(zero position).
6. Homing is complete. ClearPath can now act on motion
commands.
TEKNIC, INC. TEL. (585) 784-7454

MANUAL HARD STOP HOMING SEQUENCE

coils and puts ClearPath in Manual Homing mode.)
2. The motor remains stationary until the user's control system
issues a move toward the Physical Home (hard stop) using
Step & Direction or Pulse Burst signals. Note: This initial
move must be long enough to guarantee the load will hit the
hard stop from the farthest point away from the stop.
3. The load hits the hard stop, triggering the Hard Stop Detection
algorithm. Holding torque against the hard stop is
automatically rolled back.
4. If the motor's HLFB output is set to "ASG", the output asserts.
5. ClearPath waits for the user's controller to send pulses to
command motion away from the hard stop. Any further
commands into the hardstop are disregarded while the motor
is folding back torque.
6. Upon seeing the first step or pulse away from the hard stop
ClearPath's position counter is automatically zeroed. ClearPath
exits homing mode and is ready for further move commands.
TEKNIC, INC. TEL. (585) 784-7454

PRECISION HOMING
Precision Homing helps assure that your specified home position remains
highly repeatable over time, even if the physical home mechanism
(typically a switch, sensor or hard stop) takes a hit and shifts position,
becomes bent, or experiences sensor drift over time. The physical home
mechanism can move by as much as ± 1/2 of a motor revolution and not
affect axis homing repeatability.
Video Link: Precision Homing Explained
When a ClearPath motor is set up for Precision Homing, the motor
automatically calibrates itself to the connected mechanical system the first
time ClearPath completes a homing operation (note: homing can be
recalibrated very easily at any time). After successful calibration, Precision
Homing remains active unless the feature is turned off in MSP.
A D
B
Motor Load
C Homing Direction
Precision Homing Nomenclature

(a) Original Physical Home - This is the Physical Home
reference point found during the initial homing/calibration
operation. Note: This reference position is stored in the motor's
NV memory. It is not reset if power is cycled.
(b) Current Physical Home - This is the most recent Physical
Home found. This position will only be different from Original
Physical Home if the associated sensor or hard stop has moved
or drifted.
(c) Max. Error Between Original (Calibrated) Physical
Home and Current Physical Home. Precision Homing will
successfully complete as long as the Current Physical Home
position does not exceed +/- 1/2 rev from Original Physical
Home.
(d) Final Position after homing is complete (defined by the
Physical Home Clearance, and Offset Move Distance
parameters).
TEKNIC, INC. TEL. (585) 784-7454

PRECISION HOMING SETUP
Precision Homing dialog in Homing Setup window
To calibrate ClearPath to your mechanics, you only need to

complete one initial homing operation. Whenever you need to clear and
reset calibration, click the (+) button as shown in the above screenshot
and follow the prompts to clear the calibration.
Important: Any time a motor is connected to new or different

mechanics, or is disassembled from its associated mechanics and
reassembled, you must clear the Precision Homing calibration
data to allow a new calibration to occur.
Manually clear the Precision Homing calibration data by doing

one of the following:
x Press the “Clear Calibration…” button.
x Load a motor configuration file.
x Run Auto-tune.
x Reset the configuration to factory default settings. Once cleared,
re-calibration will occur on the very next homing operation.
TEKNIC, INC. TEL. (585) 784-7454

HOMING METHODS LISTED BY OPERATIONAL MODE

Sensor Homing is available in the following modes:
x Move to Absolute Position: 2 Positions (Home to Switch)
x Move Incremental Distance: 2 Increments (Home to Switch)
x Move Incremental Distance: 1 Increments (Home to Switch)
x Multiple Sensor Positioning: Rotary with Sensor Homing
x Follow Digital Position Command: Unipolar PWM Command
x Follow Digital Position Command: Frequency Command
Automatic Hard Stop Homing is available in the following
modes:
x Move to Absolute Position: 4 Positions (Home to Hard Stop)
x Move Incremental Distance: 4 Increments (Home to Hard Stop)
x Move Incremental Distance: 2 Increments (Home to Hard Stop)
x Pulse Burst Positioning
x Multiple Sensor Positioning: Linear
x Step and Direction
Manual Hard Stop Homing aka "User Seeks Home" is available
in these modes:
Shaft Angle Homing is available in the following modes:
x Move Incremental Distance: 4 Increments (Home to Hard
Stop)
x Move Incremental Distance: 2 Increments (Home to Hard
Stop)
x Multiple Sensor Positioning: Linear
x Multiple Sensor Positioning: Rotary with Sensorless Homing
TEKNIC, INC. TEL. (585) 784-7454

MSP MOTION GENERATOR

The Motion Generator in MSP allows you to quickly and easily jog and test
your ClearPath motors (and any connected mechanics) with no external
switches or sensors required.
With the Motion Generator you can:

x Manually enable your ClearPath motor
x Run point-to-point profiled moves at the velocity, acceleration,
and distance of your choosing
x Jog your motor at different velocities and accelerations
x Manually toggle all of your motor's digital inputs
x Visually monitor the status of the motor inputs and HLFB output
To open the Motion Generator mode from the MSP main menu,
select Mode>Motion Generator.
Motion Generator window
MOTION GENERATOR CONTROLS

1. Mtr Enable (Enable/Disable Button)
Use this button to enable and disable the motor. When ClearPath is
enabled, the motor windings are energized and the motor is capable of
responding to move commands.
2. Point-to-Point Move Type (drop down menu)
x Single Profiled - Move once and stop. Click + or - button to
launch a single move in the specified direction.
x Repeat <> Profiled - Move back and forth repeatedly. Click +
or - button to launch reciprocating (back and forth) moves. Moves
will repeat indefinitely until the Stop button is clicked or an
exception occurs.
TEKNIC, INC. TEL. (585) 784-7454

x Repeat >> Profiled - Move repeatedly in the same direction.

Click + or - button to launch repeating moves in the same
direction. Moves will repeat indefinitely until the Stop button is
clicked or an exception occurs.
3. Jog Controls - Jog your motor with a single click. Set acceleration and
velocity as desired. Then, hold down (+) or (-) button to jog ClearPath;
release to stop motion. Hold down the (+5x) or (-5x) button to jog
ClearPath at 5 times the speed setting.
4. Move Start and Stop: Use these controls to start and stop a point-to-
point move. The (+) button commands a move in the counterclockwise
direction; the (-) button commands a move in the clockwise direction.
Click the Stop button to end a move cycle. Double-click the Stop
button to stop motion immediately.
5. Move Parameters: Define move parameters for Point-to-Point
Moves here. These include move distance (Ampl.), Velocity (Vel.)
Acceleration (Accel.), and pause time between repeating moves in
milliseconds (Dwell).
Motion Generator window (duplicate figure for reference)
6. g-Stop and RAS Setup: Opens the Profile Conversion dialog. Use
this to set and test the effect of different g-Stop and RAS settings on your
Motion Generator moves. Not all op modes support all RAS and g-Stop
options.
7. Torque Limit Setup: Opens Torque Limit dialog.
8. High Level Feedback Readout: Displays status of ClearPath's
digital output, HLFB (High Level Feedback).
9. Dashboard: Displays real-time motor information including enable
state, RMS torque level, motor position, motor velocity, and exception
information.
10. Software Control Override: Check the "Override Inputs" button to
activate Soft Controls. Manually toggle the motor's inputs without an
external hardware controller.
11. Input Status: Software LEDs that visually indicate the logic states of
the Enable Input, Input A, and Input B.
TEKNIC, INC. TEL. (585) 784-7454

ENCODER AND INPUT RESOLUTION
INTRODUCTION
This section includes a discussion of the following topics:
x ClearPath's Internal (native) Encoder Resolution versus
Positioning Resolution.
x Understanding and using the Input Resolution setting for Step
and Direction and Pulse Burst Positioning applications.
TERMS USED IN THIS SECTION

Count (or "encoder count")
A count is the smallest increment of encoder/shaft motion that can be
commanded at a given encoder resolution. This family of ClearPath
motors come in either 800 or 6400 counts per revolution. See Positioning
Resolution, next page.
Step (also called "step pulse", or just "pulse")
A step is an electrical pulse sent from a controller, PLC, indexer, etc. to the
ClearPath motor's step input as a means of commanding motion. One step
pulse sent to the ClearPath Step Input tells ClearPath to rotate the shaft
one increment of motion. If the step-to-count ratio is 1:1, then 1 step will
command 1 count of motion.
Steps per count
This is just the number of step pulses required to move the motor shaft
one count. This is often set at 1:1, but can be adjusted using the Input
Resolution setting in MSP (covered later in this section).
Counts per step
This is the number of counts the motor shaft will move for each step sent
to the ClearPath Step Input. This is often set at a 1:1 ratio, but can be
adjusted using the Input Resolution setting in MSP (covered later in this
section).
NATIVE RESOLUTION
ClearPath motors described in this manual are all equipped with an
incremental rotary encoder with a native resolution of 12800 counts per
revolution. This "internal" resolution is used by the motor's motion
algorithms, and is one of the factors behind ClearPath's high precision,
highly repeatable motion performance.
TEKNIC, INC. TEL. (585) 784-7454

POSITIONING RESOLUTION
Positioning Resolution—also called "Commandable Resolution"—is
the ClearPath motor's working encoder resolution. This is the encoder
resolution you specified when ordering your ClearPath. The two available
Positioning Resolution options for NEMA 23 and NEMA 34 ClearPaths
are:
x 800 counts per revolution for motor part numbers ending
in -Rxx.
x 6400 counts per revolution for motor part numbers
ending with -Exx.
INPUT RESOLUTION SETTING IN MSP

Note: This topic applies to Pulse Burst Positioning and Step and
Direction modes only.
The Input Resolution setting lets you vary the ratio of step pulses
received by the motor to encoder counts moved. It is set via a drop down
menu in the mode settings of Pulse Burst Positioning and Step and
Direction modes.
Feature Note: Enhanced ClearPath motors (part# ends in -Exx) allow
the user to set the Input Resolution (steps per revolution) to any whole
number value greater than or equal to 200.
INPUT RESOLUTION USE CASES

Note: The examples and screenshots below are based on an 800 count
per revolution ClearPath motor.
x Case #1. You want one step pulse to command one count
of motion (default). One count per step is the most common
Input Resolution setting.
Using the above setting, 800 step pulses will make this [800 count]
motor rotate one full revolution.
Tip: To set a 1:1 (1 step = 1 count) relationship, set the Input

Resolution to the same value as your motor's Positioning
Resolution. Example: For an 800 count per revolution motor (as
in the figure above) set Input Resolution to 800 pulses per rev.
For a 6400 count per rev motor, set it to 6400 pulses per
revolution.
TEKNIC, INC. TEL. (585) 784-7454

x Case #2. You want one step pulse to command multiple

counts of motion. ClearPath can be configured such that a
single step pulse commands 2, 4, 8, or more counts of motion.
This strategy is most often used to compensate for a "slow"
controller, i.e., a controller that can't put out step pulses fast
enough to meet the user's velocity requirements.
With the above Input Resolution setting, it takes only 200 step
pulses to make this [800 count] motor rotate one full revolution.
x Case #3. You need multiple step pulses to command one

count of motion. This use case is less typical, but can be
convenient if you happen to be replacing a stepper motor with a
ClearPath, but the two motors have different positioning
resolutions.
In the below example, by selecting 3200 step pulses per
revolution, the controller must send 4 step pulses to command a
single count of motion, 8 steps to command two counts of motion,
and so forth.
With the above Input Resolution setting, it takes 3200 step pulses to
make this [800 count per rev.] motor rotate one full revolution.
TEKNIC, INC. TEL. (585) 784-7454

RAS AND G-STOP (VIBRATION AND RESONANCE SUPPRESSION)

RAS (Regressive Auto-Spline) and g-Stop are Teknic's proprietary,
vibration and resonance suppression features. Although these features
work somewhat differently, both were designed to help produce smooth
motion, reduce machine vibration, improve settling time, and decrease
audible noise.
Note: RAS and g-Stop cannot be used simultaneously.
Location of RAS and g-Stop settings
RAS (REGRESSIVE AUTO-SPLINE)

RAS is a jerk limiting, and jerk-derivative limiting feature based on
proprietary technology developed by Teknic.
The RAS software uses advanced algorithms to analyze each commanded
move and rapidly calculate and "fit" a forth-order polynomial spline to it.
This converts the sharp transitions between constant velocity and
acceleration with more gradual, rounded corners.
Controlling the rate of change of acceleration in this manner results in
moves that are lower in vibration, quieter, and easier on the machine's
mechanical parts.
RAS Settings Comparison
TEKNIC, INC. TEL. (585) 784-7454

Although RAS adds some time to the move (in the millisecond range), it
can actually reduce overall move time by reducing settling time and/or
allowing for the use of higher acceleration limits.
RAS Motion Profile Comparisons
AUTO-RAS (MC SERIES MOTORS)

Auto-RAS simplifies RAS selection by offering three settings, "Auto-High",
"Auto-Med", or "Auto-Low". "Auto-High" applies the most jerk/jerk-
derivative limiting, but also adds the most conversion time.
Each Auto-RAS setting you choose, automatically adjusts to the motor's
velocity and acceleration settings.
TEKNIC, INC. TEL. (585) 784-7454

MANUAL RAS SETTINGS (MC AND SD MOTORS)

In MC and SD ClearPath op modes, you can manually select a single
numerical RAS setting from the drop down list as shown below.
Additional Notes
x Manual RAS settings add a fixed conversion time to all moves. For
example, a RAS setting of 25ms will add 25ms of conversion time
to all moves issued while Manual RAS is in effect.
x ClearPath SD motors with part numbers ending in -Rxx have
limited Manual RAS selections.
x ClearPath MC motors offer Manual RAS settings in increments
from 0-779ms.
x Auto-RAS is only available for ClearPath MC series motors.
TEKNIC, INC. TEL. (585) 784-7454

G-STOP TUNING
g-Stop was designed to help address machine resonances, reduce machine
shake and vibration, allow for the use of higher acceleration limits, and
reduce audible noise. This feature builds on patented technology
developed by Teknic.
Teknic Video: g-Stop
To understand how g-Stop works, watch the Teknic video on this topic
here. Note: This video was created for the ClearPath-SC family of motors,
so the UI shown in the video is slightly different from that of MSP.
g-Stop works by analyzing and identifying problematic machine
resonances, and then converting the commanded move profile such that
energy is intelligently added or removed from the system to cancel the
vibrations.
g-Stop Settings
To implement g-Stop, start with a tuned motor that is attached to the

mechanical system on which it will be running. Create a test move that is
aggressive but realistic. Use the highest acceleration and velocity that the
axis or machine is expected to run at. The load must be moving back and
forth during the g-Stop tuning process, so always use a repeating (back
and forth) type move. MSP's Move Generator can do this type of move.
With the repeating test move running, slowly increase the Attack setting–
one increment at a time–while observing axis performance, preferably on
an accelerometer, but by observation if necessary. Tip: Use your
keyboard's Page Up and Page Down keys to increment and decrement
Attack and g-Stop settings.)
TEKNIC, INC. TEL. (585) 784-7454

Increase Attack until the machine vibration has improved to the desired
level of performance. Then, slowly increment the g-Stop value to fine tune
performance. The objective is to find a solution that results in minimal
machine shake and vibration and optimal move and settle time.
Notes:
x ClearPath-SD motors do not have g-Stop.
TEKNIC, INC. TEL. (585) 784-7454

APPENDIX H: LOGIC POWER SUPPLY SIZING

This section was designed to help users estimate how much power
(wattage) to specify when selecting a logic power supply for a ClearPath
system. The logic supply is typically 24VDC (nominal).
The worksheet below lists the power rating of ClearPath "logic power"
system components. Space is provided for calculation of total estimated
power usage for any combination of these components.
Additional Notes
x Your ClearPath system may not include all of the
components listed below.
x The topic of main DC bus power is not discussed in this
section.
Line
Power Total
Part Req'd (ea) x Qty = (Watts)
Logic power backup: integral hp ClearPath motors (optional) 5W x =
Logic power backup: fractional hp ClearPath motors

(optional, and requires POWER4-HUB accessory) 3W x =
POWER4-HUB (for fractional hp motors only, optional) 2W x =
Brake/GPO (optional) ____W x =
Input Sensors (optional) ____W x =
Other ____W x =
Grand Total (W)
TEKNIC, INC. TEL. (585) 784-7454

INDEX
Arduino, 53 I/O Connector, 29
Auto-Tune Incremental vs. Absolute Distance, 134, 136, 138
Failure to complete, 34 Input A
How to, 23 Function, 48
Auxiliary Connection Point, 29 Summary, 32
Bearing Specifications, 174 Input B
Blink Codes, 158–61 Function, 48
Brake, Controlling with HLFB Signal, 54 Summary, 32
Cables, 171–73 Input Resolution Setting, 195
ClearPath Dimensions, 162–64 LED Blink Codes, 158
Communicating with ClearPath, 63 Mechanical Specifications, 174
Compliance Specifications, 174 Mechanical System Assembly, 165
Configuration Files, 71 Microcontroller, 52
Configuring a ClearPath (Summary), 31 Modes of Operation, MC Family
Coupling Recommendation, 167 Follow Digital Torque Command (Bi-Polar), 93
Coupling Selection, 167 Inhibit Command, 93
DC Power Connector, 29 PWM
Differential Outputs, 5V, 49 Deadband, 93
Electrical Specifications, 174 Input Frequency, 93
Enable Follow Digital Torque Command (Frequency),
Feedback, 54 99
Function, 48 Follow Digital Torque Command (Unipolar), 97
Summary, 32 PWM
Used as Trigger Input, 48 Input Frequency, 97
End-of-Travel Stops, 169 Follow Digital Velocity Command (Bi-Polar),
Environmental Specifications, 174 109
Fan Mounting and Cooling, 170 PWM
Feedback Input Frequency, 109, 114
Enable, 54 Follow Digital Velocity Command (Frequency),
Position, 57, 59 119
Speed Output, 54, 55 Input Frequency, 119
Torque, 57, 59 Follow Digital Velocity Command (Unipolar),
Filter Setting for Input A and B, 78 116
Grounding, 175 PWM
High-Level Feedback (HLFB) Input Frequency, 116
Feedback Modes and Functions, 50 Manual Velocity Control, 105
Power Supply, 50, 54 Move Incremental Distance (2-Distance), 134,
Summary, 32 136, 138
Wiring Example, 51 Chain of Incremental Moves, 136
HLFB Move Incremental Distance (4-Distance), 131
External Brake Control, 54 Move to Absolute Position, 124
Homing Application Example, 30
To a Hard Stop Homing, 124, 126, 129
Choosing a Mechanical Hard Stop Type, 169 Move to Absolute Position (4-Position), 126, 129
I/O (Input/Output) Move to Sensor Position, 121
Connecting Devices to ClearPath Inputs, 49 Wiring Diagram, 121
Current Requirements (ClearPath Inputs), 46 Pulse-Burst Positioning, 140
Enable Input, 48 Burst Frequency Spec, 140
HLFB Output modes, 54, 58 Ramp Up/Down To Selected Velocity, 101, 142
Illustration, 45 Spin On Power Up, 103
Inputs A and B, 48 Modes of Operation, SD Family
Mating Parts, I/O Connector, 45 Step and Direction Input, 152
Overview, 32 Mounting, 165
Wiring ClearPath Inputs, 47, 49 Move Done Criteria, 79
TEKNIC, INC. TEL. (585) 784-7454

Operating Voltage, 33 Sensors

Part Number Key, 178 Move to Sensor Position
Parts of a ClearPath, 29 Wiring Diagram, 121
Auxiliary Connection Point, 29 Set Screws, 166, 167
DC Power Connector, 29 Shielding, 175
I/O Connector, 29 Software (MSP)
Status LED, 29 Advanced Menu, 75
USB Configuration Port, 29 Dashboard, 70
Power and Temperature Settings Dialog, 80 Main Menu, 71
Power Returns, 176 Mode Controls, 64
Power Specifications, 174 MSP Software Scope
Power Supply Cursors, 88, 89
Avoid Switching Power Supplies, 33 Range, 85
Daisy-chain Power and Star Power Wiring, 36 Scope Variable, 84
Fusing, 36 Storage Controls, 86
Illustration, 37 Strip Chart Legend, 90
Intelligent Power Center (IPC), 33, 35 Timebase, 84
Intelligent Power Center (IPC-3 and IPC-5), 35 Trigger Level, 86
Note on Lower Voltage (24V), 34 Trigger Modes, 88
Requirements, 33 Trigger Position, 86
Selection, 33 Trigger Source (Trigger On), 87
Switch placement, 36 Setup, 63
Teknic power supplies, 35 System Requirements, 62
Trouble Shooting, 34 User Interface, 64
Warnings, 35 Spin on Power-Up
Pulley and Pinion Mounting, 168 No Enable, 48
Quadrature Input, 105 Status LED, 29
Quadrature Signal Source, 106 Step and Direction (Without Indexer), 140
Resolution Temperature and Power Settings Dialog, 80
Internal, 194 Terminology, 194
Positioning, 195 USB Configuration Port, 29
Safety Warnings Velocity Resolution, 108
CE Compliance Warnings, 25 Warranty Specifications, 174
General Disclaimer, 26 Web Coupling Information, 168
Personal Safety Warnings, 25
TEKNIC, INC. TEL. (585) 784-7454

Teknic, Incorporated
115 Victor Heights Pkwy
Victor, NY 14564
© 2021 TEKNIC INCORPORATED, ALL RIGHTS RESERVED
TEKNIC, INC. TEL. (585) 784-7454

Clearpath User Manual

Uploaded by

Clearpath User Manual

Uploaded by

USER MANUAL

CLEARPATH USER MANUAL

MODELS MCVC, MCPV, SDSK, SDHP

THIS PAGE INTENTIONALLY LEFT BLANK

TEKNIC, INC. TEL. (585) 784-7454

TEKNIC, INC. TEL. (585) 784-7454

Power Hub LED Codes ....................................................43

TEKNIC, INC. TEL. (585) 784-7454

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

TEKNIC, INC. TEL. (585) 784-7454

Move Incremental Distance (2-Distance, Home to Hard Stop) 134

TEKNIC, INC. TEL. (585) 784-7454

Mounting Dimensions: ClearPath NEMA 23............................ 164

TEKNIC, INC. TEL. (585) 784-7454

APPENDIX H: LOGIC POWER SUPPLY SIZING ..............202

TEKNIC, INC. TEL. (585) 784-7454

QUICK START GUIDE

ITEMS COVERED IN THIS SECTION

PLEASE READ THIS IMPORTANT WARNING

BEFORE YOU BEGIN (SUGGESTED VIEWING MATERIAL)

ClearPath Video Links

TEKNIC, INC. TEL. (585) 784-7454

CLEARPATH QUICK SETUP

INSTALL CLEARPATH MSP SOFTWARE

SECURE YOUR MOTOR

TEKNIC, INC. TEL. (585) 784-7454

CHECK DC BUS POWER POLARITY

POWER UP YOUR CLEARPATH

TEKNIC, INC. TEL. (585) 784-7454

CONNECT CLEARPATH TO YOUR PC

Teknic Part # USB Comm Port

Connect ClearPath to your PC

OPEN CLEARPATH MSP (MOTOR SETUP PROGRAM)

Open MSP (Motor Setup Program)

TEKNIC, INC. TEL. (585) 784-7454

SPIN YOUR MOTOR UNDER MSP SOFTWARE CONTROL

SPINNING A MODEL MCPV OR MCVC

2. From the MSP menu, select Setup>Units>Counts; RPM;

TEKNIC, INC. TEL. (585) 784-7454

3. Select Mode>Velocity>Ramp Up/Down to Selected Velocity.

TEKNIC, INC. TEL. (585) 784-7454

5. The mode controls window will appear as shown below. To

Enter target velocity for Click to open Torque

Torque Override Indicator

Hardware Input Status LEDs

Mode Controls for mode "Ramp Up/Down to Selected Velocity"

TEKNIC, INC. TEL. (585) 784-7454

6. Click the Override Inputs checkbox. This turns on the software

Enable Control Input A Control Input B Control

Check "Override Inputs" box to turn on Soft Controls

7. Safety check! Before proceeding, make sure that the motor is

Motor Status Emergency Stop Button

Enable ClearPath using Soft Controls

TEKNIC, INC. TEL. (585) 784-7454

9. Make some moves. With the motor enabled, change Inputs

Change velocity and direction by checking Inputs A and B

TEKNIC, INC. TEL. (585) 784-7454

SPINNING A MODEL SDHP OR SDSK

TEKNIC, INC. TEL. (585) 784-7454

4. In MSP, Select Mode>Step and Direction. The mode controls

7. Click the Override Inputs checkbox. This turns on the

Enable Control Jog motor Jog motor counter-

Check "Override Inputs" to turn on Soft Controls

TEKNIC, INC. TEL. (585) 784-7454

9. Check the Enable checkbox. Caution: the motor is now

Enable using Soft Controls

Click and hold to jog buttons to spin your ClearPath-SD motor

TEKNIC, INC. TEL. (585) 784-7454

DAMAGE WARNING: CLEARPATH INPUTS/OUTPUTS

TEKNIC, INC. TEL. (585) 784-7454

IF YOU EXPERIENCE A MOTOR SHUTDOWN OR WARNING

Hover cursor over "warning triangle" to read its message

x If you exceed your power supply’s capability, ClearPath will tell

TEKNIC, INC. TEL. (585) 784-7454

BEFORE YOU BEGIN THE AUTO-TUNE PROCESS:

STARTING THE AUTO-TUNER