C
L E A R
P
A T H
M C / S D
U
S E R
M
A N U A L
R
E V
.
3 . 0 9
1 1 1
T
EKNIC
,
I
NC
. T
EL
.
(585)
784-7454
F
OLLOW
D
IGITAL
V
ELOCITY
(B
IPOLAR
PWM
C
OMMAND WITH
V
ARIABLE
T
ORQUE
)
M
ODE
D
ESCRIPTION
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
F
UNCTIONS
Enable Input -
Asserting this input energizes the motor shaft.
Input A -
This input is connected to a signal whose level or PWM duty
cycle represents the desired torque limit.
Input B -
This input is connected to a PWM signal whose duty cycle
represents the desired velocity.
Output (HLFB) -
See HLFB section for available modes.
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:
•
Shaft velocity increases in the CW direction as PWM duty cycle
decreases from 50% to 0%.
•
Shaft velocity increases in the CCW direction as PWM duty cycle
increases from 50% to 100%.
•
As PWM duty cycle approaches 50%—from either side—motor
velocity approaches 0.
•
In practice, O% and 100% (static low and static high conditions)
are not valid PWM states. ClearPath treats these cases as zero-
velocity commands.
•
All changes in velocity occur at the user-defined acceleration rate.
•
Set a PWM deadband to help reliably command zero velocity.
•
PWM minimum on time and minimum off time = 300nS.
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:
•
Deassert input A to operate using purely the "standard"
Torque Limits.
MCVC + MCPV
Available on
