ClearPath Integrated Servo Motor: Manual Velocity Control

[@cr361]

Good video for beginners like me. Does rotating the knob in the ccw direction cause the motor to rotate in the ccw direction.

[@TeknicInc]

Hi cr361. Thank you for watching our video on ClearPath’s Manual Velocity Control mode. The direction of motion the knob rotation causes depends on how the knob is wired to Input A and Input B on the motor. We understand wiring can be tricky, so we included a setting in MSP (Motor Setup Program) that lets you reverse the direction of motion the knob causes (in the event that shaft rotation is opposite of what you expected after everything is wired up). Please see the ClearPath user manual in the “Manual Velocity Control” section for more details on wiring and software setup. www.teknic.com/files/downloads/clearpath_user_manual.pdf Hopefully this has been helpful! If you have any additional questions please feel free to contact us at [e-mail]. Regards, Celina A. Teknic Servo Systems Engineer

[@StevenLanham]

Is the toggle swtich used in your video an input into ENABLE? That is, can it be used as a TRIGGER to start/stop the motor? I'm using a CLICK PLC and want to use a basic Y1 output to the enable pin to quickly turn on/turn off according to (X1) inputs into the PLC. I'd set the MSP to remember last speed and just use the PLC (Y1) output to start/stop motor - doable? I have a SDSK servo on the way and I understand this accepts quadrature inputs for velocity control.

[@TeknicInc]

Hi Steve, If I understand your question, you will be able to do what you intend to do, but I want to clarify a few points. You can use a digital output from your PLC to enable ClearPath, although when you say "trigger" it makes me think you want to use a pulse. You will need to maintain the digital state of the output the entire time you want the motor enabled. A pulse would just enable the motor for as long as the pulse lasts. The video shows a ClearPath MC-series motor, but you have purchased an SD-series motor. That's okay, but they work a little differently. In the video (MC-series), the quadrature signal sets the velocity-the more quadrature counts the motor sees in total, the higher the velocity setting. You can set the motor to remember the total accumulation of quadrature counts and hence the velocity setting. So, then you can disable and enable the motor and it will ramp up to the previously set speed (without any additional quadrature input). With the SD-series, the RATE of the quadrature counts is proportional to the speed of the motor, so to maintain a constant velocity, you will have to maintain a constant rate of quadrature counts. (The total number of quadrature counts will be proportional to the total rotational distance the motor has spun.) With the MC-series, the acceleration and deceleration is controlled by a software setting in ClearPath. With the SD-series, it's the rate of change of the quadrature counts that controls the accel/decel of the motor, i.e., you will have to control that with your quadrature source. For example, if your quadrature source is streaming a constant frequency when you enable ClearPath, this will be interpreted as your desire to ramp up to that speed instantaneously; this will be very abrupt and may cause a shutdown. That said, you can change the "RAS" setting in the MSP software to limit the rate of change of the acceleration (the "jerk"), and minimize this abruptness to some degree (especially if you bought the enhanced option which has a wider range of RAS settings). Or, if your quadrature source can be programmed, you can ramp the frequency up and down to control the accel/decel. One final point, if you disable ClearPath while you are streaming quadrature counts to it, it will ignore the counts the instant it gets disabled and will use dynamic braking to stop. Dynamic braking is usually better than just coasting to a stop, but the rate of decel will depend on your mechanical system (inertia and friction, etc.). So, if you want to bring the motor to a controlled stop before you disable it, you must reduce the quadrature frequency to zero before disabling If you have any other questions, please feel free to give Teknic a call or contact us online at www.teknic.com/contact/ Best regards, Erik M - Teknic Servo Systems Engineer

[@StevenLanham]

@@TeknicInc wow, thanks for the awesome reply Erik - MUCH appreciated.

[@justinscharfenberg9614]

Hi, can two separate encoders be wired in simultaneously? One for CW rotation and one for CCW rotation (assuming the motion would be brought to a complete stop with one before the other is turned)?

[@TeknicInc]

Hi Justin, You cannot wire two separate encoder knobs into a single ClearPath motor (the motor has a single pair of inputs which correspond to a single set of A & B encoder signals). Your question makes me think that you want the motor (in your application) to spin in both the clockwise and counter clockwise directions. If this is the case, then you can use a single encoder knob to generate this bi-directional motion. In this video we demonstrate how to increase the motor’s speed and then decrease it back to zero RPM. If you configure the motor appropriately, instead of only stopping at zero RPM, you can either stop at zero speed or smoothly transition and start spinning in the opposite direction (i.e. turn the encoder knob until your motor reverses direction). While we don’t demonstrate bi-directional motion in this video, we _briefly_ mention it and show how you can configure the motor to spin in both the CW and CCW directions here: kzbin.info/www/bejne/qoPCfaWCbLqdmqM. You can learn more about the Manual Velocity Control mode (and bi-directional motion) here: teknic.com/files/downloads/manual_velocity_control.pdf. If you have any other questions, please feel free to give Teknic a call or contact us online at www.teknic.com/contact/ Best regards, Jon K. - Teknic Servo Systems Engineer

[@zephyrold2478]

Hi, Very informative video, but I would realy like to know how this is wired.

[@TeknicInc]

Hi Zephyr Old, Thanks for watching our video about ClearPath’s Manual Velocity Control mode. I have some information that you may find helpful. The Grayhill 25LB22-Q rotary quadrature encoder is an example of a hardware device you could use to control the motor in this operational mode. You can reference a wiring diagram located here: www.teknic.com/files/downloads/Rotary_Quadrature_Encoder_Wiring_Diagram_Example.pdf While this encoder may not be the best fit for your application, you can use the diagram to better understand how you might wire an encoder knob into your machine. We have more detailed information available in our ClearPath User Manuals. You can find those manuals, along with other helpful documentation, on the ClearPath Model Support pages: www.teknic.com/clearpath-model-support/ If you have any additional questions, please contact us at [e-mail]. Best regards, Tom T. - Teknic Servo Systems Engineer

[@Adam-pd9ch]

Is the rotary encoder wired directly to the ClearPath Servo in this setup, or it it "talking" to an Arduino/SBC out of shot?

[@TeknicInc]

Hi Adam, Thanks for watching and commenting. To answer your question, the optical encoder (with 2-channel quadrature output) shown in this video was wired directly to the ClearPath motor at inputs A and B. There is also a 5V power supply (not seen in the frame) that powers the encoder. This mode was designed for users who need a simple, robust manual speed controller with just a few inexpensive parts. If you're interested in learning more, please check out the ClearPath User Manual under the mode "Manual Velocity Control" at www.teknic.com/files/downloads/clearpath_user_manual.pdf. This section includes a complete description of how Manual Velocity mode works, as well as a wiring diagram for an inexpensive ($8) mechanical quadrature output device that works nicely with ClearPath. As a side note, many other quadrature output devices, such as PLCs, and microcontrollers can also be set up to work with ClearPath in this mode (assuming they can output a digital "high" in the 4-24VDC range, and can source at least 10mA of current). Hopefully this has been helpful! Regards, Jim W. Teknic Servo Systems Engineer

[@haggismaximus]

@@TeknicInc After setting the this up in software is it saved to the servo or does the servo need to be continuously connected to the computer? I need to simply adjust RPM with an encoder knob and then have a button for CW and one for CCW where it will spin only when the button is depressed.

[@TeknicInc]

@@haggismaximus The parameters that you set in MSP are saved to ClearPath’s non-volatile memory, so you can disconnect ClearPath from MSP after initial setup and the motion parameters will be saved (even after power-cycling). However, it isn’t possible to use a button to directly control direction in this operational mode. The motor has three inputs; two of which correspond to a pair of quadrature encoder A/B signals and a third dedicated to “enabling”/”disabling” the motor. The quadrature signal that “leads” determines your direction. For example, if input A receives a high signal, then B receives a high signal, then A receives a low signal, then B receives a low signal, this will command one direction. If B receives the high signal first (then A receives a high signal, B receives a low signal, and A receives a low signal), this will command the opposite direction. There is no additional input available on ClearPath to wire in a button to control direction once you’ve set a speed. If you want to use an encoder to adjust speed, and then have your system remember that speed while you use a button to command direction, there are other ways to achieve this with ClearPath (and other Teknic products). Please give Teknic a call at 585-784-7454 or contact us at www.teknic.com/contact/ to discuss your application in more detail, and an engineer can help you select the best ClearPath series and setup. Best, Bridgette O. - Teknic Servo Systems Engineer

[@cr361]

What encoder was used in this demo.

[@TeknicInc]

Hi cr361, Since we developed this video, we now recommend a different rotary encoder knob from the one used in the video (one that is a cost effective option and a better technical fit). The part number that we recommend is the Grayhill 25LB22-Q and there are wiring instructions for this encoder in the “Manual Velocity Control” section of the ClearPath manual (you can download the manual from Teknic’s downloads page: teknic.com/downloads/ ). Additionally, you can use any quadrature knob that outputs two channel (quadrature A/B) signals in the 5-24 VDC range. -Aaron B. Teknic Servo Systems Engineer

[@scottanderson6445]

Is 4000 the maximum speed of the motor?

[@TeknicInc]

Hi scottanderson6445, The ClearPath integrated servo motor used in this video has a maximum rated speed of 4000 RPM, but some other ClearPath models can run up to 6000 RPM. Each model has its own maximum speed rating and Torque-Speed curve, which is also affected by the supplied input voltage. You can use the Motor Selection Guide on Teknic's website to help narrow down the options and filter for your speed requirements (please note that this page can also be used to filter based on input voltage): teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-motor-selection-guide/ If you have any additional questions, please feel free to contact us directly at teknic.com/contact/ or give us a call at 585-784-7454. Best regards, Matt C. - Teknic Servo Systems Engineer

[@miguelperez8020]

ggwp