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Hi SuperYellowsubmarin, The ClearPath-SC communication hub (SC4-HUB) is required for use with the ClearPath-SC motors, even if you want to control one or two motors. While the SC4-HUB does reduce cabling/simplifies cabling it, more importantly, provides electrical signal conditioning. If you have any other questions, please feel free to reach out to us directly at (585)-784-7454 or you can email us at: www.teknic.com/contact/ Best regards, Mark D. - Teknic Servo Systems Engineer

Hi @csmyfavoritecompany1213, Manuals and additional documentation for all Teknic products can be found on the download page of our website (teknic.com/downloads/). You can also contact one of Teknic's Application Engineers directly using the contact page of our website (teknic.com/contact/) or by giving us a call at 585-784-7454. Best, Bradley N. -Teknic OEM Application Engineer

Hi @lethalowo9934, The User Manual section "Connecting a ClearPath-EC motor to your PC" should help answer your questions. You can download the manual at: teknic.com/files/downloads/ClearPath-EC_User_Manual.pdf. If you have additional questions, please call Teknic at +1-585-784-7454 or contact one of our engineers through our website: teknic.com/contact/. Best regards, Aaron B. -Teknic Servo Systems Engineer

Hi Bobby You’ll be pleased to learn that no acrylic was harmed during the creation of this video (other sacrificial materials were used instead 😂). Best, Bradley N. Teknic OEM Application Engineer

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

Hi @jigarnaik1423, I can think of a few different potential reasons for that behavior. We would need additional information about your system, your sensor, and how you've configured your motor's homing routine before making a troubleshooting recommendation. Please call Teknic at +1-585-784-7454 or contact one of our engineers through our website: teknic.com/contact/ and we’ll be happy to help. Thanks, Jon K.-Teknic Servo Systems Engineer

Hi Polar Bear, Thanks for the feedback, we hope you'll like ClearPath-EC! Regarding the USB connector: It sound like you may already know this, but the USB cable for all IP67-sealed ClearPath motors (including the new ClearPath-EC model) are magnetically attached. This way if a motor moves and yanks on the cable (or someone kicks the cable accidentally), the magnetic attachment will disconnect without damaging the motor. The IP53-sealed ClearPath motors still use a traditional USB connector, but we did reinforce the connector not too long ago to help protect it from accidental damage. If you have any questions, please reach out using our contact form www.teknic.com/contact/ or give us a call at (585) 784-7454. We'll be more than happy to help you out. Best regards, Nick D. Teknic Servo Systems Engineer

Thanks, STJinks. The initial response has been fantastic, so we're excited. Best regards, Erik M. Teknic Servo Systems Engineer

The lowest price is often the most expensive option. Best of luck.

These are way ahead in quality and usability. Chinese servos are for garage/hobby projects

ClearPath is chinese too.

@@jorgeo4483 Their servo motors are made in the USA.

@@jorgeo4483 Teknic, Inc. 7650 Omnitech Place Victor, NY 14564 USA Yep totally Chinese. I've used them many times. They are from the USA and have always had good luck with them.

Hi Hassan, Before I answer your specific questions, I wanted to provide some background information on ClearPath's Dynamic Braking feature. ClearPath's Dynamic Brake will (when triggered) cause the motor to resist all external motion as long as the motor continues to move. The Dynamic Brake, when active, acts like a viscous damper and applies more resistance the faster the motor spins. ClearPath motors ship configured to automatically engage the Dynamic Brake when disabled (although you can change this functionality through the ClearPath MSP setup software). In your application, whether the motor will come to a complete stop depends on the external forces applied to your motor. If the motor does come to a complete stop, the Dynamic Brake will not "hold" the load in place, but if you don't exert any external forces on the motor, then the motor won't move either. Deciding how best to configure your motor for your application can be nuanced, so I recommend contacting a Teknic engineer to discuss your application-specific requirements. You can reach out to us here: teknic.com/contact/. Regards, Brendan F. - Teknic Servo Systems Engineer

Hi Akshay Khot, In the operational mode "Follow Digital Torque", you cannot control velocity or acceleration. If the motor is applying a constant torque to maintain tension on a material, and that material breaks, the motor will immediately start to accelerate at a rate determined by how much torque you're commanding (and what the load is). The motor will shut down when the “Max Speed” setting is exceeded for the amount of time defined by the "Over-speed timeout" parameter. The user can modify the “Max Speed” and “Over-speed Timeout” parameters in MSP to suit their application needs. If you are looking for a mode where you can vary the torque limit and velocity, you could take a look at the mode "Follow Digital Velocity: Bipolar PWM Command with Variable Torque". We don't have a demo video for this mode, but there is more information regarding this mode in the ClearPath User Manual: teknic.com/files/downloads/clearpath_user_manual.pdf Regards, Jim W. Teknic Application Engineer

Hi Akshay Khot, Yes, the motors can become warm to the touch if they are enabled and applying a constant (static) torque for a certain period of time. The amount of heat that the motor produces depends on a few factors: 1) how much torque is being commanded (and for how long), 2) the ambient air temperature, and 3) any cooling provisions such as a ventilated enclosure or fan. Additionally, there are safety parameters built into the motors to prevent them from overheating or becoming damaged. In most cases, if the static torque is kept below the motor’s continuous torque rating, the motor may heat up but it won't shut down. If the motor applies torque much above the continuous torque for long enough, the motor will, at some point, shut itself down to protect its windings from burning up. Regards, Jim W. Teknic Application Engineer

Hi Akshay Khot I'm an applications engineer with Teknic and came across your posting. I'm not quite sure I understand your question but I encourage you to contact us directly - we'd be happy to answer any technical questions about our products. You can either call us directly at 585-784-7454 and ask to speak with an applications engineer or leave a more detailed message on our technical support web page (teknic.com/contact/). Thanks. Best regards, Abe A | OEM Applications Engineer

Hi StarChild.no1, Most of the software examples for ClearCore define two separate ports in order to demonstrate the use of one port for printing out debug statements. So, the software examples showing the use of the COM port will also open the USB port for debugging. One can certainly program the ClearCore controller to solely communicate over USB directly to a Raspberry Pi (this type of communication is done commonly with ClearCore). If you have any additional questions, please feel free to contact Teknic by submitting a contact request on our website (teknic.com/contact/) or by giving us a call at 585-784-7454. Brendan F. - Teknic Applications Engineer

Hi James, We appreciate your feedback to improve our e-commerce resources for customers and I will pass your suggestions on to our management and marketing teams. We work hard to make the information about our products, ordering, and services as clear as possible to prevent prospective customers from wasting their time if there is a reason they cannot move forward with our products. Our webstore currently accepts all major credit cards such as Visa, Mastercard, Discover, and AMEX, but as you unfortunately found out, it does not accept debit cards. A notable reason for this is that debit cards have a higher level of fraud risk for the vendor (Teknic). We continuously evaluate payment options (e.g., PayPal, Venmo, Zelle, and even crypto), but each option has different transaction fees, costs, and risks with incorporating them into the third-party checkout modules we license. Best of luck with your application and I apologize again for any confusion about our ordering process. Best, Bridgette O. - Teknic Servo Systems Engineer

@@TeknicInci use stripe on my ecommerce website to handle all card types. Credit and debit. To mention charges for uses debit card is one reason you dont accept them when your motors alone can be over $500 each makes me laugh. I offered to wire funds direct to your account. Rather than accept knowing the trouble I have been put through and that the money was over $1800 dollars, neither was my idea accepted or even spoken about. My time was wasted.

Hi James, We appreciate your feedback to improve our e-commerce resources for customers and I will pass your suggestions on to our management and marketing teams. We work hard to make the information about our products, ordering, and services as clear as possible to prevent prospective customers from wasting their time if there is a reason they cannot move forward with our products. Our webstore currently accepts all major credit cards such as Visa, Mastercard, Discover, and AMEX, but as you unfortunately found out, it does not accept debit cards. A notable reason for this is that debit cards have a higher level of fraud risk for the vendor (Teknic). We continuously evaluate payment options (e.g., PayPal, Venmo, Zelle, and even crypto), but each option has different transaction fees, costs, and risks with incorporating them into the third-party checkout modules we license. Best of luck with your application and I apologize again for any confusion about our ordering process. Best, Bridgette O. - Teknic Servo Systems Engineer

I have my own website. I use STRIPE to manage payments. It accepts all cards and apple pay plus google pay. Your words to attempt to give reason for not taking debit cards. Fraud risk and higher fees. Dude your motors are over $500 dollars. Im sure the profit margin allows for your use of debit cards. 😂 Fraud risk. I never heard anything so crazy. I offered to wire the funds direct into your account. You have not accepted this nor mentioned it. My time was wasted on an epic scale.

im not 100% sure here, but i believe clear core is more for automated machines like the example not sure much for CNC running Gcode for my CNC plasma, Routers and Lathe I'm running Mach4 with an ESS board, but im looking at the clear core for my next build that will be an automated bandsaw

Cant buy from this firm Anyway as they only accept credit card. Ha ha make america great again.

Hi James, Although the IPC-5 power supply comes standard with two Sabre power connectors, this supply can generally drive 2-6 motors depending on your application. We’ve seen many CNC applications run 3-4 axes off of one supply but you would have to test your specific application. And you certainly can use an IPC-5 for X & Y and an IPC-3 for Z - you just can’t (and shouldn’t) tie the two power supplies together. For your 3-axis machine, I’d test a single IPC-5 supply (I’m pretty confident this would work well). Note that you would need to use a terminal block, bus bar, or our POWER4-STRIP to route power to 3 or more motors. For more information: teknic.com/clearpath-accessories-guide/accessories-guide-sd-dc/#power-hub. If you have any further questions, please feel contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Thanks, Abe A. - Teknic Applications Engineer

@@TeknicInc You have your line drawing showing cables where the part number should also be in brackets. Then say bottom left all the part numbers in a list with tick box beside and ticked. Beneath one price. So we can literally buy the lot in one click. Rather than make notes through the video of part numbers.

@@TeknicInc Also I noticed there are a few power hubs. Power 4 strip, Power 4 Hub s with logic power backup, and Power hub acts as logic power backup. I presume the best to get is the most expensive being the Power Hub. Can you double confirm this. As I am aiming for 5 axis this would mean I would need two of these I presume. I do see you have 5 axis Power 4 strip. Presume as not mentioning power backup it doesn't have that?

Hi @@jamesbarratt593 There are two power distribution options for each motor sealing type: For SD-Series ClearPath IP53 (Molex Connectors): •The accessories guide is available at: teknic.com/clearpath-accessories-guide/accessories-guide-sd-dc/#overview •The POWER-STRIP breakout board is designed to route 75 Vdc power from the IPC-5/3 power supply to the IP-53 rated ClearPath motors (with Molex connectors) - there’s no logic power backup with this breakout board. This board can distribute power to up to 5 ClearPath motors. •The POWER4-HUB breakout board is designed to route 75 Vdc power from the IPC-5/3 power supply to the IP-53 rated ClearPath motors (with Molex connectors) and also provides for logic power backup. This board can distribute power to up to 4 ClearPath motors. For SD-Series ClearPath IP67/IP66K (M12 Connectors): •The accessories guide is available at: teknic.com/clearpath-accessories-guide/accessories-guide-sd-dc-sealed/#overview •The POWER-STRIP-S breakout board is designed to route 75 Vdc power from the IPC-5/3 power supply to the IP-67/66K rated ClearPath motors (with M12 connectors) - there’s no logic power backup with this breakout board. This board can distribute power to up to 4 ClearPath motors. •The POWER4-HUB-S breakout board is designed to route 75 Vdc power from the IPC-5/3 power supply to the IP-67/66K rated ClearPath motors (with M12 connectors) and also provides for logic power backup. This board can distribute power to up to 4 ClearPath motors. If your machine has more than 4 motors (or more than 5 motors if you are going to use the POWER4-STRIP), you would need to order an additional breakout board. (As long as one power supply is sufficient to power all 5 axes). If you have any further questions, please feel contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Thanks Abe A. - Teknic Applications Engineer

Hi@@jamesbarratt593, Thanks for the feedback. We always look for ways to improve the online ordering process and experience. I will forward your suggestion to our web development team. I can’t say if and when this would be implemented, but we do review these requests and investigate the feasibility of new features. If you have any further questions, please feel contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Thanks, Abe A. - Teknic Applications Engineer

Hi James, We appreciate your feedback. I agree, an adaptive scale would be a good addition and make the scope easier to use. I will be sure to write a feature request on your behalf. All feature requests are periodically reviewed by our engineering team and influence existing product updates and new product development. I would also like to point out that this video was made using MSP 1.0. Since this video's release, Teknic has developed MSP 2.0. Most of the information in this video is still correct, but there are a few differences related to the scope. 1) The vertical scale on the scope is now set per division. To achieve the same resolution as the example in the video, set the vertical scale to 1000 RPM/div. 2) The digital scope can now plot two scope variables simultaneously. 3) MSP 2.0’s scope includes a separate cursors window with new Zooming and Measuring features. If you have additional questions about MSP, please don’t hesitate to contact Teknic via our website (teknic.com/contact/) or give us a call at 585-784-7454. Best, Bradley N. -Teknic OEM Application Engineer

Hi James I'm an applications engineer with Teknic and would like to help answer your question. The primary difference between the SDSK and the SDHP is that the SDHP has more shaft power. Because shaft power is the product of speed and torque you can get more power by either spinning faster, producing more torque, or both. The other notable difference is that the SDHP models come standard with the "Enhanced" ("E" versus "R" in the part number) encoder option with a command resolution of 6,400 quad counts/rev versus 800 quad counts per rev on the SDSK. The Enhanced option also includes the full complement of the Regressive Auto Spline settings for double jerk limiting your profile for smoother motion. For most CNC mill retrofit kits, the power and capability of the SDSK closed-loop servo series is more than sufficient. As an example, many of these CNC retrofit systems use ballscrews with a 5 tpi pitch (0.2 inch lead) so, with the CPM-SDSK-3421S-RLN motor at 75 Vdc, you can theoretically achieve 200 inches/min (1,000 rev/min x 0.2 inches/rev = 200 inches/min). There are naturally a lot of factors that go into picking the optimal motors for your CNC upgrade, but I would start with determining what top speeds (during both rapids and cutting) are important for your application. By understanding the top speed objectives along with your mechanics, you can then narrow down the motor selection. If you have any further questions, please feel free to contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Thanks, Abe A. - Teknic Applications Engineer

⁠​⁠@@TeknicIncwould you know can I use Centroid 6 axes with your motors sdsk 3421s-rln and 3432 sdsk motor?

Hello ​James, We don’t personally have direct experience with the Centroid CNC controllers but we do know that many mutual customers use them and seem to be quite pleased with the performance and capabilities. The controllers well-suited for use with ClearPath SDSK and SDHP motors are the Centroid Acorn and AcornSix. There’s also a convenient break-out board for routing control signals from the controller to the ClearPath motors (you can use our standard controller cables without modification). This break-out board is produced and sold by CNC4PC and is called the “C89-ACCP”. www.cnc4pc.com/c86accp-clearpath-connector-board-for-the-acorn-controller.html If you decide to use the Centroid Acorn controller, I’d also recommend the RUclips channel, MartysCNCGarage. It’s an excellent educational resource for CNC hobbyists using ClearPath motors with the Acorn controller. ruclips.net/channel/UCTNt9IIjsk5HNwnjzer6GVQvideos www.cnc4pc.com/c86accp-clearpath-connector-board-for-the-acorn-controller.html) If you have any further questions, please feel free to contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Thanks, Abe A. - Teknic Applications Engineer

@@TeknicInc I was trying to read the Acorn Six Datasheet and picked up on something I dont know whether its important or no. Basically it mentions AC motors and I'd though for some reason your motors were dc. I guess the DC part doesn't matter as they will have their own IPC5 power supply. The acorn six with software looks very impressive. So buy that and the breakout board from cncpc then your motors and ipc5 plus cables. Thats a good setup then?

Hi Aaron - Yes, I should be able to help. Before I do, I want to give some background information to anyone else who reads this question. Aaron's question relates to Teknic's ClearPath-SC products (which are not discussed or demonstrated in this video). A ClearPath-SC servo has the option to use Step & Direction signals alongside its normal Windows/Linux host. If you already have a Step & Direction controller, ClearPath-SD (which is featured in this video) is oftentimes the simpler choice because it doesn’t require any additional control interface (no Windows/Linux host required). Visit our website if you'd like to learn more about the ClearPath-SC product: teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sc/ Now, when using ClearPath-SC motors with the optional Step & Direction signals, you will wire them to the servo's two general-purpose inputs and then configure the motor to treat the signals as Step & Direction signals. If you're using Teknic's SC4-HUB (and not manufacturing your own), these inputs are accessible through the 4-pin Molex Mini-Fit Jr. connectors along the bottom of the SC4-Hub. You will also need to make a small modification on the SC4-HUB board (you'll cut a jumper on each input) to make everything work. Please contact Teknic directly for additional support on this topic; we can help you get up and running. You can email us at support@teknic.com, complete a contact request form on our website: teknic.com/contact/, or give us a call at (+1) 585-784-7454. Best regards, Matt C - Teknic Servo Systems Engineer

Hi MrWylde007, That's a good question. I'm not sure what the exact speed was, but after speaking with a few other engineers at Teknic, it seems the axis was running at around 5 m/s. If you have any questions about how to accomplish the goals for your application, please feel free to contact Teknic at 585-784-7454 or submit a contact request at teknic.com/contact/. Aimee F. - Teknic Applications Engineer

Hi remoman, Yes - The logic supply's power rating (watts), or more specifically the current, does matter but ClearPath I/O does not require much current to operate. The exact logic supply current required for a given ClearPath motor varies slightly based on supply voltage. For example, Teknic recommends allowing at least 8mA per I/O point when using a 5VDC power source, and at least 12mA per I/O point for 24VDC supplies. The ClearPath manual includes a graph on page 46 that shows the recommended max. current to budget per I/O point for a given supply voltage (5-24VDC): teknic.com/files/downloads/clearpath_user_manual.pdf As a minor note, while the video does state that our logic level voltage range is 4-28VDC (which is entirely true), I would encourage you to stick to the nominally recommended 5-24VDC range to achieve maximum design margin. If you have any other questions, feel free to contact us at teknic.com/contact/ or give us a call at 585-784-7454. Best regards, Mark D. - Teknic Servo Systems Engineer

Hi YUP, While PID control loops (or PIV for ClearPath) and RAS are both used to improve servo performance, they operate in completely different ways. PID control loops use feedback to proportionally control the servo response. RAS does not change how the servo responds to the command, but instead, modifies the incoming command to reduce jerk and jerk derivative. If you have additional questions about how RAS can benefit your application, please reach out to Teknic’s support (teknic.com/contact/) or give us a call at 585-784-7454. Best, Bradley N. - Teknic OEM Application Engineer

That's great, we're glad to hear ClearPath-SC is working well for your application and that you found the documentation helpful! Thanks for sharing your experience. Best regards, Ian R. - Teknic Servo Systems Engineer

We're hoping to put out a video of our own, once we have astronomical tracking working. Targetting the eclipse next month as a goal....

Hi Dew411 - ClearPath servos may be a good fit for your mill Z-axis if you’re looking for a servo motor, drive and encoder solution all-in-one. CNC retrofits and upgrades are commonly done using ClearPath-SD because this series of ClearPath is designed to accept Step & Direction or Quadrature A/B signals from the machine controller. This is usually the closest option for a “turn key” servo upgrade in CNC applications, assuming you have one of these types of signals (5-24VDC Step & Direction or Quadrature) available for the Z-axis control. You can use the Motor Selection Guide on Teknic’s website to help size the motor based on the axis torque and speed requirements: teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-motor-selection-guide/ I hope this helps! Please feel free to give us a call (585-784-7454) or leave us a message at www.teknic.com/contact/ if you have any additional questions. Best regards, Matt C. - Teknic Servo Systems Engineer

Hi @user- vw7ux5dh9t, It sounds like your motor is enabled by external hardware connected to the motor’s 8-pin Molex Mini-Fit Jr. controller connector. To run the auto-tuner, you first need to 'disable' the motor (i.e., turn off power to the motor's enable input circuit). For almost all applications, it is important to be able to disable the motor using your external hardware (e.g., if you have a Step & Direction indexer/controller, you should have programmatic control over the motor's enable input). But if you don't have control over the enable input for some reason, you could remove the 8-pin controller cable from your motor to de-energize that enable input. Once the motor is disabled, you will be able to run the auto-tuner. I hope this information helps. If you have any other questions related to Teknic's products, please feel free to reach out to us directly by phone (585-784-7454) or use our “Contact Us” form at teknic.com/contact/. Best regards, Jon K. - Teknic Servo Systems Engineer

Hi el SunShine, Precision Homing is a feature included in all ClearPath SD and MC series motors at no additional cost. If you're looking for product pricing information, this is available on the Teknic website (teknic.com/). If you have any further questions, please feel free to submit a contact request on Teknic’s website at teknic.com/contact/ or give us a call at 585-784-7454. Aimee F. - Teknic Applications Engineer

​@@TeknicInchow fast would you be able to ship to Mexico

Hi @@elsunshine9976, The answer to your question depends on the part number(s) and quantities being ordered. All product-specific information regarding shipping and lead times can be found directly on the Teknic website. Here is a link to Teknic's FAQ's page which includes more information about international shipping: teknic.com/faq/?faq=9#faq_international Aimee F. - Teknic Engineer

Hi Ramya, I'm sorry to hear you're having some issues using ClearView. We are happy to help assist you in getting things working! Typically, troubleshooting of this nature is best handled by directly communicating with a Teknic Applications Engineer. Please reach out to us using our "Contact Us" form online (www.teknic.com/contact/) or give us a call at 585-784-7454. Best regards, Nick D, Teknic Servo Systems Engineer

Hi PLC24_max10: Thanks for commenting and taking the time to ask a question. Teknic motors have incremental (not absolute) encoders onboard. We’ve found that incremental encoders tend to be more reliable and less expensive than absolute encoders, which is why we use them in all of our motors. To provide some of the benefits of absolute encoders without the drawbacks, Teknic developed the Precision Homing feature demonstrated in this video. Precision Homing works because the motor “calibrates” and stores (in non-volatile memory) the physical home position the first time it is homed on a set of mechanics. The motor can then reference this stored home position on each subsequent homing cycle. While we still need to home the axis after the machine is power cycled, Precision Homing combined with ClearPath’s Position Recovery feature (demonstrated here: ruclips.net/video/mALi3_QqyHk/видео.htmlsi=B-RDD600dfYfUctP&t=458), can provide much of the benefits of an absolute encoder as long as you maintain logic power at the motor(s). Please feel free to give us a call (585-784-7454) or leave us a message at teknic.com/contact/ if you have any additional questions. Best regards, Jon K. - Teknic Servo Systems Engineer

Hi Niclas - ClearPath servos are often a great upgrade for CNC routers. I’d recommend looking into the ClearPath-SD (Step & Direction) series for contouring/path-following applications like a CNC machine: teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sd-stepper-replacement/ In case you weren’t aware, Teknic has a 90-day refund policy for ClearPath servos so you can thoroughly and confidently evaluate them in your application. If you have any questions about what products are best for your application, please don’t hesitate to reach out via our contact request form (teknic.com/contact/), or by giving us a call at 585-784-7454. Best, Nick D. - Teknic Applications Engineer

Hi Antoine - the ClearPath-SC servos featured in this video certainly can be used in applications that require fast communication with low latency. The time between a command and the motor executing that command is typically 1-2 milliseconds or less. However, I’m not sure if the rest of your question applies in this case. Under typical software control, ClearPath-SC does not receive electrical “steps” in order to move, it receives serial commands directly. Step and Direction control is possible, but is usually done with ClearPath-SD instead which you can read more about here: teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sd-servo/ Please feel free to give us a call (585-784-7454) or leave us a message at www.teknic.com/contact/ if you have any additional questions. Best regards, Matt C. - Teknic Servo Systems Engineer

@@TeknicInc i see, i need faster, like 100us

Hi Kurt, thank you for your comments. I'm sure other readers will appreciate the feedback. I have a couple of small clarifications that may be helpful: When one of the direction buttons is pressed during auto-tuning (commanding the motor to move), the torque starts to ramp up immediately, but because the servo is not yet tuned, this ramping happens slowly for safety reasons. With light axes, without a lot of friction, pressing a direction button will therefore generally cause motion immediately. But for heavier axes and/or those with significant friction, it may take a little time for the torque to ramp up enough to generate movement. I can see how this could be confusing, so I will submit an entry to Teknic’s feature request database to add an indicator (or something similar) to the user interface of a future software revision to clarify the behavior. My second minor clarification is that if the auto-tuner pauses during tuning to let the motor cool down, it may indicate that you need a higher torque motor, but in many cases, you will not. The auto-tuner is pretty aggressive to ensure the tuning is robust, but many applications are not nearly as aggressive and/or have low duty cycles. A good way to see if you really need a higher torque motor is to run the motor in its normal application (e.g., cutting an intricate part on your CNC machine that requires lots of accel/decel, with the acceleration and velocity limits set as high as you intend to use. Then, monitor the RMS torque meter in the ClearPath software and see how high the RMS torque gets. (RMS torque is a sort of weighted average torque.) If the maximum RMS torque stays below 70-80% in this worst-case usage, you probably have enough design margin with that size motor. See this section of another TekTips video for a little more information on the RMS torque meter: ruclips.net/video/oJSp_1aNiSE/видео.htmlsi=OWKT8XrMoo1nB3sR&t=523. Thanks again, Aaron B. - Teknic OEM Applications Engineer

By reading a document from clearpath, it appears that precision homing is done through the software remembering the partial rotation of the motor during the initial homing calibration. Then, if the end stop gets worn down by a mm, the software can still use the information from the endstop to restore the correct full number of motor rotations, but the partial motor rotation is reset from the initial calibration. This means that the motor can correct for worn down endstops up to +- half a motor turrn.

On the first homing it will memorize the encoder count. Then the homing procedure will only be used to identify on which rotation to home, and the encoder count on that rotation will do the rest.

Hi @Evan-inc. As @CrazyMineCuber and @SuperYellowsubmarin said, precision homing can automatically account for variations in the physical home position (either a hard stop or sensor) because the motor "calibrates" the home location the first time it is homed. Then, the motor references that calibrated position every time it needs to home again. As you can see in the video, even after adding the shim or removing the bumper, we home the motor until it detects the hard stop. Upon reaching the hard stop, the motor compares the measured home location to the calibrated home location and automatically accounts for any difference between the two (up to +/- 0.5 motor revs). Precision homing can also be used with a sensor to compensate for variations in sensor position and homing speed. For more information about homing a ClearPath motor, I suggest checking out the ClearPath User Manual found on our website: teknic.com/downloads/. If you have any additional questions about precision homing or anything else, please feel free to contact us directly at teknic.com/contact or give us a call at 585-784-7454. Thanks, Jon K. - Teknic Servo Systems Engineer