Teknic CLEARPATH-EC - Appendix D: Specifications; Clearpath-EC Motor: Common Specifications

C LEAR P ATH -EC U SER M ANUAL REV 1.11 80
A PPENDIX D: S PECIFICATIONS
C LEAR P ATH -EC M OTOR : C OMMON S PECIFICATIONS
Functional Specifications
EtherCAT Drive Profile CiA402 conforms to IEC 61800-7-201; CoE, FoE
EtherCAT vendor ID 0x0C96
Profile modes supported Synchronous position, synchronous velocity, synchronous
torque
Distributed clock function Included
Homing modes supported Home to a hard-stop, home to a switch
Position limit modes supported Software limits (after homing), one limit switch, or two limit
switches
Maximum shaft rotational speed Model dependent; 6,000 RPM mechanical limit
Sensor resolution Hi res: 51,200 counts per revolution.
Low res: 12,800 counts per revolution.
Absolute position sensor function Implemented by battery backup of the Logic Supply. (A single
battery and charger can provide absolute position function for
all motors in a machine.)
Digital I/O complement Two (2) isolated circuits, each independently configurable as
input or output
Digital I/O isolation A and B circuits, each independently galvanically isolated,
500V dielectric strength
Motor sensor position capture response (from input A) 250nS
Brake control (from output B) Automatic upon disable, safety shutdown, or DC bus removal
Safe Torque Off (STO) functionality Via DC bus removal by external device, resettable via
network command
Safe Stop (SS2-t) functionality Via DC bus clamp by external device, resettable via network
command
Protection modes Following error shutdown, Bus over-voltage, Bus under-
voltage, Bus RMS current limit, Drive instantaneous current
limit, Motor RMS current limit (slow + fast), Drive over-
temperature, Position sensor fault
Built-in self test Internal power supply test, Processor clock stability test,
Position sensor test, Program memory test, Data memory
test, Ethernet PHY I.C. tests
Configuration Port
Physical layer Full-duplex asynchronous transmission
via an infrared light pipe system
IP Protection Inherent IP67/66K (submersion/washdown) protection
Configuration software functions Motion monitoring with real-time scope and numerous trigger
modes, servo compensator tuning (automatic and manual),
fault log display, configuration file load/save, EtherCAT
parameter browser/watch window, remote support tools.
Configuration software compatibility Microsoft Windows 10 or later
IR to USB-C adapter securing method Magnetic
Mating IR to USB-C converter (required) Teknic part number: CPMS-USB-IR
Electrical Power Requirements, Motor Bus Supply:
Bus Supply Voltage, Typical: 24VDC to 75VDC
Bus Supply Voltage, Absolute Min: 21.5VDC (as measured at input terminals)
Bus Supply Voltage, Absolute Max: 90VDC (as measured at input terminals)
T
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