C
LEAR
P
ATH
U
SER
M
ANUAL
R
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.
1.97
51
onship of PWM duty cycle to motor velocity Relati
• 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 direction—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.
• PWM minimum on time and minimum off time = 300nS.
Max. Velocity
(CCW Rotation)
Velocity = 0
Zero
Velocity
10 20 30 40 50 60 70 80 90 1000
Max. Velocity
(CW Rotation)
Duty Cycle
Graph of PWM duty cycle vs. motor velocity
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EKNIC
,
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NC
.
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AX
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OICE
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