C
LEAR
P
ATH
U
SER
M
ANUAL
R
EV
.
1.97
74
M
OVE
I
NCREMENTAL
D
ISTANCE
(2-D
ISTANCE
)
M
ODE
S
UMMARY
its curren
t
Send a trigger pulse to tell ClearPath to move a user-defined distance from
t position. Send multiple, quick trigger pulses to tell ClearPath to
ravel a multiple of any distance in one smooth, uninterrupted move.
Incremental Positioning
An incremental move is referenced to its own starting position, not to an
absolute “home” reference position. So, if the incremental move distance
is set to +1000 counts, the shaft will move +1000 counts from its current
position each time a trigger pulse is received.
H
OW IT
W
ORKS
Assert the Enable Input to energize the motor. ClearPath can be set to
perform an optional homing routine (home-to-switch only in this mode).
Incremental move distance is selected with Input A. Pulsing the
Enable/Trigger Input launches each move.
Signal Function Input Type
Input A
Motor position vs. time
Input B
Enable/
Increment Select
Home Switch
(optional)
Enable
Trigger Pulse Enable line low to trigger movesTrigger
Logic: Low=Dist.1 High=Dist. 2
Logic: High=Home Low= Not Home
Logic: High=Enable Low=Disable
0
1
0
1
t
p+
p-
Example Timing
Notes: ClearPath can be programmed to home upon enable (see text for full
details). Moves are triggered on rising edge of trigger pulse.
0
1
Home
D2
D2
D2
D1
D1
Trigger pulse
Incremental Positioning (2 Incremental Distances)
Position Control
Incremental Position Mode: Inputs and Timing Diagram
Notes:
• A trigger pulse is required to launch each incremental move.
Move distance is selected with Input A.
• To create a longer continuous move, you can send multiple
trigger pulses and ClearPath will automatically “chain” the
move increments together to form a single seamless move.
Note: To successfully “chain” move increments, the burst of
trigger pulses must be sent rapidly. They must be received by
the ClearPath during the acceleration through constant velocity
portion of move, but not during the deceleration phase. If a
trigger pulse is received during the deceleration phase of a
move, that move will run to completion (motor will stop). Then
the next incremental move will execute.
T
EKNIC
,
I
NC
.
F
AX
(585)784-7460
V
OICE
(585)784-7454
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