Motion Control with BeagleBone Black or Raspberry Pi and ClearPath-SC Servos
ฝัง
- เผยแพร่เมื่อ 8 ก.พ. 2018
- Watch this video to learn about using ClearPath SC (Software Control) with single board computers such as BeagleBone Black or Raspberry Pi.
ClearPath-SC blends a sophisticated, networked motion controller into the already compact ClearPath all-in-one servo motor system. Using ClearPath SC, your single board computer, and C++ libraries provided by Teknic, you can coordinate up to 48 axes or more. This system also gives you access to features such as g-Stop tuning, head-tail moves, conditional torque limiting, position capture, and more.
Get more information ClearPath SC setup, function, and features here: www.teknic.com/products/clear...
Teknic wants your feedback. Like this video? Give it a thumbs up! Be sure to comment with any questions about motion control and let us know what you did or did not like about the video.
For more information on Teknic ClearPath servos, subscribe to our channel and visit Teknic's website.
Teknic TH-cam Channel: / @teknicinc
Teknic Website: www.teknic.com/
ClearPath SC is controlled via a host application in software. SC gives customers greater flexibility to meet the needs of conditional and complex applications. The SC does not use a third party indexer like the SD series nor input triggers like on the MC series. Everything is written and moves are commanded using your C++ application codes and Teknic's API.
For example code and projects, please visit Teknic's downloads page (under "ClearPath" - "Software" - "ClearPath-SC Series Motor Setup (ClearView) and Class Libraries (C++ and .NET compatibility)" - "Linux_Software.tar.gz"): www.teknic.com/downloads/
We're using a pair of SC-HP motors to drive the azimuth and elevation axes of our 12.8m satellite dish restoration project. The sFoundation library has been super-helpful in the process, and has significantly shortened development time on this project.
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....
Hello,
...
I am going to try these types of servos one day. They are nice!
Seth
amazing, super interested in these motors now! Going to add them to my next CNC build!
Hi Vlad…Glad to hear it! ClearPath is a nice fit for a wide variety of applications, but for CNC we typically recommend using ClearPath-SD instead of ClearPath-SC (the SC being the specific series featured in this video). I’ll explain why.
Both ClearPath-SC and ClearPath-SD can be configured for step and direction input, which is compatible with many CNC controllers. If you use the ClearPath-SD, set up is simple: wire the CNC controller to the ClearPath-SD and make sure your engineering units agree. With this, your integration between the CNC controller and the ClearPath-SD is done.
If you elect to use a ClearPath-SC, in addition, you’ll need a computer host for the sFoundation software API, and you’ll have to write code managing when the ClearPath-SC software is issuing commands and when the CNC controller is issuing commands. Many CNC controllers are not designed to easily interface like this, and the ones that do are usually custom solutions designed for applications requiring more machine flexibility compared to what the typical CNC controller offers.
As a result, the vast majority of CNC customers use the ClearPath-SD with an off-the-shelf CNC controller. This allows excellent performance with minimal integration effort.
But there is a use case for the ClearPath-SC in CNC. Specifically, CNC customers integrating the ClearPath-SC are almost exclusively OEMs. These equipment manufacturers have the engineering resources and make the software development investment to maximize machine flexibility and gain a competitive edge. Other than this OEM exception, ClearPath-SD is typically the best fit for CNC applications.
I hope this helps. If you have any additional questions, feel free to contact Teknic directly at teknic.com/contact/ or give us a call at 585-784-7454.
Best regards,
Matt C. - Teknic Servo Systems Engineer
very impressive. I'm excited again about my hobby project I'm about to restart using Teknic gear. I'll be reaching out to you soon.
Hi Adrian,
Thanks for your feedback and kind remarks.
We look forward to working with you and discussing your application in more detail.
Best regards,
Tom T. - Teknic Servo Systems Engineer
I would love to see a more in depth video on this subject.
Hi Fox,
Thank you for your request. One way for us to better understand which videos will be most helpful is to hear directly from our subscribers.
If you're looking for more information about using ClearPath-SC with a single-board computer, feel free to check out our GitHub page. There you will find step-by-step instructions outlining how to set up a BeagleBone Black, and how to execute example code based on Teknic's C++ motion class library (called "sFoundation").
Here is the link: github.com/Teknic-ClearPath/TekTips-BeagleBone-Examples
In the meantime, I've added your request to our video backlog. We currently have several videos in production and once those are published, we'll have a chance to evaluate which videos to create next. Stay tuned!
Kevin S.
I agree. I would be awesome to see a video of an unboxing and setup of software and a first run video. This would be awesome.
It seems the links are out of date and do not work, which seems reasonable after 5 years.
Sooo awesome! It would be great in you could develop a series of Nema 17 Motors for 3D-Printers! :D You would sell them like crazy!
Thank you for the compliments and your feedback. A NEMA 17 version of ClearPath is a request we get frequently and we've looked closely into manufacturing this size. While we'd like to scale down our technology into a NEMA17 version, we also have to maintain the quality standard to which we hold our other models to and be able to manufacture these motors in high volume at a competitive price. We can't meet all of these objectives at this time, so we've put this project on hold (at least for now).
Well that shows they care, you could just make a "large" 3D printer that uses Nema 23 motors 😉
Please make a full Raspberry pi tutorial.
Hi petrasvestartas4359, Teknic’s examples and Makefile are ready to build and run on Linux devices, including the Raspberry Pi. A setup using a Raspberry Pi would be very similar to the one shown in this video and wouldn't require anything unique.
If you have specific questions about the functions or features of Teknic's products, please send us a contact request at teknic.com/contact/.
-Aaron B. Teknic Servo Systems Engineer
@@TeknicInc It would be appreciated to have a dedicated Raspberry Pi tutorial or sample, even though you stated is similar, you have one for Arduino , Raspberry Pi would not hurt.
Hi @maxpowers3564, Thanks for the suggestion to create a Raspberry Pi / ClearPath SC tutorial video. We’ve forwarded your request to our management team. These suggestions get reviewed when we start creating educational videos again.
If you have specific questions about the functions or features of Teknic's products, please send us a contact request at teknic.com/contact/.
-Aaron B. Teknic Servo Systems Engineer
@@TeknicInc Teknic company is really great considering support and products, raspberry pi tutorial would be awesome:) raspberry woulbe really appreciated
Congratulations for your products. I am exploring options for autonomous and teleops robots (hobby - not professional yet) and see a great fit in your products, except: 1) I don't see reference to support of Can Bus 2) An AC power supply sounds to be the norm to use , requiring then a power conversion for DC Power (batteries) - any architecture suggested for this? 3) I am leaning towards Nvidia Jetson controllers. Would you release docs/videos for the integration with the Jetson series? Thank you in advance,
Hello Americo: Thank you for your positive comment and questions. Here are answers for each question.
1) There is currently no support for CAN Bus because although it is a popular, low-level protocol, it has certain technical limitations in a number of applications common for ClearPath-SC.
2) As you state, most fractional horsepower servos run off of a DC bus. Fractional horsepower ClearPath servo motors can be run from DC voltages as low as 24 VDC, so most customers with applications similar to yours will use batteries. Just be sure to allow for regenerative energy (i.e., energy that the motor will put back on the bus when the sign of the torque is opposite the sign of the velocity-this is common when decelerating quickly). For low to moderate amounts of regenerated energy, ClearPath can be configured to absorb the regen energy rather than pushing it back on the bus. See “Vector Regen Shunt (VRS)” in the ClearPath manual (www.teknic.com/files/downloads/clearpath_user_manual.pdf) for more detail on this.
3) We don’t have any current plans for a video on Jetson integration, but we maintain a database of customer requests for videos (and product features, etc.), so I will add your request. In the meantime, if you have specific questions on integrating ClearPath into a Jetson architecture, please feel free to give us a call at 585-784-7454, or use our “Contact Us” form online (www.teknic.com/contact/).
Thanks again for your interest!
Brendan F. - Teknic Servo Systems Engineer
Do you have products to drive a permanent magnet synchronous servomotors? It’s for a 400VAC motor meant to drive light electrical vehicles.
Your product environment looks really friendly to use, I hope to hear from you.
Hi Theo B,
Thanks for the compliment and your interest in Teknic products!
Teknic offers standalone Eclipse servo drives and Meridian integrated servo controllers/drives, which run off of up to 360 VDC bus power, produce up to 20 A continuous and 50 A peak, and can power virtually any three-phase brushless motors. Because these products don’t have the ease-of-use features that the ClearPath SC integrated servos have (like pre-configured motor wiring/settings, auto-tune and object oriented C++/C#), Teknic’s standalone drive products are only available for high volume OEM applications.
Another option to consider, Teknic’s integrated AC input ClearPath (available on our webstore) can take up to 240 VAC and 4 HP continuous.
If any of these options sounds like they may be a good fit, we can further help with product selection. Please feel welcome to contact us at support@teknic.com.
Best,
Aaron B. Teknic Servo Systems Engineer
Hi, thank you for another SC-series video!
I am trying to wire ClearPath-SCs in "Step and Direction" mode to Masso CNC controller.
The controller has Differential Signal (-5v to +5v) Step & Dir outputs, that I believe, can be directly connected to motor's A and B inputs.
However, it seems, that SC4-Hub has different A and B inputs schematic and is not a direct pass-through from SC4-Hub to the motor.
Quote from the user manual: "ClearPath-SC motors can accept inputs from devices with logic high ranging from 5-24VDC, but the SC Hub, by default, accepts 24VDC NPN type sensors or simple mechanical switches."
Is there a recommended way to modify the SC4-Hub to directly pass through A & B inputs to motors? Desoldering a component or two from SC-Hub is not a problem for me. Jumpers J0A..J3A and J0B..J3B seem to be likely candidates :)
Or is there another way to connect the servos to the controller in this case?
Maybe, extracting 4 middle wires from the 8-Pin Molex connector on SC4-Hub side, and connecting them directly to CNC controller will do the trick?
Hi Artem,
You are absolutely correct; the SC4-HUB can be modified to accept *standard* (see below) step and direction signals from externally powered devices (e.g. a PLC, microcontroller, etc.) with one simple modification.
Here's how to do it: Say you want to use external step and direction with Motor 0 on your SC4-HUB. Carefully cut the two wire jumpers, which (as you guessed) are labeled J0A and J0B. These wires are located above the two associated 4-position input connectors. Just be certain that each jumper is completely severed and no bits of wire are left on the board.
Here's a visual aid for you: ibb.co/gR3LgS
After the jumpers are cut, pin 1 on Input A directly connects to the motor's Dir (+) pin, and pin 3 to Dir (-). Similarly, pin 1 on Input B connects to Step (+), and pin 3 to Step (-).
*Standard step and direction signals, in this context, means single-ended signals with a voltage range from 0-5VDC all the way up to 0-24VDC. Note: many “5V” differential drivers do not provide a large enough differential voltage swing to guarantee compatibility with the ClearPath inputs (particularly at higher frequencies and longer cable runs). Your differential driver should be compatible as long as it generates at least a 4V difference across the positive and negative ClearPath inputs, and is able to supply at least 7.5mA.
~Jim W.
Hi,
Thank you for detailed response, the illustration and for including the feature in the first place. It helped a lot.
A couple of thoughts:
- Consider adding this information to User Manual for fellow users.
- In future versions of SC4-Hub consider replacing wire-jumper with a normal jumper or a switch, if at all possible. I think that would improve user experience.
Looking forward to next video!
Hi Artem,
You're very welcome, and thank you for your suggestion.
We agree with you, and you'll be pleased to hear that this material is covered in a soon-to-be released revision of the ClearPath-SC User Manual.
Thanks again!
~Jim
What is the linear rail system you used in this video- it looks awesome with the mount points for the limit switches!
Hi Joe,
Thanks for reaching out. We used a ballscrew/linear stage from Motion Solutions (it is an LGS33 model). I don't know that this specific model comes complete with limit switches, but I believe Motion Solutions manufactures versions that do.
Please feel free to contact Teknic at +1-585-784-7454 or support@teknic.com with any other questions you have.
Jon K. - Teknic Servo Systems Engineer
Jn.
Hi! Thanks for the video
Could you share the part number of the shaft couplers please? also, I'm looking to couple a teknic shaft of 12.7mm to a rod of 30mm...
Hi NedSar85. Thank you for watching! The shaft coupling in this video (and one we recommend to our customers) is a clamp-style spider coupling. This is a 3-piece design consisting of 2 aluminum outer hubs and a polyurethane “spider” in between. The inner spider helps damp vibrations that are common with bi-directional, start/stop move profiles with varying torque. There are also relief cuts in the outer hubs which enhance mechanical grip.
I’ve provided the part number and website link below based on the specifications you’ve provided:
PN: MJC57-30-A JD36/57-98R JC36-8-A
Website link: MJC57-30-A, JD36/57-98R, & JC36-8-A, 30mm x 1/2" Jaw Coupling Bundle | Ruland
If you have any other questions, please feel free to contact us at teknic.com/contact or speak to us directly at 585-784-7454.
Best regards,
Celina A. -Teknic Servo Systems Engineer
Im thinking to make a retrofit for a Biesse 321r nachining center with clearpath ( 3kw on X axis). The question is: Is available any software who can comunicate limux pc with Linux CNC installed with the beaglebone and make controlable the servos straightforward from linux cnc? Controlling clearpath sc4 IOs from linux cnc would be needed too.
Does this synchronizing the motion of servos also create the capability to Autotune the two or more servos at once? The answer is no, correct? Sorry for being confused.. I am one of those interested in slave axis tuning.
So you could figure out the Auto tuning for the track of the Y axis with gravity and half the weight of gantry being attatched a representation in weight to half that specific weight by secure and balanced temporarily weight to mimick load of each half of X axis motion for both servos of X axis, whereby one of said X axis is inverted with saved Autotune file of said Y axis for both X motion Auto tuning parameters.
Hi Jesse,
The question about how to tune a dual-driven system is a common question that we receive fairly regularly.
You are correct, the current auto-tuning algorithms do not allow for a customer to automatically configure a dual-driven gantry for a number of technical reasons. That said, many ClearPath customers do have dual-driven gantries, and there is a process that you can follow to get your machine up and running.
To start, the X and Y axes often have the same mechanical design - so I’m assuming that is the same case here. This is done because it makes the machines easier to build and makes the command creation (math) easier. Additionally, assuming that you’re using the same motors on X & Y (which again is quite common), you can follow these steps. (Please note that the vertical Z axis is almost always a different mechanical design than the X and Y):
1) Load 1/2 the total weight that the dual X axis drives onto the single Y axis and then run the auto-tuner. You usually would not use the Z axis even if the mechanics were the same because it is biased downwards as a result of gravity (which dual X axis is not).
2) After auto-tuning the Y axis with the additional weight, load the file into both X motors.
3) If you are sending the same control signal to both motors and the motor shafts are facing each other (or directly away from each other) on opposite sides of the gantry, click the "Reverse Direction" checkbox for one of the X motors in MSP. Save the two X motor files with different names (e.g. XA_SDSK-3421S_rev1 and XB_SDSK-3421S_rev1) so you know which motor has the reverse direction set.
4) Run the machine using your machine controller. If the X axis does not seem to have optimal tuning, trying moving the "Fine Tuning" slider left or right to see if your results improve. You will need to do this with both X motor files (and have the same value in both motors) before evaluating the effectiveness of this step. If you make any changes, re-save the new files (overwrite the old files or create new names) in a safe location for the future.
I hope this helps clarify a few things. If you have any additional questions, please contact us directly at support@teknic.com
Thanks,
Jon K.
Is it possible to connect big electric engines to this system? Like a conveyorbelt engine?
Hi Perry S,
Without more information it’s hard to know for sure - please contact us at support@teknic.com and an engineer will be in touch with you shortly to discuss your application in greater detail.
Thank you,
Jon K. - Teknic Servo Systems Engineer
Where can I find the rails and the "linear screw" you are using to drive the carriage?
Hi Manuel,
Thank you for your question. The ballscrew/linear stage used in this video is an LGS33 series from Motion Solutions.
Please feel free to contact Teknic at +1-585-784-7454 or support@teknic.com with any other questions you have.
-Bridgette G. - Teknic Servo Systems Engineer
how about the C# windows example too ?
Hi Francis,
We don't (yet) have a video that discusses C# for ClearPath-SC but we do appreciate your feedback. Customer feedback is one criteria that we use to help us determine what specific information is important to our readers and subscribers.
There are several example projects for C# for Windows to help get you started. To find the C# example files, just download the ClearView installer from Teknic’s website. Here's a link:
www.teknic.com/files/downloads/ClearView_Install.zip.
After installing ClearView, navigate to:
C:\Program Files (x86)\Teknic\ClearView\sdk\CSharp Examples.
If you have any questions, feel free to email support@Teknic.com.
Best regards,
Aaron B.
hello. please do you have examples using your SC, for robotics applications. for example robot arm, delta robot. thanks a lot.
Hello Isaac,
Thank you for your inquiry.
Teknic works alongside our OEM customers to help them integrate our products into their equipment but we' re not a machine builder so we don't have machine level code or videos. However, soon we'll be posting a new video of a Teknic built multi-axis robot that shows many different types of machine functions so be sure to subscribe to Teknic's TH-cam channel and click on the "bell" to be notified when the new video is released.
In the meantime, you can view many single axis video examples in the "Support" section of Teknic's website:
www.teknic.com/watch-video/
We also have ClearPath-SC software libraries with function-based example code available in the "Download" section of Teknic's website:
www.teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sc
If you have any additional questions, please feel free to contact us at support@teknic.com or call 585-784-7454.
Thanks for watching!
Best regards,
Tom T. - Teknic Servo Systems Engineer
To control a 3 axis glue dispensing machine, would it be better to use a setup like this with Clearpath-SCs and a raspberry pi or Clearpath-SDs and a PLC?
Hi Diane,
I’m an engineer with Teknic and you ask a good question. There are benefits to both approaches (ClearPath-SC with a Raspberry Pi or ClearPath-SD with a PLC or other controller), so there isn’t a single easy answer to your question. In order to make the decision, you will want to consider the type of motion you require (e.g. point to point vs. contouring), your programming experience (C++/C# vs. ladder logic or some other IEC language), and the other types of peripherals you need on your dispensing machine.
I suggest that you contact Teknic to discuss your application. One of the engineers here will be able to help you narrow down your choices and make the best decision for you. If you have any additional questions or comments, you can contact a Teknic engineer at 585-784-7454 from 8AM-6PM ET (M-F) or use the "Contact" form on Teknic's website: teknic.com/contact/
Best regards,
Jon K. - Teknic Servo Systems Engineer
Thanks. I need to control direction, speed and position and there is no mode including those three. So if I chose to control direction and position with wires, I need to set acceleration, deceleration and speed before the movement using some commands. I don't want to use their software, but build a stand alone communication with the motor. Can you suggest me where to find the commands they are using to communicate and set the motors.
Hi Che Black,
There are a few different modes/series that can control direction, position, and speed on the fly. We are happy to work with you to determine which ClearPath motors are the best fit for your application, but we will need to better understand exactly how you plan to use/integrate ClearPath and what type of control/communication you are looking to use.
Please feel free to give us a call at 585-784-7454 and ask to speak with an available Applications Engineer, or email us for support here: teknic.com/contact/.
Best regards,
Mark D. - Teknic Servo Systems Engineer
Any chance to see the "ClearView" app ported to Linux and ARM processors? Windows it is not an option for me!
Hi Alex,
Thank you for your inquiry. While the ClearPath SC libraries are compatible with a Linux OS, the "ClearView" set-up and diagnostic program requires a Windows OS.
ClearView was designed for initial set-up and diagnostics rather than for application use software. Once you are finished configuring your motor for your application, you only need ClearView for certain functions such as troubleshooting. You do not need ClearView for machine operation once the motor has been configured. Since ClearView isn't designed to be used as application software, there are not multiple versions for different operating systems.
That being said, we have an internal database to keep track of customer feedback and requests that our engineers review on a regular basis - I'll add your request to it. I can't promise that we can/will implement your request, but it will be considered. The items on the feature request list get evaluated to determine which requests have a broad appeal and which requests are feasible. Many of the product features that Teknic offers in our products are a result of this process, so thanks once again for your input.
If you have any additional questions, please feel free to contact us at support@teknic.com or call 585-784-7454.
Bridgette G. - Teknic Servo Systems Engineer
Other than the sFoundation code, do you have anything to help develop a single SC NEMA-34 motor system, something that could run on a fast Teensy 4.1 or similar MCU (non-Linux) system? Any documentation for how to control the motor without trying to dig through 20,000 lines of industrial level control software?
Hi beforebefore,
ClearPath SC motors come with Teknic's sFoundation C++ class library which includes all commented source code for Windows and Linux, ready to run example projects, and a compiled HTML help reference.
This sFoundation library is user-friendly in Windows and Linux-based systems, but we understand that there's a myriad of other operating systems and micro controller combinations possible. While Teknic can't support ports of the sFoundation library to every combination of micro controller/operating system, we recognize the possible need. So in the case of non-Windows and non-Linux systems, we've structured the sFoundation library so that OS specific functions (such as thread management and port access) are organized separately from the rest of the library code. This organization minimizes the required effort to port the library to a new system. For example, only a handful of files are changed between the source code of Windows and Linux.
This said, porting the sFoundation to a non-Windows, non-Linux OS or a micro controller is not trivial and requires low-level knowledge of the OS, so using Windows or Linux is highly recommended.
Brendan F - Teknic Servo Systems Engineer
@@TeknicInc I'm not sure if you are a software coder, but your take on the "user friendliness" of the sFoundation source is exaggerated... to be kind.
As long as someone needs something as complicated and intertwined as this package is, then yes it would be relatively easy to compile and use "as-is"... but truthfully, there are a lot of applications that fall well outside of your code... that don't require such complicated structure.
These uses may not be the few that use 50 motors per install, but is 10,000 users can use 5 or 6 each, that's still significant.
You are clearly limiting your business. by choosing this restriction by telling your customers they aren't smart enough to design systems to use your SC motors.
Personally, I take this as an insult, and it will make me look elsewhere... even though we just completed an initial project that used 8 SD motors.
I am a c++ developer and hobby fabricator. Can the servos be flashed for C++ commands and then later on run gcode? or are they two separate servos?
Hi Dev Everything,
ClearPath is a good fit for many different applications, but for applications that utilize G codes (typically CNC-style machines) we recommend using ClearPath-SD instead of ClearPath-SC (the SC being the specific series featured in this video).
ClearPath-SC integrated servo motors are designed to communicate with an application created using Teknic’s C++ class library. This application runs on a host computer (with Windows or Linux as the OS) and communicates to the motor(s) via a serial port (e.g. USB or RS-232). The C++ class library we provide with the ClearPath-SC motors does not currently support the native processing of G or M codes.
On the other hand, the ClearPath-SD integrated servo motors are commonly used with CNC controllers that process G and M codes and subsequently output digital step/direction signals. We’ve seen many customers successfully use this combination with CNC-style machines such as lathes, routers, mills, waterjets, and even laser cutters. More information on these motors can be found in the following video: th-cam.com/video/NbLE126rrRs/w-d-xo.html
I hope this helps. If you have any additional questions, feel free to contact Teknic directly at teknic.com/contact/ or give us a call at 585-784-7454.
Thanks, Abe A. - Teknic Servo Systems Engineer
@@TeknicInc Thanks for the reply!
Where I can find instructions mentioned at ~5:40?
Hi stringtheorification,
Thank you for bringing this to our attention.
The instructions and code examples for the Eclipse IDE can be found on Teknic’s github site:
github.com/Teknic-ClearPath/TekTips-BeagleBone-Examples\
We have also updated the description in the BeagleBone Black video with the link above as well.
If you have any other questions or concerns please feel free to email us at support@teknic.com.
Best regards,
Mark D.
Hi , what is the max step rate achievable through USB or serial ? and what is the latency from sending order to execution of said order ?, in short can it be used for real-time ( 1 step latency and 500khz) ? thx
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
where can I buy these translation stage that compatible with the motors?
Hello Hong… Teknic servo motors have standard NEMA mounting dimensions (e.g., NEMA 23, 34 and 56), so they are compatible with linear stages from most manufacturers. This allows you flexibility to select the optimal mechanics for your application. The stage shown in this video was manufactured by Macron Dynamics.
Best regards,
Erik M - Teknic Servo Systems Engineer
Hello Teknic
is it also possible to use SD-models with this?
I want to get automated diagnostic data out of the motor to monitor the drivetrain
Thank you & Best regards
Till
Hi Till,
Thanks for taking the time to watch! I’m not entirely sure I understand your question though… I don’t know if you want to control a ClearPath-SD motor using a BeagleBone Black/Raspberry Pi (i.e. you want to know if it is possible to use Teknic’s C++ class library that was designed for the ClearPath-SC motors with a ClearPath-SD motor), or if you want to use the ClearView software to monitor the ClearPath-SD motor’s performance. As a result, I’ll try and answer both questions.
For anyone reading this response unfamiliar with Teknic’s ClearPath motors, it’s important to know that the ClearPath motors are available in one of three different series (MC, SD, or SC). Each of these series are designed for different use-cases and are controlled in different and distinct ways. You can learn about those differences here: teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-servos/
The video that you’re commenting on demonstrates how users control ClearPath-SC motors by writing their own host application. This application can run and execute on a BeagleBone Black or Raspberry Pi (or even a typical PC running Windows or Linux), and users create this application with the ClearPath-SC C++ class library. The ClearPath-SD series of motors is _not_ compatible with this C++ class library, they’re controlled in a different way.
ClearPath-SD motors are controlled with 5-24Vdc electrical Step & Direction signals. These signals are generated by a whole host of different controllers (e.g. PLCs, motion control indexers, many microcontrollers, and numerous CNC controllers). I do not know if a BeagleBone Black or Raspberry Pi is capable of generating those signals (you will need to contact those manufacturers to see if this is something that they can do).
The ClearView software (shown at this point in the aforementioned video th-cam.com/video/R7bgAo0EINI/w-d-xo.html) is compatible exclusively with the ClearPath-SC motors. You can use this ClearView software to monitor the diagnostic data and performance, of the motor. There is an analogous piece of software called “MSP” which enables customers to monitor diagnostic data in the ClearPath-SD motors (you can watch a video that details MSP’s capabilities here: th-cam.com/video/oJSp_1aNiSE/w-d-xo.html).
I hope this helps. @Till, you’ve recently asked a few questions about similar subjects on our videos, so if you have any additional questions, please feel free to contact Teknic directly at teknic.com/contact/ or give us a call at 585-784-7454 so we can discuss your specific application.
Thanks, Jon K. - Teknic Servo Systems Engineer
@@TeknicInc
Hello,
Thank you big time for your repsonse.
To clarify my question:
I want to get Diagnostic data out of a SD-Motor with a Beagle Bone or a raspberrypi.
So i tried first with the examples of the C++ Libary but i think this is only possible for SC-Models, right ?
Next try was looking in the serial communication between ClearPath and the SD-Motorcontroller to check which commands are for Torque. But these were looking like encrypted.
Is there a way to get these Parameters out of the controller with just the serial communication and without using clearpath? (Mayby with a controller board of yours or sth.)
Thank your very much & Best regards
Till Volkland
Hi @@tillvolkland6459
You’re welcome for the response - we’re happy to help. And you are correct, the C++ Class Library is _only_ usable with the ClearPath-SC models, so you may be better off using a ClearPath-SC motor in your application (although that will depend on the specifics of your application). You can, however, access diagnostic data from ClearPath-SD motors in two different ways (one is through Teknic’s setup software, the second is through the ClearPath-SD motor’s hardware).
The first approach uses Teknic’s “Motor Setup Program” software (nicknamed “MSP” for short). This software is used by everyone to not only configure their ClearPath-SD motors, but also to gather important diagnostic data about their mechanics and system. It sounds like you’ve already started configuring your ClearPath-SD motor(s), but in the event that you haven’t, you should review Teknic’s ClearPath-SD getting started guide located here: teknic.com/products/clearpath-brushless-dc-servo-motors/model-support-sd-dc/. This guide contains two videos that might be of particular interest to you. The first video is entitled “Using MSP (Motor Setup Program)” and it gives customers an overview of how to use the MSP software. The second video is entitled “How to Use ClearPath’s Diagnostic Tools” and it discusses how users can collect data and troubleshoot problems using MSP’s built in software oscilloscope. This method requires that you have a Windows PC available that you can plug into the motor, so it’s used almost exclusively during the Engineering or R&D phase of a project.
The second approach for accessing diagnostic data from ClearPath-SD motors is directly through the motor’s digital output. Teknic refers to this user configurable output as the “High-Level Feedback” output (we commonly refer to this output as “HLFB” in our documentation), and it can convey certain motor statuses back to the host (you can even configure it to convey the motor’s real-time torque usage). I suggest taking a look at the ClearPath User Manuals located here (teknic.com/downloads/) for more information on the HLFB output and how you might configure it for your specific application. Since this approach relies entirely on hardware to monitor the motor’s status, it is most commonly used by customers once they are out of the R&D phase of their project, and their machine is up and running.
If you have any additional questions on this topic I suggest that you contact us directly at teknic.com/contact/ or give us a call at 585-784-7454.
Thanks - Jon K.
Hi Till,
It’s worth noting that users can configure ClearPath-SC motors to accept Step & Direction control signals (this will cause them to act similarly to your ClearPath-SD motors). So, if you’re comfortable using Teknic’s C++ class library, then it may be a great fit for you since you can access the diagnostic data and status information directly through your host application running on your PC/Raspberry Pi/BeagleBone Black.
There are a few significant differences however when using Step & Direction signals with the ClearPath-SD motors and ClearPath-SC motors. With ClearPath-SC you _need_ to use Teknic’s ClearPath-SC class library to enable the motor and monitor its status (ClearPath-SC doesn’t have an HLFB output or a hardware Enable input). Additionally, you’ll need an SC4-HUB breakout board to communicate from your PC to the ClearPath-SC motor (this board isn’t applicable with ClearPath-SD motors). Because this approach requires customers to use Teknic’s C++ library and program the controller that generates the Step & Direction signals, we typically only recommend this combination to customers with a strong software programming background (which it sounds like you probably have).
Thanks - Jon K.
I'd like one kit for my milling machine 3 axis what is the price
Hi Abram,
Thank you for considering ClearPath for your milling machine project. The cost of a kit for your milling machine would depend on the specifics of your machine and application (i.e. how much weight you’re moving, the desired speeds, gearing, etc.), but a typical range is about 1-2k (US dollars) for three motors capable of accepting step and direction commands, a power supply, and the required cables.
Most CNC machines use step and direction signals for motion control. The *ClearPath SD family* is designed to be used with step and direction signals, so that's very likely the right type of motor for your project. You can find more information about the ClearPath SD family on Teknic’s website:
Overview
www.teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sd-stepper-replacement/
Video
th-cam.com/video/NbLE126rrRs/w-d-xo.htmlrel=0&iv_load_policy=3
Manual
www.teknic.com/downloads/
Once you're on the Downloads page, click ClearPath>ClearPath User Manuals> ClearPath-MC and -SD Series.
If you have any other questions please contact us at support@teknic.com. Best of luck with your milling machine!
~Jim W.
Hi Abram,
We just added Paraguay to the list of countries we ship to, so you should now be able to select that as an option. Please feel free to contact support@teknic.com if you have any questions about ordering online.
Best regards,
Jim W.
Do you have a library in python as well?
Hi Sameer Bhalla,
Teknic does not offer a Python library for use with the ClearPath-SC system. The ClearPath - SC libraries we currently provide are for C++/C#.
If you have any other questions please feel free to give us a call at 585-784-7454, or email us at: teknic.com/contact/
Best regards,
Mark D. - Teknic Servo Systems Engineer
What about ROS2 integration?
Hi Weldopedia,
Thank you for your inquiry.
Although ClearPath-SC doesn’t have a library that natively interprets ROS2, we have had customers successfully use ClearPath-SC motors (and our other lines of ClearPath-SD or ClearPath-MC motors) on machines which utilize a ROS architecture. There are a number of different ways of integrating the ClearPath motors into a ROS architecture, but the specifics will depend on your application.
If you’d like to discuss your application in more detail with a Teknic applications engineer, please feel free to give us a call at 585-784-7454 or use our "Contact Us" form online (www.teknic.com/contact/).
Best regards,
Jon K. - Teknic Servo Systems Engineer
Onde adquiro este driver
Hi Fernando,
You can buy these ClearPath motors directly through Teknic's website: www.teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sc/
If you have any additional questions, please feel free to contact us to speak directly with a factory trained engineer (or you can leave us a message at www.teknic.com/contact/).
Jon K. - Teknic Servo Systems Engineer