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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Overview
Setup guide for Teknic ClearPath EC EtherCAT drives with the Hickory CNC Controller
ClearPath motors are commonly used for NEMA 23 and NEMA 34 applications as well as an upgrade path from stepper
motors
Use the Teknic Clearpath EC webpage for motor selection information and specifications
https //teknic com/products/clearpath brushless dc servo motors/ethercat servo/
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Hickory CNC Controller
The HICKORY is an integrated PLC and motion control processor HICKORY uses an Ethernet based fieldbus to
communicate with all accessories over RJ45 shielded twisted pair Ethernet cables The new protocol and connection
scheme are the defining features of HICKORY versus previous products such as OAK
HICKORY communicates with a host PC over Ethernet connection Drives and peripherals PLC expansion boards
Operatorβs Control Panel etc are connect in a daisy chain format with the first Drive connected to the HICKORYβs fieldbus
output and subsequent drives and peripherals chained down from the first Drive
A typical configuration would be connected as HICKORY β Axis 1 β Axis 2 β Axis 3 β Axis 4 β Axis 5 β Axis 6 β Axis 7
β Axis 8 β Operatorβs Control Panel
Typical Mill/Router Axis 1 = X β Axis 2 = Y β Axis 3 = Z β Axis 4 = Y2 paired motor to Y1 β Axis 5 A rotary axis β
Operatorβs Control Panel
Typical Lathe Axis 1 = Z β Axis 2 = X βAxis 3 = Y β Axis 5 C rotary axis β Operatorβs Control Panel
HICKORY supports up to 8 drives and 8 peripherals for a total of 16 devices chained together
When Using any Hickory Expansion boards place them at the beginning of the chain
Example HICKORY β Ecat1616 i/o expansion β ENCEXP13 encoder port expansion β Axis 1 β Axis 2 β Axis 3 β
Axis 4 β Axis 5 β Axis 6 β Axis 7 β Axis 8 β Operatorβs Control Panel
Supported Drives
β’ Yaskawa TB322 β’ Estun Summa TB317
β’ Teknic ClearPath EC TB332 This document β’ Inovance SV660N TB329
β’ Delta ASD B3A E TB330
β’ Delta ASD B3 E TB330 β’ LS Electric iX7NH TB335
β’ LeadShine EL8 EC TB324
β’ Leadshine EL7 EC TB323
Required software
β’ CNC12 Centroid CNC control software
β¦ https //www centroidcnc com/centroid_diy/centroid_cnc_software_downloads html
β’
Teknic ClearView 3 0 ClearPath EC drive setup and tuning software
β¦ https //teknic com/files/downloads/ClearView%203 0%20Installer zip
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Supporting documents
β’ HICKORY DIY Installation Manual
β¦ https //www centroidcnc com/centroid_diy/downloads/hickory/centroid_hickory_cnc_install_manual pdf
β’ Hickory ClearPath EC Motor/Drive Bench Test Schematic #15251 HICKORY Teknic Clearpath EC Bench Test
Setup
β¦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=15251
β’ Complete Typical Hickory System Schematic #S15266 Mill 220VAC Single Phase HICKORY ClearPath EC
Generic Inverter VFD Optional ECAT1616 schematic
β¦ https //www centroidcnc com/centroid_diy/schematics/pbrowse php?term=15266
β’ ClearPath EC Servo Drive User Manual Version 1 11 2024 06 17 or newer
β¦ https //teknic com/files/downloads/ClearPath EC_User_Manual pdf
Setup and Configuration Procedure outline for Clearpath EtherCAT drives for use with the
Hickory CNC Controller
1 Follow the Hickory Installation Manual up until you finish Section 5 7
2 Using the Teknic ClearView software program the Teknic drive parameters for use with Hickory
3 Bench Test Motor Movement with the ClearView software
4 Follow the Hickory Installation Manual starting with section 5 8 and until you finish section 7 1
5 Use ClearView AutoTune to tune the Teknic drives to the machine axes
6 Use CNC12 Drive delay Auto Tuning to Auto configure the Drive delay
7 Perform Drive tuning by hand for paired axes or to more finely tune the drives
8 Continue with the Hickory Installation manual from Section 7 3
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Program ClearPath EC Drives for use with Hickory
The Teknic drives can be programmed at just about any step in the Hickory setup process but generally youβll want to have
completed up through Section 5 7 of the Hickory install manual before following this section Or at the very least have gotten
to the point where the drives should be bench tested with the CNC12 software
Prerequisites
The following items are needed
β’ Computer with Teknic ClearView installed Version 3 0 was used for this document
β Download at https //teknic com/files/downloads/ClearView%203 0%20Installer zip
β’ USB to USB Type C cable β connected from the PC to the USB IR converter
β’ USB IR Converter Teknic part # CPMS USB IR β connected between the drive and the USB cable
β Note that the drive may not ship with a USB cable or the USB IR converter
You may need to manually install the correct driver if ClearView reports connection issues The driver will be found in C
\Program Files\Common Files\Teknic\Teknic USB Driver\DriverFiles after installing ClearView 3 0 See the
following instructions
Note Teknic Clearpath EC drives can have two different encoder resolutions 51 200 OR 12 800 High resolution units will
have part numbers ending in Exxx where low resolution units will have part numbers ending in Rxxx Identify which versions
you have and set the encoder counts/rev accordingly within the Hickory Wizard
If entering 12800 for the encoder counts/rev you will encounter
the warning to the right This can be safely ignored and you
can continue by pressing OK
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Drive Software Configuration Process
β’ Launch the ClearView software
β’ You should see the following screen
β’ If you instead see the screen below and the power supplies are functioning and connected try manually installing the
ClearPath USB drivers
β Open Device Manager and locate the new "USB Serial Device" under Ports COM & LPT
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β Right click to bring up the context menu Select "Update Driver"
β Choose to "Browse my computer for drivers"
β Browse to C \Program Files\Common Files\Teknic\Teknic USB Driver\DriverFiles\
β Make sure "Include subfolders" is checked and click "Next" to continue
β A Windows Security window will appear Click "Install" to start installing the driver
β Reboot the computer if prompted When finished the "USB Serial Device" will show up as "Teknic ClearPath
System" in Device Manager and the ClearView software should be able to connect to the drive
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Bench Test Motor Jogging with ClearView Software
For testing on the bench wire up the ClearPath EC drives according to schematic #15251
Or use the complete system schematic # 15266
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay weβll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 and press
CTRL+ALT+F once Notice OUT1 is now green and has an underline which means its current state is being forced This will
close the E Stop contactor and provide motor power to the drive for further setup
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Bench testing motors with Teknic software
With CNC12 running and OUT1 forced on go back to the ClearView software
β’ Click on "Access [Monitor]" in the toolbar and change it to "Access [Full]"
β’ Then click on "Enable Motor" to enable the motor
β’ After confirming that the motor is safe to rotate
β Set suitable jog velocity and acceleration in "Jog Motion" section
β Use the + and buttons to command motion at the selected speed
β’ When finished jogging
β Click on "Disable Motor" to disable the motor
β Change from "Access [Full]" to "Access [Monitor]"
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to itβs default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
Once finished bench testing the motors with the ClearView software power cycle the drive Continue where you left off with
the Hickory install manual until youβve completed section 7 1
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
ClearPath Auto Tuning an axis motor to the machine
Once youβve reached Section 7 2 of the Hickory install manual youβre ready for tuning of the Teknic drive s At this point the
drives and motors have been bench tested with the ClearView software and CNC12 The motors have also been installed on
the machine and are ready to be tuned to the axes
*** For now skip this drive tuning step on software paired axes Do not command motion on paired axes from software
other than CNC12 when the motors are coupled to the gantry/other paired axis
Force outputs on
a With the Hickory powered ON open CNC12 and press ALT+i to open the PLC Diagnostic Screen
b For motors with a holding brake which is controlled by Hickory via an output relay weβll need to temporarily manually
release the motor brake Navigate to the correct output using the arrow keys which in our example is OUT9 and force it on
by pressing CTRL+ALT+F When forced the output will now be permanently green and have a white underline Be aware of
the Z axis dropping due to gravity if E Stop is toggled with the brake off
c Note that if no physical E stop has been wired you can force the Emergency Stop circuit to apply motor power to the drives
Using the arrow keys on the keyboard g o to the output assigned to NoFaultOut which by default is OUT1 and press
CTRL+ALT+F once Notice OUT1 is now green and has an underline which means its current state is being forced This will
close the E Stop contactor and provide motor power to the drive for further setup
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
ClearPath ClearView Auto Tuning with stimulus from the drive
β’ From the CNC12 main screen press F3 MDI Execute M93 and exit MDI
β’ Return to ClearView and change "Access [Monitor]" to "Access [Full]"
β’ Next select Setup > Tuning > Auto Tune
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β’ Read the warning click the check box and then
click "Next" to proceed
β’ Confirm the torque limit settings are safe for the
axis mechanics before clicking "Next" to
proceed
ξ Keep the tuning stimulus slider as far to
the right as possible Move the slider to
the left if there are errors during the
tuning process
β’ Set the maximum velocity to account for any
speed limitations on the mechanical system
before clicking "Next" to proceed
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β’ Select whether the axis has limited or unlimited
rotation Linear axes and rotational axes with a
set range of angles tilt tables etc will typically
have limited rotation Rotary tables often have
unlimited rotation
β’ The following screen will show if you selected
limited rotation Choose whichever is safest and
click "Next" to proceed
β’ Follow the directions to set a safe
range of motion for the tuning
procedure It is recommended to use
as much of the axis stroke as
possible
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β’ Confirm that the settings are correct and
proceed by pressing "Next"
β’ Read the warnings and press "Next" to
continue
β’ Press "Run" to start the autotune process
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β’ When complete press "Next" to continue to the
last steps
β’ Jog the axis to a safe position if necessary
before pressing "Disable" then "Next"
β’ Check the check box and press "Finish"
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
β’ Give it a descriptive name and some brief
information about the mechanical system
β’ Press "OK" to finish the tuning process
Note Repeat this setup procedure from initial connection to ClearView for all drives that do not control software paired axes
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Sample Paired Y Axis Drive Tuning
Teknic recommends the following method for tuning paired axes that have the same mechanical characteristics as another
non paired horizontal axis This means the paired and non paired axes have the same screw/rack pitch gearing belting etc
Here is how
a Complete the above tuning procedure for the most similar non paired axis loaded with half of the total weight that the
paired axis carries For this example the paired axis is Y and the non paired axis is X
Leave the drive powered up and ClearView connected
b File > Save Configuration As and name the file so it is clear that it goes to the paired axis For example
"y_initial_tune"
c Connect ClearView to both of the paired axis drives and load the parameter file saved in the previous step
d Set ClearView to "Access [Monitor]" or disconnect from the drives and return to CNC12
e Jog the paired axes to make sure that they are moving together and do not fault
f Complete the Paired Axis Drive Delay Tuning procedure described later in this document
g Jog the axe s run PID gather program etc to evaluate paired axis performance
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Return outputs to an unforced state
a Turn servo power off and press E stop Then go back into the CNC12 PLC Diagnostic Screen by pressing ALT+i to return
the outputs we forced on earlier to their unforced state
b Using the arrow keys move the selector to any of the outputs that were forced on earlier Now press CTRL+ALT+F to force
the output permanently off and CTRL+ALT+F once again to return the output to itβs default state so it can be controlled by the
PLC once again You should now see no white underlines underneath the outputs
Once finished bench testing the motors with the Teknic software power cycle the drive Continue where you left off with the
Hickory install manual until youβve completed section 7 1
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Run CNC12 drive delay timing Autotune
Centroid drive delay AutoTune is required for proper servo motor operation The drive delay tune will verify a commanded
move with the actual move data provided by the encoder and calculate a βdrive delayβ in milliseconds
Requirements
The Servo motor to machine mechanical βgearβ ratio Centroid calls it βoverall turns ratio β βrevs/inch β or βmm/revβ when in
metric is required to be set properly before continuing with this procedure!
Currently software paired axes will not be run by the Centroid drive delay Autotune feature If you run it with an active paired
axis it will just skip it and give you a warning However we recommend changing the axis labels for the paired axis to βNβ
The machine home position must b e set
After any drives have been configured and tuned with the Teknic software or any time you have changed any Teknic
parameter settings on the drives s the Centroid drive delay timing Autotune in t he CNC12 PID menu must be performed
again!
Notes
If you would like to perform the drive delay AutoTune on one axis at a time simply change the axis labels of the axes you're
not tuning to βNβ to turn them off
Drive delay tuning on paired axes must be done by hand More information on this can be found after this section
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Start the drive delay AutoTune by pressing
F1 β Setup β F3 β Config default password is 137 β F4 β PID β F5 β Tune
Make sure that all axes can move the specified amount as seen on the screen without running into any obstacles or a limit
switch and press Cycle Start
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
After successful AutoTune press F1 β Save to save the results
For software paired axes it is required to hand enter a drive delay number in CNC12 using parameters 340 347
A good starting place is to hand enter the same drive delay time that auto tune found for a similar axis motor/drive/machine
axis mechanicals
In the example below Axis 2 Y is paired to Axis 4 W
So we set Parameters 341 Axis 2 drive delay and 343 Axis 4 drive delay to 5 ms
Which is the X value found by Centroid drive delay AutoTune seen in Parameter 340
Pitfall Warning if you run Centroid drive delay AutoTune with the paired axis Active drive letter NOT set to βNβ the drive
delay value for the paired axis will be set to zero and overwrite any hand entered values!
Further ClearPath specific Hand Tuning of the Drive Delay is described below
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Drive delay tuning by hand
For some machines such as those with paired axes it is desirable to enter and tune by hand the drive delay Centroidβs
CNC12 software has a built in scope which allows you to collect positional data while running a simple test g code program in
a repeat loop and observe the real time Absolute position Error of an axis
In the example below we are running the Scope on the Z axis which is moving up and down over and over The βErrAbsβ is
observed at 0 00008 β In this case there in NO NEED to proceed with the instructions below
In general If βErrAbsβ is below the fourth decimal place 0 0000x inches then there is no need to do any further tuning
The image above is of running a live Scope shot of the Z axis After automatic delay tuning was completed with very little
position error orange line from commanded position The green line is motor velocity
The orange trace ErrAbs is the position error The readout on the top left tracks the marker in the plot This marker can be
placed by left clicking anywhere within the plot window To the left of the slash is the error in terms of command pulse counts
while the right side of the slash shows the displacement
Assuming the overall turns ratio is set correctly see Tech bulletin 37 for more info the position error on constant velocity
moves should be very small You can mostly ignore the orange spike seen on the direction changes
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Adjusting RAS before drive tuning
ClearPath drives have a unique and effective resonance suppression feature called RAS that consequentially increases the
Drive Delay values The default RAS setting for ClearPath EC drives is 14 ms This leads to a Drive Delay several
milliseconds higher than that
Teknic recommends setting RAS to lower values for machines that require quicker response Teknic also recommends
minimizing RAS values when using synchronized moves with other manufacturer drives in the EtherCAT chain Finally they
state that all RAS values must be the same for all drives on a machine tool
Centroid recommends setting RAS as low as the application allows to minimize Drive Delay
Adjust RAS settings here after setting Access to Full
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Paired axis drive delay tuning by hand
The Centroid drive delay AutoTune function cannot be run on software paired axes however good performance can be
achieved by fine tuning the delay and drive parameters by hand
Be sure to complete the paired axes setup as described in the Hickory installation manual
Keep the axes paired in CNC12 and only command the master axis label Y in our example in the drive delay tune g code
program
DO NOT run the PID_collection_moves txt program on the Slaved Axis Label! W in our example
For example we have a Router with a Y axis moving Gantry Y is axis 2 master and is paired to axis 4 W slaved
Run the Data collection Scope on the Y axis and observe the ErrAbs just like any other axis described below
When performing the trial and error process of adjusting the drive delay value covered in the following section make
adjustments to the drive delay parameters for BOTH of the paired axes at the same time In our example we would make
0 25 ms changes to both CNC12 parameters 341 axis 2 master Y and 343 axis 4 slaved W
If performance of the paired axis is not satisfactory Teknic recommends
using the Fine Tuning feature in ClearView and reducing the stiffness setting
from the default of 19
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Hand drive delay tuning procedure
1 From CNC12βs main screen press F1 β Setup β F3 β Config default password is 137 β F3 β Parms and
navigate to parameter #340
2 Set the delays for any axes that will be hand tuned to a starter value such as 5 ms
Note If using RAS start with the delay value set 2 ms higher than the RAS setting For example if using
RAS setting of 14 ms then set the Drive Delay to 16 ms
3 Press F10 β Save and then press F4 β PID β F1 β PID Config to enter the PID Configuration menu
4 Press F1 β Edit Program to bring up the PID data gathering program in a text editor
PID_collection_moves txt Modify the program to provide a safe range of motion that is large enough for the
axis to accelerate to the commanded rate The feedrate should be the fastest positioning speed i e the fast jog rate
The delay is not critical but it is a good idea to have some
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
Here are a couple examples Edit these files to meet your requirement for start/stop position feedrate etc refer to
the CNC12 Operators manuals for further explanation on all G and M codes
5 Save the file and return to CNC12 Press F8 β Change Axis to select the axis you wish to run the data collection on
which is displayed in the upper left corner of the screen
Run the Scope by pressing F2 β Run Program and then Cycle Start which will start the
PID_collection_moves txt program that we just edited
The axis will start moving and you will likely see a display similar to the following image If not press F7 β Zoom All to
automatically zoom to the full extents of the signals
The orange trace ErrAbs is the position error in terms of encoder counts There will most likely be a large
observable error seen since the drive delay timing value that we entered does not match the Teknic Software tuning
of the drive The above figure shows roughly 0 0045 inches of error This might be good for a router but for a Lathe or
Milling machine we would want to do better
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TB332 Rev7 β CNC12 Hickory Teknic ClearPath EC Setup & Tuning
6 Now start the trial and error process of hand tuning the drive delay value
ESC out of the Scope Run and adjust the drive delay parameter 340 347 by 0 25 250 milliseconds one way or the
other and start the Scope Run again Be sure to always run the same program in the same place on the machine tool
when comparing and observing the ErrAbs amount donβt change more than one thing at a time
In general the drive delay is too high if the orange ErrAbs trace is on the opposite side from the green Velocity trace
Correspondingly it is too low if it is on the same side as the green Velocity trace The goal is to bring the orange
ErrAbs trace as close to zero as possible
7 After a little tweaking below is the same scope shot showing good results of 0 00002β Position error We are done!
Ignore the orange spikes on the direction change and stops β they will not influence anything
8 Press Cycle Cancel or ESC to stop the program when finished
Once youβve finished tuning the drives continue with the Hickory install manual where you left off
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