Motion library · Teknic ClearCore
Real units. Real paths. No step math.
An enhanced Teknic ClearCore library that adds what the stock one lacks: two-motor coordinated motion along programmed paths — straight lines and circular arcs at constant velocity along the path, chained seamlessly without stopping. Motion is programmed in inches, millimeters, degrees, or revolutions with feed rates in the units machinists actually use, while the library handles every step-count conversion. Backward compatible with existing code, and G-code-friendly for CNC work.
Motion research · EtherNet/IP
An open motion controller in the making.
A research platform for multi-axis interpolated motion on ClearCore — linear and circular interpolation, buffered trajectory execution and motion queueing, and real-time command streaming from external controllers, carried over industrial transports. It speaks EtherNet/IP and offers ClearLink-compatible integration modes for machines built around Teknic's commercial controller. Openly a work in progress: architecture, interfaces, and firmware are under active development.
Applied · Robot cell firmware
Six pockets. One network drop.
Production firmware for a 6-pocket rotary tool changer: a ClearPath SDSK servo drives the turret through a 10:1 gearbox — 36,000 counts per revolution, 6,000 per pocket — commanded by a Motoman DX200 over EtherNet/IP, tool selects out, turret status, position, and faults back. A hardware enable interlock, normally-closed E-stop, connection-loss motor cutout, and a six-code fault model with HLFB timeout handling keep it safe on the cell.