Danaher Motion s200 User Manual
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20When a digital input is assigned as a CW/CCW limit it automatic takes the invert state. This is tosay that the input MUST BE active (input on) to allow travel in that direction. This provides fail-safe logic should a switch fail.It is worth noting for applications using electronic gearing that the CW / CCW limits do not stopthe position command register from accumulating position due to incoming pulses. ( An inputconfigured for Gearing Active will do that). What this means is that a release of the CW/CCWInhibit input will cause the motor to move to its commanded position. This is not a commonapplication issue as most Electronic Gearing applications need an absolute position lock and thefact that the Gearing Active Input can be used.5.9 S TOPThe S200 Position Node allows assignment of digital inputs to Stop. The function causes thedrive to bring the motor to 0 speed at a controlled rate and maintain the motor at standstill. TheStop Command is not an Emergency Stop. It is intended for use in applications where a quick haltof motion is desired. It is not intended to be a Machine System Emergency Stop.WARNINGThe Stop function is not to be confused or construed to be sufficientfor any machine application Emergency Stop. The Machine Builder isresponsible to provide appropriate controls for the safety ofpersonnel and equipment according to industry standards, local andnational codes, or industry specific codes.5.10 ENCODER FEEDBACKThe S200 Position node has an auxiliary encoder feedback channel that can be used for themotor shaft position feedback device instead of the SFD. The main encoder data channels areincremental devices meaning that they power up with no information about how they are alignedto the motor shaft. This is not compatible with brushless permanent magnet servo motors. Forthis reason the encoder wiring must include commutation tracks. Sometimes these commutationtracks are integrated into the encoder and may be called ‘hall emulation’ tracks. We refer to thesetypes of encoders as Comcoders. Other motor systems may have actual discrete hall effectdevices built into the motor.NOTES200 Position Node Products branded ‘Kollmorgen’ do not support feedingthe incremental encoder signals (J12) back out of the encoder outputchannels on J4. S200 Position Node products branded ‘Danaher Motion’do support encoder output on J4.. |
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