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The following data could be categorized as; those requiring motion tasking setup and those that
do not. As a velocity controller, gear follower, or step and direction controller: no motion tasks are
required. Most other modes will require Motion Tasking configuration.
Ramp control is the control of acceleration and deceleration rates. Motion Tasking allows each
profile to have its own acceleration and deceleration rates. Acceleration of Jog and Homing
moves uses a separate velocity acceleration rate that applies globally. A 'Stop Command' uses
yet another acceleration rate that can be set to a more aggressive value.
Homing is the process of calibrating the S200 Position Nodes motor position to the required
reference point on a machine. Absolute position data always references the home position.
Homing is always required on the S200 PN but there is a method to configure the S200 PN so
that the process is automatic and transparent. See the section on Homing, below.
Discrete inputs and digital inputs are synonymous and may be used interchangeably
throughout this document. A discrete input is used cause the S200 execute a function.
Clockwise (CW) and Counterclockwise (CCW) are mentioned in this document as one would
view the motor shaft looking at the shaft and motor-mounting plate.
A fault is a condition detected by the S200 Position Node drive that results in the drive
automatically disabling the power stage, turning off the fault output (Normally closed for fail-safe
operation), and annunciating the fault code in the displays. An example of a fault is a motor over
temperature detection (F13).
A Warning is a condition that is annunciated as the result of an ignored command. An example of
a warning is attempting to move before the home reference point has been established (n03).
Electronic gearing, line-shafting, Master/Slave are all used synonymous throughout this
document. These refer to the S200 PN's motor being controlled by an external master signal,
pulse-for-pulse although the ratio of movement per pulse can be adjusted by the user.
Step and Direction and Pulse and Direction are used synonymous. Both refer to a method of
feeding a position command to the S200 Position node via a pulse train command.
A profile generator is the device (usually software) that generates the desired position or
velocity for any moment in time. The profile generator is sometimes called the command
generator. It maintains the correct position for any instant of time. The profile generator is not a
servo loop but rather feeds the command into the position control loop.
Tuning refers to the process of adjusting the S200 PN loop compensation for the desired motor
performance with a given load. The S200 PN may require tuning in the velocity loop and the
position loop, depending on the application. Tuning of the current loop is automatic upon entering
the motor inductance.
BCD is short for Binary Coded Decimal. 0 to 8 input switches can be assigned as BCD Select
functions. BCD is a base-2 numbering system common in digital circuits which represent
numbers with a series of switches (bits) that can only be in an on or off state. A BCD code (Base
2 number) can be presented to these inputs whose function is simply to point to a Motion Task
(Base 10) number.
Comcoder is a term used to describe an incremental encoder that has commutation tracks,
sometimes called Hall Emulation tracks. These encoders provide coarse absolute position
information sufficient to properly commutate the motor. Comcoders hall tracks must have the
correct cycles/rev to match the motor's pole-pair count.
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