Stop; Encoder Feedback - Danaher Motion s200 User Manual

Position node

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When a digital input is assigned as a CW/CCW limit it automatic takes the invert state. This is to

say 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 stop

the position command register from accumulating position due to incoming pulses. ( An input

configured for Gearing Active will do that). What this means is that a release of the CW/CCW

Inhibit input will cause the motor to move to its commanded position. This is not a common

application issue as most Electronic Gearing applications need an absolute position lock and the

fact that the Gearing Active Input can be used.

5.9 S

TOP

The S200 Position Node allows assignment of digital inputs to Stop. The function causes the

drive to bring the motor to 0 speed at a controlled rate and maintain the motor at standstill. The

Stop Command is not an Emergency Stop. It is intended for use in applications where a quick halt

of motion is desired. It is not intended to be a Machine System Emergency Stop.

The Stop function is not to be confused or construed to be sufficient

for any machine application Emergency Stop. The Machine Builder is

responsible to provide appropriate controls for the safety of

WARNING

personnel and equipment according to industry standards, local and

national codes, or industry specific codes.

5.10 E

NCODER

The S200 Position node has an auxiliary encoder feedback channel that can be used for the

motor shaft position feedback device instead of the SFD. The main encoder data channels are

incremental devices meaning that they power up with no information about how they are aligned

to the motor shaft. This is not compatible with brushless permanent magnet servo motors. For

this reason the encoder wiring must include commutation tracks. Sometimes these commutation

tracks are integrated into the encoder and may be called 'hall emulation' tracks. We refer to these

types of encoders as Comcoders. Other motor systems may have actual discrete hall effect

devices built into the motor.

S200 Position Node Products branded 'Kollmorgen' do not support feeding

the incremental encoder signals (J12) back out of the encoder output

channels on J4. S200 Position Node products branded 'Danaher Motion'

do support encoder output on J4..

NOTE

EEDBACK

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