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Selecting Encoder Feedback on the S200 Position Node automatically sets
a related setting: Use SFD Parameters (Under Drive Setup Menu) to not
use data from an SFD. Should the user go back to using an SFD feedback
device after having configured the S200 PN for encoder feedback the Use
SFD Parameters setting is not automatically changed and must be
NOTE
changed by the user.
The encoder line count is received and multiplied by a factor of 4 for internal use. So the position
resolution within the S200 PN is 4 times the line count of the encoder. The line count is entered
on the Motor and Mechanical \ Feedback screen.
The Advanced button shows the ability to adjust an offset for encoders. This offset is a
commutation offset that can compensate for encoders that are not correctly aligned so that the
Halls align with the motor BEMF. There is more detail on that subject in the S200 Position Node
Installation Manual.
Since the Comcoder that will be used does not have the ability to store motor data parameters in
it the user wishing to have an encoder feedback system must define the motor to be used, as
well. The Motor setup screen has a pull down menu to select the motor to be used. The database
contains only Danaher Motion's AKM series. If the applied motor is in the database it can simply
be selected. If the motor is not present then the user will need to create a database entry for that
motor: See the section on Using Motors not in the Database.
Related Drive Settings:
Motor and Mechanical Setup\ Feedback: Type, Encoder counts per motor Rev, and
possibly Advanced \ Offset.
Motor Database Editor
5.11 T
RIGGERING
A move, regardless of type, can be executed in a number of ways with the S200 Position Node.
The user has a choice to directly link an input to a single motion task, assign inputs as a BCD
pointer and execute, command over the serial or CAN bus ports, or tasks can be automatically
executed as the result of the completion of another move event. To use digital inputs as motion
triggers the user first sets up the input function under the I/O Setup tab of S200 OC Tools and
then assigns the I/O to tasks under the Profile\Task Lists menu. This section discusses the
choices for the I/O setup form
Start Move Discrete (Level) is an edge-sensitive trigger but level sensitive termination.
The motion task associated with this input on the Motion Task List is executed upon the
off-to-on transition of the digital input. The input signal must be maintained to complete
the move. Motion will be terminated if the input is removed during the move.
Start Move Discrete (Edge) is an edge-sensitive trigger. The motion task associated
with this input on the Motion Task List is executed upon the off-to-on transition of the
digital input. The input signal may be removed and motion will not be terminate as a
result of the removal.
Start Move BCD is an edge-sensitive trigger but level sensitive termination. The motion
task is executed upon the off-to-on transition of the digital input. The input signal must be
maintained to complete the move. Motion will be terminated if the input is removed during
21
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OTION
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OVES
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