Move Types - Danaher Motion s200 User Manual

the move. The motion task that will be executed is selected within Motion Task List by the
Move Select bit (BCD) codes.
Move Select Bit (BCD) is not an input that causes motion but needs to be discussed at
this point. Any number of inputs can be assigned as Move Select Bit (BCD) and used to
point to a Motion Task that can then be executed using the Start Move BCD input. Motion
tasks are numbered in the Motion Task List from 0 to 180. The user assigns as many
Move Select BCD inputs as required for the number of desired Motion Tasks. A binary
code (Base 2 number) is applied to the Move Select Inputs which represents the number
of the motion task desired to be executed. The Start Move BCD can the be activated to
execute the move. A couple of finer points to be noted:
The user does not need to assign any inputs as Move Select Bit (BCD). In this
case the S200 PN will always execute Motion Task 0 (Homing) when the Start
Move BCD input is executed.
The Move Select bit weight is assigned with the lower number input have the
least significance. (Input 2 would have to be the LSB while input 10 would have
to be the MSB).
It does not matter where the user chooses to begin the Move Select Bit BCD
inputs.
The level-sensitive input modes are subject to issues resulting from switch
contact bounce. The S200 Position Node has limited ability to debounce
the switch as any attempt to do so would add an inherent delay penalizing
some applications. Switch Contact bounce can cause erratic motion for
WARNING
both indexing and positioning moves. Contact bounce can cause
unpredicted feed distances when used with indexing moves.
The S200 Position Node can also trigger moves automatically. Auto-Homing upon enable is one
example of a move starting automatically. A Motion Task can be set to trigger automatically after
the completion of a homing sequence. In addition, the Motion Task table allows the user to
configure ether a 'Begin next Motion Task as Blended Move' or a 'Next Motion Task'. A blended
move is the execution of two motion tasks where the first move does not come to 0 speed before
executing the next move. Rather the first move completes its assigned distance, at speed, and
the ramps into the following move. Setting the End of Task Condition to 'None' still allows the
user to select another Motion Task as the 'Next Motion Task' for automatic execution for which
the customer may insert a dwell time between the execution of the two moves. Any number of
moves can be linked to start automatically and the moves do not have to reside contiguously in
the Motion Tasking Table.
5.12 M T
OVE YPES
In the Motion Task List and form the user can select the type of move for the Motion Task.
Possible Move Types are Relative Move with or without memory), absolute move, or registration
move. This section explains each of these move types.
Relative Move w/o Memory is an index. The distance entered in the Motion Task is
incremental (relative to where the starting position was). Activating the assigned input will
cause the Motion Task to begin execution. If the input type is selected to be ether Start
Move Discrete (Level) or Start Move BCD then motion will terminate should the input be
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