Emerson DSM314 User manual

USER MANUAL
GFK-1742F
Jan 2020
PACSystems™RX3i & Series 90-30
DSM314 MOTION CONTROLLER
USER MANUAL

User Manual Contents
GFK-1742F Jan 2020
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Contents
Chapter 1: Product Overview..................................................1
1.1 Features of the Motion Mate DSM314.................................................................. 2
1.1.1 High Performance ..................................................................................... 2
1.1.2 Easy to Use................................................................................................ 2
1.1.3 Versatile I/O .............................................................................................. 3
1.2 Section 1: Motion System Overview..................................................................... 4
1.2.1 DSM314 Operation with a Host Controller................................................. 4
1.3 Section 2: Overview of DSM314 Operation .......................................................... 9
1.3.1 Standard Mode Operation ....................................................................... 10
1.4 Section 3: Series Servos (Digital Mode) ........................................................... 12
1.4.1 Series Integrated Digital Amplifier (SVU) .............................................. 13
1.5 Section 4: Series Servos (Digital Mode) ........................................................... 14
1.5.1 Series Digital Amplifiers ........................................................................ 15
1.6 Section 5: SL Series Servos (Analog Velocity Mode) ............................................ 16
Chapter 2: System Overview.................................................17
2.1 Unpacking the System....................................................................................... 18
2.1.1 Unpacking the DSM314........................................................................... 18
2.1.2 Unpacking the Digital Servo Amplifier ..................................................... 18
2.1.3 Unpacking the Motor .............................................................................. 18
2.2 Assembling the Motion Mate DSM314 System................................................... 19
2.2.1 General Guidelines .................................................................................. 19
2.2.2 Motion Mate DSM314 Connections ......................................................... 19
2.2.3 Connecting the Series SVU Digital Servo Amplifier ................................ 20
2.2.4 Connecting the βSeries SVU Digital Servo Amplifier ................................ 28
2.2.5 Installing and Wiring the DSM314 for Analog Mode................................. 36
2.2.6 Grounding the Motion Mate DSM314 Motion System.............................. 37
2.3 Turning on the Motion Mate DSM314................................................................ 38
2.4 Connecting the Programmer to the Host Controller .......................................... 39
2.5 Machine Edition Configuration .......................................................................... 40
2.6 Storing Your Configuration to the Host Controller ............................................. 44
2.7 Alarms............................................................................................................... 46
2.8 Configuration Settings ...................................................................................... 46
2.9 Getting Help...................................................................................................... 46

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Chapter 3: Installing and Wiring the DSM314........................47
3.1 Hardware Description........................................................................................ 47
3.1.1 LED Indicators ......................................................................................... 48
3.1.2 The DSM COMM (Serial Communications) Connector.............................. 49
3.1.3 I/O Connectors........................................................................................ 49
3.1.4 Shield Ground Connection ...................................................................... 50
3.2 Installing the DSM314 Module........................................................................... 51
3.3 I/O Wiring and Connections............................................................................... 54
3.3.1 I/O Circuit Types...................................................................................... 54
3.3.2 Terminal Boards ...................................................................................... 55
3.3.3 Digital Servo Axis Terminal Board - IC693ACC335.................................... 56
3.3.4 Auxiliary Terminal Board - IC693ACC336 ................................................. 61
3.3.5 Cables ..................................................................................................... 64
Chapter 4: Configuration ......................................................93
4.1 Connecting the Programmer to the Host Controller .......................................... 93
4.2 Rack/Slot Configuration..................................................................................... 94
4.3 Module Configuration ....................................................................................... 97
4.3.1 Setting the Configuration Parameters ..................................................... 98
4.3.2 Settings................................................................................................... 99
4.3.3 Serial Communications Port Configuration Data.................................... 104
4.3.4 Control (CTL) Bits .................................................................................. 105
4.3.5 Output Bits............................................................................................ 106
4.3.6 Axis Configuration Data......................................................................... 107
4.3.7 Tuning Data .......................................................................................... 122
4.3.8 Computing Data Limit Variables ............................................................ 128
4.3.9 Advanced Tab Data ............................................................................... 129
4.3.10Power Consumption Data ..................................................................... 130
Chapter 5: DSM314 to Host Controller Interface.................. 131
5.1 Section 1: %I Status Bits.................................................................................. 131
5.2 Section 2: %AI Status Words ........................................................................... 136
5.3 Section 3: %Q Discrete Commands................................................................. 139
5.4 Section 4: %AQ Immediate Commands .......................................................... 145
Chapter 6: Non-Programmed Motion..................................163
6.1 DSM314 Home Cycle....................................................................................... 163

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6.1.1 Home Switch Mode ............................................................................... 163
6.1.2 Move+ and Move–Modes ..................................................................... 166
6.2 Jogging with the DSM314................................................................................ 167
6.3 Move at Velocity Command............................................................................. 168
6.4 Force Servo Velocity Command (DIGITAL Servos; Analog Torque Mode) .......... 169
6.5 Force Analog Output Command (ANALOG Velocity Interface Servos) .............. 169
6.6 Position Increment Commands ....................................................................... 170
6.7 Other Considerations ...................................................................................... 170
Chapter 7: Programmed Motion .........................................171
7.1 Single-Axis Motion Programs and Subroutines................................................. 171
7.2 Multi-Axis Motion Programs and Subroutines .................................................. 172
7.3 Motion Program Command Types ................................................................... 172
7.4 Program Blocks and Motion Command Processing .......................................... 174
7.5 Prerequisites for Programmed Motion ............................................................. 174
7.6 Conditions That Stop a Motion Program .......................................................... 175
7.7 Motion Program Basics .................................................................................... 175
7.7.1 Motion Language Syntax and Commands.............................................. 176
7.7.2 Motion Program Commands ................................................................. 178
7.7.3 Program and Subroutine Structure ........................................................ 187
7.7.4 Command Usage Examples ................................................................... 190
7.7.5 Types of Programmed Move Commands ............................................... 192
7.7.6 Other Programmed Motion Considerations........................................... 208
7.7.7 Feedhold with the DSM314 ................................................................... 210
7.7.8 Feedrate Override ................................................................................. 211
7.7.9 Multi-axis Programming ........................................................................ 212
7.7.10Parameters (P0-P255) in the DSM314.................................................... 213
7.7.11Calculating Acceleration, Velocity and Position Values .......................... 215
7.7.12Motion Editor Error and Warning Messages ........................................... 218
Chapter 8: Follower Motion ................................................ 223
8.1 Master Sources................................................................................................ 223
8.2 External Master Inputs ..................................................................................... 224
8.2.1 Example 1: Following Axis 3 Actual Position Master Input ...................... 224
8.3 Internal Master Axis Command Generators...................................................... 224
8.3.1 Example 2: Following an Internal Master command ............................... 225
8.4 A:B Ratio.......................................................................................................... 225

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8.4.1 Example 3: Sample A:B Ratios................................................................ 226
8.5 Velocity Clamping ........................................................................................... 227
8.5.1 Example 5: Velocity Clamping ............................................................... 227
8.6 Unidirectional Operation ................................................................................. 228
8.6.1 Example 9: Unidirectional Operation ..................................................... 228
8.7 Enabling the Follower with External Input ........................................................ 228
8.8 Disabling the Follower with External Input ....................................................... 229
8.9 Follower Disable Action Configured for Incremental Position ........................... 229
8.10 Follower Axis Acceleration Ramp Control......................................................... 229
8.10.1Follower Mode Command Source and Connection Options ................... 233
Chapter 9: Combined Follower and Commanded Motion .... 239
9.1 Example 1: Follower Motion Combined with Jog .............................................. 239
9.2 Follower Motion Combined with Motion Programs .......................................... 240
9.3 Example 2: Follower Motion Combined with Motion Program.......................... 244
Chapter 10: Introduction to Local Logic Programming ..........246
10.1 Local Logic Programming ................................................................................ 246
10.2 When to Use Local Logic Versus Ladder Logic................................................... 249
10.3 Getting Started with Local Logic and Motion Programming ............................. 249
10.3.1Requirements ....................................................................................... 249
10.3.2Creating a Local Logic Program ............................................................. 250
10.4 Local Logic Variable Table ................................................................................ 251
10.5 Connecting the Local Logic Editor to the DSM.................................................. 253
10.6 Building a Local Logic Program ........................................................................ 254
10.6.1Creating a Local Logic Program ............................................................. 254
10.6.2Checking Local Logic Syntax .................................................................. 257
10.6.3Setting up Hardware Configuration for Local Logic ................................ 258
10.7 Downloading a Local Logic Program ................................................................ 262
10.8 Executing Your Local Logic Program ................................................................ 264
10.9 Using the Motion Program Editor..................................................................... 265
10.9.1Creating a Motion Program ................................................................... 265
10.9.2Setting Motion Program Parameters in Hardware Configuration ........... 271
10.10 Executing Your Motion Program ...................................................................... 274
Chapter 11: Local Logic Tutorial ............................................ 275
11.1 Statements...................................................................................................... 275
11.2 Comments ...................................................................................................... 276

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11.3 Variables ......................................................................................................... 276
11.4 Operators........................................................................................................ 277
11.4.1Arithmetic Operators ............................................................................ 277
11.4.2Relational Operators ............................................................................. 278
11.4.3Bitwise Logical Operators ...................................................................... 279
11.5 Local Logic / Host Controller / Motion Program Communication...................... 280
11.6 Local Logic Programming Examples................................................................. 280
11.6.1Torque Limiting Program Example ........................................................ 280
11.6.2Gain Scheduler Program Example.......................................................... 282
11.6.3Programmable Limit Switch Program Example ...................................... 282
11.6.4Trigger Output Based Upon Position Program Example ......................... 283
11.6.5Windowing Strobes Program Example................................................... 285
Chapter 12: Local Logic Language Syntax..............................286
12.1 Syntactic Elements .......................................................................................... 286
12.1.1Numeric Constants................................................................................ 286
12.1.2Local Logic Variables ............................................................................. 287
12.1.3Local Logic Statements.......................................................................... 288
12.1.4Whitespace ........................................................................................... 289
12.1.5Comments ............................................................................................ 290
12.1.6PRAGMA Directive................................................................................. 291
12.1.7Local Logic Keywords and Operators ..................................................... 291
12.2 Enabling and Disabling Local Logic................................................................... 292
12.3 Local Logic Outputs/Commands...................................................................... 292
12.4 Local Logic Arithmetic Operators..................................................................... 293
12.4.1Operator + ............................................................................................ 294
12.4.2Operator - ............................................................................................. 294
12.4.3Operator * ............................................................................................ 295
12.4.4Operator MOD ...................................................................................... 295
12.4.5Function ABS......................................................................................... 296
12.5 Local Logic Bitwise Logical Operators............................................................... 296
12.5.1Operator BWAND.................................................................................. 297
12.5.2Operator BWOR .................................................................................... 297
12.5.3Operator BWXOR .................................................................................. 298
12.5.4Operator BWNOT .................................................................................. 298
12.6 Comparison Operators .................................................................................... 299

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12.7 Local Logic Runtime Errors............................................................................... 300
12.7.1Overflow Status..................................................................................... 300
12.8 Local Logic Error Messages .............................................................................. 301
12.8.1Local Logic Build Error Messages............................................................ 301
12.8.2Local Logic Syntax Errors ....................................................................... 302
12.8.3Local Logic Parse Errors ......................................................................... 302
12.8.4Local Logic Parse Warnings.................................................................... 305
12.8.5Local Logic Download Error Messages ................................................... 305
12.8.6Local Logic Runtime Errors .................................................................... 307
Chapter 13: Local Logic Variables.......................................... 308
13.1 Local Logic Variable Types ............................................................................... 308
13.2 Local Logic System Variables ........................................................................... 309
13.2.1First_Local_Logic_Sweep Variable......................................................... 309
13.2.2Overflow Variable.................................................................................. 309
13.2.3System_Halt Variable ............................................................................ 310
13.3 Double Precision 64 Bit Registers..................................................................... 310
13.4 Local Logic User Data Table ............................................................................. 311
13.5 Digital Outputs / CTL Variables ........................................................................ 312
Chapter 14: Local Logic Configuration................................... 319
14.1 CTL Bit Configuration....................................................................................... 319
14.2 CTL bits CTL01-CTL32...................................................................................... 320
14.3 CTL01-CTL24 Bit Configuration Selections ....................................................... 321
14.4 FBSA Function and CTL Bit Assignments........................................................... 322
14.5 Faceplate Output Bit Configuration ................................................................. 322
Chapter 15: Using the Electronic CAM Feature ......................324
15.1 Electronic CAM Overview................................................................................. 324
15.2 Basic Cam Shapes/Definition ........................................................................... 326
15.3 CAM Syntax ..................................................................................................... 327
15.3.1CAM Types ............................................................................................ 327
15.3.2Interpolation and Smoothing ................................................................ 330
15.3.3Interaction of Motion Programs with CAM ............................................. 332
15.3.4CAM Command..................................................................................... 333
15.3.5CAM-LOAD Command........................................................................... 334
15.3.6CAM-PHASE Command ......................................................................... 335

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15.3.7CAM and MOVE Instructions.................................................................. 335
15.3.8Time-Based CAM Motion....................................................................... 336
15.3.9CAM Scaling Editor and Hardware Configuration ................................... 336
15.3.10 Synchronization of CAM Motion with External Events ...................... 340
15.3.11 CAM-Specific DSM Error Codes ........................................................ 341
15.4 Electronic Cam Programming Basics ................................................................ 343
15.4.1Requirements ....................................................................................... 343
15.4.2Introduction to Electronic Cam Programming ....................................... 343
Appendix A: Error Reporting...................................................364
A-1 DSM314 Error Codes ....................................................................................... 364
A-1.1 Module Status Code Word..................................................................... 364
A-1.2 Axis Error Code Words........................................................................... 364
A-1.3 Error Code Format................................................................................. 365
A-1.4 Response Methods ................................................................................ 365
A-1.5 System Error Codes ............................................................................... 384
A-2 DSM Digital Servo Alarms (B0–BE) ................................................................... 384
A-3 Troubleshooting Digital Servo Alarms.............................................................. 386
A-4 LED Indicators ................................................................................................. 389
Appendix B: DSM314 Communications Request Instructions ..391
B-1 Communications Request Overview ................................................................ 391
B-1.1 Structure of the Communications Request ............................................ 392
B-1.2 Monitoring the Status Word .................................................................. 394
B-1.3 Operation of the Communications Request........................................... 395
B-2 The COMM REQ Ladder Instruction .................................................................. 396
B-3 The User Data Table (UDT) COMM REQ............................................................ 398
B-3.1 User Data Table COMM REQ Features and Usage Information................ 398
B-3.2 The UDT COMM REQ Command Block................................................... 399
B-3.3 User Data Table COMM REQ Example .................................................... 401
B-3.4 User Data Table COMM REQ Example .................................................... 403
B-4 The Parameter Load COMM REQ...................................................................... 404
B-4.1 The Command Block ............................................................................. 404
B-4.2 DSM Parameter Load COMM REQ Example ............................................ 407
B-5 COMM REQ Ladder Logic Example ................................................................... 409
Appendix C: Position Feedback Devices .................................. 414

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C-1 Digital Serial Encoder Modes ........................................................................... 414
C-2 Incremental Encoder Mode Considerations...................................................... 414
C-3 Absolute Encoder Mode Considerations........................................................... 415
C-3.1 Absolute Encoder - First Time Use or Use After Loss of Encoder Battery Power 415
C-3.2 Absolute Encoder Mode - Position Initialization ..................................... 415
C-3.3 Absolute Encoder Mode - DSM314 Power-Up ........................................ 416
C-3.4 Incremental Quadrature Encoder .......................................................... 417
Appendix D: Tuning Digital and Analog Servo Systems ...........418
D-1 Start-Up and Tuning Information for Digital Servo Systems.............................. 418
D-1.1 Validating Home Switch, Over Travel Inputs and Motor direction .......... 418
D-1.2 Tuning a Digital Servo Drive................................................................... 421
D-2 Start-Up and Tuning Information for Analog Servo Systems ............................. 431
D-2.1 Analog Mode Velocity Interface System Startup Procedures .................. 431
D-2.2 Analog Mode Torque Interface System Startup Procedures ................... 433
D-3 System Troubleshooting Hints (Analog Mode)................................................. 448
Appendix E: Local Logic Execution Time..................................450
E-1 Local Logic Execution Timing Data................................................................... 450
E-2 Example 1........................................................................................................ 450
E-3 Example 2........................................................................................................ 451
Appendix F: Updating Firmware in the DSM314...................... 458
F-1 Windows Update (for Windows 95/NT/98/2000)............................................. 459
F-2 DOS Update .................................................................................................... 459
F-3 Restarting an Interrupted Firmware Upgrade................................................... 460
Appendix G: Strobe Accuracy Calculations ..............................461
G-1 Analog Mode................................................................................................... 461
G-2 Digital Mode.................................................................................................... 461
Appendix H: Using VersaPro with the DSM314 .......................466
H-1 Getting Started ............................................................................................... 466
H-1.1 Starting VersaPro .................................................................................. 466
H-2 Starting the Configuration Process .................................................................. 469
H-3 Configuring the DSM314 ................................................................................. 471
H-4 Connecting to and Storing Your Configuration to the PLC ................................ 474
H-5 Creating a Motion Program ............................................................................. 476

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H-5.1 Accessing the Motion Editor Screen....................................................... 476
H-5.2 Saving your Motion Program ................................................................. 478
H-5.3 Storing your Motion Programs and Subroutines to the PLC.................... 478
H-5.4 Printing a Hardcopy of your Motion Programs and Subroutines ............. 478
H-6 Creating a Local Logic Program........................................................................ 480
H-6.1 Checking Local Logic Syntax .................................................................. 484
H-6.2 Viewing the Local Logic Variable Table .................................................. 485
H-7 Creating a Cam Block....................................................................................... 487