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
Contents i
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

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Warnings And Caution Notes as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages,
currents, temperatures, or other conditions that could cause personal injury to exist
in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to
equipment, a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Notes: Notes merely call attention to information that is especially significant to understanding and operating
the equipment.
These instructions do not purport to cover all details or variations in equipment, nor to provide for every
possible contingency to be met during installation, operation, and maintenance. The information is supplied
for informational purposes only, and Emerson makes no warranty as to the accuracy of the information
included herein. Changes, modifications, and/or improvements to equipment and specifications are made
periodically and these changes may or may not be reflected herein. It is understood that Emerson may make
changes, modifications, or improvements to the equipment referenced herein or to the document itself at any
time. This document is intended for trained personnel familiar with the Emerson products referenced herein.
Emerson may have patents or pending patent applications covering subject matter in this document. The
furnishing of this document does not provide any license whatsoever to any of these patents.
Emerson provides the following document and the information included therein as-is and without warranty of
any kind, expressed or implied, including but not limited to any implied statutory warranty of merchantability
or fitness for particular purpose.

User Manual Chapter 1
GFK-1742F Jan 2020
Product Overview 1
Chapter 1: Product Overview
The Motion Mate DSM314 is a high performance, easy-to-use, multi-axis motion control
module that is highly integrated with the PACSystems RX3i and Series 90-30 host controller
logic solving and communications functions.
The two versions of the DSM314, IC693DSM314 and IC694DSM314 are functionally
identical.
Figure 1
The DSM314 supports two primary control loop configurations:
•Standard Mode (Follower Control Loop Disabled)
•Follower Mode (Follower Control Loop Enabled)

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Product Overview 2
Servo Types Supported
•Digital –Series and Series digital servo amplifiers and motors. These products are
documented in Servo Product Specifications Guide, GFH-001.
•Analog –SL Series analog servos and third-party analog velocity command interface
and analog torque command interface servos are supported. The SL Series servos
are documented in the SL Series Servo User’s Manual, GFK-1581.
1.1 Features of the Motion Mate DSM314
1.1.1 High Performance
•Digital Signal Processor (DSP) control of servos
•Block Processing time under 5 milliseconds
•Velocity Feed forward and Position Error Integrator to enhance tracking accuracy
•High resolution of programming units
—Position: -536,870,912...+536,870,911 User Units
—Velocity: 1 ... 8,388,607 User Units/sec
—Acceleration: 1 … 1,073,741,823 User Units/sec/sec
1.1.2 Easy to Use
•Simple and powerful motion program instruction set
•Simple 1 to 4-axis motion programs. Multi-axis programs using Axes 1 and 2 may
utilize a synchronized block start.
•Non-volatile storage for 10 programs and 40 subroutines created with the
programming software.
•Compatible with Series 90-30 CPUs equipped with firmware version 10.0 or later
(does not work with CPUs 311 –341 and 351) and PACSystems RX3i CPUs (version
2.8 or later).
•Single point of connection for all programming and configuration tasks, including
motion program creation (Motion Programs 1 –10) and Local Logic programming.
All programming and configuration are loaded through the host controller’s
programming communications port. In turn, the CPU loads all configuration,
motion programs, and Local Logic programs to the DSM314 across the host
controller backplane.
•User scaling of programming units (User Units) in both Standard and Follower
modes.
•DSM314 firmware, stored in flash memory, is updated via the front panel COMM
port. Firmware update kits provide firmware and Loader software on floppy disk.
Firmware is also available for download on the Emerson web site
(https://www.emerson.com/Industrial-Automation-Controls/support).

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Product Overview 3
•Recipe programming using command parameters as operands for Acceleration,
Velocity, Move, and Dwell Commands
•Automatic Data Transfer between host controller tables and DSM314 without user
programming
•Ease of I/O connection with factory cables and terminal blocks
•Electronic CAM capability, starting with Firmware Release (Version) 2.0
1.1.3 Versatile I/O
•Control of Series and Series Digital servos, SL-Series servos, or third-party servos
with analog velocity command or analog torque command interface.
•Home and overtravel switch inputs for each Servo Axis
•Two Position Capture Strobe Inputs for each axis can capture axis and/or master
position with an accuracy of +/-2 counts plus 10 microseconds of variance.
•5v, 24v and analog I/O for use by the host controller
•Incremental Quadrature Encoder input on each axis for Encoder/Analog mode
•Quadrature Encoder input for Follower Master axis
•13-bit Analog Output can be controlled by the host controller or used as Digital
Servo Tuning monitor
•High speed digital output (four each 24V and four each 5V) via on-board Local Logic
control

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Product Overview 4
1.2 Section 1: Motion System Overview
The DSM314 is an intelligent, fully programmable, motion control option module for the
Series 90-30 and PACSystems RX3i control systems. The DSM314 allows a user to combine
high performance motion control and Local Logic capabilities with logic solving functions in
one integrated system. The figure below illustrates the hardware and software used to set
up and operate a servo system. This section briefly discusses each system element to
provide an overall understanding of system operation.
Figure 2: Hardware and Software Used to Configure, Program, and Operate a
DSM314 Servo System
1.2.1 DSM314 Operation with a Host Controller
The DSM314 and host controller (either PACSystems RX3i or Series 90-30 PLC) operate
together as one integrated motion control package. The DSM314 communicates with the
host controller through the backplane interface. Every host controller sweep, data such as
Commanded Velocity and Actual Position within the DSM314 is transferred to the host
controller in %I and %AI data. Also, every host controller sweep, %Q and %AQ data is
transferred from the host controller to the DSM314. The %Q and %AQ data is used to control
the DSM314. %Q bits perform functions such as initiating motion, aborting motion, and
clearing strobe flags. %AQ commands perform functions such as initializing position and
loading parameter registers.
Besides the use of %I, %AI, %Q, and %AQ addresses, an additional way to send parameters
from the host controller to the DSM314 is with the COMM_REQ ladder program instruction.
Details about using the COMM_REQ instruction with the DSM can be found in Appendix B,
DSM314 COMM_REQ Instructions

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Product Overview 5
Host Controller Data Latency and DSM314 Latencies
The DSM314 is an intelligent module operating asynchronously to the CPU module. Data is
exchanged between the CPU and the DSM314 automatically. For information about the
operation of the CPU sweep refer to the following:
•Series 90-30 PLC CPU Instruction Set Reference Manual, GFK-0467M or later
•PACSystems CPU Reference Manual, GFK-2222
Host Controller to DSM Data Transfers
•Host controller-based functions may retrieve DSM status (%I and %AI) information
from the DSM data memory asynchronously. The DSM internally refreshes all status
data except Actual Velocity at the position loop rate (once every 0.5 to 2ms). Actual
Velocity is updated in the DSM data memory every 128 milliseconds. The DSM
performs averaging to generate an accurate Actual Velocity reading; therefore, the
Actual Velocity reading is not intended for high-speed control purposes.
•The host controller requires approximately 2-4 milliseconds back-plane overhead
when reading data (%I and %AI) from and writing data (%Q and %AQ) to DSM internal
memory if the DSM is in the CPU rack. The host controller normally reads input data
from and writes output data to the DSM once per host controller sweep. In the worst
case, the DSM internal data update (which takes 0.5 to 2ms to occur) occurs just
after the host controller scan’s input update. In this case, the host controller does
not read DSM data again until its next scan and any changes in DSM data will be
available in the host controller either 4-6ms later or approximately one host
controller sweep later, whichever is larger.
•The configuration software automatically selects the lengths of %AI and %AQ data
based upon the number of axes configured. A host controller CPU requires time to
read and write the data across the backplane with the DSM314. The following
manuals document the host controller sweep impact:
—Series 90-30 PLC Instruction Set Reference Manual, GFK-0467M or later.
—PACSystems CPU Reference Manual, GFK-2222B or later.
Also refer to the Important Product Information sheet that comes packaged with
the DSM module.
•Host controller commands to the DSM (%Q, %AQ) are output to the DSM at the end
of the logic solving sweep. The DSM processes the commands within 4 milliseconds
after receipt.
Motion Program/CTL Faceplate Inputs
•Delays associated with motion program control or branching via faceplate CTL
inputs are equal to a position loop update time interval (0.5 to 2ms) plus the input
filter delay (5ms typical for 24 volt CTL inputs or 10 µs for 5 volt CTL inputs). See
tables 1, 2, and 3 for position loop update times.

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Product Overview 6
Local Logic
•Delays associated with Local Logic data updates are based upon the position loop
update time interval (see “DSM314 Servo Loop Update Times”) and are not related
to the host controller scan. Therefore, Local Logic programs can utilize rapidly
changing DSM internal data that cannot be utilized by the host controller CPU due
to the host controller to DSM data transfer time and the host controller’s longer scan
time.
DSM314 Servo Loop Update Times
When controlling a digital AC servo, the DSM314 uses the loop update times shown in Table
1.
Table 1: Digital Servo Loop Update Times
Motor Current / Torque Loop:
250 microseconds
Motor Velocity Loop:
1 millisecond
Motor Position Loop:
2 milliseconds
When controlling an Analog servo, the DSM314 without Local Logic uses the loop update
times shown in Table 2.
Table 2: Analog Servo Loop Update Times without Local Logic
1-Axis Position Loop without Local Logic:
0.5 milliseconds
2-Axes Position Loop without Local Logic:
1 millisecond
3-4 Axes Position Loop without Local Logic:
2 milliseconds
When controlling an Analog servo, the DSM314 with Local Logic uses the following loop
update times shown in Table 3. The loop update rates with Local Logic are longer since Axis
#4 time slot is used to calculate the Local Logic function.
Table 3: Analog Servo Loop Update Times with Local Logic
1 Axis Position Loop with Local Logic:
1 millisecond
2 –3 Axes Position Loop with Local Logic:
2 milliseconds
Analog Torque mode includes a velocity regulator in addition to the position regulators. For
an axis in Analog Torque mode, the velocity regulator is run every 0.5 milliseconds.

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Product Overview 7
DSM314 Position Strobes
Each axis connector on the DSM314 faceplate has two Position Strobe inputs. A rising edge
pulse on a Strobe input causes the axis Actual Position to be captured. The position capture
resolution is +/- 2 counts with an additional 10 microseconds of variance for the strobe input
filter delay. The actual error seen is dependent upon servo acceleration and strobe input
filtering/sampling. Consult Appendix G for the exact formulas used to calculate strobe
accuracy.
The strobe data is updated within one position loop update interval (0.5 - 2 ms) in the
associated Strobe Position %AI data register. The Strobe Position data is also stored in a DSM
Parameter Register that can be used as an operand for Motion Program PMOVE and CMOVE
commands and in Local Logic. The Strobe Position data update to the host controller is
dependent on the host controller sweep time and may take longer than 2 ms.
In Digital mode, these strobes are 5V single-ended/differential inputs (IN1-IN2).
In Analog mode, these strobes are only 5V single-ended (IO5-IO6). In Analog mode only,
these strobe inputs are pulled high (as seen in the host controller %I Strobe status bits) if not
physically connected to a device.
DSM314 Scan Time Contribution
The tables below list the time that the DSM314 adds to host controller scan time. The scan
time contribution is related to (1) the number of DSM314 axes configured, and (2) the type
of rack (main, expansion, or remote) the DSM314 is mounted in.
DSM314 Scan Time Contribution (in Milliseconds)
No. of Axes
Configured
90-30 CPU364 Rack
90-30CPU374 Rack
RX3i CPU310 Rack
Main
Expansion
Remote
Main
Expansion
Remote
Main
Expansion
Remote
1
1.9
2.9
7.9
1.3
2.3
6.9
1.8
2.3
6.9
2
2.5
3.8
11.0
1.9
3.1
10.0
2.5
3.2
10.0
3
3.1
4.7
14.2
2.4
3.9
13.0
3.1
4.2
13.1
4
3.6
5.6
17.3
2.9
4.8
16.0
3.8
5.1
16.2
Note:
1. Be aware that the DSM314’s internal Local Logic engine has a maximum scan time of 2ms that is
independent of the host controller scan. This allows the user the flexibility to control time critical
motion tasks within the Local Logic program. See the applicable chapters in this manual for details
on Local Logic programming.
2. (90-30 Feature only) For applications where the above additions to scan rates will affect machine
operation, you may need to use the “suspend I/O,” “DOIO,” and “SNAP” features to transfer
necessary data to and from the DSM314 selectively. These features let you avoid transferring all
the %I, %Q, %AI, %AQ data every scan, if you do not require it that frequently, which reduces the
scan time contribution amount.

User Manual Chapter 1
GFK-1742F Jan 2020
Product Overview 8
Software
The DSM314 requires one of the following configuration/programming software packages:
•Machine Edition Logic Developer –PLC, version 4.5 or later for RX3i
•Machine Edition Logic Developer –PLC, version 2.1 or later, or VersaPro, version 1.1
or later for Series 90-30
The programming/configuration software package is used for the following tasks. The
information created by these tasks is sent to the DSM314 over the host controller backplane
each time the host controller is powered up.
•Configuration. Allows user to select module settings and default operational
parameters.
•Motion program creation. Up to 10 motion programs and 40 subroutines are
allowed.
•Local Logic program creation. A Local Logic program runs synchronously with the
motion program but is independent of the host controller’s CPU scan. This allows
the DSM314 to interact quickly with motion I/O signals on its faceplate connectors.
This internal response time to motion I/O signals is much faster than would be
possible if the logic for these signals was handled in the main ladder program
running in the host controller. This is due to (1) the delay in communicating the
signals across the backplane and (2) the longer host controller sweep time.
•CAM profile creation. A CAM profile specifies the response of a follower servo to a
master position index. CAM profiles are referenced by name in the associated
motion program.
Note: The CAM editor is fully integrated with Logic Developer –PLC.
Operator Interfaces
Operator interfaces provide a way for the operator to control and monitor the servo system
through a control panel or CRT display. These interfaces communicate with the host
controller through discrete I/O modules or an intelligent serial communications or network
communications module.
Operator data is automatically transferred between the host controller and the DSM314
through %I, %AI, %Q, and %AQ references that are specified when the module is configured.
This automatic transfer of data provides a flexible and simple interface to a variety of
operator interfaces that can interface to the host controller.

User Manual Chapter 1
GFK-1742F Jan 2020
Product Overview 9
Servo Drive and Machine Interfaces
The servo drive and machine interface are made through a 36-pin connector for each axis.
This interface carries the signals that control axis position such as the Pulse Width
Modulated (PWM) signals to the amplifier, Digital Serial Encoder Feedback signals or Analog
Servo Command and Quadrature Encoder Feedback. Also provided are Home Switch and
Axis Overtravel inputs as well as general-purpose host controller inputs and outputs.
Standard cables that connect directly to custom DIN rail or Panel mounted terminal blocks
simplify user wiring and are available from Emerson. The terminal blocks provide screw
terminal connection points for field wiring to the DSM314 module. For more information
concerning the cables and terminal blocks used with the DSM314 module, refer to chapter
3.
1.3 Section 2: Overview of DSM314 Operation
Each DSM314 axis may be operated with the Follower Control Loop enabled or disabled:
Standard Mode (Follower Control Loop Axis Configuration = Disabled)
•In Digital Standard mode, the module provides closed loop position, velocity, and
torque control for up to two αor βSeries servomotors on Axis 1 and Axis 2.
Axis 3 can be used as an Analog Velocity command interface servo axis or an Aux
master axis.
•In Analog Standard mode, the module provides closed loop position control for up
to four servomotors. Also, based upon the axis configuration, the DSM provides
velocity loop control for Analog Torque mode. When the DSM is used with analog
velocity interface servos, velocity and torque control loops are closed in the servo
amplifier, while the DSM closes the position loop. When the DSM is used with analog
torque interface servos, the torque control loop is closed in the servo amplifier, while
the DSM closes the velocity and position loops.
•For both digital and analog applications, user programming units can be adjusted by
configuring the ratio of User Units and Counts configuration parameters. Jog, Move
at Velocity and Execute Motion Program commands allow Standard mode to be
used in a wide variety of positioning applications.
Follower Mode (Follower Control Loop Axis Configuration = Enabled)
•In Digital Follower mode, the module provides closed loop position, velocity, and
torque control for up to two αor βSeries servomotors on Axis 1 and Axis 2. Axis 3
can be used as an Analog Velocity Command Interface servo axis or an Aux master
axis.
•In Analog Follower mode, the module provides closed loop position control for up
to four servomotors (one or two of the four available axes may instead be used as an
Aux master axis). Additionally, based on the axis configuration, the module provides
velocity loop control for Analog Torque mode. When the DSM is used with analog
velocity interface servos, velocity and torque control loops are closed in the servo
amplifier, while the DSM closes the position loop. When the DSM is used with analog