Giddings & Lewis CENTURION DSM100 User manual

GIDDINGS & LEWIS, INC.
HARDWARE AND INSTALLATION MANUAL
CENTURION DSM100
SERVO AMPLIFIERS

NOTE
Progress is an on going commitment at Giddings & Lewis. We continually strive to offer the most
advanced products in the industry; therefore, information in this document is subject to change
without notice. The illustrations and specifications are not binding in detail. Giddings & Lewis
shall not be liable for any technical or editorial omissions occurring in this document, nor for any
consequential or incidental damages resulting from the use of this document.
DO NOT ATTEMPT to use any Giddings & Lewis product until the use of such product is
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practices are understood. Giddings & Lewis products should be used only by qualified personnel
and for the express purpose for which said products were designed.
Should information not covered in this document be required, contact the Customer Service
Department, Giddings & Lewis, 660 South Military Road, P.O. Box 1658, Fond du Lac, WI
54936-1658. Giddings & Lewis can be reached by telephone at (920) 921–7100.
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 1996, 1998 Giddings & Lewis, LLC
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Table of Contents Intro-1
DSM Drive Hardware and Installation Manual
Table of Contents
AboutThisManual........................................... 15
AdditionalInstructionsandManuals ................................. 18
HostCommandsandDSMPro ................................... 18
TouchPad.............................................. 18
SymbolsandConventions....................................... 19
TypographicalandWordingConventions ............................. 19
GraphicalSymbolsandWarningClassifications.......................... 20
CHAPTER 1 Safety
Installing and Using the Centurion DSM100 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SafetyClassifications........................................ 21
Potential Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
VoltagePotentials ......................................... 22
Your Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
SafetyGuidelines ........................................... 23
CHAPTER 2 Selecting Other System Components
CenturionDSM100DriveOverview ................................. 25
DrivePowerRatings ........................................ 25
Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
CenturionDSM100DriveFeatures.................................. 26
Stand-aloneDesign......................................... 26
HighPerformanceMicrocontrollerTechnology .......................... 26
IPMTechnology........................................... 26
Analog and Digital Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
EncoderControl........................................... 26
EncoderOutput........................................... 26
DigitalI/O.............................................. 26
AnalogI/O.............................................. 27
ACInputPower........................................... 27
Personality Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Multiple Protection Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
DSMProSoftware.......................................... 27
Communications...........................................
28
Autotuning..............................................
28
AgencyApprovals.......................................... 28
Options ...............................................
28
Motors.................................................
29
EuropeanUnionRequirements .................................... 30
CHAPTER 3 DSMPro Installation
HardwareandSoftwareRequirements................................. 31
Installing DSMPro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
StartingandQuittingDSMPro..................................... 33
VersionLevel............................................ 33
TheDSMProStart-UpScreen.................................... 33
TheReadmeFile .......................................... 34
FirmwareFiles............................................ 34

Intro-2 Table of Contents
CHAPTER 4 Unpacking,Inspecting and Storing
UnpackingtheDrive..........................................35
InspectionProcedure..........................................35
TestingtheUnit.............................................36
HardwareSetUp...........................................37
DriveCheckoutTest.........................................37
StoringtheUnit.............................................40
CHAPTER 5 Installation
MechanicalInstallationRequirements.................................41
Interface Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Wiring................................................
44
Electromagnetic Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Qualified AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Giddings & Lewis AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CHAPTER 6 Interfaces
J1–Controller .............................................
53
DigitalI/OPower ..........................................54
DigitalInputs.............................................55
DigitalOutputs............................................60
AnalogInputs ............................................64
AnalogOutputs ...........................................66
MotorEncoderOutputSignals ...................................67
IOUTSignalGeneration........................................68
Auxiliary Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Interface Cable Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
J1TerminalStrip/BreakoutBoard..................................75
J2–Encoder ..............................................
77
J2TerminalStrip/BreakoutBoard...................................80
....................................................
80
J3 – Auxiliary Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
J4andJ5–SerialPort .........................................85
SerialCommunicationsOverview..................................86
RS-232Connections.........................................87
FourWireRS-485Connections...................................89
A1,A2andCOM–AnalogOutputs..................................92
CHAPTER 7 Power Connections
TB1–DCBusandACPower.....................................93
MotorPowerCabling ........................................94
MotorOverloadProtection......................................96
EmergencyStopWiring.......................................96
DCBus................................................97
ACPowerCabling..........................................97
Auxiliary Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
TB2–ShuntRegulator........................................ 101
ExternalShuntConnection..................................... 103

Table of Contents Intro-3
DSM Drive Hardware and Installation Manual
CHAPTER 8 Application and Configuration Examples
AnalogControl.............................................105
HardwareSetUp ..........................................105
ConnectionDiagram ........................................106
Configuration............................................
106
Tuning ...............................................107
Operation..............................................
108
PresetController............................................109
HardwareSetUp ..........................................109
ConnectionDiagram ........................................110
Configuration............................................
111
Tuning ...............................................112
Operation..............................................
113
PositionFollower(MasterEncoder)..................................114
HardwareSetUp ..........................................114
ConnectionDiagram ........................................115
Configuration............................................
115
Tuning ...............................................
117
Operation..............................................
117
PositionFollower(Step/Direction) ..................................119
HardwareSetUp ..........................................119
ConnectionDiagram ........................................120
Configuration............................................
120
Tuning ...............................................
122
Operation..............................................
122
PositionFollower(StepUp/StepDown)................................123
HardwareSetUp ..........................................123
ConnectionDiagram ........................................124
Configuration............................................
124
Tuning ...............................................
126
Operation..............................................
126
IncrementalIndexing .........................................127
HardwareSetUp ..........................................128
ConnectionDiagram ........................................128
Configuration............................................
129
Tuning ...............................................
130
Operation..............................................
131
RegistrationIndexing .........................................132
HardwareSetUp ..........................................132
ConnectionDiagram ........................................133
Configuration............................................
133
Tuning ...............................................135
Operation..............................................
136
AbsoluteIndexing...........................................137
HardwareSetUp ..........................................137
ConnectionDiagram ........................................138
Configuration............................................
138
Tuning ...............................................
140
Operation..............................................
140
ModifyingUserUnits.........................................141
ChangingtheDisplayUnitsSettings................................141

Intro-4 Table of Contents
CHAPTER 9 Tuning
TuningGuidelines .......................................... 143
GeneralTuningRules....................................... 143
HighInertiaLoads......................................... 143
MechanicalResonance....................................... 143
Backlash..............................................
144
AutoTuneMode........................................... 145
AutoTuning............................................ 146
ManualTuneMode.......................................... 147
Gains................................................ 147
Filters................................................
148
ManualTuning........................................... 149
VelocityLoopTuningExamples ................................. 151
CHAPTER 10 Status Display
OperatingMessages.......................................... 153
ErrorMessages............................................ 154
Run-TimeErrorCodes....................................... 154
Power-UpErrorCodes....................................... 155
CHAPTER 11 Maintenance and Troubleshooting
Maintenance .............................................
157
PeriodicMaintenance ....................................... 157
Fuse Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
EEPROMPersonalityModule................................... 157
FirmwareUpgrading......................................... 160
FirmwareUpgradeProcedureusingDSMPro........................... 160
Troubleshooting............................................
161
ErrorCodes............................................. 161
RS-232CommunicationTest ................................... 166
TestingDigitalOutputs ...................................... 167
TestingDigitalInputs ....................................... 168
TestingAnalogOutputs...................................... 169
TestingPositiveandNegativeCurrentLimits........................... 169
TestingEncoderInputs....................................... 171
APPENDIX A Options and Accessories
CenturionDSM100Drives...................................... 173
Fuses .................................................
174
OptionsandAccessories....................................... 174
Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Serial Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
EncoderFeedbackCables....................................... 177
MotorPowerCables ......................................... 178
ConnectorKits............................................ 179
MatingConnectors.......................................... 179
APPENDIX B Cable Diagrams, Schematics and Examples
Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Serial Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
EncoderFeedbackCables....................................... 192

Table of Contents Intro-5
DSM Drive Hardware and Installation Manual
MotorPowerCables .........................................197
CablingExamples...........................................201
APPENDIX C TouchPad Instructions
InstallationandOperation.......................................205
TouchPadCommands.........................................207
SupplementalInstructions.......................................210
MotorSelection...........................................210
Displays...............................................
210
MotorTable..............................................213
TouchPadOptions...........................................213
TouchPadLists.............................................214
APPENDIX D Electromagnetic Compatibility Guidelines for Machine Design
Filtering ................................................
220
ACLineFilterSelection ......................................220
Grounding...............................................
222
ShieldingandSegregation.......................................223
APPENDIX E Dynamic Braking Resistor Selection
DynamicBrakingEquations......................................225
SampleCalculations.........................................227
APPENDIX F Specifications
Power..................................................
233
PowerDissipation...........................................235
DSM 007 and DSM 007P, DSM120 and DSM120P,
DSM130andDSM130P ..................................243
DSM175andDSM175P........................................244
DSM1150andDSM1150P ......................................245
Interface Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
EU Directives 247

Intro-6 Table of Contents

List of Figures Intro-7
DSM Drive Hardware and Installation Manual
List of Figures
CHAPTER 1 Safety
CHAPTER 2 Selecting Other System Components
CHAPTER 3 DSMPro Installation
CHAPTER 4 Unpacking,Inspecting and Storing
Connection Diagram .............................................38
CHAPTER 5 Installation
DSM Mounting Dimensions .........................................42
MDF AC Line Filter Mounting Diagrams .................................46
MIF Single Phase AC Line Filter Mounting Diagram ...........................48
Power Wiring Diagram for DSM110,110P, 120, 120P, 130 and 130P ..................49
Power Wiring Diagram for DSM175 and DSM175P ...........................50
Power Wiring Diagram for DSM1150 and DSM1150 ...........................51
CHAPTER 6 Interfaces
Digital Input Circuit ..............................................55
Drive Input Connected to a Switch/Relay Contact .............................58
Drive Input Connected to an Opto-Isolator .................................58
Drive Input Connected to an Active High Sourcing Transistor ......................58
Drive Input Connected to Active Low Output using
a Switch/Relay ...............................................58
Drive Input Connected to Active Low Output using
an Opto-Isolator ..............................................59
Drive Input Connected to Sourcing Output .................................59
READY and BRAKE Circuits ........................................60
Digital Output Circuit .............................................61
Drive Output Connected to an Opto-Isolator ................................62
Drive Output Connected to an LED Indicator ...............................62
Drive Output Connected to a Resistive Load ................................63
Drive Output Connected to a Switch/Relay .................................63
Drive Output Connected to Active Low Input using
a Switch/Relay ...............................................63
Drive Output Connected to Active Low Input using
an Opto-Isolator ..............................................63
Drive Output Connected to Active High (Sinking) Input .........................64
Positive and Negative Current Limit Circuits ................................64
Analog COMMAND Input Circuit .....................................65
ANALOG 1 and ANALOG 2 Output Circuits ...............................66
Output Encoder Interface Circuit ......................................67
Unbuffered Encoder Signal Wiring .....................................68
Auxiliary Encoder Input Types .......................................69
Auxiliary Encoder Input Circuit .......................................69
External Encoder Interface via TTL Differential Line Drivers ......................71
Complementary Encoder Interface via 7406 Line Drivers
with Pull-up Resistors ...........................................71
Complementary Encoder Interface via Standard TTL Logic .......................72

Intro-8 List of Figures
Single-Ended Encoder Interface via Open Collector
Transistor without Pull-up (not recommended) ............................ 72
Single-Ended Encoder Interface via Standard TTL Signals
(not recommended) ............................................ 72
Single-Ended Encoder Interface via Open Collector
Transistor with 5 VDC to 12 VDC Pull-up (not recommended) ................... 73
Single-Ended Encoder Interface via Open Collector
Transistor with 24 VDC Pull-up (not recommended) ......................... 73
External Step/Direction Interface via TTL Differential
Line Drivers ................................................ 74
External Step/Direction Interface via Single-Ended TTL
Line Drivers (not recommended) .................................... 74
External CW/CCW (Step Up/Step Down) Interface via TTL
Differential Line Drivers ......................................... 75
External CW/CCW (Step Up/Step Down) Interface via
Single-Ended Line Drivers (not recommended) ............................ 75
Motor Encoder Interface Circuit ...................................... 78
Hall Effect Sensor Circuit .......................................... 78
Centurion DSM Motor Encoder Connections ............................... 79
RS-232/485 Interface Circuit ........................................ 85
Sixteen Position Rotary Addressing Switch ................................ 86
RS-232 Connection Diagrams ........................................ 88
RS-485/RS-422 Communication Comparison ............................... 89
Four Wire RS-485 Daisy Chain Connection Diagram .......................... 91
RS-232 to RS-485 Multi-Drop Connection Diagram ........................... 91
ANALOG 1 and ANALOG 2 Output Circuits ............................... 92
CHAPTER 7 Power Connections
Motor Power EMC Shield Connection ................................... 95
YSMSeriesPigtailGround ......................................... 95
Emergency Stop Contactor Wiring ..................................... 97
External Shunt Wiring Examples ......................................102
External Shunt Mounting Diagram .....................................103
CHAPTER 8 Application and Configuration Examples
Analog Controller Connection Diagram ..................................106
Preset Controller Connection Diagram ...................................110
Master Encoder Connection Diagram ...................................115
Step/Direction Controller Connection Diagram ..............................120
Step Up/Step Down Controller Connection Diagram ...........................124
Incremental Indexing Examples .......................................127
Incremental Indexing Connection Diagram ................................128
Registration Indexing Examples ......................................132
Registration Indexing Connection Diagram ................................133
Absolute Indexing Examples ........................................137
Absolute Indexing Connection Diagram ..................................138
PC Display Units – Default Dialog .....................................141
CHAPTER 9 Tuning
Velocity Loop Structure ...........................................144
Torque Current Conditioning Structure ..................................145

List of Figures Intro-9
DSM Drive Hardware and Installation Manual
Signal Nomenclature ............................................151
Underdamped Signal ............................................151
Overdamped Signal .............................................152
Critically Damped Signal (Ideal Tuning) .................................152
CHAPTER 10 Status Display
CHAPTER 11 Maintenance and Troubleshooting
Fuse and Jumper Locations .........................................159
APPENDIX A Options and Accessories
APPENDIX B Cable Diagrams, Schematics and Examples
J1 to J3 Interface Cable (P/N 401-34422) .................................182
J1 to No Connector Interface Cable (P/N 401-34411) ..........................183
J3 to No Connector Interface Cable (P/N 401-34410) ..........................184
J1 to 50-pin Terminal Block Kit Diagram
(P/N 401-34409-00 ) ...........................................185
J1 to 50-pin D-Connector Cable (supplied with 401-34409 kit) .....................186
J2 to 25-pin Terminal Block Kit Diagram (P/N 401-34408-00) .....................187
J2 to 25-pin D-Connector Cable (supplied with kit 401-34408) .....................188
J5 to 9-pin D-Shell Interface Diagram (P/N 502-04020-XX) ......................189
J5 to J5 Serial Interface Cable (P/N 502-04021-XX) ...........................190
J5 to No Connector Serial Interface Cable (P/N 401-34423-XX) ....................191
FSM, HSM or SSM Series Motors to No Connector Encoder Cable
(P/N 401-34425-XX) ...........................................192
J2 to FSM, HSM or SSM Series Encoder Cable (P/N 401-34407-XX) .................193
J2 to YSM Series Encoder Cable (P/N 401-30233-XX) .........................194
No Connector to YSM Series Encoder Cable (P/N 401-30253-XX) ..................195
J2 to No Connector Encoder Cable (P/N 401-34424-XX) ........................196
200 or 300 FSM, HSM or SSM Series Power Cable (P/N401-34413-XX) ...............197
400 FSM, HSM or SSM -Series Power Cable (P/N 401-34414-XX) ..................197
610 or 620 FSM, HSM or SSM Series Power Cable (P/N 401-34415-XX) ..............198
630 SSM or HSM Series Power Cable (P/N 401-34416-XX) ......................198
800 SSM or HSM Series Power Cable (P/N 401-34417-XX) ......................199
YSM Series Power Cable (P/N 401-30232-XX) .............................199
DSM175 to 600 Motors (FSM, HSM or SSM Series)(Part number to be determined, contact factory) .
200
FSM, HSM or SSM Series Motors to Centurion DSM100 Drive ....................201
FSM, HSM or SSM Series Motors to Centurion DSM100 Drive
using P2 Terminal Strip .........................................202
YSM Series Motors to Centurion DSM100 Drive ............................203
YSM Series Motors to Centurion DSM100 Drive
using P2 Terminal Strip .........................................204
APPENDIX C TouchPad Instructions
TouchPad Connection and Pinouts .....................................205
TouchPad Version Number Display ....................................206
TouchPad Command Tree .........................................208

Intro-10 List of Figures
APPENDIX D Electromagnetic Compatibility Guidelines for Machine Design
EMI Source-Victim Model ........................................219
AC Line Filter Installation ..........................................221
Single Point Ground Types .........................................222
APPENDIX E Dynamic Braking Resistor Selection
APPENDIX F Specifications
DSM Interface Connection Diagram ...................................246

List of Tables Intro-11
DSM Drive Hardware and Installation Manual
List of Tables
CHAPTER 1 Safety
CHAPTER 2 Selecting Other System Components
CHAPTER 3 DSMPro Installation
CHAPTER 4 Unpacking,Inspecting and Storing
CHAPTER 5 Installation
Qualified AC Line Filters ...........................................45
MDF AC Line Filter Dimensions .......................................47
MIF AC Line Filter Dimensions .......................................48
CHAPTER 6 Interfaces
24 Volt Power Supply Specifications .....................................55
5 Volt Power Supply Specifications .....................................55
General and Dedicated Inputs .........................................56
INPUT1, INPUT2, INPUT3, INPUT4
and FAULT RESET Functions .......................................56
Digital Input Specifications ..........................................57
READY Output Specifications ........................................60
BRAKE Output Specifications ........................................60
General and Dedicated Outputs ........................................61
OUTPUT1, OUTPUT2, OUTPUT3 and OUTPUT4 Functions ......................61
Transistor Output Specifications .......................................62
Analog Inputs +I LIMIT and -I LIMIT ....................................64
Positive and Negative Current Limit Imput Specification .........................65
Analog Command Input ............................................65
Analog Command Input Specifications....................................65
Analog Outputs: ANALOG 1 and ANALOG 2 ...............................66
Analog Output Specifications .........................................66
Motor Encoder Output Signal .........................................67
Motor Encoder Output Specifications ....................................67
Auxiliary Encoder/Step and Diection/CW & CCW
(Step Up & Down) Signals .........................................70
Quadrature Interface Specifications......................................70
Step/Direction and CW/CCW (Step Up/Step Down)
Interface Specifications ...........................................74
J2- Motor Encoder Connector Pin-Outs ...................................78
J3 – Auxiliary Connector Pin-Outs ......................................81
J4 and J5 – Serial Port Connector Pin-Outs .................................86
Drive Addressing ................................................87
Analog outputs ANALOG 1 and ANALOG 2 ................................92
CHAPTER 7 Power Connections
TB1 – Motor Power Terminals ........................................94
Motor Power Contact and Wire Sizing Recommendations .........................96
TB1 – DC Bus Terminals ...........................................97
TB1 – AC Power Terminals ..........................................98

Intro-12 List of Tables
AC Input Power Sizing Requirements ....................................98
Auxiliary Power Terminals .........................................100
Auxiliary Power Sizing Requirements ...................................100
TB2 – Shunt Regulator Terminals .....................................101
Internal Shunt Power Ratings for Drive Models .............................102
Maximum External Shunt Power Ratings for Drive Models.......................102
Minimum Ratings for Customer Supplied External
Shunt Resistor...............................................102
CHAPTER 8 Application and Configuration Examples
Preset Binary Inputs .............................................109
CHAPTER 9 Tuning
Velocity Loop Gains ............................................147
Position Loop Gains .............................................148
CHAPTER 10 Status Display
Run-Time Error Codes ...........................................154
Power-Up Error Codes ...........................................155
CHAPTER 11 Maintenance and Troubleshooting
Troubleshooting Guide ...........................................161
APPENDIX A Options and Accessories
APPENDIX B Cable Diagrams, Schematics and Examples
APPENDIX C TouchPad Instructions
TouchPad Fault/Error/Warning Displays ................................. 211
TouchPad Motor Table Identification by Motor Series..........................213
TouchPad Motor Table Identification by Motor ID ...........................213
Option Selections for the TouchPad ....................................213
Drive Communications Parameter List for the TouchPad ........................214
Baud Rate Parameter List for TouchPad..................................214
Encoder Output Parameter List for TouchPad ..............................214
IO Mode Parameter List for TouchPad ..................................214
Index Pointer Parameter List for TouchPad ................................214
Index Termination Parameter List for TouchPad .............................215
Home Type Parameter List for TouchPad .................................215
Homing Auto-Start Parameter List for TouchPad ............................215
Reverse Enable for Homing ........................................215
Digital Input Parameter List for TouchPad ................................215
Digital Output Parameter List for TouchPad ...............................216
Analog Output Parameter List for TouchPad ...............................216
Drive Status List for TouchPad.......................................216
Input Flags Parameter List for TouchPad .................................217
Output Flags Parameter List for TouchPad ................................217

List of Tables Intro-13
DSM Drive Hardware and Installation Manual
APPENDIX D Electromagnetic Compatibility Guidelines for Machine Design
APPENDIX E Dynamic Braking Resistor Selection
Dynamic Braking Resistor Parameters ...................................225
APPENDIX F Specifications
Centurion DSM100 Drive Power Ratings .................................233

Intro-14 List of Tables

Intro-15
DSM Drive Hardware and Installation Manual
Preface
This manual provides a step-by-step approach to building a servo system using a Centurion DSM100
Drive . The manual is divided into chapters that cover specific phases of the system design process; from
ordering components that will complement the performance of the Centurion DSM100 Drive , to receiv-
ing, installing and verifying the drive’s functionality.
Chapters and appendices in the manual include:
• Safety
•Selecting Other System Components
• DSMPro Installation
•Unpacking,Inspecting and Storing
•Installation
•Interfaces
• Power Connections
• Application and Configuration Examples
•Tuning
• Status Display
• Maintenance and Troubleshooting
•
• Cable Diagrams, Schematics and Examples
• TouchPad Instructions
• Electromagnetic Compatibility Guidelines for Machine Design
• Dynamic Braking Resistor Selection
•Specifications
• Product Support
The intent of the manual is to assemble a high-performance servo system in a methodical manner. By
making correct decisions and taking appropriate actions a servo system that performs “as designed” can
be assured.
About This Manual
This manual provides instructions on how to setup and connect the Centurion DSM100 Drive to a
controlling device and a motor. A Centurion DSM100 Drive may operate in one of several different
functional modes. The hardware connections necessary to run the drive are explained and basic software
instructions are provided for common set up procedures. For detailed explanation of software instructions,
refer to the comprehensive on-line instructions available in the DSMPro software.
This manual explains how to install your Centurion DSM100 Drive using DSMPro software with a
personal computer. If you are using a TouchPad device, abbreviated command titles are displayed but
the setup steps remain the same. If you are using the serial Host Command Language to control the drive,
comprehensive instructions are accessible through the Host Mode icon displayed in the DSMPro window.
This manual is organized into chapters and appendixes. The topics covered in each chapter and section
are briefly described. Typographical conventions, warning and cautions specific to the drive, and com-
plementary manuals are also described.

Intro-16
Title Description
Safety Lists general safety requirements that must be followed when install-
ing or servicing the drive.
Selecting Other System
Components
Reviews the major features of the Centurion DSM100 Drives and iden-
tifies motors and signal types that are compatible.
DSMPro Installation Explains how to install, access and exit DSMPro.
Unpacking,Inspecting and
Storing
Lists what should be included with your Centurion DSM100 Drive and
instructs you on how to perform a basic functional test before installing
or storing the drive.
Installation Instructs you on how to physically install your Centurion DSM100
Drive.
Interfaces Provides comprehensive information about the signals available on
each connector. Each signal or set of signals is identified by:
• Power requirements for driving the signal.
• Functions performed by the signal.
• Specifications, including ON and OFF states.
• Schematic depictions of the circuit design for each signal type.
The signals are grouped under the following connectors.
• J1 – Controller
Diagrams show cable connections needed for common interfaces.
• J2 – Encoder
Details information about the encoder signals, Hall Effect switches
and thermostat connections available through this connector.
• J3 – Auxiliary Port
Provides a second controller connection that duplicates the first 26 pins
on J1, the Controller connector
• J4 and J5 – Serial Port
Diagrams and instructions detail how to connect one or more drives
using RS-232 communications in a single or daisy-chain connection,
or to connect several drives using Multi-Drop RS-485.
• A1, A2 and COM – Analog Outputs
Describes the connections that allow monitoring of the analog com-
mand signals with external equipment.
Power Connections Provides information on making motor power, DC bus and AC Power
connections.
Application and Configura-
tion Examples
Describes the hardware and software set up necessary to install the
drive as one of the following types:
• Analog Control in velocity or torque mode
• Preset Controller in velocity or torque mode
• Position Follower (Master Encoder) in velocity mode
• Position Follower (Step/Direction) in velocity mode
• Position Follower (Step Up/Step Down) in velocity mode
• Incremental Indexing
• Registration Indexing
• Absolute Indexing
• Modifying User Units
Tuning Provides instructions on how to tune a drive and motor combination
using the autotuning or manual tuning features in DSMPro.
Status Display Discusses the operator indicators available on the front panel. Operat-
ing or Error Messages are explained.
Maintenance and Trouble-
shooting
Describes the minimal maintenance necessary with the Centurion
DSM100 Drives and provides a comprehensive troubleshooting chart
of potential problems and their solutions.

Intro-17
DSM Drive Hardware and Installation Manual
Lists the optional equipment available for the Centurion DSM100
Drives.
Cable Diagrams, Schemat-
ics and Examples
Provides schematics and cabling examples.
TouchPad Instructions Describes how to program a Centurion DSM100 Drive using the
optional TouchPad device. Tables reference the various motor types
that are programmed to work with the Centurion DSM100 Drive. A
copy of the TouchPad Command Tree Card for the current firmware
version is bound into the manual.
Electromagnetic Compatibil-
ity Guidelines for Machine
Design
Describes common electrical noise problems and suggests methods to
ensure ElectroMagnetic Compatibility.
Dynamic Braking Resistor
Selection
Provides equations to assist in sizing resistors for dynamic braking.
Specifications Details the design and operational specifications for the Centurion
DSM100 Drives in a tabular format.
Product Support Describes the product assistance available from Giddings & Lewis.
Telephone numbers for product assistance and on-line information are
listed.
Title Description

Intro-18
Additional Instructions and Manuals
Host Commands and DSMPro
All Centurion DSM100 Drives are setup through serial Host Commands. The drives may be configured
directly through the Host Command language or indirectly through the DSMPro software. DSMPro is a
graphical user interface that provides a visual method of accessing the Host Command language through
the Microsoft Windows Operating System.
All documentation for both the Host Commands and DSMPro is on-line. Host Command information is
available through a comprehensive on-line reference manual. DSMPro information is available through
Help menus. The on-line documents provide in-depth explanations of the Host Command language as
well as the menus, windows and dialog boxes that make DSMPro a convenient method for programming
Centurion DSM100 Drives.
• To access the Host Command Reference
Click on the Host Command Reference icon in the DSMPro program group.
• To access DSMPro Help
Open DSMPro by clicking on the DSMPro icon in the DSMPro group, and
Press the F1 key.
Touch Pad
The optional TouchPad may be used to monitor and configure the Centurion DSM100 Drive. The Touch-
Pad command structure is similar to the structure of DSMPro, but operates through an abbreviated keypad
interface. The card TouchPad Instructions is provided with the TouchPad. It describes the installation
and operational instructions in a pocket-sized directory. The TouchPad Command Tree Card and addi-
tional instructions for the TouchPad are included in the section titled, “TouchPad Instructions” which
begins on page C-205. The TouchPad Command Tree Card is a graphical presentation of both the oper-
ational instructions and the command structure for the Centurion DSM100 Drives. You may find it
convenient to refer to the card when using the TouchPad with a drive.