Emerson DSM314 - Section 5: SL Series Servos (Analog Velocity Mode)

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User Manual Chapter 1

GFK-1742F Jan 2020

Product Overview 16

1.6 Section 5: SL Series Servos (Analog Velocity

Mode)

The DSM314 supports all models of the SL Series Servos. For details on the SL Series Servo

amplifiers, motors, and accessories, please see the SL Series Servo User’s Manual, GFK-

1581.

Table of Contents

Default Chapter2
- Table of Contents2
Chapter 1: Product Overview12
- Features of the Motion Mate DSM31413
- Section 1: Motion System Overview15
  - DSM314 Operation with a Host Controller15
- Section 2: Overview of DSM314 Operation20
  - Standard Mode Operation21
- Section 3:  Series Servos (Digital Mode)23
  - Series Integrated Digital Amplifier (SVU)24
- Section 4:  Series Servos (Digital Mode)25
  - Series Digital Amplifiers26
- Section 5: SL Series Servos (Analog Velocity Mode)27
Chapter 2: System Overview28
- Unpacking the System29
- Assembling the Motion Mate DSM314 System30
- Turning on the Motion Mate DSM31449
- Connecting the Programmer to the Host Controller50
- Machine Edition Configuration51
- Storing Your Configuration to the Host Controller55
- Alarms57
- Configuration Settings57
- Getting Help57
Chapter 3: Installing and Wiring the DSM31458
- Hardware Description58
- Installing the DSM314 Module62
- I/O Wiring and Connections65
Chapter 4: Configuration104
- Connecting the Programmer to the Host Controller104
- Rack/Slot Configuration105
- Module Configuration108
Chapter 5: DSM314 to Host Controller Interface142
- Section 1: %I Status Bits142
- Section 2: %AI Status Words147
- Section 3: %Q Discrete Commands150
- Section 4: %AQ Immediate Commands156
Chapter 6: Non-Programmed Motion174
- DSM314 Home Cycle174
  - Home Switch Mode174
  - Move+ and Move- Modes177
- Jogging with the DSM314178
- Move at Velocity Command179
- Force Servo Velocity Command (DIGITAL Servos; Analog Torque Mode)180
- Force Analog Output Command (ANALOG Velocity Interface Servos)180
- Position Increment Commands181
- Other Considerations181
Chapter 7: Programmed Motion182
- Single-Axis Motion Programs and Subroutines182
- Multi-Axis Motion Programs and Subroutines183
- Motion Program Command Types183
- Program Blocks and Motion Command Processing185
- Prerequisites for Programmed Motion185
- Conditions that Stop a Motion Program186
- Motion Program Basics186
Chapter 8: Follower Motion234
- Master Sources234
- External Master Inputs235
  - Example 1: Following Axis 3 Actual Position Master Input235
- Internal Master Axis Command Generators235
  - Example 2: Following an Internal Master Command236
- A:B Ratio236
  - Example 3: Sample A:B Ratios237
- Velocity Clamping238
  - Example 5: Velocity Clamping238
- Unidirectional Operation239
  - Example 9: Unidirectional Operation239
- Enabling the Follower with External Input239
- Disabling the Follower with External Input240
- Follower Disable Action Configured for Incremental Position240
- Follower Axis Acceleration Ramp Control240
  - Follower Mode Command Source and Connection Options244
Chapter 9: Combined Follower and Commanded Motion250
- Example 1: Follower Motion Combined with Jog250
- Follower Motion Combined with Motion Programs251
- Example 2: Follower Motion Combined with Motion Program255
Chapter 10: Introduction to Local Logic Programming257
- Local Logic Programming257
- When to Use Local Logic Versus Ladder Logic260
- Getting Started with Local Logic and Motion Programming260
  - Requirements260
  - Creating a Local Logic Program261
- Local Logic Variable Table262
- Connecting the Local Logic Editor to the DSM264
- Building a Local Logic Program265
- Downloading a Local Logic Program273
- Executing Your Local Logic Program275
- Using the Motion Program Editor276
  - Creating a Motion Program276
  - Setting Motion Program Parameters in Hardware Configuration282
- Executing Your Motion Program285
Chapter 11: Local Logic Tutorial286
- Statements286
- Comments287
- Variables287
- Operators288
- Local Logic / Host Controller / Motion Program Communication291
- Local Logic Programming Examples291
Chapter 12: Local Logic Language Syntax297
- Syntactic Elements297
- Enabling and Disabling Local Logic303
- Local Logic Outputs/Commands303
- Local Logic Arithmetic Operators304
- Local Logic Bitwise Logical Operators307
- Comparison Operators310
- Local Logic Runtime Errors311
  - Overflow Status311
- Local Logic Error Messages312
Chapter 13: Local Logic Variables319
- Local Logic Variable Types319
- Local Logic System Variables320
- Double Precision 64 Bit Registers321
- Local Logic User Data Table322
- Digital Outputs / CTL Variables323
Chapter 14: Local Logic Configuration330
- CTL Bit Configuration330
- CTL Bits CTL01-CTL32331
- CTL01-CTL24 Bit Configuration Selections332
- FBSA Function and CTL Bit Assignments333
- Faceplate Output Bit Configuration333
Chapter 15: Using the Electronic CAM Feature335
- Electronic CAM Overview335
- Basic Cam Shapes/Definition337
- CAM Syntax338
- Electronic Cam Programming Basics354
  - Requirements354
  - Introduction to Electronic Cam Programming354
Appendix A: Error Reporting375
- DSM314 Error Codes375
- DSM Digital Servo Alarms (B0-BE)395
- Troubleshooting Digital Servo Alarms397
- LED Indicators400
Appendix B: DSM314 Communications Request Instructions402
- Communications Request Overview402
- The COMM REQ Ladder Instruction407
- The User Data Table (UDT) COMM REQ409
- The Parameter Load COMM REQ415
  - B-4.1 the Command Block415
  - B-4.2 DSM Parameter Load COMM REQ Example418
- COMM REQ Ladder Logic Example420
Appendix C: Position Feedback Devices425
- Digital Serial Encoder Modes425
- Incremental Encoder Mode Considerations425
- Absolute Encoder Mode Considerations426
Appendix D: Tuning Digital and Analog Servo Systems429
- Start-Up and Tuning Information for Digital Servo Systems429
  - D-1.1 Validating Home Switch, over Travel Inputs and Motor Direction429
  - D-1.2 Tuning a Digital Servo Drive432
- Start-Up and Tuning Information for Analog Servo Systems442
  - D-2.1 Analog Mode Velocity Interface System Startup Procedures442
  - D-2.2 Analog Mode Torque Interface System Startup Procedures444
- System Troubleshooting Hints (Analog Mode)459
Appendix E: Local Logic Execution Time461
- Local Logic Execution Timing Data461
- Example 1461
- Example 2462
Appendix F: Updating Firmware in the DSM314469
- Windows Update (for Windows 95/NT/98/2000)470
- DOS Update470
- Restarting an Interrupted Firmware Upgrade471
Appendix G: Strobe Accuracy Calculations472
- Analog Mode472
- Digital Mode472
Appendix H: Using Versapro with the DSM314477
- Getting Started477
  - H-1.1 Starting Versapro477
- Starting the Configuration Process480
- Configuring the DSM314482
- Connecting to and Storing Your Configuration to the PLC485
- Creating a Motion Program487
- Creating a Local Logic Program491
  - H-6.1 Checking Local Logic Syntax495
  - H-6.2 Viewing the Local Logic Variable Table496
- Creating a Cam Block498

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