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Emerson DSM314 User Manual
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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 o
f the SL Series Servos.
For details on the SL
Series Servo
amplifiers, motors, and
accessories, plea
se see the SL Se
ri
es Servo User’s
Ma
nual, GFK-
1581.
26
28
Table of Contents
Default Chapter
2
Table of Contents
2
Chapter 1: Product Overview
12
Features of the Motion Mate DSM314
13
High Performance
13
Easy to Use
13
Versatile I/O
14
Section 1: Motion System Overview
15
DSM314 Operation with a Host Controller
15
Section 2: Overview of DSM314 Operation
20
Standard Mode Operation
21
Section 3: Series Servos (Digital Mode)
23
Series Integrated Digital Amplifier (SVU)
24
Section 4: Series Servos (Digital Mode)
25
Series Digital Amplifiers
26
Section 5: SL Series Servos (Analog Velocity Mode)
27
Chapter 2: System Overview
28
Unpacking the System
29
Unpacking the DSM314
29
Unpacking the Digital Servo Amplifier
29
Unpacking the Motor
29
Assembling the Motion Mate DSM314 System
30
General Guidelines
30
Motion Mate DSM314 Connections
30
Connecting the Series SVU Digital Servo Amplifier
31
Connecting the Β Series SVU Digital Servo Amplifier
39
Installing and Wiring the DSM314 for Analog Mode
47
Grounding the Motion Mate DSM314 Motion System
48
Turning on the Motion Mate DSM314
49
Connecting the Programmer to the Host Controller
50
Machine Edition Configuration
51
Storing Your Configuration to the Host Controller
55
Alarms
57
Configuration Settings
57
Getting Help
57
Chapter 3: Installing and Wiring the DSM314
58
Hardware Description
58
LED Indicators
59
The DSM COMM (Serial Communications) Connector
60
I/O Connectors
60
Shield Ground Connection
61
Installing the DSM314 Module
62
I/O Wiring and Connections
65
I/O Circuit Types
65
Terminal Boards
66
Digital Servo Axis Terminal Board - IC693ACC335
67
Auxiliary Terminal Board - IC693ACC336
72
Cables
75
Chapter 4: Configuration
104
Connecting the Programmer to the Host Controller
104
Rack/Slot Configuration
105
Module Configuration
108
Setting the Configuration Parameters
109
Settings
110
Serial Communications Port Configuration Data
115
Control (CTL) Bits
116
Output Bits
117
Axis Configuration Data
118
Tuning Data
133
Computing Data Limit Variables
139
Advanced Tab Data
140
Power Consumption Data
141
Chapter 5: DSM314 to Host Controller Interface
142
Section 1: %I Status Bits
142
Section 2: %AI Status Words
147
Section 3: %Q Discrete Commands
150
Section 4: %AQ Immediate Commands
156
Chapter 6: Non-Programmed Motion
174
DSM314 Home Cycle
174
Home Switch Mode
174
Move+ and Move- Modes
177
Jogging with the DSM314
178
Move at Velocity Command
179
Force Servo Velocity Command (DIGITAL Servos; Analog Torque Mode)
180
Force Analog Output Command (ANALOG Velocity Interface Servos)
180
Position Increment Commands
181
Other Considerations
181
Chapter 7: Programmed Motion
182
Single-Axis Motion Programs and Subroutines
182
Multi-Axis Motion Programs and Subroutines
183
Motion Program Command Types
183
Program Blocks and Motion Command Processing
185
Prerequisites for Programmed Motion
185
Conditions that Stop a Motion Program
186
Motion Program Basics
186
Motion Language Syntax and Commands
187
Motion Program Commands
189
Program and Subroutine Structure
198
Command Usage Examples
201
Types of Programmed Move Commands
203
Other Programmed Motion Considerations
219
Feedhold with the DSM314
221
Feedrate Override
222
Multi-Axis Programming
223
Parameters (P0-P255) in the DSM314
224
Calculating Acceleration, Velocity and Position Values
226
Motion Editor Error and Warning Messages
229
Chapter 8: Follower Motion
234
Master Sources
234
External Master Inputs
235
Example 1: Following Axis 3 Actual Position Master Input
235
Internal Master Axis Command Generators
235
Example 2: Following an Internal Master Command
236
A:B Ratio
236
Example 3: Sample A:B Ratios
237
Velocity Clamping
238
Example 5: Velocity Clamping
238
Unidirectional Operation
239
Example 9: Unidirectional Operation
239
Enabling the Follower with External Input
239
Disabling the Follower with External Input
240
Follower Disable Action Configured for Incremental Position
240
Follower Axis Acceleration Ramp Control
240
Follower Mode Command Source and Connection Options
244
Chapter 9: Combined Follower and Commanded Motion
250
Example 1: Follower Motion Combined with Jog
250
Follower Motion Combined with Motion Programs
251
Example 2: Follower Motion Combined with Motion Program
255
Chapter 10: Introduction to Local Logic Programming
257
Local Logic Programming
257
When to Use Local Logic Versus Ladder Logic
260
Getting Started with Local Logic and Motion Programming
260
Requirements
260
Creating a Local Logic Program
261
Local Logic Variable Table
262
Connecting the Local Logic Editor to the DSM
264
Building a Local Logic Program
265
Creating a Local Logic Program
265
Checking Local Logic Syntax
268
Setting up Hardware Configuration for Local Logic
269
Downloading a Local Logic Program
273
Executing Your Local Logic Program
275
Using the Motion Program Editor
276
Creating a Motion Program
276
Setting Motion Program Parameters in Hardware Configuration
282
Executing Your Motion Program
285
Chapter 11: Local Logic Tutorial
286
Statements
286
Comments
287
Variables
287
Operators
288
Arithmetic Operators
288
Relational Operators
289
Bitwise Logical Operators
290
Local Logic / Host Controller / Motion Program Communication
291
Local Logic Programming Examples
291
Torque Limiting Program Example
291
Gain Scheduler Program Example
293
Programmable Limit Switch Program Example
293
Trigger Output Based Upon Position Program Example
294
Windowing Strobes Program Example
296
Chapter 12: Local Logic Language Syntax
297
Syntactic Elements
297
Numeric Constants
297
Local Logic Variables
298
Local Logic Statements
299
Whitespace
300
Comments
301
PRAGMA Directive
302
Local Logic Keywords and Operators
302
Enabling and Disabling Local Logic
303
Local Logic Outputs/Commands
303
Local Logic Arithmetic Operators
304
Operator
305
Operator
306
Operator MOD
306
Function ABS
307
Local Logic Bitwise Logical Operators
307
Operator BWAND
308
Operator BWOR
308
Operator BWXOR
309
Operator BWNOT
309
Comparison Operators
310
Local Logic Runtime Errors
311
Overflow Status
311
Local Logic Error Messages
312
Local Logic Build Error Messages
312
Local Logic Syntax Errors
313
Local Logic Parse Errors
313
Local Logic Parse Warnings
316
Local Logic Download Error Messages
316
Local Logic Runtime Errors
318
Chapter 13: Local Logic Variables
319
Local Logic Variable Types
319
Local Logic System Variables
320
First_Local_Logic_Sweep Variable
320
Overflow Variable
320
System_Halt Variable
321
Double Precision 64 Bit Registers
321
Local Logic User Data Table
322
Digital Outputs / CTL Variables
323
Chapter 14: Local Logic Configuration
330
CTL Bit Configuration
330
CTL Bits CTL01-CTL32
331
CTL01-CTL24 Bit Configuration Selections
332
FBSA Function and CTL Bit Assignments
333
Faceplate Output Bit Configuration
333
Chapter 15: Using the Electronic CAM Feature
335
Electronic CAM Overview
335
Basic Cam Shapes/Definition
337
CAM Syntax
338
CAM Types
338
Interpolation and Smoothing
341
Interaction of Motion Programs with CAM
343
CAM Command
344
CAM-LOAD Command
345
CAM-PHASE Command
346
CAM and MOVE Instructions
346
Time-Based CAM Motion
347
CAM Scaling Editor and Hardware Configuration
347
Synchronization of CAM Motion with External Events
351
CAM-Specific DSM Error Codes
352
Electronic Cam Programming Basics
354
Requirements
354
Introduction to Electronic Cam Programming
354
Appendix A: Error Reporting
375
DSM314 Error Codes
375
A-1.1 Module Status Code Word
375
A-1.2 Axis Error Code Words
375
A-1.3 Error Code Format
376
A-1.4 Response Methods
376
A-1.5 System Error Codes
395
DSM Digital Servo Alarms (B0-BE)
395
Troubleshooting Digital Servo Alarms
397
LED Indicators
400
Appendix B: DSM314 Communications Request Instructions
402
Communications Request Overview
402
B-1.1 Structure of the Communications Request
403
B-1.2 Monitoring the Status Word
405
B-1.3 Operation of the Communications Request
406
The COMM REQ Ladder Instruction
407
The User Data Table (UDT) COMM REQ
409
B-3.1 User Data Table COMM REQ Features and Usage Information
409
B-3.2 the UDT COMM REQ Command Block
410
B-3.3 User Data Table COMM REQ Example
412
B-3.4 User Data Table COMM REQ Example
414
The Parameter Load COMM REQ
415
B-4.1 the Command Block
415
B-4.2 DSM Parameter Load COMM REQ Example
418
COMM REQ Ladder Logic Example
420
Appendix C: Position Feedback Devices
425
Digital Serial Encoder Modes
425
Incremental Encoder Mode Considerations
425
Absolute Encoder Mode Considerations
426
C-3.1 Absolute Encoder - First Time Use or Use after Loss of Encoder Battery Power
426
C-3.2 Absolute Encoder Mode - Position Initialization
426
C-3.3 Absolute Encoder Mode - DSM314 Power-Up
427
C-3.4 Incremental Quadrature Encoder
428
Appendix D: Tuning Digital and Analog Servo Systems
429
Start-Up and Tuning Information for Digital Servo Systems
429
D-1.1 Validating Home Switch, over Travel Inputs and Motor Direction
429
D-1.2 Tuning a Digital Servo Drive
432
Start-Up and Tuning Information for Analog Servo Systems
442
D-2.1 Analog Mode Velocity Interface System Startup Procedures
442
D-2.2 Analog Mode Torque Interface System Startup Procedures
444
System Troubleshooting Hints (Analog Mode)
459
Appendix E: Local Logic Execution Time
461
Local Logic Execution Timing Data
461
Example 1
461
Example 2
462
Appendix F: Updating Firmware in the DSM314
469
Windows Update (for Windows 95/NT/98/2000)
470
DOS Update
470
Restarting an Interrupted Firmware Upgrade
471
Appendix G: Strobe Accuracy Calculations
472
Analog Mode
472
Digital Mode
472
Appendix H: Using Versapro with the DSM314
477
Getting Started
477
H-1.1 Starting Versapro
477
Starting the Configuration Process
480
Configuring the DSM314
482
Connecting to and Storing Your Configuration to the PLC
485
Creating a Motion Program
487
H-5.1 Accessing the Motion Editor Screen
487
H-5.2 Saving Your Motion Program
489
H-5.3 Storing Your Motion Programs and Subroutines to the PLC
489
H-5.4 Printing a Hardcopy of Your Motion Programs and Subroutines
489
Creating a Local Logic Program
491
H-6.1 Checking Local Logic Syntax
495
H-6.2 Viewing the Local Logic Variable Table
496
Creating a Cam Block
498
4
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Emerson DSM314 Specifications
General
Brand
Emerson
Model
DSM314
Category
Controller
Language
English
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