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User Manual Appendix D

GFK-1742F Jan 2020

Tuning Digital and Analog Servo Systems 424

Sample DIGITAL MODE Velocity Loop Tuning Session

A sample velocity loop tuning session is shown in the plots that follow.

Figure 193: Velocity Loop Step Response Velocity vs. Time VLGN = 0

Figure 194: Velocity Loop Step Response Torque Command vs. Time VLGN = 0

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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