IPI, IC693 DSM Module (DSM314) with F/W v1.1, GFK
Contents
1. The following information will be added to the applicable PLC manuals System and Reference manuals when they are next revised Once added to the manuals it will be removed from following versions of this IPI DSM314 Scan Time Contribution The table below lists how many milliseconds the DSM314 adds to PLC scan time The amount of 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 Note Be aware that the DSM314 s internal Local Logic engine has a maximum scan time of 2 ms that is independent of the PLC scan therefore time critical motion related I O should be handled in the Local Logic program rather than in the PLC ladder program See the DSM314 User s Manual for details on Local Logic programming No of Axes DSM314 Scan Time Contribution in Milliseconds Configured Main Rack Expansion Rack Remote Rack 1 1 6 2 6 6 9 2 2 2 3 8 9 9 3 2 8 4 3 13 0 4 3 3 5 2 15 92. fix the problem consult the documentation that came with your encoder Once the encoder and motor feedback devices have the same phase the user can proceed with setting up the external encoder feature In the tab Tuning 1 the user must enter a Velocity at Max Cmd value The Velocity at Max Cmd data must be the velocity at which the external quadrature encoder would be rotating if the digital servo motor 6 Important Product Information IC693DSM314 Module GFK1775 were running at 4096 rpm The data does not imply that the digital servo motor can run at 4096 rpm it is only used to set up the DSM internal gain factors for position loop gain and velocity feedforward The reader should note that the above process of setting Velocity at Max Cmd would need to be redone if the User Units to Counts ratio for axis 1 is changed The Velocity at Max Cmd data units are axis user units sec The user must calculate the axis 3 encoder output in cts sec and convert to axis user units sec The maximum allowed value for Velocity at Max Cmd is 1 million cts sec DSM hardware and firmware limit which is enforced by VersaPro Hardware Configuration When Axis is configured for external feedback the Find Home cycle will still use the 24v Home Switch input from the A connector even though the external encoder is connected to the C connector Similarly the Axis 1 Overtravel Limit Switch inputs will be from the A connector Axis 1 strobe
3. May 2000 GFK 1775A IMPORTANT PRODUCT INFORMATION READ THIS INFORMATION FIRST Product C693 DSM Module DSM314 with Firmware Version 1 1 1C693DSM314 AB Introduction Some of the information in this document is not available elsewhere so we recommend you save it for future reference This document covers the following subjects e General description of the DSM314 module e Special Operational Notes e Features and Functionality notes e Restrictions and Open Problems notes General Description of the DSM314 Product Description The IC693DSM314 Module DSM314 can control up to four analog servos or two digital servos plus one analog servo This controller also supports high speed Local Logic which allows the DSM to perform limited logical decisions and math synchronous with the position loop update rate Local Logic also supports high speed digital output control synchronous to axis motion The strobe position capture accuracy is significantly better than the DSM302 With the support of VersaPro 1 10 and CPU release 10 00 firmware the DSM314 achieves single point of programming with all motion and Local Logic programs and hardware configuration stored in the PLC CPU Programs are then transferred via the backplane to each DSM314 at power up The basic capabilities of the DSM314 are described below High Performance Digital Signal Processor DSP provides vector control of AC servos Servo loop update Digital mode 250 u
4. ant Product Information IC693DSM314 Module GFK 1775 The strobe inputs are summarized in the table below Axis 1 Axis 2 Axis 3 Axis 4 Servo Type Strobe Inputs Strobe Inputs Strobe Inputs Strobe Inputs Digital IN1_A IN2_A_ IN1_B IN2_B Single Ended Single Ended or Differential or Differential Analog IO5_A IO6_A_ IO5_B IO6_B IO5_C IO6_C 105_D IO6_D Single Ended Single Ended Single Ended Single Ended Problems Resolved by this Release 1 1 None New Features and Functionality of this Release 1 1 External Position Feedback DIGITAL Mode Only External position feedback allows the user to control the servo position loop of axis 1 from a position feedback device Quadrature Encoder that is different from the position encoder mounted on the motor The standard digital servo motor feedback from the serial encoder will be used for motor commutation and feedback for the remaining loops Axis 1 in the DSM314 can be configured to use an external encoder connected to the Axis 3 C connector Reference DSM314 for IC693 PLCs User s Manual for more details on the axis connectors In VersaPro Hardware Configuration the Axis 3 mode must be set to Auxiliary Axis in the Settings tab In the Axis 1 tab the Feedback Source must be set to Ext Quadrature Encoder The external feedback feature is not available for Axis 2 NOTE The quadrature encoder must be wired in phase w
5. between PLC tables and the DSM314 without user programming Ease of I O connection with factory cables and terminal blocks as well as a serial port for connecting programming devices Versatile I O Control of digital AC servos amp Analog servos with 10v Velocity Command Interface Home and overtravel switch inputs for each servo axis Two position capture strobe inputs for each position feedback input Sy 24v and analog I O for use by the PLC Incremental quadrature encoder input for Follower mode 13 bit analog output for each auxiliary axis can be controlled by PLC or used as servo tuning monitor Product ID IC693DSM314 AB H W Id AP3B1 44A737294 G01R03 or later S W Id Firmware version 1 1 App 44F725986 417AB Firmware Update Kit Update kit number for this firmware release version 1 10 is 444749487 Applicable Documents GFK4A742 DSM314 for IC693 PLCs User s Manual Important Product Information IC693DSM314 Module 3 GFK 1775 Special Operational Notes IC693 CPU Firmware Use of the DSM314 requires that version 10 00 or higher of the IC693 CPU firmware be installed in the CPU module CPU firmware version 10 00 is only available for CPUs 350 352 360 363 and 364 VersaPro Use of DSM314 firmware version 1 0 requires that version 1 10 or higher of VersaPro be utilized to configure and program the DSM314 module The DSM314 is not compatible with any other PLC programming software or with the DOS base
6. d Motion Programmer software Essential Configuration Parameters VersaPro configuration software version 1 10 or later must be used to configure the DSM314 module The following configuration parameters will typically not default to the settings required for many applications and must be changed by the user or are features not available in this firmware release Motor Type Motor2 Type For digital servos motor type must be changed to match the specific type number of the motor used Select type 0 only if no servo is used or in ANALOG mode CAM Block CAM block names are not supported in this firmware release Name Follower Abs Position is not supported in this firmware release Disable Action Analog Servo Torque is not supported in this firmware release Command Acceleration Acceleration Feed Forward Percentage is not supported in this firmware release Feed Forward Percentage Feedback Feedback Source must use default or Ext Quadrature Encoder Ext Quadrature Source Encoder is used with Digital Mode Axis 1 only Other choices are not supported in this firmware release CAM Master CAM Master Source is not supported in this firmware release Source Ramp Ramp Makeup Mode must use Makeup Time Makeup Velocity is not Makeup Mode supported in this firmware release Ramp Ramp Makeup Velocity is not supported in this firmware release Makeup Velocity Advanced Only the first two Advanced Parameters in Hardware C
7. ed and the DSM is in rotary mode commanded position and actual position are allowed to roll over at the configured limits An Absolute mode AQ move command works as expected the axis always moves within 1 rev to the absolute position specified in the command However if a motion program with a combination of incremental and absolute moves is used an absolute move may cause unexpected results the axis may move many revs when the user expected it to move only within one revolution If AQ move commands are used instead of a motion program the axis works as expected The Select Analog Output mode command AQ command 47h can only be sent from the AQ command registers for Axis 1 3 If the command is sent in the axis 4 command registers it will not have any effect Follower Registration Move is referenced to previous cycle When a Follower registration move Follower Disable mode Inc Position is initiated by a faceplate input CTL bit the actual registration distance relative to the position at the instant the faceplate input turns on is 0 2 ms less than the programmed registration distance The only noticeable effect will be on a Local Logic program which corrects for 2 ms sampling variations using slave axis strobe data and the Local Logic position increment command The strobe position must be compared to the Actual Position of the cycle before the strobe rather than the cycle after the strobe Additions to PLC Manuals
8. edforward From 1 in the DSM302 to 0 01 in the DSM314 Torque Limit AQ Command From 1 in the DSM302 to 0 01 in the DSM314 Range Changes Position Range Increased from 8 388 608 8 388 607 User Units UU in the DSM302 to 536 870 912 536 870 911 UU in the DSM314 Accel Range Increased from 134 217 727 User Units per Seconds Squared UU S in the DSM302 to 1 073 741 823 UU S in the DSM314 Parameter Based Subroutine Calls Motion program subroutine calls can be dynamically altered by using parameter based references instead of the fixed references 8 Important Product Information IC693DSM314 Module GFK1775 In Zone Bit Based on Position Error Only In the DSM302 the In Zone I bit was controlled by the Position Error status and the Moving I bit In the DSM314 the In Zone I bit is controlled only by the Position Error status allowing this bit to be used to determine if an axis is accurately following the command during a move Reversal Compensation Changes The reversal compensation value is not reflected in the commanded position or actual position values allowing a more accurate determination of axis position in systems with backlash Important Product Information IC693DSM314 Module 9 GFK 1775 Restrictions and Open Problems Inconsistent operation of Absolute Rotary Mode Select analog output mode cannot be sent from axis 4 AQ command registers When the configuration for Software EOT is set to disabl
9. function Service Request 46 provides another PLC sweep mode In this sweep mode the CPU transfer a limited amount of digital I O information to and from the module s Thus sweep times can be decreased during certain critical sections The backplane Fast Backplane Status Access function will write 4 bits to and read 8 bits from the DSM314 Position Loop Update Rate The DSM314 will dynamically adjust the position loop update rate for optimal performance based on the number and type of axes configured 2 ms if Any Axis is Digital or 3 4 Axes Analog or 2 Axis Analog with Local Logic 1 ms for 2 Axis Analog no Local Logic 1 ms for 1 Axis Analog with Local Logic 0 5 ms for 1 Axis Analog no Local Logic Backplane Motion and Local Logic Program Transfer Each time the PLC powers up the DSM314 programs are loaded via the backplane to each module This allows multiple DSM314 modules to share the same program and also allows swapping DSM314 modules during troubleshooting without transferring programs Enhanced I O Assignment All I O references are identical for each of the 4 axes Output arbitration between PLC control and Local Logic program control can be configured by the user There are 32 CTL bits CTL bits and output bit assignments are configurable Enhanced Parameter Resolution and Ranges vs DSM302 Resolution Changes Position Loop Time Constant From 1ms in the DSM302 to 0 1ms in the DSM314 Velocity Fe
10. gured in place of one or more of the controlled axes Other axes on the same module can be independently configured to follow this virtual axis or a real encoder master Other follower mode enhancements include User defined units can be used in follower mode An independent acceleration setting is now available for follower make up move Registration move option added to follower disable action list incremental position Separate I bit to indicate the follower ramp is active Configurable follower enable and disable triggers 4 Axis Analog 2 Axis Digital Servo and 1 Axis Analog Control The DSM314 provides the user with 4 Axis Analog Servo or 2 Axis Digital Servo Control plus an additional Analog axis Improved Strobe Resolution Strobe resolution is 2 counts with 10 microsecond of additional variance Ifa strobe occurs during Important Product Information IC693DSM314 Module 7 GFK 1775 extreme accelerations the resolution will decrease slightly Single Point of Programming with VersaPro 1 10 The motion programming tool suite is integrated into the VersaPro programming and configuration package All module programming occurs through this package No additional connections other than the CPU connection are required Incremental Encoder Support Set Position is allowed on the first revolution when digital servos are configured for incremental mode Fast Backplane Status Access Functionality The Fast Backplane Status Access
11. ith the encoder that is in use on the digital servo motor An easy way to check the wiring for correct operation is as follows Wire the external encoder to the module Configure Axis 3 Mode as an Auxiliary Axis Do not enable the Ext Quadrature Encoder feature for Axis 1 at this point This simple configuration will allow the DSM to report the position read from the digital servo motor mounted encoder axis 1 and the external quadrature encoder axis 3 The user should also verify that the Axis Direction configuration parameter for both axis 1 and axis 3 are set to Normal Turn on the Q Enable Drive bit and place the command code for Force Digital Servo Velocity to 0 in the AQ table Confirm that the servo amplifier is enabled the motor should exhibit holding torque The Q Enable Drive bit must be maintained ON in order for the Force Digital Servo Velocity command to function Send the command code for Force Digital Servo Velocity The user should send a small value such that the servo motion will not harm the driven load Confirm that the motor position reported for axis and the encoder position for axis 3 have the same phase For example If the reported axis position is positive and increasing then the reported axis 3 position should also be positive and increasing If the positions are out of phase i e positive negative then reverse the encoder channel A and channel B inputs for the external encoder and repeat the above test If this does not
12. onfiguration are Parameters supported in this firmware release PLC Q Bits PLC Q bits are by design RETENTIVE in nature These bits ONLY become NON RETENTIVE after their location is used programmed in a PLC program All motion causing Q bits such as Drive Enable Start Motion program Jog etc must be controlled from a programmed PLC coil reference for safe operation 4 Important Product Information IC693DSM314 Module GFK1775 Grounding Bars and Clamps The DSM314 for IC693 PLCs User s Manual describes the I O cable grounding requirements required for a system to meet CE Mark installation guidelines These guidelines include the use of grounding bars and clamps A Grounding Bar may be ordered as part number 44B295864 001RO02 and a Ground Clamp as part number A99L 0035 0001 Cables Two I O two command and one communication cable are available for use with the DSM314 as described below Consult the factory regarding custom length cables 1C693CBL324 1 meter terminal board connection I O cable JC693CBL325 3 meter terminal board connection I O cable C800CBL001 1 meter servo command cable C800CBL002 3 meter servo command cable IC693CBL316 Motion programmer communications cable The I O and command cables listed above are custom manufactured with special shielding and internal construction Substituting non approved cables may adversely affect the servo system Terminal Boards Two terminal boards for
13. s will use the axis 3 inputs from the C connector IN5_C and IN6_C and are subject to analog strobe timing specifications Axis 3 strobe will not operate although the level of the axis 3 strobe inputs will still be reported to Local Logic and CTL bits NOTE External quadrature encoders which have the same resolution as the digital servo motor s serial encoder 8192 cts rev cannot be configured properly if they are geared to run more than 1 7x faster than the digital servo motor External quadrature encoders geared at 1 1 with the digital servo motor cannot have resolution greater than about 14 000 cts rev Features and Functionality of Release 1 0 Initial Release Local Logic Programming The DSM314 includes Local Logic capability The Local Logic program works in conjunction with the PLC logic program and motion program to yield a flexible programming environment Specifically Local Logic programs provide the user with the ability to perform math and logic that is deterministic and synchronized with the DSM Position Loop execution rate This ability is critical to many applications where the accuracy and or speed require this tight synchronization In release 1 0 some Local Logic variables are not extended to Axis 3 or 4 Consult the User s Manual GFK 1742 or VersaPro Local Logic Variable Table for more information Follower Configuration and Sources The DSM314 supports a virtual time based Auxiliary master axis that can be confi
14. sec torque 1 mSec velocity 2 mSec position Axis Analog mode no Local Logic 0 5 mSec position 1 Axis Analog mode with Local Logic 1 0 mSec position 2 Axis Analog mode no Local Logic 1 0 mSec position 2 3 Axis Analog mode with Local Logic 2 0 mSec position 3 4 Axis Analog mode no Local Logic 2 0 mSec position Block processing time under 5 mSec Velocity Feed Forward and Position Error Integrator to enhance tracking accuracy Local Logic Fast Backplane Status Access Read Write Support SVREQ 46 High resolution of programming units Position 536 870 912 536 870 911 User Units at 1 1 User Units Counts Velocity 1 1 000 000 User Units sec at 1 1 User Units Counts Acceleration 1 1 073 741 823 User Units sec sec at 1 1 User Units Counts 2 Important Product Information IC693DSM314 Module GFK1775 Ease of Use Single Point of Programming Simple and powerful instruction set One or two axis motion programs with synchronized block start on axis 1 amp axis 2 Up to four concurrent single axis motion programs Integrated Motion Programming and Local Logic Programming in VersaPro Backplane Motion and Local Logic Program Transfer User scaling of programming units Generic programming using command parameters as operands for Acceleration Velocity Move and Dwell commands Configured with VersaPro 1 10 or later version software Automatic data transfer
15. user I O connections are available for use with the DSM314 as described below IC693ACC335 Servo terminal board IC693ACC336 Auxiliary terminal board These terminal boards provide screw terminal connections for I O signals such as Position Strobes Home Switches Limit Switches Analog Inputs and Analog Outputs For additional information refer to Chapter 3 of GFK 1742 DSM314 for IC693 PLCs User s Manual The terminal blocks contain Metal Oxide Varistor MOV circuit protectors which prevent excessive electrical energy from affecting the DSM314 The maximum recommended input voltage for any of the 24v T O circuits is 30 VDC with respect to earth ground S terminal or circuit common Strobe Input Differences between Analog and Digital Mode The strobe input faceplate pins for Axis 1 and Axis 2 depend on the DSM servo mode Analog or Digital In Digital Mode the Axis 1 and 2 strobe inputs use faceplate inputs IN1 and IN2 which can be either single ended or differential In Analog mode the Axis 1 and 2 strobe inputs use faceplate inputs IO5 and 106 which are single ended only Axis 3 amp 4 always use IOS and IO6 as the strobe inputs NOTE The input circuits for IOS and IO6 contain 4 7k pull up resistors to internal 5v If no signal is connected to these inputs the input will always appear to be ON Normally a single ended TTL or CMOS driver must be used to drive these circuits from the strobe sensor Import
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