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Micro DSM

DSM Drive Line drives are intended for use as electronic amplifiers powering servo motors in nmchinery. They are not intended to independently control a motor. The connection and control of drives in machinery is a skilled operation, disassembly or modification.

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Daniel López

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0% found this document useful (0 votes)

577 views318 pages

Micro DSM

Uploaded by

Daniel López

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

INSTALLATION

MANUAL

MICRO

DSM

GIDDINGS

& LEWIS, INC.

-. E
Pictorial Index
-b

RCV + RCV

8S.485

RS-232

XMT

RS-232

XMT + Com

RS-485

Reserved RCV

/%7-485 RS-485

8 9

XMT

Reserved

Ii! 1IL-------,
page 7-138 {
L1

page 10-213, 11-220

page 6-121

3 4 5 6 7

I I I
I I

Encoder 5V Com Encoder +5V Pwr Encoder 5 V Corn Encoder +5V Pwr Encoder 5V Corn Mtr Encdr hmut Chnl A+ Mtr Encdr input Chnl AMtr Encdr lnDut Chnl B+ Mtr Encdr InDut Chnl BMfr Fncdr {nDut Chn[ /+ Mtr Encdr lnDut Chnl 1-

-----

----

, ,
I I 1 1

page 6-117

8 9

page 7-137

L2/N 9 R s

10 11
t
12

Q g.
_Q c1 Q
Mck

page 7-132
T o 1171 Reserved Reserved Thermal Swkh Thermal Sw!tch + I

1
40 41 42 43

page 6-81

18
19 20

[ A,
L.. ,

I
I L(mi Reserved Reserved Selectable Selectable Output 1

A u,ahary Chnl A+ 2 3 4 5 6 7 8 9 10 11 12 13 Encoder 5V Com Encoder +5VDC Encoder 5 V Com External //0 Power External //0 Corn Mtr Output Chnl A+ Mtr Output Chnl AMtr Output Chnl B+ Mfr Output Chnl B. Mtr Output Chnl 1+ Mtr Output Chnl /. Exfema/ /0 Corn 15 18 17 18 19 20 21 22 23 24 25 26 A uxlhary Chnl A. A uxil!ary Chni B+ A uxd!ary Chnl BAuxi)ary Auxik?ry Chni 1+ Chnl /.

27 28 29 30 31 32 33 34 35 36 37 38 39

Analog Corn Reserved Reserved Analog Output Selectable Selectable Selectable 1

Output 2

44 45 46 47 48 49 50

Reserved Reserved Reserved Reserved Reserved Brake Enable + Brake Enable

input 1 input 2 Input 3

Drwe Enable Fault Reset Analog Cmnd + Analog Cmnd Orwe Ready+ Drwe Ready. External //0 Power

Reserved Reserved Reserved Reserved Reserved

INSTALLATION MANUAL

GIDDINGS

& LEWIS

Product Notice
Use of DSM Drive Lines
DSM Drive Line drives are intended for use
as

transistorized

electronic amplifiers powering servo motors in nmchin-

ery. AS such, they must be PUII of a controlledsystemthat includesa [Link] are not intended to independently control a motor, Instructions in the motor and control system manuals must be observed; this document does not replace those instructions. Untess specified otherwise, DSM Drive Line drives are intended for use in a normal industrial environment, installed in a suitable electrical cabinet without exposure to excessive or corrosive moisture or abnormal ambient temperatures. The exact operating conditions may be established by referring to the data for the drive. The connection and control of drives in machinery is a skilled operation, disassembly or repair must not be attempted. In the event that a drive fails to operate correctly, contact the place of purchase for return instructions,

Safety Notes
There are some possible hazards associated with the use of drives. The following precautions should be observed. Specific Warnings and Cautions are fisted in the Preface and Safety sections of the manual. Installation and Maintenance Installation and maintenance or replacement must be carried out by suitttbly qualified service personnel, paying particular attention to possible electrical and mechanical hazards, Weight: Large drives are heavy, the center of gravity maybe offset and removable covers shield internal components. When handling, take appropriate precautions and lift the equipment using permanent, fixed surfaces, such as the base; avoid lifting the device using protective cover shields that may be loose. Beware of sharp edges; use protective gloves when handling such assemblies. Flying Leads and Loose Cables: Ensure that flying leads or loose cables are suitably restrained, to prevent snagging or entanglement, or are disconnected before carrying drives with such leads or cables, Generation: [f a motor is driven mechanically, it may generate hazardous vottages which are conducted from its power in#ut terminals to the drive. The power connector musr be suitably guarded to prevent a possible shock hazard, Loose Drives: When running an unmounted drive, ensure that the cooling fan is adequately guarded and sufficient airflow is provided around the drive to ensure adequate cooling, The mounting surface of the drive is a heatsink and its surface temperature may increase when the drive is operating, If a motor is connected to the drive, remove the kcy which otherwise coutd fly out and restrain the motor before applying power to the drive. Damaged Cables: Damage to cables or connectors may cause an electrical hazard. Ensure there is no damage before energizing the system. Supply: Drives connect to a permanent main power source; not a portable power source. Suitable fusing and circuit protection devices are required. Consult the instructions and adhere to total and national refutations before connecting and energizing the drive. Safety Logic Signak Logic signals from the drive are interruptible signals; they are removed when power is removed from the drive. Consult the manual for information on auxiliary power connections that may be employed when these signals are used for safety purposes. Safety Requirements: The safe incorporation of DSM Drive Line products into a machine system is tbe responsibility of the machine designer, who should comply with the local safety requirements at the place wherethe machineis to be used. In Europe this is tikely to be the Machinery Directive, the Electromagnetic Compatibility Directive and the Low Voltage Directive. In the United States this is likely to be the National Electrical Code. Mechanical Connection: Drives must be installed inside an electrical cabinet that pl-ovides environmental controls and protection, Installation information for the drive is provided in the manratt and list the minimum instalkstion requirements for the drive are provided in the manual. Motors and control iing devices that connect to the drive should have specifications that complement the capabilities of the drive. Motors: Motors controlled by the drive should orrly connect to the drive; they should not connect directly to the AC tine. Use of custom motors requires the entering of a valid thermal time constant, otherwise the motor overload protection will not function properly. DisposaL. DSM DriveLke drivesdo not containhazardoussubstances. They maybe disposed ofas mechanical scrap. You may return the drive at your cost for disposal by us.

Table of Contents

intro-7

Table of Contents
List of Figures List of Tables Preface
Who Should Usethis Manual . . . . . . Purpose and Contents ofthis Manual. . Additional Instructions and Manuals . . Symbols and Conventions . . . . . . . Centurion DSM Line Product Receiving and Storage Responsibility.. . General Safety Guidelines . . . . . . . Giddings &Lewis Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...25 . . .25 . . .29 . . .3o

. . . . . . . . . . . . . . . . . ..32 . . . . . . . . . . . . . . . . ...33 . . . . . . . . . . . . . . . . ...35

Chapter 1

Safety
Installing and Using the Centurion DSM Drive. Safety Classifications . . Potential Hazards . . . . Voltage Potentials . . . Your Responsibilities . . General Safety Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37 . . . . . . . . . . . . . . . . . . . . . .37 . .37 . .38 ..38 . .4o

Chapter 2

Unpacking,

Inspecting

and Storing

Unpacking the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 Inspection Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..44 . . . . . . . . . . . . . . . . . . . . . . ...45 . . . . . . . . . . . . . . . . .47 . . . . . . . . . . . . . . ...49 . . . . . .5 I Testing the Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..44 Hardware Setup . . . . . . . . . . . . Drive Checkout Test . . . . . . . . . . Storing the Unit . . . . . . . . . . . . . Centurion DSM Drive Overview.. .

Chapter3

Selecting Other System Components

Centurion DSM Drive Features . . . . . . . . . . . . . . . . . . . . . . . . .52 Drive Power Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52 High Performance Microcontroller Technology . . . . . . . . . . . . . .52 IPM Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..52
InstallationManual for Models DSM 007, DSM 015 and DSM 030

intro-8

Table of Contents

Analog and Digital Interfaces.. Encoder Control . . . . . . . . Encoder Output . . . . . . . . Digital I/O . . . . . . . . . . . Analog I/O . . . . . . . . . . ACInputPower . . . . . . . . Personality Module . . . . . . MultipleProtectionCircuits . Command Sources . . . . . . . .

. . . . . . . .

. . . . . . . . .

,. . . . . . . . ...54 ...54 ...54 ...54 . . . ...55

53 53 53

SerialCommandSources . . . . . . . . . . . . . . . . . . . . . . . ...55 AnalogCommandSources . . . . . . . . . . . . . . . . . . . . . . ...56 I/OInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...57 Analog Input . . . . . Analog Output . . . . Digital Inputs . . . . . Digital Outputs . . . . AuxiliaryEncoderInterface DSMProSoftware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..+.. . . . ...57 ...57 ...57 ...58 . . . .

59 60

Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...60 Agency Approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...61 Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...61 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...61 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...62 . . . . . . . . . . . . . . . . . . . . . 62 EuropeanUnionRequirements.
Chapter4 DSMProlnstallation

HardwareandSoftwareRequirements InstallingDSMPro StartingandQuittingDSMPro FromtheC:>Prompt

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

63 65

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..64 . . . . . . . . . . . . . . . . . . . . . . . . . ...65

From Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
TheDSMProStart-UpScreen. . . . . . . . . . . . . . . . . . . . ...66 Version Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...67 TheReadmeFile Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...67 Files . . . . . . . . . . . . . . . . . . . . . . . . . . . ...67

Table of Contents

intro-9

Chapter 5

Installation
Mechanical Installation Requirements . . . . . . . . . . . . . . . . . . . .69 Interface Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..72

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73 Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . .73 AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..76 Power Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . .78

Chapter 6

Interfaces
J1 - Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83 .83 .88 105 108 116 117 Digital I/O Power . . . . . . . . . Digital Inputs . . . . . . . . . . . Input Interface Circuit Examples. Auxiliary Encoder Input Types. . Interface Cable Examples . . . . . JITerminal Strip/Breakout Board J2 - Encoder . . . . . . . . . . . . .

J5 - Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Serial Communications Overview . . . . . . . . . . . . . . . . . . . . . 123 Four Wire RS-485 Connections . . . . . . . , . . . . . . . . . . . 126

Chapter 7

Power Connections
Motor Power Cabling . . . . . . . . . . . . . . . . . . . . . . .132 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 ...135 . .. 135 . . . 135 . ..137 Shield Termination of Power Motor Overload Protection . Power Supply Protection . . Emergency Stop Wiring . . AC Power Cabling . . . . . . .

DC BUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Chapter 8

Application
Analog Control

and Configuration

Examples
142

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..

InstallationManual for Models DSM 007, DSM 015 and DSM 030

intro-10

Table of Contents

Hardware Setup . Connection Diagram Configuration . . . Tuning . . . . . . . Operation . . . . . Preset Controller . . . Hardware Setup

. . . . . . . . . . .

. . . . . .

. . . . . . . . . .

. . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .

. . . . . .

...142 . . 143 ...143 ...145 ...146 ...147

. . . . . . . . . . . . . . . . . . . . . . . . . . . ...148 ,...149 . ...149 . . . . 152 . ...153 . . . . . . . . . . . . ...155 ...156 ...157 . ..I59 ...160 . . . 161 ...161 ...162 ...163 ...165 ...166 . . 167

Connection Diagram . . Configuration . . . . . . Tuning. . . . . . . . . . Operation . . . . . . . .

PositionFollower(MasterEncoder). Hardware Setup . . . . . Connection Diagram . . . Configuration . . . . . . . Tuning . . . . . . . . . . . Operation . . . . . . . . . PositionFollower(Step/Direction) Hardware Setup . . . . . Connection Diagram . . . Configuration . . . . . . . Tuning . . . . . . . . . . . Operation . . . . . . . . . PositionFollower(StepUp/Down) Hardware Set Up . Connection Diagram Configuration . . . Tuning . . . . . . . Operation . . . . . Incremental Indexing

. . . . . . . . .

. . . . . . . . . . . 155

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 174 . . . . . . . . 175 . . . . . . . . . . . . . . . . . . . . . . . . . . 176 . . . . . . . . . . . . . . . . . . . . . . . . . . 178 . . . . . . . . . . . . . . . . . . . . . . . . . . 179 . . . . . . . . . . . . . . ..+.

Hardware Set Up . . . . . . . . . . . . . . . . . . . . . . . . . . ..+. Connection Diagram . . Configuration . . . . . . Tuning . . . . . . . . . . Operation . . . . . . . .

Table of Contents

Intro-n

Registration

Indexing

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .181 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...182 ...183 . . . 183 . . . 186 ...187 ...189 ...190 ...191 ...192 ...194 ...195 ...197 . 197

Hardware Setup . Connection Diagram Configuration . . . Tuning . . . . . . . Operation . . . . . Absolute Indexing . . Hardware Setup . Connection Diagram Configuration . . . Tuning . . . . . . . Operation . . . . . ModifyingUserUnits

Changing the Display Units Settings

. . . . . . . . . . . . . . . . .

Chapter 9

Tuning
Tuning Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 GeneralTuningRules . . . . . . . . . . . . . . . . . . . . . . . . . ...199 HighInertiaLoads . . . . . . . . . . . . . . . . . . . . . . . . . . ...200 Mechanical Resonance ..., . . . . . . . . . . . . . . . . . . . . . . ..2oo Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..2o2 AutoTuneMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...202 Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...203 ManualTuneMode ...,... . . . . . . . . . . . . . . . . . . . . ...205 Gains . . . . . . . . . . . . . . . Filters . . . . . . . . . . . . . . . Manual Tuning. . . . . . . . . VelocityLoopTuningExamples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..206 . . ...207 . . . . .208 . . . . 211

Chapter 10

Status Display
Status Indicator Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...213 . . . . . . . . . . . . . . . . . . . . . . . . ...213 . . . . . . . . . . . . . . . . . ...215

RunTimeErrorCodes Power-UpErrorCodes

Chapter 11

Maintenance
InstallationManual forModels DSMO07, DSM015and DSM 030

Intro12

Table of Contents

Maintenance

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..

217

Periodic Maintenance ..,..... . . . . . . . . . . . . . . . . . . . . 217 Firmware Upgrading . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..219 Firmware Upgrade Procedure using DSMPro . . . . . . . . . . . . . . . 219 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..22o Error Codes . . . . . . RS-232Communication Testing Digital Outputs Testing Digital Inputs . Testing Analog Output Testing Analog Input . Testing Encoder Inputs . . . . Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..22o . . .226 ...228 ...230 ...231 . . . 232 . . . 233

Appendix

Options and Accessories

. . . . Fuses . . . . . . . . . . . . Options and Accessories. . . . Interface Cables . . . . . . . . Centurion DSM Drives 236 . . . . . . . . . . . . . . . . . . . . . . . . 236 . . . . . . . . . . . . . . . . . . . . . . .$ 237 . . . . . . . . . . . . . . . . . . . . . . . . 238 . . . . . . . . . . . . . . . . . . . . . . .,

Serial Interface Cables. . . . . . . . . . . . . . . . . . . ..$ . . . . . . . 238 Encoder Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 241 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Mating Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 243

Appendix

Cable Diagrams, Schematics

and Examples
246

Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. Serial Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . ...249 Encoder Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . ...253 Motor Power Cables Cabling Examples

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,,265

Appendix

TouchPad
Introduction

Instructions
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..269 269 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

Installation and Operation . . . . . . . . . . . . . . . . . . . . . . . . . .. TouchPad Commands

Table of Contents

intro-13

Supplemental

Instructions

. . . . . . . . . . . . . . . . . . . . . . . . . . .272 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 272 . . . 272 . . . 273 ...279

Motor Selection . . . . Analog Output Scaling Display s . . . . . . . . Motor Table . . . . . . . TouchPad Lists

TouchPad Options and Lists . . . . . . . . . . . . . . . . . . . . . . . . . . 280 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

Appendix

Electromagnetic
Introduction, Filtering

Compatibility

Guidelines

for Machine Design

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .287

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..289

AC Line Filter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 289 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 Shielding and Segregation . . . . . . . . . . . . . . . . . . . . . . . . . . .292

Appendix

Dynamic Braking Resistor Selection

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 Dynamic Braking Equations . . . . . . . . . . . . . . . . . . . . . . . . . .297 Sample Calculations

Appendix

Specifications
Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...319 . . . . . . . . . . . . . . . . . . . . . . . . . . . ..320 Power Dissipation Pictorial Index

Interface Connections

Index Pictorial Index

InstallationManual for Models DSM 007, DSM 015 and DSM 030

intro-14

Table of Contents

List of Figures

intro-19

List of Figures
Host Mode Connection Diagram. . . . . . . . . . . . . . . . . . . ...46 DSM 007 and O07P Mounting Dimensions . . . . . . . . . . .70 DSM 015, 01 5P, 030 and 030P Mounting Dimensions . . .71 MIF Single Phase AC Line Filter Mounting Diagram . . . . .76 Digital Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...83 Drive Input Connected to a Switch/Relay Contact . . . . . . .88 Drive Input Connected to an Opto-isolator . . . . . . . . . . . . .88 Drive Input Connected to an Active High Sourcing Transistor . .88 Drive Input Connected to Active Low Output using a Switch/Relay . . . . . . . . . . . . . . . . . . . . . ...89 Drive Input Connected to Active Low Output using an Opto-lsolator . . . . . . . . . . . . . . . . . . . . ...89 Drive Input Connected to Sourcing Output . . . . . . . . . . ..89 READY and BRAKE/DRIVE ENABLED Circuits . . . . . . . . .90 Digital Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..9 I BRAKE/DRIVE ENABLE Application Examples . . . . . . . .92 Drive Output Connected to an Opto-isolator . . . . . . . .95 Drive Output Connected to an LED Indicator . . . . . . .95 Drive Output Connected to a Resistive Load . . . . . . ...95 Drive Output Connected to a Switch/Relay . . . . . . . . . . .96 Drive Output Connected to Active Low Input using a Switch/Relay . . . . . . . . . . . . . . . . . . . . . ...96 Drive Output Connected to Active Low Input using an Opto-lsolator . . . . . . . . . . . . . . . . . . . . ...97 Drive Output Connected to Active High (Sinking) Input . . . . .97 External Current Limit Circuit . . . . . . . . . . . . . . . . . . . . . ...98 Analog COMMAND input Circuit.. . . . . . . . . . . . . . . . . . ...99 ANALOG I Output Circuit . . . . . . . . . . . . . . . . . . . . . . . ..Ioo Output Encoder Interface Circuits . . . . . 101 J2 Breakout Board Assembly - European Union EMC Compliance . . . . . . . . . . . . . . . . . . . . . . ...103 Auxiliary Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . ...105 Auxiliary Encoder Input Circuit . . . . . . . . . . . . . . . . . . . ...106 External Encoder Interface via TTL Differential Line Drivers 108

InstallationManual for Models DSM 007, DSM 015 and DSM 030

intro-20

List of Figures

Complementary

Encoder

Interface

via 7406 Line Drivers

with Pull-up Resistors . . . . . . . . . . . . . . . . . . . ...109 Complementary Encoder Interface via Standard TTL Logic . . 109 Single-Ended Encoder Interface via Open Collector Transistor without Pull-up (not recommended) . . . . . . . . . . . . . 110 Single-Ended Encoder Interface via Standard TTL Signals (notrecommended) . . . . . . . . . . . . . . . . . . . . . ..1Io Single-Ended Encoder Interface via Open Collector Transistor with 5 VDC to 12 VDC Pull-up (not recommended) . . III Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up (not recommended) . . . . . . . . . 112 External Step/Direction Interface via TTL Differential Line Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . ..I14 External Step/Direction Interface via Single-Ended TTL Line Drivers (not recommended) . . . . . . . . . . . 114 External CW/CCW (Step Up/Step Down) Interface via TTL Differential Line Drivers . . . . . . . . . . . . . . . . . . . ..II5 External CW/CCW (Step Up/Step Down) Interface via Single-Ended Line Drivers (not recommended) . . . . 115 Motor Encoder Interface Circuit. . . . . . . . . . . . . . . . . . . 118 Hail Effect Sensor Circuit . . . . . . . . . . . . . . . . . . . . . . . . ..I18
Centurion RS-232 RS-232 Motor DSM Drive Motor Circuit Diagrams Connection Communication Encoder Connections . . . . . . . . . 120 I RS-232/4851nterface Connection to RS-485 Power RS-485/RS-422 . . . . . . . . . . . . . . . . . . . . . ..12 . . . . . . . . . . . . . . . . . . . ...124 Comparison Diagram . . . . . . . . . . . . 126 . . . . . . . . . 1,29

EMC Shield Connection . . . . . YSM Series Motor Cable Termination . . . Emergency StOp COntactOr Wiring . . . . . . . . Analog Controller Connection Diagram . . . . Preset Controller Connection Diagram . . . . Position Follower (Master Encoder) Connection Position Follower (Step/C) irection) Connection Position Follower (Step Up/Down Connection Diagram . . Incremental Indexing Examples Incremental Indexing Connection

. . . . . . . . . . . . . . . . . . . . . . . . . . . Diagram Diagram

. . . . . . . .

. . . . .

. . . . . . . . . . .

. . . . . .

133 134 136 143 149 156 162

Controller) . . . . . . . . . . . . . . . . . . ...168 . . . . . . . . . . . . . . . . . . . . 173 Diagram . . . . . . . . . . . . 175

List of Figures

intro-21

Registration
Registration Absolute Absolute Velocity Torque Signal

Indexing
Indexing

Examples
Connection

. . . . .
Diagram

. . . . . .
. . . . . .

. . . 181

. . . . . 183 . . . . 191 201 I

indexing Indexing

Examples Connection

. . . . . . . . . . . . . . . . . . . . . ..I89 Diagram . . . . Dialog.. Structure . . . . . . . . . . . . . . . . ..I97 . . . . . . . . . . . . 201

PC Display

Units - Default Conditioning Signal Signal

Loop Structure Current Nomenclature

. . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . ..21 . . . . . . . . . . . . . . . . . . . . . . . . . . ..2II

Underdamped Overdamped Critically

. . . . . . . . . . . . . . . . . . . . . . . . . . . ..2I2 (Ideal Tuning) . . . . . . . . . . . 212

Damped

Signal

InstallationManual for Models DSM 007, DSM 015 and DSM 030

intro-22

List of Figures

List of Tables

intro-23

List of Tables
DSM 007 and O07P Mounting DSM 015, 015P, Dimensions. . . . . . . . . . . . . . .70 Dimensions. . . . . ...71

030 and 030P Mounting

AC Line Filters for Centurion DSM Drives . . . . . . . . . . . . . . .75 MIF Single Phase AC Line Filter Engineering Specifications. . .76
JIController General INPUTI, Operation Digital READY Current Selectable OUTPUT1 Transistor Analog External Analog Analog Analog Analog Pin-Outs INPUT2 and . . . . . . . . . . . . . . . . . . . . . . . . . . ...82 inputs INPUT3 Mode . . . . . . . . . . . . . . . . . . . . . ...84 Functions Combinations . . . . . . . . . . . . . . . . .84 . . . . . .86 and Dedicated and Override

Input Specifications

. . . . . . . . . . . . . . . . . . . . . . . ...87

and BRAKE/DRIVE ENABLED Output Specifications ..91 Draw for Brake Motor Coils . . . . . . . . . . . . .93 Output Output Current Command Command Outputs: Output Circuits . . . . . . . . . . . . . . . . . . . . . . . ...93 Functions . . . . . . . . . . . . . . . . .93 . . . . . . . . . . . . . . . . . . . . . . .94 .98 . . . . . and OUTPUT2 lnputs(l LIMIT) Input ANALOG Specifications

Specifications.

. . . . . . . . . . . . . . . . . . . . . . . . . . ...98 . . . . . . . . . . . . . . . . . . . . . . . . . ...99 . . . . . . . . . . . . .99 l........ . . . . . . . . . . . . . ...100

Limit Input Specification Input Specifications

. . . . . . . . . . . . . . . . . . . . . . ..1oo

Motor Encoder Motor Encoder

Motor Encoder Quadrature Step/Direction

Output Signal . . . . . . . . . . . . . . . . . . . . . ...102 Output Specifications . . . . . . . . . . . . .102

Output Signal . . . . . . . . . . . . . . . . . . . . ...106 . . . . . . . . . . . . . . . .107 Specifications

Interface

(Step Up/Step Down) Interface Specifications . . . . . . . . . . . . . . . . . . . ...113 J2- Motor Encoder Connector Pin-Outs. . . . . . . . . . . . . . . . .118
J5Controller J5 - Serial TB1 Motor TBl-AC AC Input Preset Velocity Pin-Outs . . . . . . . . . . . . . . . . . . . . . . . . . ...121 Pin-Outs Terminal Size . . . . . Block . . . . . . . .122 .131 . . . . .134 . . . . . .138 Connections. Port Connector Contact Sizing

and CW/CCW

- DC Bus and AC Power Power Power Power Binary Terminals

and Wire

Recommendations . . . . . .

. . . . . . . . . . . . . . . . . . . . . . ...137

Requirements

Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . ...147 . . . . . . . . . . . . . . . . . . . . . . . . . . . ...206

Loop Gains

Installation

Manual for Models DSM 007, DSM015

and DSM 030

intro-24

List of Tables

Position Loop Gains . . . Run Time Error Codes Power-Up Error Codes . . Troubleshooting Guide .

. . . .

...206 . . .213 ...215 ...220

Preface
Read this preface to familiarize yourself with the rest of the manual. This preface covers the following topics:
G G G G G G G

Who should use this manual The purpose and contents of this manual Storing the product Related documentation Conventions used in this manual Safety precautions Giddings & Lewis product support

Who Should Use this Manual

Use this manual if you are responsible for designing, installing, programming, troubleshooting the Centurion DSM family of products or

If you do not have a basic understanding of the Centurion DSM Line, contact your local Giddings & Lewis representative for information on available training courses before using this product.

Purpose and Contents of this Manual

This manual is a user guide for the Centurion DSM Line. It gives you an overview of the Centurion DSM family and describes the procedures you use to install, setup, use, and troubleshoot the Centurion DSM Line. This manual provides instructions on how to setup and connect the Centurion DSM Line drive to a controlling device and a motor. A Centurion DSM Line drive can operate in one of several different functional modes. The hardware connections necessary to run the drive are detailed in this manual and basic software instructions are provided for common setup procedures. For detailed explanation of software instructions, refer to the comprehensive online instructions available in the DSMPro software.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro-27

Title
G J5

Description Diagrams and instructions detail how to communicate with a drive using serial communications. Provides information on making motor power, DC bus and AC Power connections. Describes the hardware and software set up necessary to install the drive as one of the following types operating in a specific mode:
G G G

- Serial Poti

Power Connections Application and Configuration Examples

G Analog G G G G G G

Control

Velocity or torquemode Velocity or torque mode Velocity mode

Preset Controller Position Follower (Master Encoder) Position Follower (Ste@Direction) Position Follower (Step Up/Down) Incremental Indexing Registration Indexing

. Velocity mode . Velocity mode

Velocity mode

. Velocity mode c Velocity mode Provides instructions on how to tune a drive and motor combination using the autotuning or manual tuning features in DSMPro. Discusses the Status LED indicator on the front panel. Operating or Error Messages accessible through the TouchPad or a PC are explained. Describes the minimal maintenance necessary with the DSM Line drives and provides a comprehensive troubleshooting chart of potential problems and their solutions. Lists the optional equipment available for the DSM
Line drives. provided. Schematics and cabling examples are

. Absolute Indexing Tuning

Status Display

Maintenance and Troubleshooting

Options and Accessories

TouchPad instructions

Describes how to program an DSM Line drive using the optional TouchPad device. Tables refe;ence the various motor types that are programmed to work with the DSM Line drive. A copy of the TouchPad Command Tree card for the current firmware version is bound into the manual.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro-28

Title Electromagnetic Compatibility Guidelines for Machine Design Dynamic Braking Resistor Selection Specifications Product Support

Description Describes common electrical noise problems and suggests methods to ensure Electromagnetic Compatibility. Provides equations to assist in sizing resistors for dynamic braking. Details the design and operational specifications for the DSM Line drives in a tabular format. Describes the product assistance available, and lists telephone numbers for product assistance and adchtional on-line information.

Preface

intro-29

Additional Instructions
Host Commands

and Manuals

and DSMPro

All Centurion DSM Line drives are setup through serial Host Commands. The drives can 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 online. Host Command information is available through a comprehensive online reference manual. DSMPro information is available through Help menus. The online information provides 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 DSM Line 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 F] key.

TouchPad

The optional TouchPad can be used to monitor and configure the Centurion DSM Line drive. The TouchPad command structure is similar to the structure of DSMPro, but operates through an abbreviated keypad interface. A TouchPad Instruction card is provided with the TouchPad. It describes the installation and operational instructions in a pocket-sized directory. The TouchPad Command Tree card and additional instructions for the TouchPad are included in the section titled TouchPad Commands, which begins on page C-270. The TouchPad Command Tree card is a graphical presentation of both the operational instructions and the command structure for the Centurion DSM Line drives. You may find it convenient to refer to the TouchPad Command Tree card when using the TouchPad with a Centurion DSM Line drive.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro-30

Symbols and Conventions

Typographical and Wording
Example Drive Set Up

Conventions:

DSMPro win

ALT+F4a ALT, F, N

Choose

Select

Type

NOTE: %

Description Text shown in this font and underlined indicates a Hot Key (keystroke combination) to quickly access a command. For example, Choose Qrive Set Up, indicates typing ALT+D followed by ENTER accesses this command. Text shown in this font is information to enter in a window or dialog box. For example, Choose the icon DSMPro. to enter at a keyboard. Text in lower case bold is information For example, To start Windows from the DOS prompt, type win and then press ENTER. Keys that should be pressed simultaneously are shown with a plus sign (+) between the key names. This example closes the active window. Keys that should be pressed in sequence are shown with a comma (,) between the key names. This example opens the File menu and then opens a new file. Indicates that an icon or a command is to be selected from a window or a command box. For example, the instruction for accessing the command icon Drive Set Up states: Choose Drive Set Up. Indicates that options are to be selected from a list. For example, the instruction for accessing or entering information states: Select Drive Type and Motor Model from the respective list box. Indicates that commands to enter in a command box. For example, the instruction for loading DSMPro states: Type a:setup and then press ENTER. Notes provide auxiliary information that is important to know. Tips provide hints or shortcuts that are useful. For example, This step assumes DSMPro was installed in the DSMPro NOTE directory during setup. To disable the automatic Help display, choose the menu TIP item Show Quick Start from the Help menu.

a. Microsoft@ WindowsTM reserves certain multiple keystroke combinations

vate Windows commands.

to acti-

Preface

intro-31

Graphical

Symbols

This manuals uses the following graphic symbols.

Example Description Protective conductor terminal (Earth ground) o Chassis terminal (Not a protective ground) A Risk of electrical shock symbol A

DANGER, WARNING or CAUTION require accompanying information notices to prevent potential personai injury and equipment damage.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro32

Centurion DSM Line Product Receiving and Storage Responsibility

You, the customer, are responsible forthoroughl y inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment. Leave the drive in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store it:
G G

in a clean, dry location

within an ambient temperature range of -40 to 70 C (-40 to 158 F) within a relative humidity range of 5~o to 959Z0,non-condensing in an area where it cannot be exposed to a corrosive atmosphere

. .
G

ina non-construction area

The Drive Checkout Test on page 2-47 is useful to verify that the unit is operating correctly after delivery.

Preface

intro-33

General Safety Guidelines

This section covers general safety guidelines for electronic devices. Safety information specific to Centurion DSM Line drives appears in the chapter Safety on page 1-37. Hazards which can be encountered in the use of this equipment are:
G

Electric Shock Electric Fire Mechanical Stored Energy

. . .

There are no chemical or ionizing radiation hazards. Electrical shock and fire hazards are avoided by using normal installation procedures for electrical power equipment in an industrial environment. Installation must be undertaken by suitably qualified personnel. Note that this amplifier must be installed in an industrial cabinet such that access is restricted to suitable qualified personnel. Mechanical hazards are associated with potentially uncontrolled movement of the motor shaft. If this imposes a risk in the machine, then appropriate precautions must be made to electrically disconnect the motor from the drive when personnel have access to moving parts of the machine. Note also that the motor must be securely mounted at all times. Stored energy hazards are both electrical and mechanical.
1. Electrical hazards can be avoided by disconnecting

the drive from its power source and measuring the DC bus voltage to verify it has reached a safe level or by waiting for the time indicated in the warning on the front of the drive prior to removing the protective covers or touching any connections. hazards require a risk analysis on the effects of stored mechanical energy when the machine is running at speed, as well as the potential for the conversion of electrical energy stored in the drive being converted to mechanical energy. Electrical energy may be stored in drive for the time indicated in the warning on the front of the drive.

2. Mechanical

The following points should be observed for the safety of personnel:

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro-34

Only qualified personnel familiar with the equipment are permitted to install, operate and maintain the device. System documentation All non-qualified must be available and observed at all times. personnel should maintain a safe distance from the equipment.

G G G G

G G

Be careful of the DC bus and shunt terminals. High voltage is present when power is applied to the drive. Never connect the DC- (negative) terminal to earth ground, the drive requires a floating DC bus. Do not use the ENABLE input as a safety shutdown. Always remove power to a drive before maintaining or repairing the unit. Motors without thermal protection devices require a valid thermal time constant. Otherwise the motor overload protection will not function properly.

Preface

intro-35

Giddings & Lewis Support

Giddings & Lewis offers support services worldwide.
Local Product Support

Contact your local Giddings & Lewis distributor for:

sales and order support product technical training warranty support support service agreements
Product Assistance

.
G G

Technical

If you need to contact Giddings & Lewis for technical assistance, please review the information in the Troubleshooting chapter first. Then call your local Giddings & Lewis distributor. For the quickest possible response, we recommend that you have the part and model numbers and/or software revision level of your products available when you call. The Giddings & Lewis Product Support numbers are listed inside the back cover of this manual.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Preface

intro-36

Safety
Installing and Using the Centurion DSM Drive
Read the complete manual before attempting to install or operate the drive. By reading the manual you will become familiar with practices and procedures that allow you to operate the drive safely and effectively. You should always adhere to the safety guidelines listed in the Product Notice located on the back of the title page and the General Safety Guidelines on page 1-40. Specific Warnings and Cautions appear throughout the manual.

Safety Classifications
Safety notices describe the likelihood of exposure to hazardous situations and what could happen as a result of exposure to the hazard. Following are symbols and words used to introduce the information that is intended to prevent potential personal injury and equipment damage.
Symbols Words DANGER: Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. This signal word is limited to the most extreme situations.

I A
G

WARNING: Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

CAUTION: Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury. It maybe used for situations that cause property damage only. It may also be used to alert against unsafe practices.

Potential Hazards
The equipment described in this manual is intended for use in industrial drive systems. This equipment can endanger life through rotating machinery and high voltages, therefore it is essential that guards for both electrical and mechanical parts are not removed.
Installation Manual for Models DSM 007, DSM 015 and DSM 030

1-38

Safety

Hazards which can be encountered in the use of this equipment are: . . .

Electric Shock Electric Fire Mechanical Stored Energy

These hazards must be controlled by safe machine design, using specific local regulations, normal safety guidelines and the specific notices that follow. There are no chemical or ionizing radiation hazards.

Voltage Potentials
DANGER DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life.

Voltage potentials for the internal drive circuitry vary from 325 Volts above to 325 Volts below earth ground for a 240 Volt input. Voltages can reach 450 VDC within the drive. All circuits, including the connections on the front panel, should be considered hot when power is connected and for the time specified in the warning on the front of the drive after power is removed.

Your Responsibilities
As the user or person installing this drive, you are responsible for determining the suitability of the product for the intended application. Giddings & Lewis is neither responsible nor liable for indirect or consequential damage resulting from the inappropriate use of this product. A qualified person is someone who is familiar with all safety notes and established safety practices, with the installation, operation and maintenance of this equipment and the hazards involved. For more detailed definitions, refer to IEC 364.
Micro DSM

It is recommended that anyone who operates or maintains electrical or mechanical equipment should have a basic knowledge of First Aid. As a minimum, they should know where the First Aid equipment is kept and the identity of the trained First Responders in the facility. Safety notes do not represent a complete list of the steps necessary to ensure safe operation of the equipment. If you wish further information, please contact the nearest distributor of Giddings & Lewis products.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

140

Safety

General Safety Guidelines

This section covers general safety guidelines for electronic devices. Safety information specific to Centurion DSM Drives begins on page 1-37. Hazards which can be encountered in the use of this equipment are: .
G G

Electric Shock Electric Fire Mechanical Stored Energy

2. Mechanical hazards require a risk analysis on the effects of stored mechanical energy when the machine is running at speed, as well as the potential for the conversion of electrical energy stored in the drive being converted to mechanical energy. Electrical energy may be stored in drive for the time indicated in the warning on the front of the drive.

Micro DSM

Safetv

1-41

The following points should be observed for the safety of personnel:

G G G G

The system must be installed in accordance with local regulations. The equipment is intended for permanent connection to a main power input. It is not intended for use with a portable power input. Do not power up the unit without the covers in place and the protective conductor connected. Do not operate the unit without connecting the motor conductor to the appropriate terminal on the drive. Always remove power before making or removing any connection on the unit. Before removing the cover of the unit, shut off the main power and measure the DC bus voltage to verify it has reached a safe level or wait for the time as indicated on the front of the drive. Do not make any connections to the internal circuitry. Connections on the front panel are the only points where users should make connections. Be careful of the DC bus and shunt terminals. High voltage is present when power is applied to the drive. Never connect the DC- (negative) terminal to earth ground, the drive requires a floating DC bus. Do not use the ENABLE input as a safety shutdown. Always remove power to a drive before maintaining or repairing the unit. Motors without thermal protection devices require a valid thermal time constant. Otherwise the motor overload protection will not function proper] y.

G G

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

1-42

Safety

Unpacking, Inspecting and Storing

This chapter describes the steps which ensure that the drive will function as specified. The steps include: Unpacking the Centurion DSM Drive Inspecting the drive for shipping damage Testing the basic functionality of the drive Guidelines for storing the drive.

Unpacking the Drive

1. Remove the Centurion DSM Drive from the shipping carton and remove all packing

materials from the unit. The materials and carton may be retained for storage or shipment of the drive. 2. Check all items against the packing list. A label located on the side of the unit identifies: . . . Model number Serial number Manufacturing date code.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

2-44

Unpacking, inspecting and Storing

Inspection

Procedure

To protect your investment and ensure your rights under warranty, we recommend the following steps be performed upon receipt of the unit: .
G

Inspect the unit for any physical damage that may have been sustained during shipment. Perform the Inspections Test to verify the functionality of the unit.

If you find damage, either concealed or obvious, contact your buyer to make a claim with the shipper. If degraded performance is detected when testing the unit, contact your distributor or Giddings & Lewis to obtain a Return Material Authorization (RMA). Do this as soon as possible after receipt of the unit.

Testing the Unit

Drives are burned-in and individually tested before they leave the factory. However, damage may occur during shipping. Perform the procedures below to ensure the Centurion DSM Drive is operational and undamaged. Abbreviated directions for connecting the drive to a motor and a PC are provided. The test requires:
G G G G G G

Approximately

20 minutes to complete

A motor with appropriate power and encoder cables A PC with the DSMPro software package installed An RS-232 communications An external 1/0 power supply A single phase 100-240 VAC, 50/60 Hz power source. Standard wall outlet power is suitable for verification testing of Centurion DSM Drives. A test cable constructed from two normally open switches, several pieces of 1.5 mm2 (16 AWG) wire and a mating connector. Connectors are listed in Mating Connectors on page A-243. The Appendix Options and Accessories on page A-235 lists the cables. cable

Unpacking, inspecting and Storing

2-45

During the test, power is removed several times. Always measure the DC Bus voltage to verify the bus capacitors are fully discharged, or wait for the time indicated in the warning on the front of the drive. The bus capacitors must be fully discharged for the subsequent steps to be valid. If problems arise during this procedure, refer to Troubleshooting on page 11-220 and review other relevant sections in this manual, or call your local distributor.
WARNING Perform the initial power-up with the motor shaft disconnetted from a load and the shaft key removed. Improper wiring or undiscovered shipping damage could result in undesired motor motion. Be prepared to remove power if excessive motion occurs.

Hardware Set Up
Make the connections described below and shown in Figure 2.1. Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an external I/O power supply (12-24 VDC) to J] -5 and J1 -6, orJl -26 and J1 -13. 2. Connect an RS-232 cable between the serial port on the PC and the J5 connector on the

Centurion DSM Drive. A simple 3 wire cable is depicted in the figure below.
3. Connect a Motor/Feedback

cable from the motor to the J2 connector on the Centurion

DSM Drive.
4. Connect a jumper wire with a toggle switch with a toggle switch between the following

pins: Jl -20 (ENABLE) and J1 -26 (1/0 PWR). G J 1-21 (FAULT RESET) and J1 -26 (1/O PWR). These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including its normally open toggle switches.
5. Connect a Power Cable between an external 100-240 VAC, 50/60 Hz power source and

the L1, L2/N and @ (Grid) connections.

Installation

Manual for Models DSM 007. DSM 015 and DSM 030

2-46

Unpacking, inspecting and Storing

Figure 2.1 Host Mode Connection

Diagram

DRIVE
II

41
u

J5
2 RCV XMT

J2
Molor Encoder

11 L J

3 VM

TB~ /
Phase R 6 / 7 / 8 Phase S

I
ClosetoEFJABLEdrive ~~ a

Phase T

closet.

,,s,,,.1,s

Ez!zI=
WARNING Be prepared to disable the drive or remove input power if excessive motor motion occurs while performing the following steps.

Unpacking, inspecting and Storing

2-47

Drive Checkout Test

This test sequentially verifies that: .
G

Drive power wiring is correct and start-up logic is functioning. The drive and motor are correctly wired Drive serial communications are operational

Before beginning the Initial Power-up, please check the following: .

All wiring and mounting to verify correct installation Input voltages to ensure they do not exceed specifications for the drive or motor.

Initial Power-up 1. Verify the AC power is within specifications

at the terminal strip.

2. Switch the AC Power to ON and verify the Status LED is green 3. Switch the power OFF and wait until the DC Bus Voltage is below 30 Volts 4. Connect the motor windings to:

. . .
G

R (TB l-6) for the Phase R winding S (TB 1-7) for the Phase S winding T (TB 1-8) for the Phase T winding @ (TB1 -9) for the Ground connection.

5. If a brake motor is being used for the test, connect the brake relay:
G

BRAKE ENABLE + (J 1-49) to the Motor Brake + BRAKE ENABLE - (J 1-50) to the Motor Brake -.

6. Switch AC Power ON again and verify the STATUS LED is green 7. Switch the power OFF and wait until the DC Bus Voltage is below 30 Volts.
Communications Verification

8. Start DSMPro on the PC.

9. Close any windows that are open in DSMPro.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

2-48

Unpacking, inspecting and Storing

10. Select EC Set Up from the communications

11. Verify the communication

in DSMPro.

port settings match those of the drive, then select OK. Factory

default drive settings are: , . . . . . Baud Rate: 9600 Data Bits: 8 Parity: None Stop Bits: 1
Serial Port: COM1

Assignment of communications ports on PCs varies between manufacturers. The COM

port setting for the drive and PC must match. Refer to Troubleshooting 220 if communication problems are encountered. 12. Switch AC power ON. 13. Select Eead Drive Parameters from the communications

on page 11-

menu in DSMPro.

14. Select OK in the Drive Select dialog box. A dialog box indicating that the PC is reading drive parameters should appear. If this dialog box does not appear, a message appears that advises you to check the COM settings and the communication cable. If necessary, refer to Troubleshooting on page 11-220 for instructions on how to perform these checks.
Initial Drive Operation 1. When the message appears that a motor must be selected, choose OK. The Drive Set Up

dialog box is selected with Motor Model active.

2. Select the appropriate

motor from the drop-down Motor Model box.

3. Choose OK when the message appears advising that the drive must reset. A change in

motor parameters requires reselection of the firmware based drive/motor tables. The software reset prevents improper sequencing of these table parameters,
4. Choose Close from the Drive Set Up window. 5. Select the Control ~anel icon from the Drive Window. 6. Close the connection

between J1 -26 and JI -20 to enable the drive.

Unpacking, inspecting and Storing

2-49

7. Holding torque should be sufficient so that the shaft is either immovable or very resistant

to rotation.
8. Move the Slide Bar in the Control Panel window to the right and then to the left. Verify

that the motor rotates: . CW as the Slide Bar is moved right of center, and . CCW as the Slide Bar is moved left of center. If the motor rotates in the wrong direction (CCW when the slide bar is set to the right of center) or jumps and locks-up, motor phasing and encoder feedback phasing may be incorrect. If necessary, refer to the Troubleshooting chapter for instructions on how to correct the motor power connections at TB 1-1, 2, 3 and 4 or the encoder feedback connections at J2.
9. Choose Set to zero. The motor will stop rotating.

10. Choose Drive @able

and verify the motor shaft can be rotated by hand.

11. Choose Drive ~nable and verify the motor shaft has holding torque. (i.e., The shaft cannot

be moved or moves with resistance.) [Link] the connection between J1 -26 and J] -20 to disable the drive. 13. Choose Close from the Control Panel window. A drive completing these steps is functional. If the Centurion DSM Drive did not pass the steps above, refer to Troubleshooting on page 11-220.

NOTE: Forinformationon testing the digital and analog signals refer to Testing Digital Outputs on page 11-228, Testing Digital Inputs on page 11-230, Testing Analog Output on page 11-231 and Testing Analog Input on page 11-232.

Storing the Unit

Return the drive to its shipping carton using the original packing materials to enclose the unit.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

2-50

Unpacking, inspecting and Storing

Store the drive in a clean, dry place that will not exceed the following ranges: . . Humidity: 5% to 9590, non-condensing Storage temperature: -40 to 158 Fahrenheit (-40 to 70 Celsius).

Selecting Other System Components

This chapter reviews the Centurion Model DSM 007, O07P, 015,0 15P, 030 and 030P drives, command sources and interfaces for the drives, and complementary motors and accessory equipment. Selection of complementary servo components allows you to efficiently connect other devices to your microdrive. Pertinent information about each is provided to assist you in planning your servo system.

Centurion DSM Drive Overview

The Centurion DSM Drives are part of a family of universal digital drives. Centurion DSM Drives use microcontrollers to digitally manage the current, velocity, and position. All system and application parameters are set in software, which ensures repeatability of all functions and prevents element drift. A single unit fully encloses all electronics. An external transformer is not required on the power line. All connectors and indicators are accessible and clearly marked on the front panel.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Selecting Other System Components

3-53

Analog and Digital Interfaces

All Centurion DSM Drives allow the user to select one of the following analog or digital command interfaces:
G G G G G G G

310 Volt analog interface - velocity or torque control Presets (from one to eight binary inputs) - torque or velocity control Quadrature encoder digital interface - electronic gearing position follower Step/Direction digital interface - position control CW/CCW (step up/step down) interface - position control Indexing - position control from a single point in one of three ways Operating mode override - alternate movement interface

Encoder Control
A single, motor mounted encoder provides complete commutation information and velocity feedback. Low velocity regulation is enhanced by the use of a 5000 PPR (pulses per revolution) incremental encoder.

Encoder Output
A selectable output allows the encoder resolution to be specified for maximum performance without added circuitry. Outputs are differential line drivers capable of dividing the motor encoder signal by a factor of 1, 2, 4 or 8.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

3-54

Selecting Other System Components

Digital 1/0
Digital 1/0 channels allow the user to program the drive to fit the specific application. Power for the I/O must be supplied by an 12-24 VDC external I/O power source. Selections include:
G

Four selectable (INPUT1, INPUT2, INPUT3 and FAULT RESET), optically isolated, active high inputs. One dedicated, control (ENABLE), Two dedicated (BRAKE/DRIVE outputs. optically isolated, active high input. Two selectable, optical] y isolated and short circuit protected, active high outputs. ENABLED and DRIVE READY), normally open relay

G G G

Analog 1/0
A dedicated analog input provides current limiting capabilities, while the analog output can be customized to fit the application: . . One dedicated O -10 Volt, analog input (EXTERNAL One selectable, Al O Volt analog output. CURRENT LIMIT)

AC Input Power
Centurion DSM Drives covered by this manual are powered directly from a main 100-240 VAC single phase line.

Personality

Module

EEPROM (electrical y erasable programmable read only memory) stores both motor and application specific settings and parameters for the drive.

Selecting Other System Components

3-55

Multiple Protection Circuits

Device and circuit protection, and diagnostic information is provided by: .
G

Bi-color single point LED Overtemperature, Bus Overvoltage Bus Undervoltage Overspeed Fault diagnostics Watchdog timers provide fail-safe operation. short circuit and overcurrent protection for the power output I*T (power-time) protection for the motor and the power drive

. . . . . .

Command Sources

Serial Command Sources

Centurion DSM Drives are configured and controlled via a serial communication link. Commands may be issued from a variety of sources through a serial communications port. Possible command sources include:
G

Personal computers Host computers Programmable TouchPad. interface for the Centurion DSM Drive supports: standards serial format RS-232 and the four wire RS-485 communications NRZ (non-return to zero) asynchronous Baud rates: 1200, 2400, 4800, 9600 and 19200 Parity generation and checking: Even, Odd or None. Logic Controllers Motion controllers

.
G

The serial communication . . . .

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

3-56

Selecting Other System Components

of communication cables between the drive and user-supplied described in the following sections:
Connection

equipment is

. .

One Centurion DSM Drive - Single Axis RS-232 Set Up on page 6-123 Multiple Centurion DSM Drives - Multiple Axes Four-Wire RS-485 Communications on page 6-127.

Analog Command Sources

In the analog mode of operation, the Centurion DSM Drive requires a variable ~10 Volt DC external analog signal capable of driving the servo regulators command input at an input impedance of 13.3 kOhms. Choose a source such as a PLC (programmable logic controller), the DAC (digital-to-analog converter) of a computer, or a motion controller that meets this requirement. Differential or single-ended line drivers may supply the signals for the auxiliary encoder inputs, step and direction inputs, and step up/down inputs. The differential signal must be capable of supplying at least 5 mA with 2.0 Volts across the + and - inputs. A differential signal source provides the best noise margin of all the interface circuit options. Single-ended signals from TTL drivers must be capable of sourcing or sinking 5 mA. In the preset mode, the controlling device should be capable of sourcing 10 mA into the digital inputs.

Selecting Other System Components

3-57

1/0 Interface

Analog Input
One analog input channel is accessible to the user. The analog input limits the peak current available from the drive. . I LIMIT (current limit)

The analog signal must be within 0-10 Volt range and single-ended. If this signal is not provided, the peak current of the drive may be set in software through the Drive Parameter window.

Analog Output
One analog output channel may be defined by the user through software: . ANALOG is a al O Volt signal. The allowable current draw of the load is &2 mA

This analog output is designed for monitoring purposes only. This signal should not be used for control purposes due to the relatively high ripple voltage (1 %).

Digital Inputs

Control Inputs

NOTE: Power for the I/O must be supplied by an external 1224 VDC power source.

One optically isolated, single ended, active high, dedicated control input provides the
controller

ENABLE

function.

This input operates

with switch closure

or sourcing type

transistor outputs. The current rating is 10 mA maximum.

installation

Manual for Models DSM 007, DSM 015 and DSM 030

3-58

Selecting Other System Components

Selectable

Inputs

Four optically isolated, single ended, active high inputs (INPUT1, INPUT2, INPUT3 and FAULT RESET) support logic type interfaces. The input circuits operate with switch closure or sourcing type transistor circuits. The current rating of each input is 10 mA maximum.

Digital Outputs
Control Outputs

Two normally open relays are dedicated control outputs to the following signals:
G G

BRAKE/DRIVE DRIVE READY.

ENABLED

The current ratings of each relay is 1 Amp at 30 VDC. If using a motor with the 90VAC brake option, a user-provided relay maybe driven by these outputs up to the specified levels. Refer to BRAKE/DRIVE ENABLE Application Examples on page 6-92 for information about the necessary hardware connections. Consult the I/O Configuration in the on-line DSMPro help for additional information about the soft ware parameters.
Selectable Outputs

Two optically isolated, single ended, active high, current sourcing, discrete output channels provide logic outputs under software control. Each selectable output channel is capable of sourcing 50 mA maximum and is optically isolated and short circuit protected.

Selecting Other System Components

3-59

Auxiliary Encoder Interface

The external encoder I/O port permits quadrature type encoder signals for applications, such as electronic gearing.
Encoder Inputs

Software automatically
G G G

selects the appropriate input based on the command source:

Master Encoder Step/Direction Step Up/Step Down.

Output

Encoder

The resolution of the encoder output channel is under software control. The motor encoder signal is divided by 1, 2,4 or 8 to provide an output from a differential line driver measured in PPR (pulses per revolution). The maximum encoder frequency output is 1 MHz (4 MHz quadrature).

NOTE: If a controller requires synchronization to a specific output state, please refer to IOUT Signal Generation on page 6-103 for additional information.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

3-60

Selecting Other System Components

DSMPro Software
A Windows-based software interface provides start-up selections. Tasks are organized for efficient set up, control and maintenance. Context sensitive, on-line help provides immediate assistance.
G G

Set up is simplified by a series of logically arranged setup screens. Files can be stored and printed for on-line or off-line modification, site back-up. Diagnostic and set up tools make system integration easy. Critical information is available with complete Windows-based on-line help. Serial Host Language commands are explained through on-line help. User defined velocity, acceleration, position and torque parameters. Tuning and diagnosis is aided with an on-screen dual channel digital oscilloscope. On-screen meters and software tools provide rapid debugging and measurement. and on-site or off-

G G G G G G

Autotuning
Digital auto tuning allows easy setup. All adjustments are made in software, which immediately sets the servo system compensation parameters. This eliminates the timeconsuming adjustments required by potentiometers.

Selecting Other System Components

3-61

Agency Approvals
. . . UL listed cUL listed CE marked.

Interface Cables
Standard motor power and encoder feedback cables, as well as communications cables, are available to complete your motion control system and provide reliable, trouble free startup. Refer to Options and Accessories on page A-235 for optional equipment. Use of factory supplied cables is required for compliance to the European Electromagnetic Compatibility (EMC) Directive and to protect your warranty rights.

Motors
The Centurion DSM Drive is compatible with many motors, both Giddings & Lewis motors and motors from other manufacturers. Drive and motor parameters for all compatible motors are programmed into each Centurion DSM Drive at the factory. Giddings & Lewis motors that are compatible with the Centurion DSM Drives include: . . . .
G

FSM Series motors HSM Series motors NSM Series motors SSM Series motors YSM Series motors. parameters for each drive

DSMPro software speeds drive and motor setup by predefine and motor combination.

Refer to the Torque/Speed curves in the Giddings & Lewis Product Guide or contact your local Giddings & Lewis distributor for motor sizing and compatibility assistance.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

3-62

Selecting Other System Components

.Options
G

Power and feedback cables are potted and molded with 360 degree shielding. AC line filters. Breakout boards for I/O control and encoder interface. TouchPad - a compact and highly portable input and display device.

. . .

European Union Requirements

Centurion DSM Drives conform to the following European Union Directives:
G

Low Voltage Directive (72/23/EEC, Electromagnetic

93/68/J3EC)

Compatibility

Directive (89/336 /EEC, 92/3 l/EEC, 93/68/EEC)

Compliance with the EEC Directives is contingent on: Installation of AC line filters between the power source and the drive, and

B. Use of factory authorized cables to connect motors.

European Union EMC Directives on page 5-74 and Options and Accessories page A-235 lists this equipment and associated part numbers.

Use of this product with other non-CE products or in a manner inconsistent with established testing requirements invalidates the CE registration declaration. Giddings & Lewis motors currently available for use with Centurion DSM Drives in installations requiring CE marking include: G FSM Series motors . . . HSM Series motors SSM Series motors YSM Series motors.

DSiWPro Installation
Installation of DSMPro on a PC is covered in this chapter, which:
G

Lists the minimum PC hardware and software necessary to run DSMPro. Provides step-by-step instructions on how to load DSMPro. Shows you how to start and quit DSMPro and introduces the Drive Window, the main command window for DSMPro. Instructs you on how to access on-line help.

. . .

Instructions for using the features available in DSMPro are detailed in on-line help. To access the Help menu, depress the F1 key.

Hardware and Software Requirements

The minimum personal computer (PC) requirements . .
G G

to run the software are:

A DOS computer with a 286 microprocessor A hard disk, with 2.0 MB of free disk space 31%inch, 1.44MB floppy disk drive 2 MB of RAM A Video Graphics Array (VGA) monitor Microsoft Windows version 3.1 A mouse is recommended.

.
G

Windows must be installed on your PC. If Windows is not already installed, refer to the appropriate Microsoft manual to install Windows on your computer.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

4-64

DSMPro Installation

Installing DSMPro
To install DSMPro software on a hard drive :
1. Make a backup copy of the DSMPro disk in one of the following ways:

Copy the DSMPro disk using the disk menu in the Windows File Manager or Windows Explorer. . If your computer has only one floppy disk drive, type from the DOS command line prompt diskcopy a: b: and then press ENTER. The software will prompt you when to insert the SOURCE (DSMPro) disk and when to insert the TARGET (blank) disk. 2. If Windows is not running, type win at the DOS prompt (C:>) for Windows 3.1 or type exit for Windows 95. If Windows is already running, close any open applications.
3. Insert the DSMPro disk into a 1.44MB floppy disk drive, typically drive A:, and close

the drive door.

4. Choose Run, from the File menu in Windows Program Manager or choose StartJRun in

Windows 95.
5. Type a: setup

and then press ENTER. A message box will appear saying that the setup is initializing. The message box may be present for up to 40 seconds, depending on the speed of the PC. in the dialog boxes.

6. Follow the instructions

A status bar will keep you informed of the installation progress. When Setup is complete, choose OK or press ENTER to return to Windows.

DSMPro Installation

4-65

Starting and Quitting DSMPro

Setup automatically creates the DSMPro program group and then returns you to Windows. The DSMPro program group provides access to the DSMPro application icon,

From the C:> Prompt

1. Type win

c: \dsmPro\dsm~ro. ~

exe.

NOTE: ThisstepassumesDSMProwas directory during setup.

[Link].:Wsmpro

The DSMPro start-up screen will open.

From Windows
L Choose the DSMPro program group from the Program Manager or Windows Explorer in Windows.

TIP: If the DSMPro window is not active, hold down ALT and

press TAB (ALT+TAB) until the DSMPro title bar and icon are highlighted, or select DSMPro from the list in the window menu.

2. Choose the DSMPro icon from the DSMPro program group. The DSMPro start-up screen will open.

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Manual for Models DSM 007, DSM 015 and DSM 030

4-66

DSMPro Installation

The DSMPro Start-Up Screen

When

DSMPro starts for the first time, its default instructions are:

. .

Display the Help menu - Quick Start. Present the Drive Select window. The Drive Select window offers Drive O, which is the default drive address assigned at the factory.

The default DSMPro Start-up screen is shown below. The comments point out many of the Windows controls that are available in DSMPro.
Tool bar buttons provide quick access to common commands and windows. / , Pop-up menus access PC-based commands. Online Help explains tasks and commands.

dialog DSMPru specify setup, krctoy

box is displayed when to to dive clrwe is statted which default Itpresentsthe

automatically

Hypertext links to specific items in online Help.

\ \

stafu5

bar

~eveals

c~r~ent menu

selection and

statusinformation.

Buttons perform typical windows functions such as sizing, scrolling, and opening and closing windows.

TIP: DSMPro displays the Help menu- Quick Start-when it is first accessed. To disable this automatic display, deselect the menu item Show Quick Start
from the Help menu.

DSMPro Installation

4-67

Version Level
The release level and date for DSMPro maybe displayed by selecting About DSMPro from the Help menu. This information also appears in the initial DSMPro screen. The About DSMPro window includes additional data about system resources typically displayed in Windows Help.

The Readme File

A file, titled README, may be included in the DSMPro directory. This file contains installation instructions, change notes from previous revisions, and information that became available after this manual was printed. After you install DSMPro you can access this file by choosing the Read Me icon in the DSMPro window or by using Microsoft Write or an equivalent application program to view the file readme. wri in the directory path where DSMPro is installed.

Miscellaneous
Firmware Files

Files

Firmware files are supplied in the Miscellaneous directory on the DSMPro diskette. The current revision level of drive firmware, excluding the TouchPad firmware, is displayed in the Drive Information window of DSMPro. The current revision level of TouchPad firmware is displayed as part of the TouchPad initialization when a TouchPad is connected to the drive. The types of files and their functions are: . . Firmware - Main Operating firmware for the drive Boot Block - Drive Initialization firmware for the drive

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

4-68

DSMPro Installation

Installation
Mechanical Installation Requirements

1. Mount the unit in an enclosure providing protection to IP54 (protected against dust and

splashing water), or IP65 (dust free and protected against water jets) if the work environment is poor. Many NEMA (National Electrical Manufacturers Association) Type 4 cabinets provide this level of protection. Minimum cabinet requirements are: Depth: 243.8 cm (9.6 inches). Adequate sizing and/or ventilation to dissipate the heat generated by the Centurion DSM Drives. Refer to Power Dissipation on page F-307 for the amount of heat generated by Centurion DSM Drives and enclosure sizing equations. 2. Minimum unobstructed surrounding space for cooling air intake (and fan exhaust from the DSM 030 and 030P): . . . . Above: Below: Sides; Front: 50.8 cm (2 inches) 50.8 cm (2 inches) 1.25 cm (0.5 inches) 76.2 cm (3.0 inches) for cable clearance.
If the cabinet is ventilated, use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components. The air should be free of oil, corrosives, or electrically conductive contaminates.

. .

CAUTION

3. Position the drive in a vertical position on a flat, solid surface that meets the following

weight, vibration and shock, altitude and humidity, airflow clearance, and temperature requirements. Unit weights are: . . . DSM 007 and DSM O07P: DSM 015 and DSM 015P: DSM 030 and DSM 030P: 1.7 Kg (3.7 Lbs) 2.05 Kg (4.5 Lbs) 2.0 Kg (4.4 Lbs)

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

570

Installation

Figure 5.1 DSM 007 and O07P Mounting Dimensions

-A7

A6 Surrounding

Minimum Unobstructed

for Cooling and Exhaust Air Above 50.8 mm (2 inches) Below 50.8 mm (2 inches) S~des 12.5 mm (0.5 inches) for Cable Bend Radius Front 76.2 mm (3 inches)

pace=
r I

Table 5.1 DSM 007 and 007P Mounting Dimensions Dimension

mm inches

Dimension
mm
B 67 52 B3 B4 B5 72.60 65.02 38.10 18.54 13.21 5.58

inches
2.88 2.56 1.50 0.73 0.52 0.22

A
Al A2 A3 A4 A5 A@ A7

188, 12
184.9 6.35 13,0 6.07 94.49 5.0 22,10

7.00
7.28 025 0.51 2.39 3.72 0.20 0.67

146.05

A6 A9
Alo All

31.75 8.64
31,75 57.15

1.25 0.34
1.25 2.25

129.03

5.75 5.08

a. Power Cable bracket extends up to 20mm (0.80 inches)

Installation

5-71

Figure 5.2 DSM 015, 015P, 030 and 030P Mounting Dimensions

T
Al 1

-A?

- A9

r
l

Minimum Unobstructed

Surrounding

Space

for Cooling and Exhaust Air Above 50.8 mm (2 inches) Below 50.8 mm (2 inches) Sides 12.5 mm (0.5 inches) for Cable Bend Radius Front 76.2 mm (3 inches) NOTE: Fan on DSM030only

Table 5.2 DSM 015, 015P, 030 and 030P Mounting Dimensions
Dimension mm
A Al AZ A3 A4 A5 A@ A7
A8

Dimension inches
7.80 7.28 0.25 0.51 2.39 3.72 0.20 0.B7
1,25

mm
B 61 B2 B3 64 B5 97.30 65.02 38.10 18.54 13.21 5.58

inches
3.83 2,56 1.50 0.73 0.52 0.22

198.12 184.9 8.35 13.0 6.07 94.49 5.0 22.10

37.75

c
c1

146.05
729.03

5.75
5.08

A9 Alo All

8.84 31.75 57.15

0.34 1.25 2.25

a. Power Cable bracket extends up to 20mm (0.80 inches)

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

5-72

Installation

Vibration and shock, altitude and humidity limits are: . . . . . . Vibration: 2g at 10 to 2000 Hz Shock: 15g 11 msec half sine Altitude: 1500 meters (5000 feet), Derate power performance 3% for each 300 m above 1500m(1000 Humidity: 5~0 to 95~o non-condensing 00 to 55 Celsius (32 to 1310 Fahrenheit). 50.8 mm (2 inches) above and below unit for airflow.

ft above 5000 ft).

Ambient operating temperature range and airflow clearances are:

4. Bolt the unit to the cabinet using the mounting slots in the drive. Mounting dimensions are shown in Figure 5.2. The recommended size of mounting hardware is: .
G

M5 Metric (1/4-20 equivalent), or #10 MS bolts.

Interface Connections
Input/Output and power cables connect to the front panel of a Centurion DSM Drive, no internal connections are necessary.
DANGER The user is responsible for conforming with all applicable local, national and international codes. Wiring practices, grounding, disconnects and overcurrent protection are of particular importance. Failure to obsewe this precaution could result in severe bodily injury or loss of life.

A
t
G

1/0 Connections, including the external I/O power supply, are fully described in the following sections: . . .
G

J 1- Controller on page 6-81 defines the controller connections J2 - Encoder on page 6-117 defines the motor encoder connections J5 - Serial Port on page 6-121 defines the RS-232/RS-485 are fully described in the following sections: on page 7-131 defines the AC, DC Bus and Motor power Power Connections connections. serial port connections

Power Connections

Installation

5-73

Specific operational set ups are depicted in Figure 8.1 through Figure 8.11 (pages 8-143 through 8-191, respectively). These figures cover velocity and torque mode controls for:
G G G G G G G G

Analog Controllers in velocity or torque modes, Preset Controllers in velocity or torque modes, Position Followers using a Master Encoder, Position Followers using a Step/Direction signal, Position Followers using Step Up/Down signals, Incremental Indexing over a specific distance, Registration Indexing from a mark, or Absolute Indexing to a home position.

Wiring
Wiring sizes and practices, as well as grounding and shielding techniques are described in the sections listed below. Refer to Power Connections on page 7-131. The descriptions represent common wiring practices and should prove satisfactory in the majority of applications.

NOTE: Cables, listed in Options and Accessories 235, are not rated for continuous flexing.

on page A-

Minimum wire gages for power cables are listed in:

G G

Motor Power Contact and Wire Size Recommendations AC Input Power Sizing Requirements on page 7-138.

on page 7-134,

Electromagnetic
General Guidelines

Compatibility

Refer to the appendix Electromagnetic Compatibility Guidelines for Machine Design on page D-287 for an in-depth discussion of electromagnetic compatibility (EMC) and electromagnetic interference (EMI).
Installation Manual for Models DSM 007, DSM 015 and DSM 030

5-74

Installation

European

Union EMC Directives

The Centurion DSM Drives are designed and tested to meet the European EMC Directive. Declarations of conformity, which enumerate the standards used, are included in the manual. Installation requirements necessary to meet this directive are:

1. Use of factory supplied cables,

2. Use of an external AC line filter, and

WARNING Large leakage currents exist in AC line filters. They must be grounded properly before applying power. Filter capacitors retain high voltages after power removal. Before handling the equipment, voltages should be measured to determine safe levels prior to handling the equipment. Failure to observe this precaution could result in severe bodily injury.

3. If an external supply powers the I/0, grounding of this power supply is required.

Refer to the appendix Options and Accessories on page A-235 for part numbers. The following diagrams show the mounting dimensions for single phase AC Line Filters available from Giddings & Lewis. Table 5.3 shows atypical filter selection matrix for Centurion DSM Drives. All the filters identified below are manufactured by Schaffner or Roxburgh and are widel y available. There are many AC line filter manufacturers whose filters can be successfully integrated. Giddings & Lewis recommends Schaffner or Roxburgh filters based on our test results, but the machine builder is responsible for the suitability of the filter selection in a specific application. These filters can be used for distributing power to multiple drives, rather than using an individual filter for each drive. Further information is available from Schaffner ( 1800-367-5566) or Roxburgh (01724.281 770 [011.44.1724.281770 from the USA]). AC line filters for use with Centurion DSM Drives are listed below:

Installation

5-75

Table 5.3 AC Line Filters for Centurion DSfvl Drives Part Number Drive DSM 007 and DSM O07P DSM 015, DSM 015P and DSMIIO DSM 030, DSM 030P and DSM120 DSM130 DSMI 75 (3- phase) Roxburgh MIF 06, MDF 06 MIF 10, MDF 16 MIF 23, MDF 18 MIF 32, MDF 36 MIF 330, MIF 336 Schaffner FN 350-8 FN 350-12 FN 350-20 FN 350-30 FN 351-36 Giddings & Lewis 401-30222-00 401-30216-00 401-30217-00 401-34418-00 401-34419-00

The Roxburgh filters differ in the number of stages. The MDF (Motor Drive Filters) filters are single stage filters; the MIF (Motor Inverter Filters) filters are three-stage filters. The three-stage filter will remove more of the noise, but the cost is more panel space in the higher current filters. In the lower current filters (<50 A), the panel space used is less for the MIF filters. The Schaffner filters are single-stage filters. These differ from the Roxburgh filters in component types, values and placement. The leakage current is generally lower, but the amount of attenuation is lower too. These filters will work if the amount of noise in the environment is low, or if the design of the machine is such that only a nominal amount of attenuation is needed. Basic guidelines for reducing electrical noise and increasing electromagnetic compatibility (EMC) are listed in Electromagnetic Compatibility Guidelines for Machine Design on page D-287.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

576

Installation

AC Line Filters
Figure 5,3 MIF Single Phase AC Line Filter Mounting Diagram

-4
@

c. .

NOII SPIW CIIPS rqlace _

lem,nal crews on 6hP ~ Filter (PIN 401-30222 03)~

ET+

Table 5.4 MIF Single Phase AC Line Filter Engineering SINGLE PHASE 6A P/N401-30222-O0

Specifications SINGLE PHASE 23A P/N 401-30217-00 1 in 8.4 7.6 0.4 5.7 4,1 mm 214 192 11 204 164 in 8.4 7.6 0.4 8.0 6.6

I
I
MEASUREMENT A Al !42 B B1

SINGLE PHASE 10A P)N401-30216-00 DATA mm 214 192 11 145 104

DIMENSIONAL mm in 6.7 6.0 0.4 3.6 2.2

170
152 9 92 55

Installation

577

SINGLE PHASE 6A P/N401-30222-O0

SINGLE PHASE 10A P/N401-30216-O0 DATA mm 20 40 16 24 in 0.8 1.6 0.6 1.0, SPECIFICATIONS

SINGLE PHASE 23A P/N 401-30217-00

DIMENSIONAL MEASUREMENT B2 c cl C2 mm 18 25 10 15 ELECTRICAL VoltagelFreq. Current Overload Current Temperature Leakage Current Electric Strength Power Loss Terminals Weight Back Mounting Side Mounting in 0.7 1.0 0.4 0.6

mm 20 47 19 28

in 0.8 1.8 0.8 1.0

and MECHANICAL

250 VAC @ 50/50 Hz 6A@ 50C 150% 1 minute 200% 1 second -25 to 95C 5 mA @ 240V, 50 Hz 2500 VAC/1 minute 3.5 Watts (Full Load) 2mm sq. spring clamp 0.3 Kg (0.66 Lb.) 4xM4 2xM5

250 VAC@ 50/50Hz 10/4 @ 50C 150% 1 minute 200% 1 second -25 to 95C 46 mA @ 240V, 50 Hz 2500 VAC/1 minute 2.7 Watts (Full Load) M4 screw crossl sq. 2x 2.5mm 0.95 Kg (2.0 Lb) 4xM4 2xM6

250 VAC @ 50/50 t-iz 23A @ 50C 150% 1 minute 200% 1 second -25 to 95C 200 mA @ 250V, 50 Hz 2500 VAC/1 minute 10 Watts (Full Load) M4 screw crossl sq. 2x 2.5mm 1.6 Kg (2.5 Lb) 4xM4 2xM6

Line filters are manufactured to millimeter dimensions (inches are approximate conversions).

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

5-78

Installation

Power Wiring Diagram

MOTORPOWER WIRES R,S,T<GND
MOTOR MO1ORPOWER MATING CONNECTOR CONTACT SIZE [GAUGS/mmt) MINIMUM RECOMMENDED POWER WIRE [GAuGsIrnrnE]

I 6M
NSM 16 AWGII 5rnrnE

I [Link]

M
A c : D

MO1OR

F0WE17CCNNECTOR

INPUT POWER WIRES

DRNE TERMINAL(S) ~En ~@E (GALHlmmE, [7YCCCF?ER MIN, ,6 AWG,\,5rnn+

OSM007

LI,L2,N,

DSM015

ml,

,4 AwG,25mmE

DSM030

LI,LZN

,2 AWG,4mmt

B
1
TERM 8LOCK

TERMINAL STRIP ACCEPTABLE WIRE RANGE [GAUGMWIE] 20. 12AWG/05-4rnrr 10 IXIJE All lERM,NALs 101 I1BIN A

Dlm#DfiL:w

A;;:&y#g:
SINGLE WA%
AC LINE 50,60H> {$=

ISOLATION ORAUTO I17ANSFORMER

[Op,,OWL NO1 RFQUIRED WHEN DESIRE. INPl VOLTAGE ,s AVAILAW DIRECTLY U20M w LINE) TRANsFORMER Ctw!sls ?

F!?
11

Cohlw GmuwNG FONT mri AMwm? WSIEM (OM W AXIS,

I
I

I J

TO RWIECTNE Wm. TERMNAL

MACHINE COMWJN ~RouMD,NG ~u~ ~An

NOTES

6 8, A9
A

DONO,DAIS? ..,.

.,.,

.0.,,

,,,.,, Pow,.0!4.,.,,0!4s MAKE WAINE CONNECTION,

ro m, AC sum,

MULIIPLE [Link]..ULH MAY 86POWERED FROM ONE I@ANSFORME@ ORmm.. AC,!,, FIUE R,,.
EowA. UIRW. wOW]

SIJFPN SCURCE

WE,.,. LOW CAB,FAE ,0 E USED ,0 ,WWWWK ,G CHWI MOD,, s UC,3RCMAGNE,,C COMFATAU,m AND .= ,EQ,FO ,0 .Fcr ~, ELECTROMAGNE,,CcOMPA%48,UT! D,EC,,VE CAU,,ON A. UNE 6,,,,S WE LARGE LEAWG6 CURRENTS AND WJkf D!W+4RGE T,ME ,0, POW REMOVAL THE ..VF MOWLF AND FILTER8HW08E WI ,4$SORT x POS81BLFTHE COMMON GWUN. BuS m WOULD M AS C(OSE TO THE D7MEAS FO$S18K

11 A

,,.,,,,,,,,.070 NO, slum

WWF CM,, $,,,0 w CLAM... SNUG m4c,,r saw%

,0,,,

DRNE wH ,6 WAC,,, PR6w3GD WLS w.wK6, . ...6

U,,

,0 STRAIN RELIEF ,,

NfvER

D CA8,ES m, s5,

m ,0, WER,,GH,EN

ToRQUE OVER 10u $.

Installation

5-79

DIGll& ADVANTAGE TERMINALS DSM 007 L1 ,L21N, DSM 0,~ NOIE

DRIVE MODULE

INPuT CURRENT

REQUIREMENTS [AMPS AC RMS]

I
I

CURRENT REQUIREMENT, MAXMUM 50 A!TWS AC Ot 100240 Volts AC 90 Arnos AC ot 100240 Van, AC 180 Amx AC ot 100240 blk AC

POWER INITIALIZATION REQUIRES A SHORT PER1OD OF INRUSH CURRENT OF 100A FOR THE INPUT DUAL ELEMENT TIME DELAY [SLOW BLOW] FUSES ARE RECOMMENDED FUSE SIZES MUST BE SELECTED ACCORDING TO 10CAI REGULATIONS

r
1
Al
EV 22019 JM ECO BY

DIG$TAI O,W MODULE

!!!!+
CONNECTOR MANG MO1OR PCMR CONNECTS,

M31OR POWER

.s!.4$ene, NW *,., HW6W ,. FS4 ,Mol.,

COMMON GI?OM31NG
FONT FOR AblPLIFIE@ SYSIEM (ONE PER AXIS)

l& LkAStU
REVISIONDESCRIPRON DATE

1CHK

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

580

Installation

Interfaces
This chapter provides information about: . Interface signals available on the Centurion DSM Drive . . J1 - The Controller interface for commanding and reporting motion J2 - The Encoder interface for reporting movement by the motor J5 - The Serial interface for communicating with the drive.

Commonly encountered interface cabling methods Optional signal extension kits and standard cables.

JI - Controller
J1 is a 50 pin female mini-D connector (AMP 2-1 78238-7) for connecting a host computer or controller to the drive. Contact between the connectors shell and the grounded chassis provides shield termination. This section lists the connector pin-outs and provides signal specifications.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-82

Interfaces

Table 6.1 J1 Controller Pin & Signal

+5VDC

Pin-Outs Pin & Signal

20 21 22 23 24 25 ENABLE RESET CMND+ CMNDREADY+ READY1/0 PWR I LIMIT ACOM

Description
Encoder +5V DC Encoder Common Encoder +5V DC Encoder Common External l/O Power (12-24 VDC) External 1/0 Common

Description
Drive Enable Fault Reset Analog Command+ Analog CommandDrive Ready+ Drive ReadyExternal 1/0 Power (12-24 VDC) Current Limit Analog Common Reserved Reserved

Pin & Signal 39 40

Description Reserved Reserved Reserved Selectable output 1 Selectable output 2

) I
1

ECOM

+5VDC
ECOM

41
42 OUTPUT 1 43 OUTPUT 2 44 45 46 47 48 49 BRAKE+ 50 BRAKE-

i ;

//0 PWR 1/0 COM

AOUT+ AOUTBOUT+ BOUT-

Reserved
Reserved Reserved Reserved Reserved Brake Enable+ (Drive Enabled+) Brake Enable (Drive Enabled-)

26 Motor Encoder Output Channel A+ 27 Motor Encoder Output Channel AMotor Encoder 28 Output Channel B+ 29 Motor Encoder Output Channel BMotor Encoder Output Channel /+ Motor Encoder Output Channel 1External 1/0 Common Auxiliary Encoder Channel A+ Auxiliary Encoder Channel AAuxiliary Encoder Channel B+ Auxiliary Encoder Channel BAuxiliary Encoder Channel /+ Auxiliary Encoder ] Channel 130 31 32 33 34 35

1 )

17 IOUT+ 12 10UT3 //0 COM

ANALOG1 INPUT1 INPUT2 lNPlJT3

Analog Output 1 Selectable Selectable Selectable Reserved Input 1 Input 2

14 AX+/C W+/ STEP+ !5

;;;;-w-/
BX+/

..-? Input.

w 25
!L&?J pm,

cc w+/
DIR+ BX-/

ccw-/

Reserved rJlnG . .

DIR18 19

ix+ lx-

37 38

Reserved Reserved 1/

Cables are available in various lengths for connecting between J1 and a suitable controller. The appendix Options and Accessories on page A-235 lists the cables. J1 Terminal Strip/Breakout Board on page 6-116 deti[ls the optional signal extension kit that is available. Interface Cable Examples beginning on page 6-108 encountered in applications. depict various interface cable types commonly

Interfaces

6-83

Digital 1/0 Power

The drive requires an external 12 to 24VDC power source for the inputs and outputs.
External I/O Power

The external I/O power supply must be capable of supplying at least 250 mA. The pin-outs are:
1/0 PWR (12 to 24 Volts) 1/0 COM J1-5 JI-6 JI-26 J1-13

The external 110 COM must be grounded to meet the European Low Voltage Directive (LVD).

Digital Inputs
Centurion DSM Drives have active high inputs, which prevent disconnects and ground faults from activating a drive. The typical ON time for an input to be recognized is 2.0 msec.
Figure 6.1 Digital Input Circuit
J1 I Drive

*
Dedicated Control

1 1/0 COM

Two discrete input circuits types are available on the J 1 connector. Both circuits support logic type interfaces with optically isolated, single ended and active high characteristics.
Circuits

The ENABLE input interface with switch closures or sourcing type outputs.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-84

Interfaces

Selectable

Circuits

INPUT 1, INPUT 2, INPUT 3 and FAULT RESET operate with switch closures or sourcing type circuitry. Selectable inputs are:
Not Assigned (default) Drive Mode Select Integrator Inhibit Follower Enable Forward Enable Fault Reset Reverse Enable Operation Mode Override Preset Select A Preset Select B Preset Select C Start Homing Start Index Define Home Sensor (available only on INPUT 2) Remove COMMAND Offset

Refer to the I/O Configuration section of the on-line DSMPro Help for information on choosing the input type for each channel. Table 6.2 General and Dedicated Inputs
Digital Input ENABLE I Pin Number J1-20 I Function/Description Enables and disables the drive. Motor torque cannot be applied unless the ENABLE input is active. General purpose input selectable to one of several drive functions. Refer to DSMPro on-line Help and the table below -forloconfiguration INPUT 3 ] J1-34 I I

Table 6.3 INPUT1, INPUT2 and INPUT3 Functions Function Drive Mode Select Description Activel state configures the drive for Torque Mode. Inactive* state selects the personality EEPROM setting as the command source. Activei state zeros the Velocity Loop Error Integrator. Activel state allows the position loop to track the AUXILIARY POSITION LOOP signal when in the Follower mode.

Integrator Inhibit Follower Enable

Interfaces

685

Forward Enable

Activei state allows forvvard commands in velocity mode only. If this input is inactive or not connected, no velocity command will be allowed in the forward direction. If motion is in progress when the input is pulled low or disconnected, the drive halts immediately without deceleration control. The COMMAND signal is clamped internally to O Volts. Activel state allows reverse commands in velocity mode only. If this input is inactive or not connected, no velocity command will be allowed in the reverse direction. If motion is in progress when the input is pulled low or disconnected, the drive halts immediately without deceleration control. The COMMAND signal is clamped internally to O Volts. Activei state selects the Operation Mode Override setting as the command source. Inactivez state selects the Operation Mode setting as the command source. Table 6.4 on page 6-86 lists the valid Operation Mode and Operation Mode Override combinations. Activel or lnactive2 states select one of the eight presets shown in the following binary table: BINARY CODE c Preset O Preset 1 Preset 2 Preset 3 Preset 4 Preset 5 Preset 6 Preset 7 0 0 0 0 1 1 1 1 B 0 0 1 1 0 0 1 1 A 0 1 0 1 0 1 0 1 Description Preset O or Index O is selected. Preset 1 or Index 1 is selected. Preset 2 or Index 2 is selected. Preset 3 or Index 3 is selected. Preset 4 or Index 4 is selected. Preset 5 or Index 5 is selected. Preset 6 or Index 6 is selected. Preset 7 or Index 7 is selected.

Reverse Enable

Operation Mode Override

Preset Select A Preset Select B Preset Select C

Start Index Define Home Sensor

Remove Offset COMMAND

A change from inactive to active starts an indexing move. A change from inactive to active defines the home position for absolute indexing. A change from inactive to active is sensed as a registration or home sensor.
NOTE: This selection from inactive is available to active only on INPUT sets the offset 2. COMMAND A change of the analog

input to achieve

a zero command.

InstallationManual for Models DSM 007. DSM 015 and DSM 030

6-66

Interfaces

Fault Reset

A change from inactive to active will clear any faults and re-enable the drive, if any faults were pending.

A change from inactive to active will start the homing procedure. Start Homing 1- Activestate indicatescurrentflowthroughthe inputoptocoupler. 2- Inactivestate indicatesno currentflow.

The specifications

for these inputs are listed in Table 6.5 on page 6-87.

Table 6.4 Operation and Override Mode Combinations Operation Override Modes Of-:::n Analog Velocity Analog Torque Preset Velocity Preset Torque Follower Master Encoder Follower Step/Dir Follower Step UPI Down Indexing Analog Velocity No Yes Yes Yes Yes Analog Torque res No Yes Yes Yes Preset Velocity Yes Yes No Yes Yes Preset Torque Yes Yes Yes No Yes Follower Master Encoder Yes Yes Yes Yes No Follower Step/Dir Yes Yes Yes Yes No Follower Step UPI Down Yes Yes Yes Yes No Indexing

Yes Yes Yes Yes Yes

Yes
Yes

No
No

Yes
Yes

Yes

Interfaces

6-87

Table 6.5 Digital Input Specifications Parameter ON state Voltage ON state Current OFF state Voltage OFF state Current Description Voltage applied to the input to guarantee an ON state Current flow into the input to guarantee an ON state. Voltage applied to the input to guarantee an OFF state. External leakage current into the input to guarantee an OFF state. Minimum 10.8 VDC 3.0 mA -1 VDC -0.5 mA Maximum 28 VDC 10.0 mA 2 VDC 0.5 mA

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-88

Interfaces

Input Interface Circuit Examples

Figure 6.2 Drive Input Connected to a Switch/Relay Contact

J1 I Drive 51 1/0 Pwr E

lL._/.;~
12-2~VDC

I
I

3K lK z x. \

61
1/0 COM

-K

Figure 6.3 Drive Input Connected

to an Opto-isolator J1 I Drive
1261

1/0 Pwr

312-27VDC

1 I

3K lK

I
-61 I

1/0 COM

-r
,

Figure 6.4 Drive Input Connected to an Active High Sourcing Transistor

J1 I 1261 INPUT

Ih$l%r

I I
12-2tiDC I I
-61 I

3K lK z

r x
L ..

1/0 COM

-c

Interfaces

6-89

Figure 6.5 Drive Input Connected to Active Low Output using a Switch/Relay
OUTPUT
(IQ, for example)

I /0 Wr
r75 &

INPUT
(Dive)

I I 3
-$y~1/0

I I LJ

1126 II
r I 3;K
13

COM

16 I 1/0 COM

Figure 6.6 Drive Input Connected to Active Low Output using an Opto-isolator OUTPUT
I

1/0 Pwr

;!?;

q--L__A

-+-fib
~-,;
L 13K r
L

1/0 COM

Figure 6.7 Drive Input Connected to Sourcing Output

OUTPUT 1/0 Pwr I INPUT
(Drive)

J!
I + 1/0 COM
4 J1-60r Jl-13 , I

1/0 COM

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-90

Interfaces

Digital Outputs

Twotypes . .

ofdiscrete

output circuits areavailable

onthe Jl connector:

Dedicated relay outputs Selectable transistor based outputs

Both types support 12-24 VDC logic interfaces: Dedicated Relay Outputs BRAKE/DRIVE ENABLED and DRIVE READY. Each output is a normally open relay. The relays are rated for 1 Amp at 30 VDC.

NOTE: The Brake contacts may be used to control 24VDC brakes on Giddings & Lewis motors with a 4 frame or smaller. A user provided relay may be driven by these outputs if higher power levels are required. Refer to Figure 6.10 for examples.

Selectable Transistor Outputs OUTPUT 1 and OUTPUT 2 are optically isolated and short circuit protected, active high, single ended transistor output channels. Each channel sources a maximum of 50 mA.
Figure 6.8 READY and BRAKE/DRIVE
J1 i Drive

ENABLED Circuits

:rn

READY and BRAKE/DRIVE The specifications

ENABLED Circuits

for these outputs are listed in Table 6,6 on page 6-91.

Interfaces

6-91

Table 6.6 READY and BRAKE)DRIVE Parameter ON state resistance ON state current OFF state current OFF state Voltage

ENABLED Output Specifications Description Maximum 1 Ohm 1 Amp 0.01 mA 30 volts

Internal resistance between JI -24 (+) and JI -25 (-) or JI -49 (+) and J1 -50 (-) when the contacts are closed. Current flow through the relay when contacts are closed. Leakage current from either output when the relay contacts are open. Voltage difference between the outputs with open relay contacts.

Figure 6.9 Digital Output Circuit.

J1 1/0 Pwr I 24~DC 1 I I
I

Drive

T 11/0 COM

I
.6

Figure 6.10 depicts a typical applications for the BRAKE/DRIVE ENABLE outputs. Table 6.7 lists the current draw for 24VDC and 90VDC brake coils on Giddings & Lewis motors suitable for use with a DSM 007, O07P, 015, 0 15P, 030, or 030P.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-92

Interfaces

Figure 6.10 BRAKE/DRIVE

DSM 007, O07P DSM 015, 015P DSM 08:, 030P

ENABLE Application

Examples

24 V(3LT t3G P5WER SUPPLY 3 AMP

TT
ENABLE 20 I/0 PWR 26 b

t
E+RAK WMS rslay [Link]
amd inmriivs bSc4h the w

N4W rated [Link] e 43QVLW2

, 41

_Plybad6 diode suppresses eolkpsing field of brake E03

+CWER r

[Link],
Frels$! musd at 1 Amp, w! me.

M%TA9 AsWa
may b

dSIq

Ccmffigurabon Wirujc?w.

Drtwmust baenabled furWWKErelsy to engege andreleaas motor brake,

Suggested brake wiring when 24VDC brake currant exceeds 500mA or for 90VDC brakes:

)SM 007, 007P )SM 015, 015P )SM 0%, 030P

24 VOLT w W3Vwr=tsLrPPLY 3 AMP

24#3 W3LTDc PCWER SUPPLY 3

NOTES

BRAKE reky,JW9/S),

dress

AMP

JI-20. wham drive is brake delay Mi5va and inati may be sat In tie I/O Gm@m30n wwow. Motor Parl No. and WxJSi No. detmmhee hake voltags (24 or 30 VOC).

!EM~E~ a

I Mininwm ament
Relay cdl

rmistanca cd relay m$l 43 Cr4ms.

notto excaad 54MI IIIA.

a [ T
Benaws relay Clc=sa$
uw ~riw ENAEW. Relay rated et 1 Anw, 343 Vi3c.

Flytteak Wxkn

su~rssa

ml@xdng

\ WWKE mm

field C4bmka IN4W4 rsw

andrelay QC41s.
3.!M @ 4XIVW

Mmn

Interfaces

6-93

Table 6.7 Current Drawfor Brake Motor Coils MOTOR HSM3XXX HSM4XXX SSM3XXX (old) SSM4XXX (old) SSM3XXX (new) SSM4XXX (new) 24VDC 0.60A 0.69A 0.60A 0.88A 0.60A 0.69A 90VDC 0.098A 0.17A 0.21A 0.26A 0.098A O.17A MOTOR YSM102 YSM 103 YSM206 YSM212 YSM323 24VDC 0.26A 0.26A 0.31A 0.31A 0.37A 90VDC NA NA NA NA NA

Table 6.8 Selectable Output Circuits Digital output READY Pin Number JI -24 (+) J1-25 (-) Function/Description Relay closure indicates the drive is operational and does not have a fault. Refer to READY and BRAKE/DRIVE ENABLED Output Specifications on page 6-91 Relay closure releases the brake. Delay time is selectable (Refer to DSMPro - 1/0 configuration) and maybe used as a drive enabled output. This signal is the inverse of the ENABLE output, although a time delay may be selected. Refer to READY and BRAKE/DRIVE ENABLED Output Specifications on page 6-91 General purpose output. Selectable from one of several drive functions. (Refer to DSMPro - 1/0 configuration on-line Help and Table 6,9.) General purpose output. Selectable from one of several drive functions. (Refer to DSMPro - 1/0 configuration on-line Help and Table 6.9.) Functions Description I

BRAKE

J1 -49 (+) JI-50 (-)

OUTPUT 1

J1-42

OUTPUT 2

J1-43

Table 6.9 OUTPUT1 and 0UTPUT2

Function In Position

I An active state indicates the position window condition is satisfied, and the zero speed condition is satisfied. The position window and zero speed range are selectable settings. An active state indicates the position window condition is satisfied. The position window range is a selectable setting.
Installation Manual for Models DSM 007, DSM 015 and DSM 030

Within Window

6-94

Interfaces

Zero Speed Speed Window Current Limit Up To Speed

I
I

An active state indicates the velocity loop zero speed signal is active. The zero speed limit is a selectable setting. An active state indicates the velocity loop speed window is active. The speed window range is a selectable setting. An active state indicates the torque current is limited. An active state indicates the velocity loop AT SPEED signal is active. The at speed level is a selectable setting.

Drive Enabled Bus Charged Disabling Fault In Motion

I
1

An active state indicates the ENABLE signal is active and no fault is detected. An active state indicates the DC bus is energized. An active state indicates a fault disabled the drive. An active state indicates the indexing sequence is in the motion portion.

] In Dwell
Sequence Complete Registered At Home Axis Homed

I An active state indicates the indexina seauence is in the dwell ~ortion.

An active state indicates all batches of the indexing sequence are finished. An active state indicates the indexing move has been adjusted after sensing the registration sensor. An active state indicates the drive is at the home position. An active state indicates the drive has been homed.

NOTE: Refer to the 1/0 Configuration section of the DSMPro on-line Help for further explanation of these output signals. Table 6.10 Transistor Output Specifications Parameter ON state Voltage ON Description Voltage difference between the external 1/0 power supply and the output when the transistor is ON. Current flow when the transistor is ON. Voltage difference between the external 1/0 power supply and the output when the transistor is OFF. Leakage current from the output when the transistor is OFF. Minimum O VDC O mA o volts -0.1 mA Maximum 1.5 VDC 50 mA 50 volts 0.1 mA

state current

OFF state Voltage OFF state current

Interfaces

6-95

Output Interface Circuit Examples

Figure 6.11 Drive Output Connected to an Opto-isolator JI , Drive
1/0 Pwr ~rlK # 3~&, L 1/0 COM 1

Figure 6.12 Drive Output Connected to an LED Indicator

J1 I Drive I

Pwr I

;
lK

24 -
E 1/0 COM

Pin6 Pin 13

=%?

Figure 6.13 Drive Output Connected to a Resistive Load

J1 lDriVe I

Pwr

&
lK
pin 6

IAI
1/0 COM

T.-

Pin 13

Installation

Manual for Models DSM 007. DSM 015 and DSM 030

6-96

Interfaces

Figure 6.14 Drive Output Connected to a SwitcWRelay

J1 I Drive 1/0 Pwr r

Pin6

I
1/0 COM

Pin 13

Figure 6.15 Drive Output Connected to Active Low Input using a Switch/Relay
OUTPUT
(Drive) I

I INPUT

I
1/0 Pwr

1 IT -%
1/0 COM

s
Solid State ~RXY7

? 1/0 Pwr 3.3K

Illm II

m
I

+-la
I 1/0 COM

Interfaces

6-97

Figure 6.16 Drive Output Connected to Active Low Input using an Opto-isolator
OUTPUT
(Drive)

INPUT

? 1/0

Pwr

1/0 COM

ti,,O~OM

Figure 6.17 Drive Output Connected to Active High (Sinking) Input

OUTPUT
(Drive)

i INPUT

1/0 Pwr

: l? I I ~COM
I

& 1/0 COM

J1-60r

Jl-131

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-98

Interfaces

Analog

Inputs

Two types of analog input circuits are available on the J1 connecto~ .

The current limiting input supports O to +1 O Volt signals The command input supports O to *1 O Volt signals.

External Current Limit (1 LIMIT)

Figure 6.18 External Current Limit Circuit

I
I LIMIT I t

10K
I I

I
I I

ILIMIT limits the current, which provides torque, to the motor. The range is O to +10 Volts (where 10 Volts corresponds to maximum drive current). The analog I LIMIT signal is converted into a digital word by a 10-bit ADC (analog to digital converter). If the I LIMIT input is not connected, current is not limited.
Table 6.11 Analog Inputs (1 LIMIT) Analog Input Current Limit (1 LIMIT) Pin Number JI-27 Function/Description Limits the peak current command, which produces torque.

Table 6.12 External Current Limit Input Specification Parameter Maximum Current Input Signal Range Description Short circuit between the input and ground. Allowable voltage applied to the input. o volts Minimum Maximum -1.5 mA +1 o volts

Interfaces

6-99

Command Input
Figure 6.19 Analog COMMAND Input Circuit
10K J1 COMMAND+ I Drive 10K L 10K ANALOG COMMAND

K K

I I
,
I

COMMAND-

The analog command signal to the drive has a range of fl O Volts. The signal is either a torque or a velocity command, depending on the software configuration of the drive. The differential input is processed by a 14 bit analog to digital converter (ADC) to produce a digital value.
Table 6.13 Analog Command Input Analog Input COMMAND Pin Number J1 -22 (+) J1-23 (-) Description Analog command signal is a differential type signal to drive the servo controller. If the drive is in Velocity Mode configuration, the differential COMMAND signal is the velocity command. If the drive is in Torque Mode configuration, the differential COMMAND signal is the torque or current command. Separate scale and offset parameters are used for the input, depending on whether the signal is a velocity command or a torque current command.

Table 6.14 Analog Command Input Specifications I Parameter Input Impedance

Input Signal Range

DescrirMion Open circuit impedance measured between (+) and (-).

Allowable inputs. voltage applied between (t) and (-)

I Minimum

I Maximum

13.3 kOhms
o volts

I
*1 o volts

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-100

Interfaces

Analog

Output

Figure 6.20 ANALOG 1 Output Circuit

J1 , Drive

I I I
I ANALOG OUTPUT

10K

I
I

A selectable output is available for monitoring by the user: ANALOG

WARNING 1 The user must provide an external circuit to ignore the analog output signal for two seconds after power-up. After reset the analog output may be in an indeterminate state for a short period before it stabilizes at the software controlled setting. Failure to observe this precaution could result in severe bodily injury.

1 (JI-31).

Table 6.15 Analog Outputs: ANALOG 1 Analog Output ANALOG 1 Pin Number J1-31 Description Selectable analog output. Displays the selected firmware variable along with selectable scale and offset. The scale or offset are calculated as shown below. Analog Common (return).

ACOM

J1-28

Table 6.16 Analog Output Specifications Parameter Output Current Output Signal Range Description Allowable current draw of the load Voltage range of the signal Minimum -2 mA -10 volts Maximum +2 mA +1 o volts

Interfaces

6-101

The following signals can be mapped to the analog output.

Current Command Current Average Current Peak+ Current Peak Current Input Limit+ Current Input Limit Velocity Motor Feedback Velocity Command Velocity Error Position Motor Feedback Position Command Position Error Position Error Peak+ Position Error Peak -

The following signals can also be monitored when DSMPro is configured for Advanced Mode.
Position Master Position Loop Output Velocity Loop Output Filter Output R-Phase Current T-Phase Current Torque Current Field Current Torque Voltage Command Field Voltage Command Analog COMMAND Bus Voltage Input

Motor Encoder

Output Signal

Figure 6.21 Output Encoder Interface Circuits J1 Drive

AOUT- II AOUT+ K
AM26C31

AMOUT
or AM26LS31

The motor quadrature encoder signals are supplied to an external position controller. The signals are differential, quadrature, and TTL level. The output resolution is selectable and can be divided by 1, 2, 4 or 8.

installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-102

Interfaces

The signal frequency ~Out)of the motor encoder output in Hertz (Hz) can be calculated with the equation:

f..,
where:

Vm . linecount 60. N

Vm is the motor encoder velocitv in rom L!ne countis the number of encbder lines/revolution of the motor mounted encodec paremeter (1, 2, 4 or 8). N is the output divider from the sor?ware selected

and

If the device connected to the motor encoder output counts all edges, the count frequency is four times fout. For example, a motor with a 2000 line encoder is rotating at 3000 rpm, and the Motor Encoder Output signal is set to Divide by 1, the encoder signal frequency is:
3000.2000 f.., = 60.1 = ~ookHz

A counter counting all edges registers 400 kHz for this example. Table 6.17 Motor Encoder Output Signal
I Analog Output AOUT (+) AOUT (-) I Pin Number J1 -7 (+) J1-8 (-) Description Motor Output Channels A(+) and A(-). Differential TTL levels from line driver. Sianal resolution is selectable. Motor Output Channels B(+) and B(-). Differential TTL levels from line driver. Signal re~olution is selectable. Motor Output Channels l(+) and l(-). Differential TTL levels from line driver. Output pulse occurs once per motor shaft revolution. Table 6.18 Motor Encoder Output Specifications I Parameter Differential Output Voltage I Output Current I Description Voltage measured between the (+) and (-) pins with RL = 100 Ohm. I Current flowing out of the (+) or (-) pin. I Minimum 2.0 volts I -2o mA I +2o mA I I Maximum I

Interfaces

6-103

IOUT Signal Generation

The Index output signal (IOUT) is not syrachronized to a particular state of the A and B output signals (AOUT and BOUT). Some controllers, such as those used in the CNC industry, use the condition I= 1, A=l, B= i to indicate a home position. In such applications the encoder outputs from the drive cannot be used, since it cannot be guaranteed that the IOUT signal will be active during the state AOUT=l, BOUT= 1. Instead, the unbuffered motor encoder signals can be used as shown below. The J2 Breakout Board assembly connects the motor encoder signals directly to the position feedback of the controller.
Figure 6.22 J2 Breakout Board Assembly - European Union EMC Compliance
r+~~

I I I I I
L

Drive

2150hm @ 100 MHz Ferrite Clamp 2300hm @ 100MHz

-I

=A
QF

h+
I

_Pigtailed Motor Encoder Cable

G==l

+
I

J2 Breakout Board Assembly P/N401 -34408-00

Grounded

Metal Enclosure

NOTE: An asterik ~) indicates an installation option to comply with EU EMC Directives, Either a grounded metal enclosure or ferrite cores provide the requisite EMC protection.

NOTE: If a controller connected to the drive requires the Index Output

(IOUT) signal to be synchronized to a particular state of the A and B Outputs (AOUT and BOUT) the unbuffered encoder outputs from the motor must be used.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-104

Interfaces

J2 Breakout Board Assembly - European Union EMC Compliance Two options are available to achieve EMC compliance when a Centurion DSM Drive uses the J2 Breakout Board Assembl y to transfer an unbuffered encoder signal to a control device. Either method of installation reduces the radiated emissions to an acceptable level. Be aware that either installation option is in addition to the EMC requirements specified elsewhere in this manual.
G

Install the drive and J2 breakout board assembly (terminal block and cable), and the pigtailed cable inside a grounded metal enclosure. -orInstall ferrites of an appropriate rating at the specific locations:
A.

J2 Cable -230 Ohm @ 100 MHz toroid (FerriShield P/N SS28B2032) immediately adjacent to the J2 connector on the drive. Rite P/N 2643164051 and two clips Fair-Rite P/N 01 99001401) over the unshielded conductors.

B. Pigtailed Motor Encoder Cable -215 Ohm @ 100 MHz ribbon cable clamp (Fair-

NOTE: Drives are tested using specific installation methods, and the information above is based on successful tests. If the drives are installed in this manner, then compliance with European EMC requirements may be expected, although it is impossible to guarantee that a specific installation will meet EMC requirements without testing it.

Interfaces

6-105

Auxiliary Encoder Input Types

Figure 6.23 Auxiliary Encoder Inputs A B~

The drive may be electronically geared by a remote signal. Electronic gearing may be driven by any of the following three signals: A master incremental encoder that generates quadrature encoder signals Step and direction signals, such as those created by indexers for step motors CW (Step Up)/CCW (Step Down) signals, typically used with stepper indexers.

NOTE: The use of differential signals is strongly recommended. Single-ended signals are susceptible to noise, which may cause intermittent or continuous errors. NOTE: To improve noise immunity, terminate cable shields at both ends of the cable. Connect shields to the backshell of the connector with a complete circumferential (360) termination. The cable connector should then connect to chassis ground (nol signal ground.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-106

Interfaces

Figure 6.24 Auxiliary Encoder Input Circuit

J1 , Drive Q +5VDC

I
I
AX(+) K I I +5VDC 5K lK

I
AX(-) K I

10K
IK
26LS33

I I
I 10K 5VCOM

Table 6.19 Motor Encoder Output Signal Auxiliary Encoder Input AX+ Step CW+ and CWand AX-, or + and Step-, or (Step Up+) (Step Up-) J1-16 (+) JI-17 (-) Auxiliary Channels B(+) and B(-). Differential, quadrature, or TTL level encoder inputs. The signal input and resolution are selectable. Pin Number J1-14 (+) J1-15 (-) Description Auxiliary Channels A(+) and A(-). Differential, quadrature, orTTL level encoder input. The signal input and resolution are selectable.

BX (+) and BX(-), or DIR (+) and DIR(-), or CCW+ (Step Down+) and CCW- (Step Down-) IX (+) and IX (-)

J1-18 (+) J1-19 (-)

Auxiliary Input Channels l(+) and l(-). Differential, quadrature, or TTL level encoder inputs.

The input circuits shown in the following diagrams support connections to differential TTL line drivers, single-ended TTL line drivers and open collector devices. These inputs are under software control.

Interfaces

6-107

Table 6.20 Quadrature Specification ON State Voltage OFF State Voltage Common Mode Voltage

Interface Specifications Description Minimum 1.0 volts Maximum +15 volts

Voltage difference between the + and inputs that indicate an ON state. Voltage difference between the + and inputs that indicates an OFF state. Voltage difference between an encoder signal input and the reference ground of the drive. Current draw into the + input or - input Frequency of the A or B line inputs. Count frequency is 4 times this frequency, since the circuitry counts each of the four transitions in a single line. Pulse width of the index signal. The index signal is active for a percentage of the revolution, therefore the speed of the encoder dictates the pulse width.

-1.0 volts

-15 volts

+15 volts

Current Draw A or B Signal Frequency

-5 mA

+5 mA 1 MHz

Index Pulse Width

500 nsec

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-108

Interfaces

Interface Cable Examples

The use of differential [Link] is hi~hlv recommended. This is due to the immunity of differential signals to common mode interference. Single-ended encoder interface circuits are not recommended, and may result in system malfunction. To improve noise immunity, a cable shield should terminate at both ends of the cable. Shields should connect to the backshell of the connectors with termination around the full circumference (3600). The connectors should attach to chassis ground (not signal common).
Figure 6.25 External Encoder Interface via lTL Differential
ENCODER Ch A

Line Drivers
J1 I Drive

Ch B

Ch I

+5V peffp; i-5v supply

Encoder 1 I

Interfaces

6-109

Figure 6.26 Complementary with Pull-up Resistors

ENCODER

Encoder Interface via 7406 Line Drivers

Drive

I
Ch A

(II
ja]r
+ (..)

I
14 I

A x+

15 1-

n Ch B + )alr u

1 I

Ch [ +5V pey:;; +5V supply

n
]alr

lines,
Encoder C ces Encoder

5V ~ 25Q mA

power

I
I

Drive Chassis

Figure 6.27 Complementary

ENCODER
74XX

Encoder Interface via Standard lTL Logic

JI
A
I

I
I
14

Drive

Ch A
Ch B

I
74XX . I

I
74XX

Ch I

n n\ +---+ twlfded Ipaw u (..) I n +- twlstealpajr--+ x u u n

+ u
twstaa {paw

15
10 17

I AX-

I x+
I

BX-

10 I lx
19

I Ixy

+5V Sl#;y +5V supply

EncoderCaae I h I For horizontal dashed lines, connect only if JI sources Encoder power 5V @ 2501mA A I DriveChassis

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-110

Interfaces

Figure 6.28 Single-Ended Encoder Interface via Open Collector Transistor without Pull-up (not recommended) ENCODEFI J1
n / + A \ 14

1 Drive

I
Ch A
I I
I I

twistedpair+

l~n +
u

VA
twistedpair ~
u

4 2

I
I

COM

I I Ch B
+5V supply
+5 %

I
10 I

volts W
I if3Ts60me~c6dgr p5Wer.# ~+5VDC
5V la 95(-! [

l
Encoder Case A

I
I I I

Figure 6.29 Single-Ended (not recommended)

ENCODER
74XX TTL Output

Encoder Interface via Standard TTL Signals

Drive

I
O. I +.
twisted

Ch A
+5V
peyfl); 74XX TTL Output

n
pair

I 1

I
I

IA
+ twisted pair ~

4 2

I
I I

ECOM

I
w
10

Ch B
74XX T TL Output

I
Bx l-= -

Ch I
Supply v
Encoder Case

!0 l-l=3J?+L
A ~ctfml~J 136u rm 21TmderpoWr. f -

~+,v.c
5V @ 250 mA

Drive Chassis

Interfaces

6-111

Figure 6.30 Single-Ended Encoder Interface via Open Collector Transistor with 5 VDC to 12 VDC Pull-up (not recommendecl)
ENCODER J1 I I Drive

5-12 volts

Ch A

51----I
*
I +

+Co
I

I
5-12 volts

Ch B

I
+ \
I

5-12 volts

Ch I

EncoderCase

DriveChassis

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-112

Interfaces

Figure 6.31 Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up (not recommended)
ENCODE; I J1 , Drive

Ch A

24VD

I !5 )

Ch I

Encoder Case

I I

I IJ

Drive Chassis

Interfaces

6-113

Table 6.21 Step/Direction Interface Specifications

and CW/CCW (Step UpI/Step Down)

Specification Signal frequency Pulse Width

Description Frequency of the input signal.

Minimum

Maximum 1 MHz

Time interval the step (CW/C(>W) signal must remain in a single state for detection. Time interval the direction (CW/CCW) signal must be stable before the corresponding step (CCW/CW) signal changes state.

500 nsec

Setup Time

500 nsec.

The following diagram shows the relationship between STEP and DIRECTION TEP INPUT I ,oon,fp~
~nim.m~%&wF minimum

inputs. 500.$,[
*%inimum

DIRECTION INPUT

IKV7 ,

wa~
Dmectlon data must be steady for this time perjod.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-114

Interfaces

Figure 6.32 External Step/Direction Line Drivers

USER O I I I I u n u n

Interface via TTL Differential

TTL Differential Line Drive

Iwlstedpar

u I

twwed par

pey:;~

supply

___

Encoder Caae

I
A I For horizontal J1 dashed lines, connect only if

sources +5VDC power to user electronics

DriveChassis

Figure 6.33 External Step/Direction Interface via Single-Ended TTL Line Drivers (not recommended) !#El?TRONK/S JI I
I ulr Drive

I
+5V supply
%t[lrn

Ilx+ +
A.
twisted oair

n , ! n

2
4

I
I

.
St

I u
+5 volts 1 # / I

ECOM

4 t--- ~wi,ted pair+ u

r 34

supply
5V

J).

lylt31S6Urc=+S70Cpuwe7

~usere

G +5VDC
5V @ 250 mA

Interfaces

61 15

Figure 6.34 External CW/CCW(Step Differential Line Drivers

&!%RONI$S

Up/Step Dolwn)lnterface

via- TTL

Drive

I
A I

f
For I?orizontaldashed lines, connect only if J 1 sources +5VDC power to user electronics

5V @ 250 rT#

DriveChaasis

Figure 6.35 External CW/CCW(Step Up/Step Dolwn)lnterface Single-Ended Line Drivers (not recommended)
USER ELECTRONI ? S

via

Drive

UN I
+5V pey:p{ I I

A /

. +
w
twisted F,alr +

n
u +

I*
4

I I

COM twasted paw I

supply

~:y~:~------~--,;2;;;7
I

Wily if71 s5TrceY+5VDC p0weFt6 userele ronis.

G +5VDC
I DriveChassis

Installation

Manual for Models DSM 007. DSM 015 and DSM 030

6-116

Interfaces

JI Terminal Strip/Breakout

Board

A 50-pin terminal strip kit is available for extending the signals from the JI connector. The kit includes a 1 meter (3-foot) interface cable, a 50-pin terminal strip and mounting hardware. Refer to Options and Accessories on page A-235. Cabling Examples on page B-265 depicts the use of this kit to pass a cable through a bulkhead.

Interfaces

6-117

J2 - Encoder

Ii==
1 EPWR 2 ECOM 3 4 5 6 7 EPWR ECOM EPWR ECOM A (+)

Description
Encoder Power 11

Pin & Signal

I (+)

Ilescription
Motor Encoder Input Channel l(+) Motor Encoder lnpLlt Channel l(-) Hall Effect A Hall Effect B Hall Er7ect C Absolute Position Resetved

Encoder Common

I (-)

pm 20

Encoder Power Encoder Common Encoder Power Encoder Common Motor Encoder Input Channel A(+) Motor Encoder Input Channel A(-) Motor Encoder Input Channel B(+) Motor Encoder Input Channel B(-)

13 14 15 16 17

A B c ABS

A (-)

pin 11

B (+)

B (-)

Wswitch(+ TT-switch(-;
, ,

Cables are available in various lengths for connecting between J 1 and a suitable controller. The appendix Options and Accessories onpaae A-235 lists the cables. ``J2Tern?inal StriR/Breakout Board on Pa~e6-120 details the optional signal extensiofi kit.

CAUTION

Ensure that encoder signals are connected properly. lncorrect connection of encoder signals will result in improper rotor position and/or incorrect commutation.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

61 18

Interfaces

Figure 6.36 Motor Encoder Interface Circuit J2

AM(@!~ I I 200
v

I Drive

AM26LS33

Figure 6.37 Hall Effect Sensor Circuit J2 I Drive I

A, Bor U c 1~ I I 0.1 uF~ y +5V lK e MC74HC14F

Table 6.22 J2- Motor Encoder Connector Motor Encoder EPWR Pin Number J2-1 J2-3 J2-5 J2-2 J2-4 J2-6 J2-7 (+) J2-8 (-) J2-9 (+) J2-1 O (-) J2-11 (+) J2-12 (-) J2-13

Pin-Outs Function/Description

I
I

Encoder power.

ECOM

Encoder common

A+ A B+ B1+ 1HALL A

Motor Encoder Input Channel A+ and Channel A. Accepts TTL level signals from a line driver.

Motor Encoder Input Channel B+ and Channel B. Accepts I TTL level signals from a line driver. Motor Encoder Input Channel 1+and Channel l-. Accepts TTL level signals from a line driver. Output pulse occurs once per motor shaft revolution. a Hall Effect A sensor logic level input. Internally pulled up to +5VDC through a 1 kOhm resistor.

Interfaces

6-119

Motor Encoder

Pin Number

Function/Description Hall Effect B sensor logic level input. Internally pulled up to +5VDCthrouclha 1 kOhm resistor. Hall Effect C sensor logic level input. Internally pulled up to +5VDC throuclh ., a 1 kOhm resistor.

=-l=--+
ABS J2-16 I J2-17 J2-18 TS+ TS J2-19 J2-20

Absolute Position used on Giddings & Lewis motors for commutation.

I Reserved. Thermal Switch + and Thermal Switch are a motor overtem~erature sianal.a
motors

a. DSMPro soflware automatically determines the presence or absence of a motor thermal switch signal based
on the motor selected in the Drive Select window. Giddings & Lewis FSM-, HSM-, NSM- and SSM-Series WPically have thermal switches and signal continuity is provided on these motors. YSM-Series have thermal switches and signal continuity is not required. motors do not

Installation

Manual for Models DSM 007, DSM015

and DSM 030

6-120

Interfaces

Figure 6.38 Centurion

DSM Drive Motor Encoder Connections

==
EPWR ECOM EPWR ECOM EPWR ECOM
J2-7 J2-6J2-9

II*
Ix

all
1 I

A+

AB+
%

*I!
J2-12 I Ig

gl
n
I

I I

zHALL A1 HALL B1 HAL~ C1

HALL A J2-14 HALL B J2 15 HALL C ABS + TS+ TS-

J2.13

] I

II
1

1
I
II

ABS

L
NOTES: 1. For encoders with differential Hall ouputs (A+, A-, B+, B-, C+ and C-) connect only the+ outputs to the drive. 2. The ABS signal is only available on selected Giddings & Lewis encoders.

J2 Terminal StriplBreakout

Board

A 25-pin terminal strip kit is available for extending the encoder signals from the J2 connector. The kit includes a 3-foot (1 meter) interface cable a 25-pin terminal strip, and mounting hardware. Refer to Options and Accessories on page A-235. cabling Examples on page B-265 depicts the use of this kit to pass a cable through a bulkhead.

Interfaces

6-121

J5 - Serial Port
Table 6.23 J5 Controller Pin-Outs Pin & Signal
1 2 3 4 5 6 7 8 9 RCV(-) XMT(-) RCV(+) RCV XMT XMT(+) COM

Description
Receive (+) Receive Transmit Transmit (+) +5 VDC Common Reserve& Receive (-) Transmit (-) Resetveff

Description
RS-485 (four wire) RS-232 RS-232 RS-485 (four wire)
pm 9 pm 5

0 ..
.0 :0 0

o
pm 1

/?S-485 (four wire) RS-485 (four wire)

1 pm 6 x

a. Donotconnect

anydevice

to J5-60r

J5-9except

a "TouchPad.

J5 is a 9 pin female D-shell connector. This comnector is a serial interface that allows communication with another Centurion DSM I)rive, a PC, a terminal, a host computer, a controller or an optional TouchPad. The shell c}fthe connector is grounded to the chassis for shield termination.
Figure 6.39 RS-232/485 Interface Circuit

XMT RCV

RECEIVE

TRANSMIT ;Fll;W#T

l___L._q

XMTXMT+ RCV+ RCV-

The serial interface of the drive uses the standard NRZ asynchronous serial format, and supports both the RS-232 and the four wire RS-485 communications standards.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-122

Interfaces

Standard baud rates include 1200,2400,4800,9600 default setting. Even, odd, and no parity generation/checking default setting.

and 19200 baud. 9600 is the factory

are supported. No parity is the factory

The maximum number of Centurion DSM Drives allowable on a four-wire RS-485 bus is 32. The maximum length of an RS-232 cable is 15 meters (50 feet). The maximum length of an RS-485 cable is 1220 meters (4000 feet) with 0.20 mm2 (24 AWG) wire.

G G

Cables are available in various lengths for connecting between the serial port of a drive and a control unit, such as a PC. Options and Accessories on page A-235 lists the cables, and the male and female connectors for the cables. * NOTE: The shell of the connector is grounded to the chassis for shield termination.

The following table lists the pin-outs for J5.

Table 6.24 J5 - Serial Port Connector Auxiliary Encoder Input Pin Number Pin-Outs Description

RCV (+) RCV (-) XMT (+) XMT (-) COM

J5 -1 (+) J5 -7 (-)

RS-485 differential receiver input (to drive)

I
I

J5 -4

(+)

J5 -8 (-)

I
I

RS-485

differential transmitter output (from drive)

I J5-5

\ Common serial port interface Reserveda

J5-6

RCV
XMT

I J5-2
\ J5-3 I J5-9

I RS-232twceiver input (to drive)

I RS-232 transmitter output (from drive) I Reserveda

a. Do not connect any device to J5-6, or J5-9, except a TouchPad.

Interfaces

6-123

Serial Communications

Overview

Centurion DSM Drives communicate via a standard NRZ (non-return to zero) asynchronous serial format, which supports either RS-232 or four wire RS-485. The pin-out arrangement on the drive serial ports provides self-sensing of the communication standard. To change from RS-232 to four wire RS-485 requires a silmple change of the cable. In multiple drive installations, a unique address must be assigned to each drive through software. The factory default drive address is setting is Address O. All addresses changes are made through DSMPro software selection. Up to 32 (1 through 32) are supported.

NOTE: Address and cclmmunications settings) changes are not immediate; they are logged but do not become active until after the drive
is RESET.

Each drive may be assigned a unique name of up to 32 characters in length; a name is often easier to remember than the address of a drive. DSMPro software automatically y associates a drive name with the correct drive address.
RS-232 Connections

The address of each drive is set using DSMPro software. Refer to the DSMPro on-line Help.

NOTE: Do not connect any device to J5-6 or J5-9 except a TouchPad.

Single Axis RS-232 Set Up A single Centurion DSM Drive maybe selected using RS-232 communications. After cabling is attached to the unit and the drive address is assigned, configuration of (i.e., communications with) the unit may proceed. Factory default settings for a Centurion DSM Drive are: . . . Address O 9600 Baud 8 Data, No Parity, 1 Stop bit options:

The following steps outline how to select the communications

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-124

Interfaces

1. Connect an RS-232 cable between the computer and a serial connector on the drive (J5).
Figure 6.40 RS-232 Connection Diagrams Connectol rive
9-Pif

~~ERl 9-Pifl Male tlmnpjs?!~$?~k;emale

9-Pjn I 9-~ale

RCV* XMT* COM J,

*
2 2

RCV XMT COM A

3 ~ I

3 5 1

3 5

Drive Chassis

PCpin-outs mayvaryW manufacturer ~~ERI

25-Pin RS-232

%pin Male Conn6~,U, , ~u-~,i, , =,ii~i~ GWI,,WJW

I ?%p~e 9-jin

E2-?i22.2wL.l. A.--ii
5.

XMT* RCV* COM A

1 2 2 3 5 A

RCV XMT COM

3 , 1,

3 5

Drivechw~is

PCpin-outs mayvaryW manufacturer

2. Verify the computer can communicate

with the drive by performing the following:

Interfaces

6-125

Switch drive power to ON

B. Start DSMPro on the attached PC

Choose CANCEL

from the Drive Select window from the menu

D. Select ~ommunications

E. Select EC Set Up from the pull down menu F.

Verify the port settings, and if necessary, change them, then choose OK.
Select ~ommunications

from the menu from the pull down menu

H. Select Bead

Drive Parameters

Choose OK in the Drive Select window. on

3. Verify that DSMPro reads the drive parameters. If not, refer to Troubleshooting page 11-220.

NOTE: The Scan Port for Attached Drives option in the Drive Select window of DSMPro will identify any attached drives. If a drive is
identified, but cannot be communicated must be modified. with, the Baud Rate selection

The cable diagrams provide wiring examples for both 9 pin and 25 pin serial ports from an IBM compatible personal computer to the drive. RS-232 pin-outs vary between computer manufacturers. Check the hardware reference manual of your machine to ensure correct signal connections between the computer and the drive.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

6-126

Interfaces

Four Wire RS-485 Connections

The Centurion DSM Drives use a variation of the RS-485 standard, known as four wire RS485. Four wire RS-485 uses one differential signal for host to drive transmissions, and another differential signal for drive to host transmissions. (The RS-485 standard specifies a single differential signal for transmissions in both directions.) The four wire RS-485 configuration also allows the host to use a RS-422 type interface. Because the host is driving multiple receivers and receiving from multiple transmitters, RS422 is limited to multiple axes connections with 10 or less drives. The figure below summarizes the four wire RS-485, RS-422, and RS-485 standards,
Figure 6.41 RS-485/RS-422 Communication Comparison

Four Wire RS-485 Differential 4 Wires 2 Signal Pairs 1 to 32 Transmitters 1 to 32 Receivers

1
RS-422 Differential 4 Wires 2 Signal Pairs 1 Transmitter 1 to 10 Receivers RS-485 Standard Differential 2 Wires 1 Signal Pair 1 to 32 Transmitters 1 to 32 Receivers NOTE: Not applicable to Centurion DSM Drive drives

----5i
1>

m-Tiil
1
2

m-%
1
2 32

interfaces

6-127

Multiple Axes Four-Wire RS-485 Communications

1. Select a previously

NOTE: Donotcormect TouchPad.

any device toJ5-6 orJ5-9 except a

unused address (1 - 32) from DSMPro - Drive Set Up.

2. Connect cables between: A.

The host computer and the serial port on the initial drive (J5) in the multiple drive configuration. in the multiple drive configuration

B. The other serial port on the initial drive (J5) and the serial port on the next drive (J5)

b
A.

NOTE: Flat ribbon cabling is not recommended connections. settings on the computer are correct:

for RS-485

3. Verify the communication

Start DSMPro on the attached PC

B. Choose CANCEL from the Drive Select window

C. Select communications

from the menu

D. Select EC Set Up from the pull down menu. E. Verify the port settings, and if necessary, change them, then choose OK.

NOTE: Address O is the preferred address for the initial configuration of a drive. It forces the drive to the default communications parameters. between the computer and the connected drives by:

4. Verify the ability to communicate

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-128

Interfaces

Switch drive power to ON from the menu

B. Select Communications

Select Read Drive Parameters from the pull down menu with from Drive Select window (the drive must have an address that matches one of the drive addresses in the chain)

D. Select the drive to communicate

E. Choose OK in the Drive Select window.

5. Verify that DSMPro loads the drive parameters. If not, refer to the troubleshooting
section.

6. Repeat the preceding two steps for each additional drive.

Four wire RS-485 connections are shown below. The cable diagram provides a wiring example of a dais y chain connection in a typical installation A multi-drop cable, as shown in Figure 6.42 may also be used. Multiple Axes RS-232
Communications

Multiple axes systems may be controlled by a computer with an RS-232 serial port. An RS-

232 serial communication port may be converted to four wire RS-485 communication by attaching an RS-232 to four wire RS-485 converter. The figure below depicts the use of such a device.

Interfaces

6-129

Figure 6.42 RS-232 to RS-485 Connection

Diagram

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-130

Interfaces

Power Connections

DC bus, single phase AC power and motor connections are provided on the Terminal Block (TB-1).
Table 7.1 TB1 - DC Bus and AC Power Terminal 1310ckConnections

~
Description DC Bus + voltage DC Bus - voltage 100-240 VAC input power -----. ..-. 1UU-Z4U VAL Input power IISafety(earth) ground Identifier DC BUS+ DC BUS LI (Line 1) . L2 (Line 2)/ N (Neutral) i@ \R is !T Terminal 1 2 3 4 i5 16 i7 1 t8

DSM 007 and O07P DSM 015 and 015P DSM 030 and 030P

II
<1 II <1

m m

IIR phase power to motor

Ils phase

power to motor

IIT ~hase rmwerto motor

Power Wh-ing Connection Diagrams for the DSM 007, O07P, 015, 015P, 030 and 030P are provided on page 5-78. Wiring for the external I/O power is described and depicted in the chapter Application and Configuration Examples on page 8-141.
DANGER DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life.

WARNING

Motor power connectors are for assembly purposes only. They should not be connected or disconnected while the drive is powered.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

7-132

Power Connections

Motor Power Cabling

TB 1-6, TB 1-7, TB 1-8 and TB 1-9 are the terminals for connecting the drive to the windings of a motor.

NOTE: Proper phasing of these outputs relative to the motor terminals is critical. Double check the connections after wiring the motor

Table 7.3 lists the drive terminals and typical motor connections. Table 7.4 on page 7-138 lists the minimum wire size for making power wiring connections.
I Motor Phase Signal R s T
1 I

Description R phase from drive S phase from drive T phase from drive Ground for the motor case

I Terminal TB1-6 TB1-7

TBI-8

I TBI-9 I

NOTE: Torque all terminal connections to 1.25 Nm (11.0 lb-in).

Refer to Options and Accessories on page A-235 for a list of available Giddings & Lewis cables.

Power Connections

7-133

Shield Termination
DANGER

of Power Cables

Shielded power cables must be grounded at a minimum of one point for safety. Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it.

FSM Series, HSM Series, NSM Series, SSM Series Motor Power

Cable

Factory supplied motor power cables are shielded. The power cable is designed to be terminated at the drive during installation. A small portion of the cable jacket is stripped, which exposes the shield wires. The exposed area must be clamped to the bottom of the drive chassis using the clamp provided. It is critical for EMC performance that the shield wires be clamped against the area of the chassis which is not painted.
Figure 7.1 Motor Power EMC Shield Connection

Cable Jacket

Power cable shield termination

clamp on bothom of DSM 007, DSM 015 and DSM 030

YSM Series Motor Cables

YSM Series motors have a short pigtail cable which connects to the motor but is not
shielded. These

motor power

cables have a 6 inch shield termination wire with a ring lug

which should be connected to the closest earth ;ground. The shield termination wire may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

7-134

Power Connections

Figure 7.2

YSM Series Motor Cable Termination

YSM Series Motor Power Cable

..hie,d,ermina+px?=~

YSM Series Motor=

WARNING

High voltage may be present on the terminals of the drive. Remove power and disconnect the power cable before making or removing any connection.

CAUTION

A
Motor Size 4030 4050

Do not tin (solder) the exposed leads on cables. Solder contracts over time and may loosen the connection.

Table 7.2 Motor Power Contact and Wire Size Recommendations Motor Power Mating Maximum Contact Size mm2 (AWG) 1.5 (16) 4 (12) 4 (12) Minimum Recommended 90C Power Wire mm2 (AWG) 1.5 (16) 1.5(16) 2.5 (14)

2005 through 3016

Power Connections

71 35

Motor Overload Protection

The drive utilizes solid state motor overload protection which operates: . . Within 8 minutes at 200% overload Within 20 seconds at 60090 overload.

Power Supply Protection

The feedback encoder, auxiliary encoder and optional TouchPad are powered by a single internal power supply. The power supply has a resettable fuse that opens at 3 amps and automatically resets itself when the current falls below 3 amps. There are no internal fuses requiring replacement.

Emergency

Stop Wiring

An overlapping contactor may be inserted between the motor and the drive for emergency stop purposes. The contactor must not simply break the motor current, it also must switch a three phase resistive load in parallel with the motor windings. The three resistors provide dynamic braking. In addition, they prevent continuous arcing at the main contacts when breaking DC currents, such as when the motor stalls. Simply breaking the motor current can result in high voltages due to motor inductance, which will cause prolonged arcing in the contactor. In extreme cases, the prolonged arcing could result in the contactor catching fire. An overlapping contactor provides the required timing by engaging the braking contractors before the drive contractors disengage.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

7-136

Power Connections

Figure 7.3 depicts a contactor installation with resistive loads. Guidelines for the installation include:
G

Resistor values should be one to four times the winding resistance for good braking performance, Refer to the appendix D ynamic Braking Resistor Selection on page E297 for resistor sizing equations. Screen and ground cables should be connected as shown.
Shields should be unbraided (not a drain wire soldered to the shield).

G G G G

Connection lengths should be minimized. Safety ground (GND) and shield connections are permanently essential for electrical safety. connected. This is

EMC guidelines require connection of the shield at the point where the contactor is inserted.
Stop Contactor Wiring I
RI D R2 D R3 -o 1 R S Motor

Figure 7.3 Emergency

R- Drive S T
GND

0 o 00

0 0

T I

Unbraided shield > Grounded & terminal or stud +--:

Enclosure wall =

Power Connections

7-137

AC Power Cabling
The DSM 007,O07P,015, 015P 030 and 030P clrives require single phase, 100 to 240 VAC rms power with an input frequency of 47-63 Hz. Power on page F-306 lists the output power characteristics of the drives. The AC input supplies power to the motor. Alternatively, the drive may be powered by an external DC power source. In either case, an external power source must provide input power to the 1/0. TB 1-3, TB 1-4 and TB 1-5 are the single phase AC input power terminals for the DSM 007, 007P, 015, 015P, 030 and DSM 030P.
DANGER 1
G

The user is responsible for confcwming with all applicable local, national and international codes. Wiring practices, grounding, disconnects and overcurrent protection are of particular importance. Failure to observe this precaution could result in severe bodily injuly or loss of life.

WARNING

High voltage may be present on ithe terminals of the drive. Remove power and disconnect the power cable before making or removing any connection.

CAUTION

Do not tin (solder) the exposed leads on cables. Solder contracts over time and may loosen the connection.

A Table 7.3 TBI - AC Power Terminals Signal L1 L21N Description 100 to 240 Volts AC Line 1 input power. 100 to 240 Volts AC Neutral. Safety (earth) ground Terminal TB1 -3 TBI -4 TB1 -5

NOTE: Torque all terminal connections to 1.25 Nm (11.0 lb-in). ==1

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

7-138

Power Connections

Table 7.4 AClnput

Power Sizing Requirements Input Current 5 A ACrm~ 9A. ACrm~ 18A. ACrm~ Inrush Current 75A peak 100 A peak 100 A peak Fuse Sizel 5A 10A 20A Wire Size Transformer (:W:) 1.5 (16) 2.5 (14) 4.0 (12) 1 kVA min 2 kVA min 4 kVA min 100 WA max 100 kVA max 100 kVA max Sizea

Drive Model DSM 007 or DSM 007P DSM 015 or DSM O15P DSM 030 or DSM030P

1. In the United States, the National Electrical Code (NEC), specifies that fuses must be selected based on the motor full load amperage (FLA), which is not to be confused with the drive input current. The largest fuse allowed under any circumstances is four times the motor FLA. Therefore the largest fuse permissible for use with the Centurion DSM Drive is four times the motor rated continuous current (converted to an RMS value). The Digital Servo Drive has been evaluated and listed by Underwriters Laboratories Inc. with fuses sized as four times the continuous output current of the drives (FLA), according to UL 508C. In almost all cases fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities. Dual element, time delay (slow acting) fuses should be used to avoid nuisance trips during the inrush current of power initialization. The fuse sizes listed are recommended values, but local regulations must be determined and adhered to. The Centurion DSM Drive utilizes solid state motor short circuit protection rated as follows: Short Circuit Current Rating with No Fuse Restrictions: Suitable for use on a circuit capable of delivering not more than 5000 RMS symmetrical Amperes, 240 Volts maximum. Short Circuit Current Rating with Fuse Restrictions: Suitable for use on a circuit capable of delivering not more than 200,000 RMS symmetrical Amperes, 240 Volts maximum, when protected by high interrupting capacity, current limiting fuses (Glass CC, G, J, L, R, T). a. Application

Note Number 17 details Transformer

Sizing requirements

for a variety of

applications.

Power Connections

7-139

BUS

TB 1-1 and TB 1-2 are the DC Bus connections for an external shunt.
WARNING External shunt resistors connect directly to the power bus. For safety reasons, external shunt resistors must be enclosed.

DANGER

DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive. Failure to observe this precaution could result in severe bodily injury or loss of life.

CAUTION ! A

Do notconnect an external 1/0 power supply to the DC Bus. The DC+ and DC- terminals connect directly to the power bus of the drive.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

71 40

Power Connections

Application and Configuration Examples

This section explains how to install and verify the Centurion DSM Drive for various modes of operation. The procedures verify the installation by:
G

Showing how the power and logic wiring is connected. Selecting the Operation Mode setup for the drive. Tuning the drive for a particular motor type and size. Verifying the basic functionality of the drivle and motor combination.

.
G G

How to modify the units of measurement for DSMPro displays is explained on page 8-197.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-142

Application and Configuration Examples

Analog Control
The Centurion DSM Drive can be set up as an analog drive in either the Velocity or Torque mode by making the hardware connections and performing the software setup and tuning described below. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J 1. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad also may be used.

Hardware Set Up
Make the connections described below and shown in the figure.
1. Connect a Al OVDC power source between J1 -22 and J 1-23 (ANALOG

CMND +/-) to

provide the analog speed or torque command. 2. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the drive. A simple 3 wire cable is depicted in the figure below. 3. Connect a Motor/Feedback cable from the motor to the J2 connector on the drive.

4. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @ ) on the drive. 5. Connect a jumper wire with a toggle switch between the following pins: . J 1-20 (ENABLE) and J1 -26 (1/O PWR) . J1 -21 (FAULT RESET) and J1 -26 (1/0 PWR). These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches. 6. Connect an external 12 to 24 VDC power source for powering I/O to J] -5 (1/O PWR) and J 1-6 (1/O COM). 7. Connect the drive to a single phase 100-240 VAC, 50/60 Hz power source.

Application and Configuration Examples

8-143

Connection

Diagram
Diagram

Figure 8.1 Analog Controller Connection

RIVE J2 [
Motor Encoder

J1 26 {/0 POWER Closeto ENABLE Drive Closeto RESETFault .~ *1OV>C 20 ENABLE 21 FAULT RESET 22 CMND+ 23 CMND External 1/0 12-24 VDC Power Source 5 F
IUO PWR

TB1 PhaseR 6 PhaseS 7 PhaseT !3 MtrGnd 9

L1 3
L21N 4

1O;o::::;c Single Phase

Power Source

6 110 COM

(@ [

Gnd 5

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:
G

Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes.

2. Start DSMPro on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select EC Set Up from the Communications

menu in DSMPro to display the personal

computers communication
5. Verify the communications

settings. port settings of the PC match those of the drive.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

81 44

Application and Configuration Examples

G G

If the settings are correct, select OK in the Port - Settings dialog box. If the settings are different, correct the Port - Settings to allow communications the drive.

with

Factory default communications Port - Settings for the drive are: - Baud Rate: 9600 - Data Bits: 8 - Parity: None - Stop Bits: 1 - Serial Port: COM1 Refer to RS-232 Communication Test on page 11-226 for troubleshooting instructions. 6. Select Bead Drive Parameters from the Communications menu.

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

9. If the message box appears that a motor must be selected, select OK. The Drive Set Up window is displayed with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list.
11. If a message

advises

that the drive must be reset, choose

Yes,

12. Select the Operation Mode parameters for the drive:

Velocity Mode Settings Analog Velocity Input as the Operation Mode Torque Mode Settings Analog Torque !nput as the Operation Mode

13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive Parameters icon from the Drive window and then select the Analog tab.

15. Enter appropriate scale and Qffset values for the input.

Application and Configuration Examples

81 45

16. Verify the Status indicator is green.

Tuning

NOTE: Do not attempt to Tune a drive with the Command mode set for Analog Torque Input. If the drive is set to torque mode, continue with the Operation section below. NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position.

Choose the Tuning command icon from the Drive window. The drive must be configured in Velocity mode for tuning to be effective. from the Tuning mode group.

2. Select ~utoTune

3. Select the appropriate values for the following Auto Tune commands:
.
G

Distan~e

and

Step Current.

4. Select the appropriate entry for the Motor Direction:

. . .

Bidirectional, Forward Only or Reverse Only.

5. Close the toggle switch between J1 -26 and JI -20 to enable the drive.
WARNING Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation.

A
1
G

6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive. 7. Open the switch between J1 -26 and J 1-20 to disable the drive.
Installation Manual for Models DSM 007, DSM 015 and DSM 030

6-146

Application and Configuration Examples

8. Choose ~ormal

Drive Operation

from the Tuning

window.

9. Choose Close to exit the Tuning windows. 10. Verify the Status indicator is green. 11. Close any open windows or dialogs.

Operation
The drive is now configured as an Analog Controller in either the velocity or torque mode. .
G G

The current loop is compensated

properly for the selected motor.

The servo parameters have been setup with an unloaded motor. The motor speed or current is commanded through the analog input.

Application and Configuration Examples

8-147

Preset Controller
The Centurion DSM Drive can be set up as a preset controller in the Velocity or Torque mode by making the connections described below. Three discrete digital inputs provide the programmable speed or torque control. Up to eight different preset speed or torque settings can be selected by using the three digital inputs in various binary combinations, as shown in the table below. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to a controller requires similar circuitry from the controller to J 1. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad also may be used.
Table 8.1 Preset Binary Inputs. inputs c Preset Q Preset I Preset z Preset 3 Preset 4 Preset 5 Preset 6 Preset z o o o 0 1 1 1 1 0 0 1 1 0 0 1 1 B 0 1 0 1 0 1 0 1 A Description Preset O is a preprogrammed speed or current. All inputs are OFF1. Preset 1 is a preprogrammed speed or current. Only Preset Select A input is ON*. Preset 2 is a preprogrammed speed or current. Only Preset Select B input is ON*. Preset 3 is a preprogrammed speed or current. Preset Select A and Preset Select B are ON*. Preset 4 is a preprogrammed speed or current. Only Preset Select C input is ON*. Preset 5 is a preprogrammed speed or current. Preset Select A and Preset Select C are 0N2. Preset 6 is a preprogrammed speed or current. Preset Select B and Preset Select C are ON*. Preset 7 is a preprogrammed speed or current. All Preset Select inputs are ON*. -

1. A preset input signal that is OFF is inactive, which means no current flows through the optocoupler. 2. A preset input signal that is ON is active, which means current flows through the optocoupler.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-148

Application and Configuration Examples

Hardware Set Up
Make the connections described below and shown in the Figure 8.2. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the drive. A simple 3 wire cable is depicted in the figure below.

2. 3.

Connect a Motor/Feedback

cable from the motor to the J2 connector on the drive.

Connect a Power cable from the motor to TB 1 (terminals R, S, T and @ ) on the drive. the following pins:

4. Connect a jumper wire with a toggle switch between . . . . .

J 1-20 (ENABLE) and JI -26 (1/O PWR) J] -32 (INPUT I ) and J] -26 (1/0 PWR) J1 -33 (INPUT2) and J] -26 (1/O PWR) J 1-34 (INPUT3) and J 1-26 (1/O PWR) Connect a switch between J1 -21 (FAULT RESET) and J 1-26 (1/O PWR).

These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches.
1. Connect an external 12 to 24 VDC power source for powering I/O to J1-5 (1/O PWR)

and J1 -6 (1/O COM). 2. Connect the drive to a single phase 100-240 VAC, 50/60 Hz power source.

Application and Configuration Examples

8-149

Connection

Diagram
Diagram

Figure 8.2 Preset Controller Connection J5

XM I 2 RCV

DRIV~l

F---lxMT I
Close

to RESET Fault

Close to Turn ON

Closeto Turn ON
Close to Turn ON

k=+
~ knl

21 FAULT RESET 32 INPUT1 33 INPUT2 34 INPUT3

P
Phase R 6 Phase S 7 Phase T 6 Mtr Gnd 9

L1 3

L21N 4 @
Gnd 5 H

100-240 VAC 50/50 Hz Single Phase Power Source

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify: . Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes.

2. Start DSMPro on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select PC Set Up from the Communications computers communication settings 5. Verify the communications menu in DSMPro to display the personal

port settings of the PC match those of the drive.

Installation Manual for Models DSM 007, DSM 015 and DSM 030

8-150

Application and Configuration Examples

If the settings are correct, select OK in the Port - Settings dialog box. If the settings are different, correct the Port - Settings to allow communications the drive.

with

Factory default communications Port - Settings for the drive are: - Baud Rate: 9600 - Data Bits: 8 - Parity: None Stop Bits: 1 - Serial Port: COM1 Refer to the section RS-232 Communication Test on page 11-226 for troubleshooting instructions. 6. Select Read Drive ~arameters
from the Communications

menu.

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

9. If the message box appears that a motor must be selected, select OK. The Drive Setup window is displayed with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list.
11.

If a message advises that the drive must be reset, choose Yes,

12. Select the Operation Mode parameter for the drive:

Velocity Preset ~elocities Mode Settings as the Operation Mode Torque Mode Settings Preset ~orques as the Operation Mode

13. Choose Close from the Qrive Setup window. 14. Choose the Drive ~arameters
Preset tab. command

icon from the Drive window and then select the

Application and Configuration Examples

8-1 51

15. Enter the appropriate parameters

Velocity Mode Settings

for the Command mode in which the drive will operate:

Torque Mode Settings

Enter the appropriate each speed required

velocity value for

Enter the appropriate current value for each torque required

Up to eight presets (O-7) maybe programmed. 16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the 1/0 ~onfiguration command icon from the Drive window.

19. Assign one of the three Preset Selects (A, B and C) to each of the Digital Input Assignments. For example, the following selects three presets:
G

Input 1 to Preset Select A ln~ut 2 to Preset Select B Input 3 to Preset Select C

.
G

The presets provide up to eight binary combinations of speed or current. Unassigned preset inputs should be set to Not Assigned, which forces an OFF state. 20. Verify all Digital Output Assignments are Not Assigned. window.

21. Choose Close to exit the 1/0 Configuration

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

$-152

Application and Configuration Examples

Tuning F
NOTE: Do not attempt to Tune a drive with the Command mode set for Preset Torques. If the drive is set to Torque mode, continue with the Operation section below. NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position.
1.

Choose the Tuning command icon from the Drive window. The drive must be configured in Velocity mode for tuning to be effective.

2. Select &-rtoTune from the Tuning mode group. 3. Select the appropriate values for the following Auto Tune commands: .
G

Distance

and

Slep Current.

Select the appropriate

entry for the Motor Direction:

.
G

~lDirectional,
ForYard Only or

Rgverse Only. the toggle switch between JI -26 and J1 -20 to enable the drive.
Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation.

5. Close

WARNING

A
t
G

6. Choose start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive. 7. Choose ~ormal Drive Operation from the Tuning window. 8. Open the switch between J1 -26 and J1 -20 to disable the drive.

Application and Configuration Examples

8-153

9. Choose close to exit the Tuning window.

10. Verify the Status indicator is green. 11. Close any open windows or dialog boxes.

Operation
The drive is now configured as a Preset Controller in Velocity or Torque mode. .
G

The servo parameters have been setup with the unloaded motor. The motor speed or current is controlled through the digital inputs.

The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required: 1. Close the switch between J1 -26 and J 1-20 to enable the drive. 2. Close any of the switches for INPUT1, INPUT2 or INPUT3 to run the drive at the programmed preset speed or torque.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

81 54

Application and Configuration Examples

Atmlication and Conficmration Examples

8-155

Position Follower (Master Encoder)

The Centurion DSM Drive can be electronically geared to a master incremental encoder generating quadrature encoder signals by making the hardware connections and performing
the software setup and tuning described below. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J1. Instructions are provided to configure the drive using a

PC with DSMPro software, but the optional TouchPad also maybe used.

Hardware Set Up
Make the connections described below and shown in the Figure 8.3. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the

Centurion DSM Drive. A simple 3 wire cable is depicted in the figure below.
2. Connect a Motor/Feedback

cable from the motor to the J2 connector on the drive.

3. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @ ) on the drive. 4. Connect the Master Encoder to the drive as shown in the diagram. 5. Connect a jumper wire with a switches between the following pins:

.
.
G

J 1-20 (ENABLE) and J 1-26 (1/O PWR)

J1 -32 (INPUT1 J 1-21 (FAULT ) and J 1-26 (1/0 PWR) RESET) and J 1-26 (1/O PWR).

These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle

switches.
6. Connect an external 12 to 24 VDC power source for powering 1/0 to J1 -5 (1/0 PWR)

and J 1-6 (1/0 COM).

7. Connect the drive to a single phase 100-240 VAC, 50/60 Hz power source.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-156

Application and Configuration Examples

Connection

Diagram
Diagram

Figure 8.3 Position Follower (Master Encoder) Connection

J5
XM I HGv 2 RCV 3 XMT

DRIVE J2 E
Motor Encode

TB1 base R

H
Close to ENABLE Drwe L Close to RESET Fault Close to Follow A

14 AX+ 15 AX16 BX 17 BX18 IX+ 19 lx-

Phase S Phase T

Mtr Gnd

L1 L21N @ _GIltJd

: ,

20 ENABLE 21 FAULT RESET 26 1/0 PWR 32 INPUT1

100-240 VAC 50/60 HZ Single Phase Power Source

-1

Note 1. Refer to Figure 6.25,6.26,6.27,6.28, Cable.

6.29,6.30

and 6.31 for additional details on the Control Interface

Armlication and Conficwration ExamrJes

8-157

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:

menu in DSMPro to display the personal

computers communication
5. Verify the communications

settings. port settings of the PC match those of the drive.

. .

If the settings are correct, select OK in the Port - Settings dialog box. If the settings are different, correct the Port - Settings to allow communications the drive. Factory default communications - Baud Rate: 9600 - Data Bits: 8 - Parity: None Stop Bits: 1 Port - Settings for the drive are:

with

- Serial Port: COM1 Refer to the section RS-232 Communication instructions.

6. Select Bead
Drive Parameters

Test on page 11-226 for troubleshooting menu.

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-158

Application and Configuration Examples

9. If the message box appears that a motor must be selected, select

OK. The Drive Setup window is d~splayed-with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected.

10. Select or verify the correct motor model number from the drop down Motor Model list. 11. If a message advises that the drive must be reset, choose Yes, 12. Select Followec Master Encoder as the Operation Mode for the drive. 13. Choose Close from the Drive Setup window. 14. Choose the Drive ~arameter Follower tab. command icon from the Drive window, and then select the

command icon from the Drive Window.

19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example: .
. Follower Enable as input 1 Not Assigned

Inputs 2 through 3. Not Assigned as Inputs 1 and 2.

20. Choose Close to exit the 1/0 Configuration 21, Verify the Status indicator is green.

window.

Application and Configuration Examples

8-159

Tuning

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position.

1. Choose the Tuning command icon from the Drive window.

2. Select &toTune
from

the Tuning mode group.

3. Select the appropriate values for the following Auto Tune commands: . Distance and Q Siep Current. 4. Select the appropriate entry for the Motor Direction: . HDirectional, G Forward Only or G Reverse Only. 5. Close the toggle switch between J1 -26 and J 1-20 to enable the drive.
WARNING Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation.

A
I
G

6. Choose start from the Tuning window. The drive powers the motor shaft for a short
period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive.

7. Choose

~ormal

Drive Operation

from the Tuning window.

8. Open the switch between J1 -26 and J 1-20 to disable the drive.
9. Choose ~lose to exit the Tuning window. 10. Verify the Status indicator is green. 11. Close any open windows or dialog boxes.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-160

Armlication and Configuration Exam~les

Operation
The drive is now configured as a Position Follower (Master Encoder).
G

The current Ioop is compensated

properly for the selected motor.

. .

The servo parameters have been setup with the unloaded motor. The motor position is controlled by the master encoder input.

2. Close the switch between J] -26 and J] -32 to enable following.

A~~lication and Configuration Exam~les

8-161

Position Follower (Step/Direction)

The Centurion DSM Drive can be setup as a Position Follower using Step/Direction commands by making the hardware connections and performing the software setup and tuning described below. This configuration allows the Centurion DSM Drive to electronically gear or drive a servo motor using step and direction signals that typically control a stepper drive. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to a stepper indexer requires similar circuitry from the stepper indexer to J 1. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad may also maybe used.

Hardware Set Up
Make the connections described below and shown in the Figure 8.4. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the

drive. A simple 3 wire cable is depicted in the figure below.

2. Connect a Motor/Feedback cable from the motor to the J2 connector on the drive.
3. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @)

onthe drive.

4. Connect the Step/Direction signals to the drive as shown in the diagram.

5. Connect a jumper wire with a switches between the following pins:

. . .

J1 -20 (ENABLE) and J 1-26 (1/O PWR) J 1-32 (INPUT1 ) and J1 -26 (1/0 PWR) J 1-21 (FAULT RESET) and J1 -26 (1/O PWR).

6. Connect an external 12 to 24 VDC power source for powering 1/0 to J 1-5 (1/0 PWR) and J 1-6 (1/0 COM). 7. Connect the drive to a single phase 100-240 VAC, 50/60 Hz power source.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-162

Application and Configuration Examples

Connection

Diagram
Connection Diagram

Figure 8.4 Position Follower (Step/Direction)

J5
I xiv

DRIVE
J2 E Motor Encod{ TB1

2 RCV 3 XMT

HCV

Closeto ENABLE Driva-~~

Close to RESET Faul ~

=
Cable.

-H Q
Step/Dir STEP+ STEP. DIR+ Generator DIRClose to Follow

base R base S Phase T

14 AX+ 15 AX-

16 BX 17 BX-

MtrGnd

L1 L21N @ -.J2DLL

20 ENABLE

21 FAULT RESET 26 1/0 PWR

32 INPUT1

Note 1. Refer to Figure 6.25,6.26,6.27,6.28,

6.29,6.30

and 6.31 for additional details on the Control Interface

Application and Configuration Examples

81 63

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:
G

Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes.

2. Start DSMPro on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select EC Set Up from the Communications

menu in DSMPro to display the personal

computers communication
5. Verify the communications
G G

settings. port settings of the PC match those of the drive.

with

Port - Settings for the drive are:

Serial Port: COM1 Refer to the section RS-232 Communication instructions.

6. Select Read Drive ~arameters

Test on page 11-226 for troubleshooting menu.

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-164

Application and Configuration Examples

12. Select ~ollower: Step/Direction as the Operation Mode for the drive. 13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive ~arameters Follower tab. command icon from the Drive window and then select the

15. Enter an appropriate Gear Ratio as the Follower Input. The default Gear Ratio is 1:1 (motor encoder pulses: master pulses). If a Gear Ratio of 3:1 is entered, the motor is moved 3 encoder pulses for every incoming step pulse. 16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. lS. Select the l/O Configuration command icon from the Drive Window. 19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example: . . . as Input 1 Not Assigned as Inputs 2 through 3.
Follower Enable Not Assigned as Outputs 1 and 2.

20. Choose Close to exit the I/O Configuration

window.

Application and Configuration Examples

8-165

Tuning

1. Choose the Tuning command 2. Select ~utoTune

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position. icon from the Drive window.

from the Tuning mode group.

3. Select the appropriate values for the following Auto Tune commands:
.
G

Distance and
S~ep Current.

4. Select the appropriate entry for the Motor Direction: . EtDirectional, G Forward Only or . Reverse Only.
5. Close the toggle switch between J1 -26 and J] -20 to enable the drive.
WARNING Rotating motor shafts can cause extensive damacye and injury. Motors must be properly guarded during tes~ing and installation.

A
1
G

6. Choose start from the Tuning window. The drive powers the motor shaft for a short

period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive.
7. Choose ~ormal
Drive Operation

from the Tuning window.

8. Open the switch between J1 -26 and J1 -20 to disable the drive. 9. Choose Close to exit the Tuning window.

10. Verify the Status indicator is green.

11. Close any open windows or dialog boxes.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

81 66

Application and Configuration Examples

Operation
The drive is now configured as a Position Follower (Step/Direction).
G

The servo parameters have been setup with the unloaded motor. The motor position is controlled by the step/direction inputs.

2. Close the toggle switch between J 1-26 and J1 -32 to enable following.

Application and Configuration Examples

8-167

Position Follower (Step Up/Down)

The Centurion DSM Drive can be setup as a Position Following using Step Up and Step Down signals typically used to control stepper drives. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to a controller requires similar circuitry from the indexer to JI. Instructions are provided to configure the drive with DSMPro software.

Hardware Set Up
Make the connections described below and shown in the Figure 8.5. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the

Centurion DSM Drive. A simple 3 wire cable is depicted in the figure below.
2. Connect a Motor/Feedback

cable from the motor to the J2 connector on the Centurion

DSM Drive.
3. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @ ) on the drive. 4. Connect the Stepper Indexer to the drive as shown in the diagram. 5. Connect a jumper wire with a toggle switch between the following pins:

.
G G

J1-20 (ENABLE) and J1 -26 (1/0 PWR) J 1-32 (INPUT1 ) and J1 -26 (1/0 PWR)
J1 -21 (FAULT RESET) and J1 -26 (1/0 PWR).

source for powering 1/0 to J 1-5 (1/0 PWR)

and J 1-6 (1/O COM).

7. Connect the drive to a single phase 100-240 VAC, 50/60 Hz power source.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

81 68

Application and Configuration Examples

Connection

Diagram

Figure 8.5 Position Follower (Step Up/Down Controller) Connection Diagram DRIVE

J5 XMI
FWv 2 RCV 3 XMT

J2 E Motor Encod TB1 PhaseR

w
Step
Indexer Close to ENABLE Drive Close to RESET Fault a Close to Follow +32 ~

4 4

PhaseS 14 AX+
15 AX16 BX 17 BX-

Phase T MtrGnd

L1
20 ENABLE 21 FAULT RESET 26 1/0 PWR NPUT1

L2/N @ [ Gnd

1O:ofmv;c Single Phase Power Source

I
Note 1. Refer to Figure 6.34 and 6.35 for additional details on the Control Interface Cable.

Amdicationan dConfiauration

Examrdes

8-169

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:

Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes. 2. Start DSMPro on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select EC Set Up from the Communications computers communication settings. 5. Verify the communications . . menu in DSMPro to display the personal

port settings of the PC match those of the drive.

with

Port - Settings for the drive are:

Serial Port: COM1 Refer to the section RS-232 Communication instructions. 6. Select Read Drive Parameters

Test on page 11-226 for troubleshooting menu.

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-170

Application and Configuration Examples

9. If the message box appears that a motor must be selected, select OK. The Drive Setup

window is displayed with Motor Model selection parameter active. The motor may be selected from the drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list.
11. If a message advises that the drive must be reset, choose Yes, 12. Select Followen
Step Up/Step

Down as the Operation Mode for the drive.

13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive ~arameters
Follower tab.

command icon from the Drive window and then select the

icon from the Drive Window.

19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example:
.
G G

Follower

Enable

Not Assigned Not Assigned

as Inputs 2 as Outputs

as Input 1 through 3.
1 and 2.

20. Choose Close to exit the 1/0 Configuration

window.

Application and Configuration Examples

8-171

Tuning

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position.

Choose the Tuning command icon from the Drive window. from the Tuning mode group. values for the following Auto Tune commands:

2. Select ~utoTune

3. Select the appropriate

G G

Distance

and

Slep Current.

4. Select the appropriate

entry for the Motor Direction:

. .
G

ElDirectional,
Forward Only or Rgverse Only.

5. Close the toggle switch between J1 -26 and J1 -20 to enable the drive.
WARNING Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during tes~ing and installation.

A
I
G

6. Choose start from the Tuning window. The drive powers the motor shaft for a short
period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive.

7. Choose

~ormal

Drive Operation

from the Tuning window.

8. Open the switch between J1 -26 and J 1-20 to disable the drive.
9. Choose close
to exit the Tuning window.

10. Verify the Status indicator is green. 11. Close any open windows or dialog boxes.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

81 72

Application and Configuration Examples

Operation
The drive is now configured as either a Position Follower (Step Up/Step Down). . . The servo parameters have been setup with the unloaded motor. The motor position is controlled by the step indexer.

The firm ware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required: 1. Close the switch between J1 -26 and J 1-20 to enable the drive. 2. Close the toggle switch between J1 -26 and J1 -32 to enable following.

Application and Configuration Examples

8-173

Incremental

Indexing

NOTE: This feature is available only on drives capable of indexing: DSM O07P, DSM 015P and DSM 030P.

The Centurion DSM Drive can be set up as a incremental indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J 1, refer to J 1 - Controller on page 6-81. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad also may be used. The following examples depict a simple incremental index move and a batched (multiple) move using incremental indexing.
Figure 8.6 Incremental Indexing Examples INCREMENTAL INDEXING

Batch count = 1 DefinedVelocity Velocity Defin# Deceleration \/ outputs

In Motion l~

Dwel

INCREMENTAL

INDEXING

- BATCHED

Batch count = 3

Velocity

ULBI outputs

InMO~OII~~.r~.
InstallationManual for Models DSM 007, DSM 015 and DSM 030

8-174

Atmlication and Conficluration Examples

Hardware Set Up
Make the connections described below and shown in the Figure 8.7. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the

Centurion DSM Drive. A simple 3 wire cable is depicted in the figure below.

Connect a Motor/Feedback

cable from the motor to the J2 connector on the Centurion

DSM Drive.

3. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @) on the dfive.
4. Connect a jumper wire with a toggle switch between the following pins:
G G G

JI -20 (ENABLE) and J1 -26 (1/O PWR) J 1-32 (INPUT1 ) and J1 -26 (1/O PWR) J1 -21 (FAULT RESET) and J] -26 (1/0 PWR).

These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches. 5. Connect an external 12 to 24 VDC power source for powering I/O to J 1-5 (1/O PWR) and J 1-6 (1/O COM). 6. Connect the drive to a single phase 100-240 VAC, 50/60 HZ power source.

Atmlication and Conficwration Examries

8-175

Connection

Diagram
Indexing Connection Diagram

Figure 8.7 Incremental

TB1

Close to Stari INDEX

RESET 32 INPUT1 L1 L2/N @ 3 4 100-240 50/60 Single VAC I-Iz Phase

External 1/0
12-24 Power VDC

5 1/0PVR 6 1/0COM

Source

Gnd 5

Power Source

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-176

Application and Configuration Examples

Configuration
Careful] y check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:

Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes. 2. Start DSMPro on the PC.
G

3. Choose Cancel from the Drive Select dialog box. 4. Select PC Set Up from the Communications
menu

in DSMPro to display the personal

computers communication
5. Verify the communications

settings. port settings of the PC match those of the drive.

If the settings are correct, select OK in the Port - Settings dialog box.

If the settings are different, correct the Port - Settings to allow communications the drive. Factory default communications - Baud Rate: 9600 Data Bits: 8 - Parity: None
Stop Bits: 1

with

Port - Settings for the drive are:

Serial Port: COM1 Refer to the section RS-232 Communication instructions.

6. Select Read Drive Parameters

Test on page 11-226 menu.

for troubleshooting

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

Application and Configuration Examples

8-177

9. If the message box appears that a motor must be selected, select

OK. The Drive Setup

12. Select Indexing as the Operation Mode for the drive. 13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive ~arameters
Indexing tab.

command icon from the Drive window and then select the

15. Enter the following values for Index Q Refer to Incremental Indexing Examples on page 8-173 for examples of Single and Batched Incremental Indexing profiles.
Single Move Settings Incremental as Mode Batched Move Settings Incremental as Mode

8000 as Distance 1 as the Batch Count O as Dwell Appropriate values for Acceleration and Deceleration

8000 as Distance 3 as the Batch Count 1000 as Dwell Appropriate values for Acceleration and Deceleration

16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the 1/0 Configuration command icon from the Drive Window. 19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example: . Start Index as Input 1 . Not Assigned as Inputs 2 through 3.
. Not Assigned as Outputs

1 and 2.
Manual Installation for Models DSM 007, DSM 015 and DSM 030

8-178

Application and Configuration Examples

20. Choose Close to exit the I/O Configuration window.

Tuning

2. Select ~utoTune

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will nut hold initial position.

1. Choose the Tuning command icon from the Drive window.

from the Tuning

mode group.

3. Select the appropriate values for the following Auto Tune commands: . Distance and
G

Step Current.

Select the appropriate

entry for the Motor Direction:

ElDirectional, Forward Reverse Only or Only.

.
G

5. Close

the toggle switch between J 1-26 and J1 -20 to enable the drive.
Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during tes~ing and installation.

WARNING

A
f
G

6. Choose start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease. Then DSMPro displays the calculated gains and disables the drive. 7. Choose &lormal Drive Operation from the Tuning window. 8. Open the switch between J 1-26 and J 1-20 to disable the drive. 9. Choose close to exit the Tuning window. 10. Verify the Status indicator is green. 11. Close any open windows or dialog boxes,

Application and Configuration Examples

8-179

Operation
The drive is now configured as an Incremental Indexing controller.
G

The servo parameters have been setup with the unloaded motor. Motion is commanded through the inputs.

The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required:
1. Close the switch between J 1-26 and J 1-20 to enable the drive. 2. Close the toggle switch between J1 -26 and J1 -32 to start Index O.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-180

Application and Configuration Examples

8-181

Registration

Indexing

NOTE: This feature is available only on drives capable of indexing: DSM O07P, DSM O15P and DSM 030P.

The Centurion DSM Drive can be set up as a registration indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J 1, refer to J 1 - Controller on page 6-81. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad also may be used. The following example depicts a batched (multiple) move using registration indexing.
Figure 8.8 Registration Indexing Examples

egistration Executing ~ Index Distance Defined Velocit ~

Distant

Registration Sensor Detected -*

Velocity
= Defined Acceleration + Defined Deceleration i

/
outputs In Motion
In Dwell Registered ~~

Dwell

/...

~ 3-----~-

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-182

Application and Configuration Examples

Hardware Set Up
Make the connections described below and shown in the Figure 8.9. The appendix Options and Accessories on page A-235 lists the interconnect cables available from the factory.
1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the Centurion DSM Drive. A simple 3 wire cable is depicted in the figure below.

2. Connect a Motor/Feedback DSM Drive.

cable from the motor to the J2 connector on the Centurion

3. Connect a Power cable from the motor to TB 1 (terminals R, S, T and @ ) on the drive. 4. Connect the Index Sensor to the drive as shown in the diagram. 5. Connect a jumper wire with a toggle switch between the following pins: .
G

Jl -20 (ENABLE) and J1 -26 (1/O PWR) J1 -32 (INPUT1 ) and J1 -26 (1/O PWR) J1 -33 (INPUT2) and J1 -26 (1/0 PWR) J1 -21 (FAULT RESET) and J1 -26 (1/O PWR).

. .

These connections provide manual control for enabling or disabling the drive and resetting faults. The figure below shows the jumper, including normally open toggle switches. 6. Connect an external 12 to 24 VDC power source for powering I/O to J1 -5 (1/O PWR) and J1 -6 (1/O COM). 7. Connect
the drive to a single phase

100-240 VAC, 50/60 Hz power source.

Application and Configuration Examples

8-183

Connection

Diagram
Indexing Connection Diagram

Figure 8.9 Registration

J4 2
RCV

RVE

Motor Encoder

3 XMT 5 COM MJM

TB1 PhaseR 6 PhaseS 7 Phase T 8

> / /

cl.$[Link].,~~-l
Close to RESET Fault Close to Start INDEX Close for Registration Sensor A

ENABLE

MotorGnd L

21 FAULT RESET 32 INPUT1

TB1

~ 33 INPUT2

L
L21N Gnd @

3 4 5

VAC 50/50 Hz Single Phase Power Source

100-240

Configuration
Carefully check all connections before entering these parameters.
1. Switch the AC Power to ON and verify:

Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes. 2. Start DSMPro on the PC.
G

3. Choose Cancel from the Drive Select dialog box,

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

81 84

Application and Configuration Examples

4. Select ~C Set Up from the Communications

menu in DSMPro to display the personal

computers communication 5. Verify the communications

settings. port settings of the PC match those of the drive.

with

Port - Settings for the drive are:

Refer to the section RS-232 Communication instructions. 6. Select Read Drive ~arameters

Test on page 11-226 for troubleshooting menu.

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

12. Select Indexing as the Operation Mode for the drive. 13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive ~arameters
Indexing tab. command

icon from the Drive window and then select the

Application and Configuration Examples

81 85

15. Enter the following values for Index Q

Single Move Settings Registration as Mode Batched Move Settings Registration as Mode

8000 as Distance 1 as the Batch Count O as Dwell Appropriate values for Acceleration and Deceleration

8000 as Distance 8000 as Registration Distance

3 as the Batch Count 1000 as Dwell Appropriate values for Acceleration and Deceleration

NOTE: The Registration Distance must be longer than the Deceleration Distance or the move will not be registered.

16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the 1/0 ~onfiguration command icon from the Drive Window.

19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example:
G

Start Index as

. .
G

Input 1 Registration Sensor as Input 2. Not Assigned as Input 3.

Not Assigned as Outputs

1 and 2. window.

20. Choose Close to exit the 1/0 Configuration

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

6-186

Application and Configuration Examples

Tuning

b
1.

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial

position. Choose the Tuning command icon from the Drive window.
from the Tuning

2. Select ~utoTune

mode group.

3. Select the appropriate

. values for the following Auto -1une commancts:

.
G

Distange and
S!ep Current.

4. Select the appropriate

entry for the Motor Direction:

.
. .

~Directional, For~ard Reverse Only or Only.

A
1
G

from the Tuning window.

8. Open the switch between JI -26 and J 1-20 to disable the drive.

9. Choose ~lose to exit the Tuning window.

10. Verify the Status indicator is green.
11. Close any open windows or dialog boxes.

Application and Configuration Examples

81 87

Operation
The drive is now configured as a Registration Indexing controller.
G

The servo parameters have been setup with the unloaded motor. Motion is commanded through the inputs.

The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required: 1. Close the switch between J 1-26 and J 1-20 to enable the drive.
2. Close the toggle switch between J1 -26 and J1 -32 to start Index O. 3. Close the toggle switch between J1 -26 and J1 -33 to simulate registration.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

8-188

Application

and Configuration

Examples

Amiication and Configuration Examdes

8-189

Absolute Indexing

NOTE: This feature is available only on drives capable of indexing: DSM 007P, DSM O15P and DSM 030P.

The Centurion DSM Drive can be setup as a absolute indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J 1, refer to J 1 - Controller on page 6-81. Instructions are provided to configure the drive using a PC with DSMPro software, but the optional TouchPad also may be used. The following example depicts a simple move from a home position.
Figure 8.10 Absolute Indexing Examples

Im
Velocity Defined Deceleration /\ M Defined Acceleration
I I

outputs
In Motion ~.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

Application and Configuration Examples

8-191

Connection

Diagram
Diagram
I

Figure 8.11 Absolute Indexing Connection

J4
2 RCV 3 XMT

DRIVE

J2
Motor Encoder

MLV UJM

TB1 5 COM Phase R Phase S J1 26 1/0 PWR Close to ENABLE Dtive Close tO RESET Fault \ L 20 ENABLE 21 FAULT RESET 32 INPUT1 ,33 INPUT2 @ Gnd 5 Phase T Motor Gnd TB1 8 9 / / 6 7 / /

Closa to Start INDEX Close to Define HOME

\ \

L1 L2/N

3 100-240 4 VAC

50/60 Hz Single Phase Power Source

External 1/0 12-24 VDC Power Source

5 1/0PVR 6 1/0COM

InstallationManual for Models DSM 007, DSM 015 and DSM 030

8-192

Application and Configuration Examples

Configuration
Carefully check all connections before entering these parameters. 1. Switch the AC Power to ON and verify: Status LED is green. Refer to Status Indicator on page 10-213 for an explanation of the display codes. 2. Start DSMPro on the PC.
G

3. Choose Cancel from the Drive Select dialog box. 4. Select EC Set Up from the Communications computers communication settings. 5. Verify the communications
G

menu in DSMPro to display the personal

port settings of the PC match those of the drive.

If the settings are correct, select OK in the Port - Settings dialog box. If the settings are different, correct the Port - Settings to allow communications the drive. Factory default communications Baud Rate: 9600 Data Bits: 8 - Parity: None Stop Bits: 1 Port - Settings for the drive are:

with

Serial Port: COMI Refer to the section RS-232 Communication instructions. 6. Select Read Drive Parameters

Test on page 11-226 for troubleshooting menu.

from the Communications

7. Verify the Drive Name and Address are correct for the drive that is being addressed.

8. Choose OK to load the drive parameters.

NOTE: A motor must be selected for the parameters to load.

Application and Configuration Examples

8-193

9. If the message box appears that a motor must be selected, select OK. The Drive Setup

12. Select Indexing as the Operation Mode for the drive. 13. Choose Close to exit the Drive Set Up window. 14. Choose the Drive ~arameters
Indexing tab.

command icon from the Drive window and then select the

15. Select the following values for Index Q

Absolute as Mode 8000 as Position 1 as Batch Count O as Dwell Appropriate values for Velocity, Acceleration and Deceleration

16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the 1/0 ~onfiguration command icon from the Drive Window.

19. Select an appropriate digital input from the pull-down lists available as Digital Input Assignments in the I/O Configuration window. For example:
G

.
G

Start Index as Input 1. Define Home as Input 2. Not Assigned as Input 3.

Not Assigned as Outputs 1

and 2. window.

20. Choose Close to exit the 1/0 Configuration

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Manual for Models DSM 007, DSM015

and DSM 030

8-194

Application and Configuration Examples

Tuning
>

NOTE: Do not attempt to Auto Tune systems that have gravitational effects. The Centurion DSM Drive will not hold initial position.

1. Choose the Tuning command icon from the Drive window.

2. Select ~utoTune from the Tuning mode group. 3. Select the appropriate values for the following Auto Tune commands:
G G

Distan~e

and

SLep Current. entry

Select the appropriate

for the Motor Direction:

.
G

EJiDirectional, Forward

Only or

Reverse Only.

5. Close the toggle switch between J1 -26 and J1 -20 to enable the drive.
WARNING
Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation.

A
t
G

10. Verify the Status indicator is green. 11. Close any open windows or dialog boxes.

Application and Configuration Examples

8-195

Operation
The drive is now configured as a Absolute Indexing controller.
G

The servo parameters have been setup with the unloaded motor. Motion is commanded through the inputs.

2. Close the toggle switch between J1 -32 and J1 -26 to start Index O.
3. Close the switch between J1 -33 and J1 -26 to define the Home position.

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AmdicationandConfiauration

Examties

Application and Configuration Examples

8-197

Modifying User Units

The units displayed for any Centurion DSM Drive maybe modified using a PC with DSMPro software. The PC Display Units help menu defines the various parameters displayed by DSMPro. Default settings for Units are shown in Figure 8.12.
Figure 8.12 PC Display Units - Default Dialog

[tJnitf3efirriti0rrs

I
Label: ~l=__l =D=mp Conversion Factor: l RPM

Cancel

Parameter: velocity ~orque position ~

= lfJfJocounts

Changing the Display Units Settings

The following example changes the Label and Conversion Factor for the Position and Acceleration parameters. This example assumes a 2000 line encoder (8000 pulses/ revolution).
G

Position - from Counts to Motor Revolutions Acceleration - from RPM/sec2 to Revs/sec2 Choose the Drive ~arameters command icon from the Drive window and then select the LJnits button. The PC Display Units dialog appears with default settings as shown.

.
1.

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Application and Configuration Examples

2. Select the Position Label cell, and change counts to Mtr Revs.

NOTE: Labels are limited to 8 characters.

3. Select the Position Conversion Factor cell, and change 1000 to 0.125. Mathematical y 1/8 (O.125) of a motor revolution is 1000 counts, given that the motor has a 2000 line (8000 count) encoder. 4. Select the Acceleration Label cell, and change RPM/see to Revs/sec.

5. Select the Acceleration Conversion Factor cell, and change 1. to .016. Mathematically 1.6 x 10-2 revs/sec2 is 1 RPM/see, given the motor has a 2000 line (8000 count) encoder. 6. Choose OK to exit the PC Display Units dialog. The modified units will be displayed where appropriate within the DSMPro windows. For example, these changes cause the Indexing tab in the Drive Parameters window to display: . .
G

Distance in Mtr Revs Acceleration in Revs/sec2 Deceleration in Revs/sec2

The following units were not effected by the changes: . . Dwell in msec Velocity in RPM

Tuning

Centurion DSM Drives are tuned quickly and easily for a wide variety of applications. Two tuning modes are available through the software: . . Auto Tune Manual Tune

Tuning Guidelines
The following tuning guidelines briefly describe the tuning adjustments. These guidelines provide you with a basic reference point should the application require additional adjustments.

General Tuning Rules

Tune the velocity loop first and then, if the drive uses following or step/direction commands, tune the position loop. To widen the velocity loop bandwidth, increase the P-gain setting, decrease the I-gain setting or increase the low-pass filter bandwidth. This provides a faster rise time and increases drive response. To increase stiffness, increase the I-gain setting. It rejects load disturbance and compensates for system friction. To reduce velocity loop overshoot, increase P-gain or decrease I-gain. To reduce mechanical resonance, use a stiffer mechanical coupling or decrease the lowpass filter value and the velocity loop update rate. If the motor oscillates, decrease either individually or together the:
G

G G

. .

P-gain I-gain low-pass filter bandwidth.

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aueuosq.j

p?qlwqww

h!unl

002-6

Tuning

9-201

Figure 9.1 Velocity Loop Structure

VELOCITY Cotvlrmrm
MOTOR VELOCITY

ZERO SPEED

Figure 9.2 Torque Current Conditioning

Structure

T
LP ENABLE

TORQUE CURRENT COMMAND OUTPUT

DAVERAGE CURRENT CURRENT LIMIT LOW PASS FILTER PEAK DETECT

AVERAGE

CURRENT

EXCESSIVE

CURRENT

:Mr&

CURRENT

LIMIT

POSITIVE CURRENT PEAK

Reducing the value of the P-gain, low-pass filter frequency and the update frequency all have the effect of reducing the servo-motor bandwidth, As long as the resonating frequency is fairly high this will likely be acceptable, but if the resonating frequency is low it may be necessary to modify the mechanics of the system.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

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Bu!unl

ZOZ-6

Tuning

9-203

Auto Tuning
A PC running DSMPro or the TouchPad is required to perform tuning on the drive. Before auto tuning is invoked, three autotuning parameters must be set: . Distance sets the rotation limit of the motor. This is the maximum distance the motor is allowed to move during any one test.

NOTE: Autotuning in the hi-directional different tests.

mode includes two

Step Current sets the amount of current given to the motor during the test. If this is set too low, a system may not move enough to gather sufficient data, if it is set too high the test will be too short and very jerky. Motor Direction (Forward Only/Reverse Only/Bi-directional) sets the rotational direction for the test. The hi-directional test does the same test in both directions, with the forward rotation first.

Auto tune procedures are explained for each drive configuration in Application and Configuration Examples starting on page 8-141. The following steps generalize the DSMPro tuning procedures. Similar procedures apply for the TouchPad. When autotuning is selected, the drive rotates the motor shaft for a short time interval, typically a few seconds. Motor movement should not exceed 30 seconds.
WARNING 1 A Rotating motor shafts can cause extensive damage and injury. Motors must be properly guarded during testing and installation.

1. Choose the ~uning command icon from the Drive window.

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9-204

Tuning

2. Choose Auto Tune from the Tuning window. This activates the Auto Tune Command

and Motor Direction boxes within the Tuning window. Then enter or selecti
G G G

appropriate values for DiStan~e in the Auto Tune Command

box,

appropriate values for Slep Current in the Auto Tune Command box, and an appropriate motor rotation in the Motor Direction box on a PC, eithe~ EjDirectional, if the motor will be powered in both the forward and reverse directions. Foward Only, if the machinery is designed to operate only in the forward direction. fl~verse Only, if the motor will be powered only in the reverse direction.

Use the default settings if you are uncertain about what values to enter. The default settings are set to values appropriate to the drive and motor combination selected during drive initialization.
3. Enable the drive. 4. Choose start from the Tuning window. The drive rotates the motor shaft and then motion

will cease. The calculated gains are displayed and the drive is disabled.
5. Disable the drive manually. 6. Choose Normal Drive Operation from the Tuning window. 7. Enable the drive. 8. Choose Close to exit the Tuning window.

NOTE: Auto tuning does not have a velocity limit, but it does adhere to the motor Overspeed setting in the Drive Parameters window.

Tuning

9-205

Manual Tune Mode

Manual tuning may be used to adjust the gain settings and filter frequency of the velocity and position regulator. The following sections briefly explain these settings. An understanding of the function for each type of gain and filtering will allow you to effectively tune the system. Two types of manual tuning are available:
G G

Velocity tuning Position tuning.

Before manual tuning is invoked, the Velocity, Distance and Motor Direction parameters must be set. Refer to Auto Tune Mode on page 9-202 for information on setting these parameters. The velocity loop should always be tuned before the position loop, as velocity loop tuning affects the position loop response. Gain settings and signal filtering are the primary methods to electrically tune a system. An understanding of the types of gain and their purposes, as well as a general understanding of filtering, are essential background knowledge to properly tune a servo system.

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Tunina

Gains
Table 9.1 Velocity Loop Gains Parameter P-gain Description Proportional gain of the velocity regulator. P-gain controls the bandwidth of the velocity regulator by adjusting the control response proportional to the error. The P term of the velocity regulator commands an acceleration current that is proportional to the velocity error. Integral gain of the velocity regulator. Integration in the velocity regulator forces the motor velocity to precisely follow the commanded velocity. This assumes operation under steady state conditions (velocity command or load does@ change). i-gain controls: G The stiffness or the ability to reject load torque disturbance. G The amount of velocity overshoot, which may cause the system to become unstable or oscillate. The I term of the velocity regulator commands an acceleration current proportional to the integral of the velocity error.

l-gain

Table 9.2 Position Loop Gains I Parameter Kp-gain Description Proportional gain of the position loop. Kp-gain changes: c The position loop bandwidth. G The settling time of the position loop. In general, the higher the value of Kp-gain the faster the settling time. However, a high value of Kp-gain with inadequate velocity loop bandwidth results in overshoot and ringing. Differential gain of the position loop. Provides position loop damping and reduces overshoot caused by Kp or KI gain.

Kd-gain

Tunina

9-207

Kff-gain

Feedforward gain of the position loop. Kff-gain reduces following error. However, a high value of Kff-gain can result in position overshoot. A reduction in following error allows the system to more closely approximate gear driven systems.

Integral gain of the position loop. Ki-gain decreases the time period for the error to decay. A non-zero value of Ki allows integration in the position loop which eliminates the steady state following error. However, a non-zero value for Ki may introduce overshoot and ringing, which cause system instability (oscillation). NOTE: Ki-gain is used in conjunction with the Ki Zone value. Ki Zone is the area around the commanded position where Ki-gain is active. . . ....... . ., --------. . _lw I t: rosmon Loo13tiams are usea m tne Fosalon r-ollowma moue oniv,

Ki-gain

Filters
The velocity regulator has one low pass filter. The filter bandwidth range is from 1 Hz to 992 Hz. The filter serves two purposes: . . Adjusts the frequency range to remove or filter the noise produced by encoder resolution. Reduces the amount of the mechanical resonance in the mechanical system (e.g., belt systems).

Similar results may often be achieved by reducing the update rate of the velocity loop.

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Manual for Models DSM 007, DSM 015 and DSM 030

9-208

Tuning

Manual Tuning
Manual tuning may be used to adjust the gain control parameters P and I, and the filters. A square wave is generated by the drive to assist in the adjustment. Manual velocity tuning requires the following: . . Step Period value to be specified Step Velocity value to be specified.

Timing the Velocity

NOTE: Alwaystunethevelocity loopbe~oretheposition Velocity loop tuning affects the position loop response.
Loop

loop,as

The Auto Tune procedure provides a starting point for velocity loop tuning. Manual tuning is desirable when very precise adjustments are required. The following steps describe how to manually tune the velocity loop. These steps precede the manual position loop tuning procedure, which should follow velocity loop tuning.
1. Disable the drive. 2. Choose Manual ~une (Velocity Step) from the Tuning window. 3. Enter the desired step Velocity (rpm) of the internal square wave generator. 4. Enter the desired ljme to complete one cycle of the square wave of the internal step

velocity.
5. Select the desired Motor Direction (FoWard Only, ReYerSe Only, or H-Directional).

6. Select the Oscilloscope. 7. Enable the drive. 8. Choose start. The motor should start moving and the oscilloscope commanded velocity and the motor velocity. 9. While monitoring the motor velocity waveform, increase P-gain until the desired rise time is achieved. 10. While monitoring

will display the

the motor velocity waveform, increase I-gain until an acceptable amount of overshoot is reached.

Tuning

9209

11. Apply filtering by selecting Hlters, and then select Filter Enable.

12. While monitoring the motor velocity waveform, decrease the filter Bandwidth until the overshoot begins to increase (in many applications the filter is not necessary). 13. Choose stop. 14. Disable the drive. 15. Choose ~ormal 16. Choose Close. 17. Enable the drive. The drives velocity loop is tuned.
Tnning the Position Loop
Drive Operation.

Specify the step period and step position values, and then input a square wave to the position loop. Adjust the gain parameters Kp, Kd, Kff, Ki, and Ki Zone to tune the system.

1. Disable the drive.

NOTE: Tune the velocity loop before attempting to tune the position loop. The bandwidth of the velocity loop must be set before position loop tuning is attempted.

2. Choose Manual Tune (Position Step) from the tuning window,

3. Enter an appropriate
Distan~e count (step position)

for the internal square wave.

4. Enter an appropriate time to complete one cycle of the square wave for the internal step
position.
5. Select the desired Motor Direction (~ Directional,
Forward

Only or Reverse Only),

6. Select the Oscilloscope. 7. Enable the drive. 8. Choose start. The motor will move and the oscilloscope will display the commanded position and motor position.
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9-210

Tunina

9. Increase the K~ gain while monitoring the signal on the scope. The Kp gain should be
adjusted until the desired rise time is achieved, with no overshoot. Refer to Figure 9.3.
10. Increase K! very slowly until the signal begins to overshoot. 11. Increase Kg!very slowly to remove the overshoot caused by Ki.

[Link] general you may leave the ~ff gain set to 100. 13. Choose stop. 14. Disable the drive. 15. Choose ~ormal Drive Operation. 16. Choose Qlose. 17. Enable the drive. The position loop has been tuned. The drive may be operated as a master encoder, step/ direction or step up/down configuration.

Tuning

9-211

Velocity Loop Tuning Examples

Figure 9.3 Signal Nomenclature

VELOCIT

.1.--Oversho Undersho

Following Error or ~Steadv Slate Error

I
I

I
I I I I
I b I Steady State -1

I I I I
I + ,~

I I I I
I 4 Settle -

,--

TIME

Transient State

Figure 9.4 Underdamped Signal

UNDERDAMPED Motor Veloci consistently overshoots the Velocity 2 ommand. To correct Decrease P-gain Decrease I-gain

Fo, H.4P

,,! I

,)0 o

,! o

Press F1

,. !, OnlJne 0225PM

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Manual for Models DSM 007, DSM 015 and DSM 030

9-212

Tunina

Figure 9.5 Overdamped Signal

OVERDAMPED Motor Velocit consistently undershoots the Velocitv 2 ommand. To correct: Increage l-gain Increase P-gain

Fm Helm press

F
,s

-7

..*
owbne 0220 Ph

Figure 9.6 Critically Damped Signal (Ideal Tuning)

Status Display
A single front panel indicator displays the status of the drive on a continuous basis:
G

The Status LED lights whenever the bus is energized.

Status Indicator
The Status indicator is a three level LED, which indicates the current operational state of the drive. The status level is indicated by the color of the LED.
G G G G

Green = Normal operation Blinking Green/Orange = Drive Fault Orange = Hardware malfunction Blank = Power not supplied or hardware malfunction beginning on page 11-220 for troubleshooting tables.

Refer to Troubleshooting

Error Messages
If there is a fault, the specific error messages may be accessed by attaching a PC or TouchPad to the Centurion DSM Drive. Faults are detected by the drive in two ways: power-up hardware and run-time faults. A power-up fault usually requires servicing of the hardware, while a run-time fault can be cleared by resetting the drive. Maintenance and Troubleshooting lists error codes and possible actions or solutions to take when resolving the error condition.

Run Time Error Codes

Table 10.1 Run Time Error Codes I Error Code I I Reserved Motor Overtemperature, Thermostat 1PM Fault (Overtemperature / Overcurrent / Short Circuit) Reserved Bus Undervoltage Fault DescritXion I I

I 01-03
04

05 06-08 09

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10-214

Status Diedav

Error Code 10 Bus Overvoltage I Illegal Hall State I Reserved

Fault Description

I 12-16 17 18

Excessive Average Current Motor Overspeed

19
I 20

Excessive Following Error I Motor Encoder State Error I Auxiliary Encoder State Error I Motor Thermal Protection I 1PM Thermal Protection Excess Velocity Error Commutation Angle Error Reserved I Axis not Homed No Motor Selected Motor Selection not in Table
I

I 21

I 23 24 25 26 I 27 28 29
30

I I I I

EEPROM Write Error I Reserved

131-50

Status Dismlav

10215

Power-Up Error Codes

A power-up error indicates in almost all cases that the drive should be returned to the factory for service. In general, any occurrence of a Power-up error should be treated with extreme caution. It may indicate the hardware is marginal. Situations that may cause drive hardware errors, and which can be remedied outside the factory include: A watchdog time-out error may result from electrical noise (electromagnetic interference - EMI), a firmware error, or a hardware malfunction. The context of the watchdog error needs to be investigated to determine the source of the problem. The following table lists the Power-Up Error Codes
Table 10.2 Power-Up Error Codes. I 51 52 53 I 54 55 56 57 58 59 I 60 61 62 Error Code I Fault Description Program Memory Boot Block Error Program Memory Main Block Error Uninitialized Personality EEPROM Error I Personality EEPROM Read Error Personality EEPROM Data Corruption Processor Watchdog Error Reserved Processor RAM Error Reserved I I

Uninitialized Service EEPROM Error Service EEPROM Read Error Service EEPROM Data Corruption Error Reserved Personality EEPROM Write Error Reserved

63-73
74 75-78

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Manual for Models DSM 007, DSM 015 and DSM 030

10-216

Status Display

Error Code 79-n

Fault Description Data Out of Range where n = suberror parameter 1- Serial baud rate selection 2- Serial stop bits/parity selection 3- Position Loop Kp 4- Position Loop Ki 5- Position Loop Kff 6- Position Loop Kd 7- Gear ratio 8- Encoder Output Divider 9- Velocity Loop Update Period 10- Velocity Loop P Gain 11- Velocity Loop I Gain 12- Velocity Loop D Gain 13- Reserved 14- Analog Command Velocity Offset 15- Analog Command Torque Offset 16- User D/A Variable Selection 17- Command Source 18- Drive Mode (Torque/Velocity) 19- Tuning Direction 20- Motor/Encoder User Alignment Offset 21- Encoder Size 22- Motor Torque Constant 23- Motor Inertia 24- Motor Back EMF 25- Mator Resistance per Phase 26- Motor Inductance per Phase
27282930Motor Motor Motor Motor Commutation Encoder Type Hall Offset

Encoder Index Offset Pole Count (Drive Type)

80-1 81

Service Reserved

Data Out of Range

82
---83- YY

Mask ROM Block Checksum Error treservea

Maintenance and 11 Troubleshooting

This section provides a description of suggested maintenance troubleshooting chart. activities and an in-depth

Maintenance
The Centurion DSM Drive is designed to function with minimum maintenance.
DANGER DC bus capacitors may retain hazardous voltages after input power has been removed, but will normally discharge in several seconds. Before working on the drive, measure the DC bus voltage to verify it has reached a safe level or wait the full time interval listed on the warning on the front of the drive. Failure to observe this precaution could result in severe bodilv iniurv or loss of life.

Periodic Maintenance
Normally the only maintenance required is removal of superficial dust and dirt from the drive and a quick check of cabling insulation and connections.
Cleaning

To clean the drive, use an OSHA approved nozzle that provides compressed air under low pressure s20 kPa (30 psi) to blow the exterior surface and the vents clean.
Cable Inspection

Inspect the cables, particularly the power connections,

to verify the connection.

All power connections should be torqued to 1.2 Nm (11 lb-in). D-shell connectors can be inspected for proper seating and signal continuity. Visually inspect all cables for abrasion.

. .

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Manual for Models DSM 007, DSM 015 and DSM 030

11-218

Maintenance and Troubleshootirm

Data Transfer

After you have configured the drive and tuned the drive, the data stored in the EEPROM personality module should be saved off-line. Saving the parameters offline will allow you to clone several machines with the same mechanics and provides an emergency backup of the drive data. To transfer the data from the drive to a PC: 1. While on-line with a drive, click on File in the toolbar menu. 2. Select Save As..., the Save As window will appear. 3. Enter the file name and press ENTER or choose OK to save. To transfer the data from a PC to a drive:
1. Close all windows in DSMPro. 2. Choose file in the toolbar menu. 3. Choose Qpen. 4. Select the desired file name or enter the file name to be loaded and press ENTER or

choose OK. If you do not know the name of the file to be loaded, select the correct directory from the Directories box and select the file name from the displayed list of file names. The DSMPro Off-Line Drive window will appear along with the selected file name.
5. Select ~ommunications 6. Select OveNrite
from the toolbar menu.

Drive Parameters.

The Drive Select window will appear.

7, Select the drive to be configured,

and then press ENTER or choose OK to load the parameters into the personality module.

Maintenance and Troubleshooting

11-219

Firmware Upgrading
Centurion Firmware procedure Firmware DSM Drives maybe upgraded in the field to the latest version of firmware. versions are available from the Giddings & Lewis Product Support group. The describes how to reload the firmware installed in your drive using the Upgrade command available in DSMPro software.

DSMPro provides checks and controls through message boxes which ensure that the loading of firmware is performed properly.

Firmware Upgrade Procedure using DSMPro

1. Copy the new firmware into the Firmware subdirectory

of the DSMPro application

directory.
2. Start DSMPro. 3. When the Drive Select window appears, select Cancel. The Drive Select window closes

without connecting to the drive.

4. Choose upgrade
Firmware

from the File menu. The Drive Select window will appear.

5. Select the drive to upgrade, and then select OK. The Select Firmware File window will

appear.
6. The Select Firmware File window contains a list of firmware files identified by version

information. Only the files that can be applied to the connected drive are displayed, which minimizes the danger of transferring an incorrect file. To select the firmware files: . . Select the appropriate file to upgrade the drive firmware. Select OK when the file is highlighted.

A visual indicator traces the progress of the firmware upgrade.

NOTE: D o not remove power or reset either the drive or the PC during the upgrade. Any interruption of the firmware upgrade could cause the drive to become inoperable.

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11-220

Maintenance and Troubleshooting

7. When the upgrade is complete a dialog box confirms completion

of the upgrade and

reminds you that the drive must be reset at this time. . . Select Yes if you want to perform a software reset of the drive. Select No if you wish to reset the drive by removing power.

Troubleshooting
A single LED on the front panel indicates the status of the drive on a continuous basis:
G G G G

Green = Normal operation Blinking Green/Orange = Drive Fault Orange = Hardware malfunction Blank = Power not supplied or hardware malfunction

A table of problems, potential causes, and appropriate actions to take to resolve the problem is included below. If problems persist after attempting to carefully troubleshoot the system, please contact your local distributor for further assistance.

Error Codes
Error codes may be accessed by attaching either a PC with DSMPro software or a TouchPad to the serial port (J5): .
.

DSMPro displays errors in two windows: Fault Hstory and Display ~ault Status, The TouchPad display errors in the DrvStat parameter under the STATUS branch title.
Guide Error Code Possible Cause(s) No AC power Action/Solution Verify power (1151230VAC single phase) is applied to the drive. Call factory

Table 11.1 Troubleshooting Problem or Symptom STATUS LED not lit

Internal power supply malfunction.

Maintenance and Troubleshooting

11-221

Problem or Symptom Motor jumps when first enabled

Error Code

Possible Cause(s) Motor encoder wiring error No Absolute signal atJ2-16 Incorrect motor chosen in personality module

Action/Solution Check motor encoder wiring. See Figure 6.38 on page 120 Monitor Absolute signal at J216. Select the proper motor in DSMPro. Verify connections and 1/0 power source Verify TS+ (J2-I 9) and TS(J2-20) connections for continuity. Operate within (not above) the continuous torque rating for the ambient temperature (40C maximum). Lower ambient temperature. Verify continuity of motor power cable and connector. Check for short on R,S,T and Gnd windings of the motor. Check for clogged or defective fan. Ensure cooling is not restricted by insufficient space around the unit. Verify ambient temperature is not too high (above 60 C). Operate within the continuous power rating. Drive has a bad IPM, replace drive.

Digital 1/0 not working correctly Motor Overtemperature 04

1/0 power supply disconnected Motor TS+ (J2-I 9) and TS(J2-20) pins open Motor thermostat trips due to: High motor ambient temperature, and/or Excessive RMS torque

1PM Fault

Motor cables shorted Motor winding shorted internally Drive temperature too high

Operation above continuous power rating

Output short circuit or overcurrent

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Manual for Models DSM 007, DSM 015 and DSM 030

1t -222

Maintenance and Troubleshooting

Problem or Symptom Bus Undervoltage

Error Code 09

Possible Cause(s) Low AC line/AC power input (100 V AC minimum for safe drive operation)

Action/Solution Verify voltage level of the incoming VAC power. Check AC power source for glitches or line drop (below 90 VAC). Install an uninterruptible power supply (UPS) on your VAC input. Change the deceleration or motion profile and/or reduce the reflected inertia of your mechanical system. Use a larger system (motor and drive).

Bus Overvoltage

Excessive regeneration of power When the drive is driven by an external mechanical power source, it may regenerate too much peak energy through the drives power supply. The system faults to save itself from an overload. Excessive AC input voltage Output short circuit Motor cabling wires shorted together Internal motor winding short circuit

Verify input is below 264 VAC. Check for shorts. Check for shorts. Check for shorts. Check the Hall phasing. Verify the Hall wiring.

Illegal Hall State RESERVED RESERVED RESERVED RESERVED RESERVED

11 12 13 14 15 16

Incorrect phasing 13ad connections

Maintenance and Troubleshooting

11-223

Problem or Symptom Excessive Average Current

Error Code 17

Possible Cause(s) Excessive time at peak current

Action/Solution Reduce acceleration rates Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Mechanical jam or excessive frictional load. User larger drive and motor. Increase Average Current parameter to a less restrictive setting. Correct the under voltage condition or intermittent AC power or install a larger size transformer. Check motor phasing. Using DSMPro (refer to Drive Parameters section) set Overspeed parameter to an acceptable range for the application. Reduce command from position controller or change velocity parameter in the position controller. Check encoder phasing. Increase the feed forward gain to 10010. Increase the following error window (refer to DSMPro Drive Parameters section). Retune the drive to reduce the following error. Increase the slew limit window (refer to DSMPro Drive Parameters).

Software parameter set too low Insufficient bus voltage

Motor Phasing is incorrect Motor Overspeed 18 OVERSPEED parameter in the drive set to low for the application

Motor commanded to run above Overspeed setting

Motor encoder phasing is incorrect Excess Following Error 19 The software position error limit was exceeded

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Manual for Models DSM 007, DSM 015 and DSM 030

11-224

Maintenance and Troubleshooting

Problem or Symptom Motor Encoder State Error

Error Code 20

Possible Cause(s) The motor encoder encountered an illegal transition

Action/Solution Replace the motor/encoder Use shielded cables with twisted pair wires. Route the feedback away from potential noise sources. Check the system grounds. Replace motor/encoder. Use shielded cables with twisted pair wires. Route the encoder cable away from potential noise sources. Bad encoder - replace encoder Check the ground connections Reduce acceleration rates Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Use larger drive and motor. Reduce acceleration rates Reduce duty cycle (ON/OFF) of commanded motion. Increase time permitted for motion. Use larger drive and motor. Increase time or size of allowable error. Reduce acceleration. Replace encoder or motor/ encoder. Check wiring of motor encoder index signal.

Bad encoder Auxiliary Encoder state error 21 The auxiliary encoder encountered an illegal transition

Motor Thermal Protection Fault

The internal filter protecting the motor from overheating has tripped.

1PM Thermal Protection Fault

The internal filter protecting the 1PM at slow speed has tripped.

Excess Velocity Error

Velocity exceeded allowable range. Bad encoder

Commutation Angle Error RESERVED RESERVED No Motor Selected

26
27 28 No motor was selected when the drive was enabled. Select a motor before enabling the drive.

Maintenance and Troubleshooting

11-225

Problem or Symptom Motor Information Missing

Error Code 29

Possible Cause(s) The motor number is referencing a motor that is not currently in the drive.

Action/Solution Select a motor that is in the drive. Update the motor tables in the drive (contact the factory). Call the factory.

RESERVED

30-99

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

11-226

Maintenance and Troubleshooting

RS-232 Communication

Test

This test verifies communications between an Centurion DSM Drive and a personal computer by connecting the XMT pin to the RCV pin. The jumper bypasses the potentially defective cable and remote unit. Test equipment requirements
G

are:

A PC running DSMPro The Terminal mode available in Microsoft@ WlndowsT~.

1. Close all DSMPro windows.

2. Select Communication

from DSMPro and verify your communication

settings.

3. Verify the communication cable pin out and check cable continuity. Refer to RS-232 Connection Diagrams on page 6-124. 4. If the communication
A.

cable is OK, do the following: cable from the drive (but leave the cable connected

Disconnect the communication to the PC).

B. Jumper pins 2 and 3 on the D connector of the communication C. Close and exit from DSMPro.

cable.

D. Select the Terminal from the Program Manager (Terminal is usually in the

Accessories group).
E.
Select Settings from the Main menu:

Select Terminal Emulation from the drop down menu, Choose DEC VT-100,
Choose OK to close the dialog box.

Maintenance and Troubleshooting

11-227

Select Settings from the Main menu -

Select Communications from the drop down menu Choose COM1 (or the number of the communication to) from the Connections sliding list, Set Baud Rate to 9600 Set Data Bits to 8 Set Stop Bits to 1 Set Parity to NONE Set Flow Control to XON/XOFF Choose OK to close the dialog box.

port the drive is connected

5. Type any character on the keyboard. The character should echo back on the screen. If you seethe character on the screen remove the jumper between pins 2 and 3, close the Windows Terminal and restart DSMPro. If the character does not echo back on the screen, do the following: .
G

Disconnect the cable from your PC. Jumper Pins 2 and 3 on the communication Type any character on the keyboard. port of the PC.

If the character echoes back, the communication port is OK and the cable or the connectors are defective. Replace the communication cable assembly. If the character did not echo back, the communication port is defective. Replace the communication port.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

11-228

Maintenance and Troubleshooting

Testing Digital Outputs

This test verifies the functionality Test equipment requirements
G

of the selectable outputs.

are:

A PC running DSMPro A multimeter.

This test assumes there are no error codes displayed, and the I/O power supply (internal for DSM1 10, 120, 130 or 175 and external for DSM 007, 007P,015, 01 5P, 030 or 030P) for the drive is connected correctly.

NOTE: Disconnecttheoutputsfrom performing this test.

anyextemalhardwarewhile

1. Disable the drive by opening the switch connecting

J1 -26 and JI -20.

2. From the Drive Window select the Output Diagnostics command icon. 3. Verify each of the Digital Outputs in the Output Diagnostics window registers the appropriate readings on a multimeter when the following values are set:

NOTE: This test assumes that I/O power is 24 VDC.

Drive Ready box, then measure the resistance between J 1-24 and J1 -25. If the box is checked, the resistance should read approximately 1 Ohm. If the box is not checked, the resistance should read very high (7 1 MOhm).

B. Brake Enable box, then measure the resistance between J1 -49 and J1 -50.

If the box is checked, the resistance should read approximately 10hm. If the box is not checked, the resistance should be very high (> 1 MOhm).

Maintenance and Troubleshooting

11-229

Aloadis necessary totestthe transistor outputs listed below. Al kOhm resistor may be connected from the transistor output (Jl -42, J 1-43, J 1-44 or J 1-45) to the 1/ O COM (Jl -6). C. Digital Output 1, then measure the voltage between J1 -42 and J1 -13. If the box is checked, the voltmeter should read approximately +24 VDC. If the box is not checked, the voltmeter should read approximately O VDC.

D. Digital Output 2, then measure the voltage between J1 -43 and J1 -13.

If the box is checked, the voltmeter should read approximately

+24 VDC. O VDC.

If the box is not checked, the voltmeter should read approximately

4. After the test has been completed you may select Close to exit Output Diagnostics window.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

11-230

Maintenance and Troubleshooting

Testing Digital Inputs

This test verifies the functionality of the selectable inputs.

F
G

NOTE: This test assumes that I/O power is 24 VDC. are:

Test equipment requirements A PC running DSMPro A jumper wire. .

It assumes there are no error codes displayed, and the 24V power supply is connected correctly.
1. Disable the drive by opening the switch connecting

J1-26 and J1-20.

2. Choose the uO Display command icon from the Drive Window.

Connect J 1-20 to J 1-26. The Enable indicator activates.

B. Connect J 1-21 to J 1-26. The Reset Faults indicator activates.

C. ConnectJ1-31

to J 1-26. The Input 1 indicator activates.

D. Connect J 1-32 to J1 -26. The Input 2 indicator activates. E. Connect J1 -33 to J1 -26. The Input 3 indicator activates.

3. Choose Close to exit the l/O Display window.

Maintenance and Troubleshooting

11-231

Testing Analog Output

The following tests verify the functionality of the analog outputs.

NOTE: This test assumes that I/O power is 24 VDC. are:

Test equipment requirements A PC running DSMPro A voltmeter. .

Testing Analog Output 1

1. Disable the drive, by opening the connections

between the ENABLE input and the l/O

Power (1/0 PWR).

2. Disconnect

the connections toJ1-31. icon from the Drive Window. window select Analog Output 1.

3. Select Output Diagnostics

4. From the Output Diagnostics

5. Enter 1000 in the D/A level box. 6. Connect a DC voltmeter across analog test points J1 -31 and JI -28. The meter should

read approximately

1 Vdc.

7. Repeat step using different positive or negative values for the D/A Level. Verify the

meter reads the values you enter.

installation

Manual for Models DSM 007, DSM 015 and DSM 030

11-232

Maintenance and Troubleshooting

Testing Analog Input

The following test verifies the functionality of the analog input.

The tests require: .

NOTE: This test assumes that I/O power is 24 VDC.

a PC running DSMPro, and a 10 kOhm potentiometer.

Testing the Current Limit Input

1. Verify the accuracy of the potentiometer

with an ohmmeter before installing.

2. Disable the drive by opening the connections between the ENABLE input and the I/O Power (1/0 PWR). 3. Disconnect the connections to J1 -27 and J1-28. 4. Connect the 10K potentiometer between J1 -27 and J1-28. Refer to J 1- Controller on page 6-81 for a diagram showing the location of the pins. 5. Choose the Drive ~gnals command icon from DSMPro.

6. Choose set Up, if the Drive Signals Set Up window is not already active. 7. Choose Current - Input Limit + as the analog signal. 8. Choose OK to close the Set Up window and activate the Drive Signals window. 9. Slowly adjust the potentiometer while viewing the Drive Signals window. The Current - Input Limit + value should update as the potentiometer is adjusted.

Maintenance and Troubleshooting

11233

Testing Encoder Inputs

The following test verifies both reception and transmission of the line count from an encoder by the drive. E The tests require: . . A PC running DSMPro, and A motor encoder.
Inputs

NOTE: This test assumes that I/O power is 24 VDC.

Testing Encoder

1. Disable the drive by opening the connections between the ENABLE input and 1/0 Power

(1/0 PWR). 2. Choose the Drive Set Up command icon from DSMPro. 3. Choose
Divide by 1 as

the Motor Encoder Output Signal.

4. Make the following hardware connections: . . Connect the motor encoder to J2. Jumper the Auxiliary Encoder Inputs to the Motor Encoder Outputs by connecting the following pins: J1-7to Jl-14 J1-8to Jl-15 J1-9to Jl-16 5. Choose the Encoder
Diagnostics

J1-lOto Jl-17 J1-11 to J1-18 J1-12to Jl-19 command icon from DSMPro.

6. Choose Zero Count for both the Motor Encoder and Master Position Input. 7. Slowly rotate the encoder shaft by hand while observing the counts for both the Motor Encoder and Master Position Input. The Motor Encoder and Master Position Input line counts should be equal.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

11234

Maintenance and Troubleshooting

Options and Accessories

Centurion DSM Drives conformance
1. Installation

to the European Union Directives is contingent on:

of AC line filters between the power source and the drive, and

2. Use of factory supplied cables to connect FSM, HSM, NSM, SSM, or YSM Series motors

to a drive. Diagrams and schematics for all Giddings & Lewis cables are shown in Cable Diagrams, Schematics and Examples, beginning on page B-245.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

A-236

Options and Accessories

Centurion DSM Drives

Description DSM 007 DSM O07P DSM 015 DSM 015P DSM 030 DSM )30P DSM 10 DSM 20 DSM 30 DSM 75 DSMI150 500 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 500 Watt Universal Indexing Drive, single phase 100-240 VAC @ 50/60 Hz 1000 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 1000 Watt Universal Indexing Drive, single phase 100-240 VAC @ 50/60 Hz 2000 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 2000 Watt Universal Indexing Drive, single phase 100-240 VAC @ 50/60 Hz 1000 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 2000 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 3000 Watt Universal Drive, single phase 100-240 VAC @ 50/60 Hz 7500 Watt Universal Drive, single or three phase 100-240 VAC @ 50/60 Hz 15000 Watt Universal Drive, three phase 100-240 VAC @ 50/60 Hz

Fuses
Description 1 Ampere, fast acting, inline for DSMIIO, (Littelfuse R451 001, or equivalent) 120, 130, 175, or 1150 Part Number 0006-9071-001 0006-9070-001

Fuse for DSMI 10, 120, 130 or 175 External Shunt Resistor (Littelfuse CCMR-4.5 or equivalent)

Options and Accessories

A-237

Options and Accessories

Description TouchPad AC Line Filter for DSM 007 or O07P (6 A,m~ Continuous, Single Phase) AC Line Filter for DSM 015, 015P or -110 (1O A,m~Continuous, Single Phase) AC Line Filter for DSM 030,030 AC Line Filter forDSM130 or -120 (23 A,m~ Continuous, Single Phase) Part Number 401-34405-00 401-30222-00 401-30216-00 401-30217-00 401-34418-00 401-34420-00 401-34419-00 401-34409-00

(30 ArmsContinuous, Single Phase)

phase) AC Line Filter for DSMI 75 (55 ArmsContinuous, single

AC Line Filter forDSM175 (36 ArmsContinuous, Three Phase)

JI to 50-pin Terminal Strip (Breakout Board), includes 1m (3ft) cable and mounting hardware J2 to 25-pin Terminal Strip (Breakout Board), includes 1m (3ft) cable and mounting hardware DSMI 10/120/130 Manuals TouchPad Instructions Centurion DSM Drive Installation Manual for DSM1 10, 120, 130 or 175 Centurion DSM Drive Installation Manual for DSM 007, 007P, 015,015P, or 030P 030 External Shunt Resistor

401-34408-00
401-34308-00

108-31019-00 108-30083-00 108-31017-00

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

A-238

Options and Accessories

Interface Cables
Diagrams and schematics for these cables are shown beginning on page B-246.
Description JI to customer supplied connector (no connector) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) J3 to customer supplied connector (no connector)
(DSM-O1O, -020,-030 and-075 only)

Part Number 401-34411-10 401-34411-25 401-34411-50 401-34411-75 401-34410-10 401-34410-25 401-34410-50 401-34410-75

3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft)

Serial Interface Cables

Diagrams and schematics for these cables are shown beginning on page B-249.
Description J4/J5 to PC [RS-232] (9 pin D-shell connector) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) J4/J5 to customer supplied connector (no connector) 3m(10ft) 7.6 m (25 ft) 15m(50ft) J41J5 to J41J5 four wire RS-485 communications 1m (3ft) Part Number 502-04020-10 502-04020-25 502-04020-50 401-34423-10 401-34423-25 401-34423-50 502-04021-01

Options and Accessories

A-239

Encoder Feedback Cables

Diagrams and schematics for these cables are shown beginning on page -253.
Description FSM, HSM or SSM Series Motors to customer supplied connector (i.e., no connector) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft)
(DSM 007,015 and 030 requ;re Rev C or higher cable)

Part Number 401-34425-10 401-34425-25 401-34425-50 401-34425-75 401-34425-00 401-34407-10 401-34407-10 401-34407-10 401-34407-10 401-34407-10 401-30252-10 401-30252-25 401-30252-50 401-30252-75 401-30252-00 401-30231-10 401-30231-25 401-30231-50 401-30231-75 401-30231-00 401-30253-10 401-30253-25 401-30253-50 401-30253-75 401-30253-00 401-30233-02

23 m (75 ft) 30 m (100 ft) 3m(10ft) 7.6 m (25 ft) 15m(50ft)

(DSM 007, 015 and 030 require Rev C or higher cable)

FSM, HSM or SSM Series Motors to J2

(DSM 007,015 (DSM 007,015

and 030 requ,re Rev C or higher cable) and 030 require Rev C or higher cable)

23 m (75 ft) 30 m (100 ft) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30 m (100 ft)

NSM Series Motors to customer supplied connector (no connector)

NSM Series Motors to J2

3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30 m (100 ft)

YSM Series Motors to customer supplied connector (no connector)

3m(10ft)

7.6 m (25 ft) 15 m (50 ft)

(DSM 007, 015 and 030 require Rev C or higher cable) ((DSM 007, 015 and 030 require Rev C or higher cable)

23 m (75 ft) 30 m (100 ft) 0.6 m (2 ft)

YSM Series Mvtors to JZ

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

A-240

Options and Accessories

Description 3m(10ft) 7.6 m (25 ft) 15 n-l(50 ft)

(DSM-005, -009 and -019 require Rev D or higher cable)

Part Number 401-30233-10 401-30233-25 401-30233-50 401-30233-75 401-34424-10 401-34424-25 401-34424-50 401-34424-75 401-34424-00

23 m (75 ft) 3m(10ft) 7.6 m (25 ft) 15m(50ft)

J2 to customer supplied connector (no connector)

(DSM 007,015 (DSM 007,075

and 030 require Rev C or higher cable) and 030 require Rev C or higher cable)

23 m (75 ft) 30 m (100 ft)

Options and Accessories

A241

Motor Power Cables

Diagrams and schematics for these cables are shown beginning on page -259.
Description Drive to 2000 or 3000 Motors (HSM or SSM Series) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30 m (100ft) Drive to 4000 Motors (FSM, HSM or SSM Sefies) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30 m (100ft) DSM130 or DSM175 to 6000 Motors (FSM, HSM or SSM Series) 3m(10ft) 7.6 m (25 ft) 15m(50ft) 23 m (75 ft) 30m(100ft) DSM 1150 to 6000 Motors (FSM, HSM or SSM Series) 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30m(100ft) DSM 1150 to 8000 Motors (FSM, HSM or SSM Series) 3m(10ft) 7.6 m (25 ft) 15m(50ft) 23 m (75 ft) 30m(100 Drive to NSM Series Motors 3m(10ft) 7.6 m (25 ft) ft) Part Number 401-34413-10 401-34413-25 401-34413-50 401-34413-75 401-34413-00 401-34414-10 401-34414-25 401-34414-50 401-34414-75 401-34414-00 401-34415-10 401-34415-25 401-34415-50 401-34415-75 401-34415-00 401-34416-10 401-34416-25 401-34416-50 401-34416-75 401-34416-00 401-34417-10 401-34417-25 401-34417-50 401-34417-75 401-34417-00 401-30230-10 401-30230-25

InstallationManual for Models DSM 007, DSM 015 and DSM 030

A-242

O~tions and Accessories

Description 15 m (50 ft) 23 m (75 ft) 30 m (100ft) Drive to YSM Series Motors 3m(10ft) 7.6 m (25 ft) 15 m (50 ft) 23 m (75 ft) 30 m (100ft)

Part Number 401-30230-50 401-30230-75 401-30230-00 401-30232-10 401-30232-25 401-30232-50 401-30232-75 401-30232-00

Connector

Kits

Connector kits provide the ability to construct custom length cables. Kits are available for al} Centurion DSM Drive connectors. Each kit consists of the appropriate 3M connector with the corresponding plastic backshell, and instructions.
Connector JI J2 J3 J4 or J5 Type 50 pin mini D-shell, 24-30 AWG cable solder cup, squeeze latch 20 pin mini D-shell, 24-30 AWG cable solder cup, squeeze latch 26 pin mini D-shell, 24-30 AWG cable solder cup, squeeze latch 9 pin D-shell for RS-232 or RS-485 Part Number 401-56489-00 401-56490-00 401-56491-00 401-56492-00

Options and Accessories

A-243

Mating Connectors
The following connectors are listed solely to provide a cross-reference of mating connectors for the J 1, J2 or J3 connectors on the Centurion DSM Drives. Centurion DSM Drive conformance to the European EMC Directive is contingent on the use of Giddings & Lewis cables. These connectors are not available from Giddings & Lewis. Please contact the manufacturer or a distributor for additional information. Manufacturer phone numbers are: 3M 1-800225-5373 and AMP 1-800-522-6752
DDM JI Mating Connector AMP 2-175677-7 Mating Backshell AMP 176793-7 Description 50-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Plastic Backshell, Squeeze Latch 50-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Metal Backshell, Squeeze Latch 50-pin Mini D Ribbon, 24-30 AWG, Solder Cup, Plastic Backshell, Squeeze Latch 20-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Plastic Backshell, Squeeze Latch 20-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Metal Backshell, Squeeze Latch 20-pin Mini D Ribbon, 24-30 AWG, Solder Cup, Plastic Backshell, Squeeze Latch 26-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Plastic Backshell, Squeeze Latch 26-pin Mini D Ribbon, 28-30 AWG, Insulation Displacement, Metal Backshell, Squeeze Latch 26-pin Mini D Ribbon, 24-30 AWG, Solder Cup, Plastic Backshell, Squeeze Latch
3&329

3M 10150-6000EC1

3M 10350-A200-00

3M 10150-3000VE J2 AMP 2-175677-2

3M 10350-52FO008 AMP 176793-2

3M 10120-6000EC1

3M 10320-A200-00

3M 10120-3000VE J3 AMP 2-175677-4

3M 10320-52FO008 AMP 176793-4

3M 10126-6000EC1

3M 10326-A200-00

3M 10126-3000VE 1. For ;e with MDR Hand Pre$

3M 10326-52FO008
rool Kit, 3M part numb(

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

A-244

Options and Accessories

Cable Diagrams, Schematics and Examples

Factory supplied cables allow Centurion DSM Drives to conform to the European Union Directives when connecting the drive to motors, controllers or computers. The following diagrams provide information on the cables available from the factory. Refer to the Appendix, Options and Accessories on page A-235 for ordering information. The information below applies to all factory supplied cables. . . Wire Insulation Type: Polyvinyl Chloride Conductor size: 0.08 mm2 (28 AWG) tinned copper, except as noted below. [0.25 mm2 (24 AWG) on 502-04020-XX, 502-0402-XX and 401 -34423-XX] [1.5 mm2(16 AWG) on 401 -34413-XX and 401 -30232-XX] [2.5 mm2 (14 AWG) on 401 -34414-XX] [6 mm2 (10 AWG) on 401-3441 5-XX] Braid Shield Coverage: 85% minimum Jacket Material: Thermoplastic elastomer Moldings: 105C (221 F) Black PVC Flex Rating: 1,000,000 cycles Minimum Bend Radius
Control Cables Connector Controller (J I ) Encoder (J2) millimeters (inches) 171.45 (6.75) 129.54 (5.10) Motor Power Cables Cable 401-3441 3-xx 401-3441 4-xx 401-3441 5-xx millimeters (inches) 50.80 (2.0) 57.15 (2.25) 76.20 (3.0)

. . . . .

. .

Cables are manufactured to inch dimensions. Millimeter dimensions are approximate conversions from inches. Alternate field wiring diagram for FSM, HSM, or NSM Series encoder cables is shown below
K , L M

E
8 DE NOTES TWISTED

AWm

P&l R

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-246

Cable Diagrams, Schematics and Examples

Interface Cables
Figure B.1 J1 to J3 Interface Cable (P/N 401-34422)

,,2,

.* 70 \\
7-

YQ <

\ % &
,
,s,

..mv.z=$%a%=
I (

.._
F-=6
-w0e=?.w

d.
Fmllm

r
I

Etm

Cable Diagrams, Schematics and Examples

B-247

Figure B.2 J1 to No Connector

Interface Cable (P/N 401-34411)

, - /
m.,,
0.4,

/217

W+lnwfm

g
CCNNECRX

[Link]

MCKS+ELL

?+IHLED

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-248

Cable Diagrams, Schematics and Examples

B-249

Serial Interface Cables

Figure B.3 J5 to 9-pin D-Shell Interface Diagram (P/N 502-04020)

uNITI#Sm

PM6 Wlsm

m
0 ... . ,,

, -m
. . -

.s ..,.* mw
,. .. Vrrwl

(.x=

{r-

Ld mm.

8 -. w

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B250

Cable Diagrams, Schematics and Examples

Figure B.4 J5 to J5 Serial Interface Cable (P/N 502-04021)

L
d

FiNllh%END

e %
7 2 3 ,,, ,/. .,. ,,. .,. 2 3 , ,

FWl~&ND

WC .,. .,.

FW61HSEND

5 6 ,

.,. I Y . \/

.,. 9

8 -mnEcloR-.-w McT#,wq

Cable Diagrams, Schematics and Examples

B251

Figure B.5 J5 to No Connector Serial Interface Cable (P/N 401-34423)

1
PIN 1 IHIS END \.,

n
(

BWK

n
r

PIN 6 R-l-SEND

m
0 . . . . .
POSITICU! WmH MaLE 45? PIN ,D,-SUB (FACE VIEW)

/ 1,

A
/\ 1

wallwBLAcx

PUJ6

CONTACTS

H
8

[Link],m,

CONNECT9R [Link] SHIELDED 360?

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-252

Cable Diagrams, Schematics and Examples

B-253

Encoder Feedback Cables

Figure B.6 FSM, HSM or SSM Series Motors to No Connector Cable (P/N 401-34425) Encoder

F --

installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-254

Cable Diagrams, Schematics and Examples

Figure B.7 J2 to FSM, HSM or SSM Series Encoder Cable (P/N 401-4407)

T
1
K J L M

wRT*MDFfv

W+I+,

E??JAIM

mm
Win

A B ~ y ..

* 20#..fs 7 *

w,-.

Ccullm

IFACEWEWJ

Cable Diagrams, Schematics and Examples

B-255

Figure B.8 J2 to YSM Series Encoder Cable (P/N 401 -30233)

AK
,63 / /

,24

PM 1 MS

END

... .. %.. 0
.o# . ... . . . .

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B256

Cable Diagrams, Schematics and Examples

Figure B.9 No Connector to YSM Series Encoder Cable (P/N 401-30253)

819===

WRltw

DlaGlwd

. . O
,...e#.e# , . . . . %.. .# -.. *

8-m.

Cable Diagrams, Schematics and Examples

B257

Figure B.1O J2 to No Connector

Encoder Cable (P/N 401-34424)

Fm, w,ta

ORANGE f W?llTEfOR#NQE

(28 AM) (28 AW13)

16 1,

BROWN (28AWQ) (
WMTVBRONW (28 AWG)

NR Z
n

17 18

I
II

WFITEMOLET
(2,s AWL3) QRAIN

VIG+El (20 AW9)

I I II

,,
.

*N-

8
-w

m
,.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-258

Cable Diagrams, Schematics and Examples

B-259

Motor Power Cables

DANGER Shielded power cables must be grounded at a minimum of one point for safety. Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it.

Figure B.11 200 or 300 FSM, HSM or SSM Series Power Cable (P/N 4013441 3)
MRN5

,4*IB ,8*U3

L625.l@ 7,2s .1{4

::=

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-260

Cable Diagrams, Schematics and Examples

Figure B.12 400 FSM, HSM or SSM Series Power Cable (P/N 401-34414 or 401-30273)

-.,
-

d *1M

Cable Diagrams, Schematics and Examples

B-261

Figure B.13 6000 FSM, HSM or SSM Series Power Cable (P/N 401-34415)

F
ctwEcmR \
v

IL..,-

I 71- I
IuLmraa

-1

t-->~~l
,,,

I IU II IIIUL I .,

l----s
7,26 +1,4

1
A*,ia
*1M

.,8

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-262

Cable Diagrams, Schematics and Examples

Figure B.14 YSM Series Power Cable (P/N 401-30232)

I
.4

?.12

.8 ,.12

WIRIWG

D1AG3uJ4

5 6 N/C

QWEN{YELLW >

9 POSITIW CECSHELL SIZE 13 WITH FsCONTACTS

(FACE VIEW)

7 a 9 WC

BLACK

[Link]

*7 WI+

BLACKPRINT8D +9
3+

Cable Diagrams, Schematics and Examples

B-263

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-264

Cable Diagrams, Schematics and Examples

B-265

Cabling Examples
Figure B.15 FSM, HSM or SSM Series Motors to Centurion DSM Drive

Enclosure/Cabine~

FSM,

HSM or SSM Series

Motor

Encoder Connector -

I H ;;

I \

Y
NOTES:

Mot~

This wiring method should be used to run cables through a bulkhead Cable 401-34407-XXX has connectors on both ends. The connectors

or enclosure

without removing

the connectors.

are molded and potted to the cable and may not be disassembled.

Adaptor Kit 401-34409 includes the 3 foot cable, screw termmal strip and mountmg bracket. The cable has a 50-pin Mini D ribbon connector at the drive end and a 50-pin D connector at the terminal strip end. Motor Power Cables - Use Centurion DSM Drive cables !f the CE Mark is required. DSIOO/200 cables maybe used if the CE Mark is not an issue. In either case, the shield on the motorpo wer cable must be propedy grounded at both ends; the shiald is grounded at the motor end when the MS connector is mated.

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B-266

Cable Diagrams, Schematics and Examples

Figure B.16 FSM, HSM or SSM Series Motors to Centurion DSM Drive us~ng P2 Terminal Strip En~os<re/Cab%e~ 1 FSM, HSM or SSM Series Motor

!k
EncoderConnector a rl-

1
I I

,8
--

Motor Power Connector

o~Screw Terminal

Strip ~

$~ggg:eld
ground terminal

I
I
Cable I

Motor Power

NOTES:
Th!s wiring method provides the option to run cables tfrrough a restrictive bulkhead or enclosure. Cable 4001.34425-XXX haa a connectors on the motor end only The cable connector is molded and potted to the cable and may not be disassembled. Refer to the schematic for cable 401.34407-XXX for information on wiring this cable to the J2 Termmel Strip. Adaptor Kit 401-34409 includes the 3 foot cabia,screwterm;nal strip and mount;ng bracket. end and a 50-pin D connector at the terminal strip end. Adaptor Kit 401-34408 includes the 3 foot cable, screw terminal strip and mounting drive and and a 20-pin D connector at tha terminal strip end. bracket. The cable has a 50-pin Mini D ribbon connector at the drive The cable has a 20-pin Mini D Ribbon connector at the

Motor Power Cab/es - Usa Centurion DSM Driva cab/es if the GE Mark is required. Digits/ Semo Drive-200/500 Series cab/es may be used if the CE Mark ia not an issue. In either case, tfre shield on the motor power cable must be propady grounded at both ends; the shield is grounded at the motor end when the MS connector is mated.

Cable Diagrams, Schematics and Examples

B-267

Figure B.17 YSM Series Motors to Centurion

DSM Drive Drive

Enclosure/Cabinet

1 I

YSM

Series Motor

,, I

Encoder Connectors

7
u r- +

CPC connectors

Motor Power connectors

l-r-n

Screw Terminal Strip >

Clamp exposed ;jf~j$~;ed

k
to the cable

o _ A

Pigtail cable to machine chassis ground

4!31-30939

I J

NOTES:
This wiring method should be used
Cable

to run cables through a bulkhead or enclosure wthout removing the connectors.

ends. The connectors
em molded

407-30233-XXX [Link] WIboth

end potted

.nd

rney net be [Link]

Adaptor Kit 401-34409 includes the 3 foot cable, screw terminal strip and mounting end and a 50-pin D connector at the terminal strip end.

bracket. The cable has a 50-pin Mim D r;bbon connector at the drive

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

B268

Cable Diagrams, Schematics and Examples

Figure B.18 YSM Series Motors to Centurion DSM Drive using P2 Terminal Strip

Enclos;re/Cabinet

1, 1 I I I
Encoder Connectors 401-30253-XXX Screw Terminal Strip ~ ..y\j @llwl@@@@@@@@@@@ l! m :; _

YSM

Series Motor

IH
K

CPC connectors

~~,E:&\:
Screw Terminal Strip I

Motor Power connectors

Pigtail cable to machine chassis ground

NOTES:
This wiring method provides Cable 401-30253-XXX Refer to the schematic the option to run cables through a restrictive bulkhead or enclosure. has a connector on the motor end only The cabie connector is molded and potted to the cable and may not be disassembled. for cable 401.30233-XXX for information on wiring this cable to the J2 Terminal Stdp. bracket. The cable has a 50-pin Mini D ribbon connector at the drive bracket. The cable has a 20-pin Mini D Ribbon connector at the

Adaptor Kit 401-34409 includes the 3 foot csble, screw terminal strip and mounting end and a 50-pin D connector at the terminal strig end. Adaptor Kit 401-34408 includes the 3 foot cable, screw terminal strip and mounting drive end and a 20-pin D connector at the terminal strip end.

TouchPad Instructions
Introduction

The optional TouchPad is a compact and rugged device for interfacing with Centurion DSM Drives. It provides the operator with a convenient device for accessing status information, program variables, and control functions, plus message display capabilities on any Centurion DSM Drive. An 8-character dot matrix display and a sealed-membrane type keyboard are housed in a compact case. A locking tab and a single 9-pin D shell serial connector on the backpanel connects the TouchPad to any Centurion DSM Drive via four-wire RS-485 communications. Four cursor keys and a Mode/Enter key provide access to the TouchPad menus and enable the user to select and change parameters, activate commands, and monitor drive variables. The TouchPad also allows the user to display drive status and diagnostic information, and to control functions, such as distances, speeds, and other alphanumeric data.

Installation and Operation

1. Power down the drive.

2. Plug the TouchPad into the serial port on the Centurion DSM Drive by latching the tab into the drive and then mating the connector as shown.
Figure C.1 TouchPad Connection
1. Insert 2. Mate serial connectors e

and Pinouts

~ * ~ti;y M i %%%$3%: $~y%~i lns+5 n 3 $

Pin5 ;;;
Pin 1

3. Power-up the drive. Installing the TouchPad defaults the drive to the following settings:
G G

Address O 19200 Baud

G G

8 Data bits 1 stop bit

Installation

G G

No Parity bit

Manual for Models DSM 007, DSM015

and DSM 030

C-270

Touch Pad Instructions

The personality module settings stored in the drive are not affected by the installation or removal of the TouchPad. 4. Verify the Ver##.## displayed is correct at power-up. The version number designates the type of drive and its firmware level. Figure C.2explains this display.
Figure C.2 TouchPad Version Number Display

--- Drive Type: 1 = DSMIIO, DSM120, DSM130 or DSM175 2 = DSM 007, DSM 015 or DSM 030 Firmware Level: 1.00 = Version 1.00 [Link]= Version 1.10 2.00 = Version 2.00 (Indexing capable)

If you are referring to the TouchPad Command Tree card, verify the version number display and the Drive Type and Firmware Version of the card are the same.
5. After self-test is completed, the TouchPad display defaults to the branch title DRVSETUP. 6. Horizontal
and vertical movement through the TouchPad Command Tree and parameter modification is explained below. The TouchPad Command Tree on page C-274 depicts the structure of the TouchPad Command Tree.

TouchPad Commands
Commands are entered by pressing operation are available. Parameter Command Tree to each parameter. parameter, often while the drive is a single key or combination of keys. Two modes of mode allows you to move through the TouchPad Modify mode allows you to monitor and change each operational.

The Parameter mode displays for the TouchPad Command Tree are depicted on the Supplemental Instructions on page C-272.

TouchPad Instructions

C-271

Key

Function Toggles the parameter display between the two operating modes. Parameter mode shows the abbreviated command name of the selected parameter. Refer to the TouchPad Command Tree Chart for a full text definition. Modify mode shows the setting, often a number, for the selected parameter. Key functions in each mode are explained below. Mode of Operation

Mode/Enter

Key

Parameter

Modify

Branch/Decrement

Move Left
Moves the flashing character selection to the left, advancing the level of the cursor setting. For example: 0005200 K 0005200

K
4 Left Arrow

Selects the previous branch in the command tree, or Decreases the Preset number when in Preset Drive Parameter mode.

Next Branch/Increment

Move Right
Moves the flashing character selection to the right, lowering the level of the cursor setting. For example: 0005200 K 0005200

K
Right Arrow

Selects the next branch in the

command tree, or Increases the Preset number when in Preset Drive Parameter mode.

K
v

Next Parameter Selects the next parameter down the

branch of the command tree.

Decrement

Character

Decreases the selected character(s). For example: 2 Q 1, or B K A

Down Arrow Previous Parameter Increment Character

K
A Up Arrow

Selects the next parameter up the branch of the command tree.

Increases the selected character(s). For example: 1 K 2, or A K B

Not functional in this mode.

Undo Change/Escape
Restores a changed parameter to its original setting. NOTE: This command must be performed before moving to another parameter or branch.

Up & Down Arrows

Press both keys at the

..rnefj~e

Next Mode/Last m ModeLEnter

Parameter

Next Mode
Returns the display to the Parameter mode of operation.

When displaying a parameter, enters the Modify mode of operation. When displaying a branch title, selects the last parameter modified in branch.

InstallationManual for Models DSM 007, DSM 015 and DSM 030

C-272

Touch Pad Instructions

Supplemental

Instructions

Motor Selection
Enter a Motor Identification number to load the correct motor parameters into the drive. Table C.3 on page C-279 and Table C.3 on page C-279 list the motors available in the motor table directory. Selection of a motor defines default operating parameters for the drive and motor combination.

Analog Output Scaling

Selection of Analog Output Scaling through the TouchPad requires manual input of the scaling parameters. To calculate the necessary scaling parameters, first determine the Command Source (Analog or Preset/Follower). If Analog is the Command source, then determine the Drive Mode (Velocity or Torque).

Depending on the Command Source/Drive Mode, calculate the scaling information to be input at the Analog Output Scaling display as follows:
Analog in Velocity Mode

1. Divide the desired velocity scale (rPm) by the maximum motor speed (rpm) and multiply

that value by 16383.

Analog 1. in Torque Mode

Divide the desired current scale by the lesser of the following: . Motor Continuous Current (Amps) times 3, or . Drive Rated Current (Amps) 2. Multiply that value by 8191.
PresetJFollower 1. Enter the desired position (in counts).

TouchPad Instructions

C-273

Displays
Text

A drive name longer than eight characters may require scrolling with the Left, K , arrow keys. Drive names maybe up to 32 characters in length.

K , and Right,

Flashing characters in the Modify mode display are the characters that are active. . Change the cursor position and resolution using the K and K keys. For example: If the Drv Name in the Modify mode displays InFeed with the F flashing, pressing the K key causes the first e to flash. Press the K or K keys to increment or decrement a character by scrolling through the list of valid ASCII characters. For example, If the Drv Name in the Modify mode displays lnFfed with the lowercase f is flashing, pressing the Q key causes the flashing character to decrement to e.

Numeric

Flashing characters in the Modify mode display are the numbers that are active. . Change the cursor position and resolution using the K or K key. For example: If the Over Spd in the Modify mode displays 5200 and 52 is flashing, pressing the K key causes 520 to flash. Press the K or K key to increment or decrement these numbers. For example: If the Over Spd value is 5200 and 52 is flashing, pressing the the setting to increment by 100 rpm each time the key is pressed.

K key causes

Parameter values may not exceed the maximum or minimum limits, regardless of the cursor position. For example: If the SpeedWin setting is 5000 rpm and the Maximum Speed in the motor table is 5200, pressing the K key increases the parameter to 5200 (the upper limit), but pressing the K key decrements the parameter to 4000.

The most significant digit is reserved when a parameter allows a negative (-) setting or the

parameter provides a list of possible selections. The

K or Q key toggles the minus sign.

InstallationManual for Models DSM 007, DSM 015 and DSM 030

C274

TouchPad Instructions

Figure C.3 TouchPad Command Tree

D 4 MotcKial 13v Mods DWaMcde w kmty orTorque Cmd Src ComnandSource PathSekclbm OvrdMGda Mcde GvelrKk Vele$~or Tmq.e OvrdSrc b Oiglnpl DklialInmd1
1

Motor Selecwn
seeT&b Orv Nama

K%%%

B
[Link] se Tebk Enc Out Encoder Oul~ut see Tible

[Link],ms seeTab!e Baud%l

r
Anslog

T Presets Follower

Tl Analog Position

&
Presets 0 to8

I
Presets ~ Mode

t_
~elocity I j : ~ I B 14 ~

El
FolRatio GearRah Numotk SlewEnab SlewEnable
Sekctbn

&
Ccmmand %1,
[Link] see Tabk

Cmdofaat
Command Gftsel

Accel En Acce!.s!atwm Enable Seleckm AcsalLim Arxek3ratrm Lmfl mfsw C&&j&,

SlawRate Sbw Rate Ipn&c MJlstmot Master Rot?.rnn noml orreverss >_.

BrirOalOn Hi. Delay Adii, +/-rmac BrkDaIOfl rakeDday Ihact.

+/- m,%

{
Analog Position -4

AOutlCfg W Oti 1 Cmlg see T&l. AOutlScl hel. out 1 scab

[..WJ]

Velocity Mode

I I ~
A@ogQPr6J3?~

_!
lnPosTm
In Post,. Tme

m
PosErTm
Pmtiin Emr Tm

AOutlOfa
h out 1 G+&

POaErLim Po.(LYIEm, Limk

mums

lnP%3An InPoskn Wmbw mums

1 I

Up to eight presets (O - 7) are available using K and K keys Up to nine index selections (O 9) are available using K and K keys

El
era SDeed W&

OSpdVArr

Ovmjxxd IMndw *
I Avg

Over SIXI

I
I I I
I

SpsadWm EW6dWkbw

Average Current Am

UPToS@ UPTo SPeedWt

. +1 timit

VelErTim

Vehxiy Em lime

Lm POsCumm AS 4 Limit

VelErLim Vekcii EiTor Llmt

Neg Cmnt Mm

-l

I I I

+
Indexing J

TouchPad

Instructions

C-275

soaw.,e GmblE
Seledm

TunaMods

Twmg Mm!+ 4 Path seledons

w
Amps Amo,

Current Command
I Avg Current Avers.e Am. I Peak+ + C4ment Peak Am s I PeakCurrant Peak I Limit+ + Cumnl Lint

,f@nua~Tun~g

n
[Link] Enor *
Pm MII Feecbd

ScOt Vernal
Re!ease Level Rag Rev Rea!%rGWrd

/ /
on
Setpoint index Control # Control . .
on;

Setpoint Control
or

Auto Tu;e

E3
P;;y m% Velocl~y Step Tuning Modes
t !

Stap vet step Vakdy

I I
I

I [Link] LmII Amm VelMfrFb W MIJFes&ack *

B
Pwr Rev
Power sod Rwsim Level

R&son

Level

Index Control

Assy Rev Assan74& Revnb. Level

off I

I
Veloclty Mode

Vewii Cmnnam -

Po:itlon Step

Torqus mode

L___3
1

L.l
Position Kp Gain pmfi~al Gam Kd Gain DfleIenliiGan $ ~~ $ Velocdy or Torque I

counts POaMasrr Pcmtcm Ma.%r counts Pos Cmd Post.. CcmmeJK counts POeErrcf PodkmError count, PceErPk+ + Pm Error Peak counts PeaErPkPm EnorPeak murk Indax Num Index Number i T

Velocitv Mode ( L. +L __

I I I I I I

E
+

Index c...!

bufaxCnr

ReaafPks Reset Peaks K toresa

SWErable SofiWare Enable Se16clnm RstFauff ResetFat K to~ RstDrive ~,: my

-1

EKfl Gain Feedioward G,. Ki CWn lntegrd Gan Ki Zone 31 ~

Integd Zc+ne

TouchPad Command Branch Titles

Parameters TouchPad Display _

Tree

I
NOTES: Path decisions are dependent on the specified tnput Dashed Ihnes indicate the possible paths and the parameter selection that de f[nes the path Selections in parentheses ( ) are dependent on Drive Mode setbngs: Velocity = rpm, Torque = Amps. Selections in brackets [ ] are dependent on Analog Output settings: Units = rpm, V, or Amps, I [Link] T I -

could.

Position

Velocity or Torque

*:-J selection LP!=iitBw LPRkerSamWtih n.m+rk

OwaraTitlem Settina Tvoe or Units+ Veb4iYorTow. Shading indicates availability only on T Indexing drives. m Selections mav be made from tabulated lists provided i; the /nsfa//ation kfanua/.

-..

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

C-276

Touch Pad Instructions

List

The most significant digit is reserved for an active/inactive parameter provides a list of possible selections.
G

selection marker when a

A filled arrow, ~, in the most significant digit indicates the active setting from a list of possible settings. Inactive settings are indicated by a unfilled arrow, ~. For example: If the drive is functioning as Preset Controller in the Velocity mode, pressing the K key from DRVPARAM scrolls through the CmdSrc list which includes +preSets, $AuxEnc, %tepDir, %StepU/D, and $Analog. The Mode/Enter, ~, key selects a parameter from the list. List selections that are undefined are indicated by ~ Unknown. This display indicates the TouchPad data table is incompatible with the drive.

G G

Lists are associated with all parameters, except DISPLAY and DRVINFO. Refer to the tables beginning on page C-280 for the items in each list. Table C. 17, Drive Status List for TouchPad on page C-285 is a read-onl y list, all other lists contain possible parameter selections. After an option is selected, the display reverts to the parameter from which the option was selected. For example: Selection of the EncAlign parameter under STATUS provides the options ~ Normal and ~ Align. Selection of either option returns you to the EncAlign display.

TouchPad Instructions

C277

Ratio

A FolRatio (gear ratio) longer than eight characters may require scrolling with the K and K keys. The ratios are numeric values that increment or decrement by 1 each time the K , or K , key is pressed. The method of display is dependent on the length of the ratios: . If the ratio is eight characters or less, the complete ratio is displayed. For example, a Master to Follower ratio of one-thousand to nine-hundred as 1000:900.

is displayed

If the ratio requires more than eight characters the ratio is displayed in two parts: a Master Ratio and a Follower Ratio. The position of the colon (:) after or before each numeric value indicates Master or Follower for these larger ratios. The K and K keys toggle between the Master Ratio and the Follower Ratio. For example: A Master to Follower ratio on 1001:1000 is displayed in two separate displays. The Master Ratio is displayed as 1001: and pressing K displays the Follower Ratio :1000.

Fault/Error/Warning

C. 1lists the possible fault, error and warning messages that may appear on the TouchPad. The items below describe the different types of messages.
. The TouchPad displays Fault and a description. A Fault message requires additional troubleshooting of the drive. Clear the fault display by depressing the K and K keys simultaneously. Fault codes are stored in the TouchPad parameter DrvStat and are explained with troubleshooting guidelines in Table 11.1 on page 11-220. The TouchPad alternately displays
Error and the error name.

Clear an error by pressing

the ~ .
made.

key.

The TouchPad momentarily displays and then clears a warning when an invalid entry is

InstallationManual for Models DSM 007, DSM 015 and DSM 030

C-278

TouchPad Instructions

Table C.1 TouchPad Fault/Error/Warning Display I BufOvFlo CantDo I Checksum I CmdNoEnb Level I Error

Displays

Description I Communications buffer overflowed.

Error

An invalid function type encountered in the TouchPad data table. The TouchPad data table is incorrect for the drive.

I
I
I

] Error I Error

] The checksum of thecommandis \ The command is not enabled.

in error. Information is corrupted. I

DataDisp DrvEnabl
! Fault I lnvlData

Warning Warning
! Fault I Warning

The parameter is a live data display and cannot be modified, The parameter cannot be changed while the drive is enabled. ! Drive fault detected. I Invalid data was entered for the parameter.

lnvldFn Invldf%p Lower Lim NoMemory NoRetSel OverRng RAMWrite ReadOnlV

Error Error Warning Error Warning Error Error Warning ,

Illegal function code received by drive. The Touch Pad data table is incorrect for the drive. Invalid Response received from drive. Received code did not match transmitted code. The lower limit of the parameter has been reached. TouchPad memory has been exhausted. Mode/Enter key incorrectly pressed. Value from drive is too large to display. An error was detected while writing the drives parameter memory. The parameter is Read Only and cannot be modified.

1 Timeout I UnxpChar I UpperLim

I Error I Error ] Warning

I The communications port timed out. I The communications porl received an unexpected character. ] The upper limit of the parameter has been reached.

I
I I

TouchPad Instructions

C-279

Motor Table
Table C.2 TouchPadMotor TableIdentification by Motor Series
Motor FSM430 B24 FSM460 B24 FSM490 B24
FSM61O 624 FSM820 B24 FSM620 FSM630 HSM205 HSM307 HSM320 HSM430 HSM460 HSM490 HSM490 E5800 E5000

ID 15 3 16
17 18 786 19 20 21 22 23 25 26 794

Motor HSM61O HSM620 HSM630

HSM835 HSM845 NSM2302 NSM2304 NSM3406 NSM3406 NSM3412 NSM3412 NSM4214 NSM4214 NSM4220 E5000 E5000 E5000

ID 27 28 29
30 31 335 336 81 649 82 850 83 851 84

Motor ID NSM4220 E5000 852 NSM5630 65 NSM5630 E5000 853

NSM5637 NSM5637 NSM5647 NSM5647 SSM205 SSM307 SSM320 SSM430 SSM460 SSM490 SSM670 E5000 E5000 66 854 87 855 8 4 5 9 1 2 11

Motor SSM620 SSM630 SSM835

SSM645 YSM102 115V

ID 12 6
13 14 69 68 71 70 73 72 115V 75 74 77

YSM 102230V YSM103 115v

YSM103230V YSM206 115V

YSM208230V YSM212B24

YSM2 12624 230V YSM323230V

Table C.3 TouchPad Motor Table Identification

ID
1 2 3 4 5 6 8 9 11 72 13 14 15 16

by Motor ID
ID
66 69 70 71 72 73 74 75 77 81 82 83 64 85

Motor
SSM460 SSM490 FSM460 B24 SSM307 SSM320 SSM630 SSM205 SSM430 SSM810 SSM620 SSM835 SSM845 FSM430 B24 17 18 19 20 21 22 23 25 28 27 28 29 30 31

Motor
FSM61O B24 FSM620 FSM630 HSM205 HSM307 HSM320 HSM430 HSM460 HSM490 HSM61O HSM620 HSM630 HSM835 HSM845 B24

Motor
YSM 102230V YSM102 115V 86 87 335 336 786 794 849 850 851 852 653 854 855

Motor
NSM5637 NSM5647 NSM2302 NSM2304 FSM620 HSM480 NSM3406 NSM3412 NSM4214 NSM4220 NSM5630 NSM5637 NSM5647 E5000 E5000 E5000 E5000 E5000 E5000 E5000 E5000 E5000

YSM103230V YSMI03 l~5V

YSM206230V YSM206 115V 230V f15V

YSM212B24 YSM212B24 YSM323230V NSM3406 NSM3412 NSM4214 NSM4220 NSM5830

FSM490 B24

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

C280

TouchPad Instructions

TouchPad Options and Lists

Table C.4 Option Selections DRVPARM Parameter AccelEn SlewEnab I OverRd STATUS Parameter SWEnable EncAlign RmvOfst Options Enable/Disable Normal/Align Parameter SWEnable Start Options Enable/Disable Enable/Dkable Enable/Disable CTLPANEL Options Enable/Disable Normal/CtlPanel Parameter SWEnable for the TouchPad TUNING Options Enable/Disable

to Rmv

TouchPad Lists
Table C.5 Drive Communications Display 00 01 02 03 04 Parameter 7 Data Bits, 1 Stop Bit, Even Parity 7 Data Bits, 1 Stop Bit, Odd Parity 8 Data Bits, 1 Stop Bit, No Parity 8 Data Bits, 1 Stop Bit, Even Parity 8 Data Bits, 1 Stop Bit, Odd Parity List for TouchPad Parameter List for the TouchPad

Table C.6 Baud Rate Parameter Display 00 01 02 03 04 Parameter 1200 Baud 2400 Baud 4800 Baud 9600 Baud

19200 Baud

TouchPad Instructions

C-281

Table C.7 Encoder Output Parameter List for TouchPad Display +-byl +-by2 +by4 +by8 Parameter Divide Encoder counts by 1 Divide Encoder counts by 2 Divide Encoder counts by 4 Divide Encoder counts by 8

Table C.8 10 Mode Parameter List for TouchPad \ Display Inc Abs Reg a. Parameters Parametera Incremental Indexing Absolute Indexing Registration Indexing

available only if the drive supports

Indexing.
Table C.9 Index Pointer Parameter List for TouchPad Display Parametera Index O Index 1 Index 2 Index 3 Index 4 Index 5 Index 6 Index 7 RAM Index

00
01 02 03 04 05 06 07 08

a. Parameters Indexing.

available only if the drive supports

Installation

Manual for Models DSM 007, DSM015

and DSM 030

C-282

Touch Pad instructions

Table C.1 O Index Termination Display Stop NxtlNow NxtlWt

Parameter

List for TouchPad

Parametera stop Start another Index immediately Start another Index at next Start Index transition

a. Parameters available only if the drive supports Indexing. Table C.11 Home Type Parameter Display Parametera Home to Sensor, then to Marker Home to Marker Home to Sensor List for TouchPad

Sns/Mrk
Marker Sensor

a. Parameters available only if the drive supports Indexing.

Table C.12 Homing Auto-Start Parameter Display Parametera List for TouchPad

Disable Enb/Rst Enable

Auto-Starl Homing inactive Auto-Start Homing if not already Homed Auto-Start on every Enable

a. Parametersavailable only if the drive supports Indexing.

Table C,l 3 Reverse Enable for Homing Display Inactive Active ParameteF No reversing if started on Sensor Reverse if started on Sensor

a. Parameters available only if the drive supports Indexing.

TouchPad Instructions

C-283

Table C.14 Digital Input Parameter List for Touch Pad Display Not Asgn DrvMode Intlnh FolEnab FwdEnab RevEnab CMD Ovrd PreSelA PreSelB PreSelC Stttlnd DefHome Registr -CmdOfs Home FaltRst Parameter Not Assigned (not used) Drive Mode Integrator Inhibit Follower Enable Forward Enable Reverse Enable Analog COMMAND Input Override

Preset Select Line A Preset Select Line B Preset Select Line C Start Index Define Home Registration/Sensor Remove Command Offset

Start Horning
Fault Reset

Table C.15 Digital Output Parameter List for TouchPad Display Not Asgn lnPos PosWin O Speed SpdWin +lLimit -lLimit UpToSpd DrvEnab Parameter Not Assigned (not used) In Position Within Position Zero Speed Speed Window Positive Current Limit Negative Current Limit Up to Speed Drive Enable

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

C-284

Touch Pad Instructions

Display BusChg Fault AtHome SeqEnd Moving In Dwell Homed

Parameter Bus Charged Disabling Fault At Home Sequence Complete In Motion In Dwell Axis Homed

Table C.16 Analog Output Parameter List for Touch Pad Display I Cmd I Avg lPeak+ lPeaklLimit+ lLimitVelMtr VelCmd VelErr PosMtr PosCmd PosErr PosEPk+ PosEPkPosMstr Parameter Current Command Average Current Command Positive Current Peak Negative Current Peak Positive Current Limit Negative Current Limit Motor Velocity Velocity Command Velocity Error Motor Position Position Command Slewed Position Error Positive Position Peak Error Negative Position Peak Error Master Position

TouchPad Instructions

C-285

Table C.17 Drive Status List for TouchPad Display DrvEnab DrvRdy +24 Fuse 5V Fuse EncFuse MtrOvT lPMFalt lMLinBk BMLinBk AMLinBk BUSOVV BusUndV llglHal Sublntr Mainlnt ExsAvgl OvSpeed ExsFErr MtrEnc MstrEnc MtrThrm lPMThrm EnNoMtr MtrType PersWrt ServWrt Parameter Drive Enabled Drive Ready +24 VDC Fuse blown
not applicable to DSM 007, DSM 0071? DSM 015, DSM O15R DSM 030 or DSM 030P

+5 VDC Fuse blown

not applicable to DSM 007, DSM 0071? DSM 015, DSM O15R DSM 030 or DSM 030P

Encoder Power Fuse blown

not applicable to DSM 007, DSM 007R DSM 015, DSM 0i5R DSM 030 or DSM 030P

Motor Thermostat Overtemperature 1PM Fault (Overtemperature/OvercurrentlShorf Channel IM Line Break Channel BM Line Break Channel AM Line Break Bus Undervoltage Bus Overvoltage Illegal Hall State Unused Interrupt - sub processor Unused Interrupt - main processor Excessive Average Current Motor Overspeed Excessive Following Error Motor Encoder State Error Auxiliary Encoder State Error Motor Thermal Protection IPM Thermal Protection No Motor Selected while enabling drive Motor Selection not in Table Personality Write Error Service Write Error Circuit)

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

C-286

TouchPad Instructions

Display CPUComm MtrOvt lPMFalt ExsVErr Comutat Not Homd

Parameter CPU Communications Error Motor Overtemperature 1PM Fault Excess Velocity Error Commutation Angle Error Axis Not Homed

NOTE: The Drive Statusdisplayis [Link] DrvRdyindicatethe drive is functional. The other displaysindicatean errorcondition. Table C.18 Input Flags Parameter Display FltRst ENABLE Inputl lnput2 lnput3 Parameter Fault Reset Input Flag Drive Enable Input Flag Input 1 Input Flag Input 2 Input Flag Input 3 Input Flag List for TouchPad

Table C.19 Output Flags Parameter List for TouchPad Display Parameter

READY BRAKE Outptl outpt2

Ready Output Flag Brake Output Flag Output 1 Flag Output 2 Flag

Electromagnetic Compatibility Guidelines for Machine Design

This appendix provides background information about Electromagnetic Interference (EMI) and machine design guidelines for Electromagnetic Compatibility (EMC). Installation requirements for compliance to the European Electromagnetic Compatibility Directive are specified in European Union Requirements on page 3-62. AC Line Filters necessary for European EMC compliance are listed in AC Line Filters on page 5-76.

Introduction
Perhaps no other subject related to the installation of industrial electronic equipment is so misunderstood as electrical noise. The subject is complex and the theory easily fills a book. This section provides guidelines that can minimize noise problems. The majority of installations do not exhibit noise problems. However, the filtering and shielding guidelines are provided as counter measures. The grounding guidelines provided below are simply good grounding practices. They should be followed in all installations, Electrical noise has two characteristics: the generation or emission of electromagnetic interference (EMI), and response or immunity to EMI. The degree to which a device does not emit EMI, and is immune to EMI is called the devices Electromagnetic Compatibi Iity (EMC). Equipment which is to be brought into the European Union legally requires a specific level of EMC. Since this applies when the equipment is brought into use, it is of considerable importance that a drive system, as a component of a machine, be correctly installed. EMI Source-Victim Model shows the commonly used EMI model. The model consists of an EMI source, a coupling mechanism and an EMI victim. Devices such as servo drives
and computers, which contain switching power supplies and microprocessors, are EMI

sources. The mechanisms for the coupling of energy between the source and victim are conduction and radiation. Victim equipment can be any electromagnetic device that is adversely affected by the EMI coupled to it.

installation

Manual for Models DSM 007, DSM 015 and DSM 030

D-288

Electromagnetic Compatibility Guidelines for Machine Design

Figure D.1 EMI Source-Victim

Model

CONDUCTED EMI SOURCE RADIATED EMI

EMI EMI VICTIM

Immunity to EMI is primarily determined by equipment design, but how you wire and ground the device is also critical to achieving EMI immunity. Therefore, it is important to select equipment that has been designed and tested for industrial environments. The EMI standards for industrial equipment include the EN61 OOO-4-X series (IEC 1000-4-X and IEC801 -X), EN55011 (CISPR11 ), ANSI C62 and C63 and MIL-STD-461. Also, in industrial environments, you should use encoders with differential driver outputs rather than single ended outputs, and digital inputs/outputs with electrical isolation, such as those provided with optocouplers. The EMI model provides only three options for eliminating the EMC problem: . .
G

m
EMI VICTIM
1 1

reduce the EMI at the source, increase the victims immunity to EMI (harden the victim), or reduce or eliminate the coupling mechanism.

In the case of servo drives, reducing the EMI source requires slowing power semiconductor switching speeds. However, this adversely affects drive performance with respect to heat dissipation and speed/torque regulation. Hardening the victim equipment may not be possible, or practical. The final, and often the most realistic solution is to reduce the coupling mechanism between the source and victim. This can be achieved by filtering, shielding and grounding.

Electromagnetic Compatibility Guidelines for Machine Design

D-289

Filtering
As mentioned above, high frequency energy can be coupled between circuits via radiation or conduction. The AC power wiring is one of the most important paths for both types of coupling mechanisms. The AC line can conduct noise into the drive from other devices, or it can conduct noise directly from the drive into other devices. It can also act as an antenna and transmit or receive radiated noise between the drive and other devices. One method to improve the EMC characteristics of a drive is to use an isolation AC power transformer to feed the amplifier its input power. This minimizes inrush currents on powerup and provides electrical isolation. In addition, it provides common mode filtering, although the effect is limited in frequency by the interwinding capacitance. Use of a Faraday shield between the windings can increase the common mode rejection bandwidth, (shield terminated to ground) or provide differential mode shielding (shield terminated to the winding).

NOTE: Common mode noise is present on all conductors referenced to ground. Differential mode noise is present on one conductor referenced to another conductor.

One alternative to AC line filters to reduce the conducted EMI emitting from the drive. This allows nearby equipment to operate undisturbed. In many cases an AC line filter will not be required unless other sensitive circuits are powered off the same AC branch circuit, The basic operating principle is to minimize the high frequency power transfer through the filter. An effective filter achieves this by using capacitors and inductors to mismatch the source impedance (AC line) and the load impedance (drive) at high frequencies. For drives brought into use in Europe, use of the correct filter is essential to meet emission requirements. Detailed information on filters is included in the manual and transformers should be used where specified in the manual.

AC Line Filter Selection

Selection of the proper filter is only the first step in reducing conducted emissions. Correct filter installation is crucial to achieving both EMI attenuation and to ensure safety. All of the following guidelines should be met for effective filter use.

Installation

Manual for ModeIs DSM 007, DSM 015 and DSM 030

D-290

Electromagnetic Compatibility Guidelines for Machine Design

1. The filter should be mounted to a grounded conductive

surface.

2. The fiker must be mounted close to the drive input terminals, particularly with higher frequency emissions (5-30 MHz). If the distance exceeds 600mm (2 feet), a strap should be used to connect the drive and filter, rather than a wire. 3. The wires connecting the AC source to the filter should be shielded from, or at least separated from the wires (or strap) connecting the drive to the filter. If the connections are not segregated from each other, then the EMI on the drive side of the filter can couple over to the source side of the filter, thereby reducing, or eliminating the filter effectiveness. The coupling mechanism can be radiation, or stray capacitance between the wires. The best method of achieving this is to mount the filter where the AC power enters the enclosure. AC Line Filter Installation shows a good installation and a poor installation.
Figure D.2 AC Line Filter Installation
POOR

GOOD

CONDUCTED

EMI DRIVE

ORIVE

AC LINE RADIATED EMI r

CONDUCTED ~

EMI 1 L

FILTER

RADIATED EMI

$ 7~:ED

AC
LINE h

FILTER

I Pr

When multiple power cables enter an enclosure, an unfiltered line can contaminate a filtered line external to-the enclosure. Therefore, all lines must be filtered to be effective. The situation is similar to a leaky boat. All the holes must be plugged to prevent sinking.
WARNING Large leakage currents exist in AC line filters. They must be grounded properly before applying power. Filter capacitors retain high voltages after power removal. Before handling the equipment, voltages should be measured to determine safe levels prior to handling the equipment. Failure to observe this precaution could result in severe bodily iniurv.

Electromagnetic Compatibility Guidelines for Machine Design

D-291

If the filter is mounted excessively far from the drive, it may be necessary to mount it to a grounded conductive surface, such as the enclosure, to establish a high frequency (HF) connection to that surface. To achieve the HF ground, direct contact between the mounting surface and the filter must be achieved. This may require removal of paint or other insulating material from the cabinet or panel. The on] y reasonable filtering at the drive output terminals is the use of inductance. Capacitors would slow the output switching and deteriorate the drive performance. A common mode choke can be used to reduce the HF voltage at the drive output. This will reduce emission coupling through the drive back to the AC line. However, the motor cable still carries a large HF voltage and current. Therefore, it is very important to segregate the motor cable from the AC power cable. More information on cable shielding and segregation is contained in the section on shielding.

Grounding
High frequency (HF) grounding is different from safety grounding. A long wire is sufficient for a safety ground, but is completely ineffective as an HF ground due to the wire inductance. As a rule of thumb, a wire has an inductance of 8 nH/in regardless of diameter. At low frequencies it acts as a constant impedance, at intermediate frequencies as an inductor, and at high frequencies as an antenna. The use of ground straps is a better alternative to wires. However the length to width ratio must be 5:1, or better yet 3:1, to remain a good high frequency connection. The ground systems primary purpose is to function as a return current path. It is commonly thought of as an equipotential circuit reference point, but different locations in a ground system may be at different potentials. This is due to the return current flowing through the ground systems finite impedance. In a sense, ground systems are the sewer systems of electronics and as such are sometimes neglected. The primary objective of a high frequency ground system is to provide a well defined path for HF currents and to minimize the loop area of the HF current paths. It is also important to separate HF grounds from sensitive circuit grounds. Single Point Ground Types shows single point grounds for both series (daisy chain) and parallel (separate) connections. A single point, parallel connected ground system is recommended.

Installation

Manual for Models DSM 007, DSM015

and DSM 030

D-292

Electromacmetic Com~atibilW Guidelines for Machine Desicm

Figure D.3 Single Point Ground Types

@@@

A ground bus bar or plane should be used as the single point where circuits are grounded. This will minimize common (ground) impedance noise coupling. The ground bus bar (GBB) should be connected to the AC ground, and if necessary, to the enclosure. All circuits or subsystems should be connected to the GBB by separate connections. These connections should be as short as possible, and straps should be used when possible. The motor ground conductor must return to the ground terminal on the drive, not the GBB.

Shielding and Segregation

The EMI radiating from the drive enclosure drops off very quickly over distance. Mounting the drive in an enclosure, such as an industrial cabinet, further reduces the radiated emissions. The cabinet should have a high frequency ground and the size of the openings should be minimized. In addition, the drive is considered an open device which does not provide the proper 1P rating for the environment in which it is installed. For this reason the enclosure must provide the necessary degree of protection. An 1P rating or Nema rating (which is si mi Iar to 1P) specifies the degree of protection that an enclosure provides. The primary propagation route for EMI emissions from a drive is through cabling. The cables conduct the EMI to other devices, and can also radiate the EMI. For this reason, cable segregation and shielding are important factors in reducing emissions. Cable shielding can also increase the level of immunity for a drive. For example:
G

Shield termination at both ends is extremely important. The common misconception that shields should be terminated at only one end originatesfrotn audio applications with frequencies <20 kHz. RF applications must be terminate the shield at both ends, and possibly at intermediate points for exceptionally long cables. When shielded cables are not terminated at the cable connection and pass through the wall of a cabinet, the shield must be bonded to the cabinet wall to prevent noise acquired inside the cabinet from radiating outside the cabinet, and vice versa.

Electromagnetic Compatibility Guidelines for Machine Design

D-293

When shielded cables are terminated to connectors, the shield must be provide complete 360 coverage and terminate through the connector backshell. The shield must not be grounded inside the connector through a drain wire. Grounding the shield inside the connector couples the noise on the shield to the signal conductors sharing the connector and virtually guarantees failure to meet European EMC requirements. The shield must be continuous. Each intermediate connector must continue the shield connection through the backshell. All cables, both power and signal, should use twisted wire pairing.

. .

The shield termination described above provides a coaxial type of configuration which provides magnetic shielding, and the shield provides a return path for HF currents that are capacitively coupled from the motor windings to the frame. If power frequency circulating currents are an issue, a 250 VAC capacitor should be used at one of the connections to block 50/60 Hz current while passing HF currents. Use of a properly shielded motor cable is essential to meet European EMC requirements. The following suggestions are recommended
1. Motor cables must have a continuous

for all installations.

shield and be terminated at both ends. The shield must connect to the ground bus bar or drive chassis at the drive end, and the motor frame at the motor end. Use of a properly shielded motor cable is essential to meet European EMC requirements.

2. Signal cables (encoder, serial, analog) should be routed away from the motor cable and power wiring. Separate steel conduit can be used to provide shielding between the signal and power wiring. Do not route signal and power wiring through common junctions or race ways. 3. Signal cables from other circuits should not pass within 300 mm (1 ft.) of the drive. 4. The length or parallel runs between other circuit cables and the motor or power cable , should be minimized. A rule of thumb is 300 mm (1 ft.) of separation for each 10 m (30 ft.) of parallel run. The 30 mm (1 ft.) separation can be reduced if the parallel run is less than 1 m (3 ft.).
5. Cable intersections

should always occur at right angles to minimize magnetic coupling.

6. The encoder mounted on the brushless servo motor should be connected to the amplifier with a cable using multiple twisted wire pairs and an overall cable shield. Encoder cables are offered in various lengths that have correct terminations.
Installation Manual for Models DSM 007, DSM 015 and DSM 030

D-294

Electromagnetic Compatibility Guidelines for Machine Design

Persistent EMI problems may require additional countermeasures. suggestions for system modification may be attempted.

The following

1. A ferrite toroid or doughnut around a signal cable may attenuate common mode noise,

particularly RS-232 communication problems. However, a ferrite toroid will not help differential mode noise. Differential mode noise requires twisted wire pairs.
2. Suppress each switched inductive device near the servo amplifier. Switch inductive

devices include solenoids, relay coils, starter coils and AC motors (such as motor driven mechanical timers).
3. DC coils should be suppressed with a free-wheeling

diode connected across the coil.

4. AC coils should be suppressed with RC filters (a 200 Ohm a 0.5 uF, 600 Volt capacitor is common).

Watt resistor in series with

Following these guidelines can minimize noise problems. However, equipment EMC performance must meet regulatory requirements in various parts of the world, specifically the European Union. Ultimately, it is the responsibility of the machine builder to ensure that the machine meets the appropriate requirements as installed.

Electromagnetic Compatibility Guidelines for Machine Design

D-295

EMC DECLARATION
Application of Council Directive(s)

OF CONFORMITY
W/336/EEC. 92/3 l/EEC, 93/fi8/liEC

Manufwhmxs Name: Manufacturers Address:

Gtddtngs & Lewis

666 South Military Road

Fond do Lac, Wisconsin 54936-1658 Gkidirgs & Lewis Randles Road, Knowsley Industrial Park Prescot,MerseysideL349EZ England

European Representative Name: European Representative Address:

Herewith declares that all servu drives listed below, Model Name DSMli(l DSM120 Parr Number 401-34400-00 401-34401-00 Model Name DSM130 DSM175 Part Number 401-34402-00 401-34403-00

when operating any of the following motor famifies, SSM, HSM, and FSM when operating with or without the optional Touch Pad, Pm 401-34405-00 and when installed in accordance with the klahlkltl instmctions contained in the Centurion DSM1OO Drive Hardware and Installation Manual, P/N 108-3OW3-OO conform to the following generic and basic stand~ds. EN55011:1993 EN 50082-2:1995 (CISPR 1) Group 1 class A EN 61000-4-2, ENV 50140, ENV 50204, EN 61000-4-4, ENV 50141, EN 61OOO-4-X

We, the undersigned, hereby declare that the equipment spccificd above conforms to the above dircctivc(s). Manufacturer I Legal Representative
in hrrqse

Place Giddings & Lewis Automation Control

I Place Giddings&LcwisKnowsley

Installation

Manual for Models DSM 007, DSM015

and DSM 030

D-296

Electromagnetic Compatibility Guidelines for Machine Design

Dynamic Braking Resistor Selection

This appendix provides equations to assist in sizing resistors for dynamic braking.

Introduction
A properly sized resistive load maybe required to dynamically brake the system by dissipating the energy stored in a motor. The section Emergency Stop Wiring on page 7135 depicts the necessary circuitry. Winding inductance is ignored in this analysis, which allows the load on the motor winding to be considered as purely resistive when dynamic braking occurs. This simplifies the evaluation to a scalar analysis, instead of a vector analysis. For simplicity, friction, damping and load torque also are ignored in the equations.

Dynamic Braking Equations

Equations for the magnitude of instantiates velocity, and per phase current, energy and power are derived by solving the differential equation governing the motor velocity. The equations are shown below.
Table E.1 Dynamic Braking Resistor Parameters Parameter i(t) E(t) Jm JL P(t) R Description Phase Current Per Phase Energy Motor Inertia Load Inertia Per Phase Power Motor Line-toLine Resistance Parameter R~ KE K~ (aO w t Description Line-Neutral Dynamic Braking Resistance Peak Line-to-Line Back EMF Peak Line-to-Line Torque Constant Initial Angular Velocity Angular Velocity T[me

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

E-298

Dynamic Braking Resistor Selection

Figure E.1 Dynamic Braking Equations

-t/t al(t) = @,)e

where ()? + 2RL)(.l~+JL)

T = 0.866
[

KEKT

(1)

K~co,,e-r~ i(t) = 0.866(R + 2RL)

()
AVE

=rL+~:)ole-2=

4[:@Je-2

For this type of response, 98% of the energy will be dissipated in 4 time constants. Therefore the average power for each dynamic braking event can be calculated as:

21 I = ~(JM + LN<I ~

()

KEKTCO:
= OlM(R +

21?J

(3)

Equation 1 is used in equations 2 and 3 to put the power in terms of the motor parameters and the dynamic braking resistance (i.e., independent of the load inertia).

Dynamic Braking Resistor Selection

E-299

Sample Calculations
The following example uses an HSM490 motor with a 10 times inertia mismatch and dynamic braking resistors sized at four times the motor winding resistance. The average power of the motor is 1116 Watts for the selected parameters, but it is unlikely that a resistor with this Wattage is required. Pulse type currents, such as this example, require sufficient thermal mass to absorb the energy and to dissipate or accommodate the peak Voltage. Adequate information for intermittent duty cycle and surge current applications is seldom provided by resistor manufacturers. However, often they will assist in resistor selection when supplied with the current profile.

NOTE: The equations using the symbol := are assigned in Mathcad@.

in MKS Units Jfl, := 0.00068

Figure E.2 HSM490 Motor Parameters KT := 0.74 R:= 0.9

KE 60 KE:= 90 KE := 2nlooo KE = 0.859

Figure E.3 Load Inertia, Dynamic Braking Resistance in MKS Units RL:=4. R .JL:= 10. J*

and Velocity

~:=30002n () 60

0)(, = 314.159

Figure E.4 Time Vector t:= 0,0.01, ...0.5

Figure E.5 ~.

time

Ccmetant

(seconds) T = 0.083

0.866(R + 2 RL) (./m +./L) KE KT

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

E-300

Dynamic Braking Resistor Selection

Figure E.6 Current Calculation t KE. o),, e (t) = 0.866(R + 2 RL)

40
,, , \\

(Amps)

i(t)20

\ ...+
\

.-_..

1.. . . . . . . .
0.1
0.2 0.3 0.4 0.5 0.6

o 0

Figure E.7 Instantaneous

Power Calculation

(Watts)

1.154 .KE. KT. (0:, P(t) := [ 1104 \

7500

(R+2.

RL)

1
e

2500 --------

... . -.. -.. ...,

. . .. .... . . . . .._., _..__,_,,___

0 0 0.05 0.1 0,15 0.2

Figure E.8 Average Power (Watts)

P uve = 1116

Specifications

Agency
UL and cUL CE mark

Approvals

UL 508C File El 5483 Low Voltage Directive and Electromagnetic Compatibility Directive Certificate of Conformity from TUV Product Service

Environmental
Operating Temperature Storage Temperature Humidity Altitude OC to 55C (32F to 131 F) -40C to 70C (-40F to 158F)
57!. to 95% non-condensing

1500 meters (5000 feet) Derate 3% for each 300 m above 1500 m (1000 ft. above 5000 ft.) 10 to 2000 Hz @ 2g 15g 11 millisecond half sine

Vibration Shock

Dielectric
Main AC

Withstanding

(Hi-Pot)

1414 (1500) VDC for 1 minute, <5mA leakage current

NOTE: Metal Oxide Varistors (MOVS) between line and earth ground must be removed when testing. Internal EMI filter capacitors require testing with DC Voltage.

Weight
DSM 007, 007P DSM 015, 015P DSM 030, 030P 1.7 Kg (3.7 Lbs) 2.05 Kg (4.5 Lbs) 2.0 Kg (4.4 Lbs)

Motor Encoder
Signal Output Power Encoder Inputs 5 Volts DC

Interface

A/B, Differential, 26LS33 input, 1 MHz (4 MHz Quadrature) Maximum Signal Frequency, 1~ Low Speed Measurement Normally closed Single-ended, 5 Volt Logic O to 5 Volt, 10-bit

Thermostat Inputs Hall Inputs ABS Input

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

F-302

Specifications

User Interface
Serial Port Status Display Addressing RS-232 or four wire RS-485, 1200 to 19200 baud 3 Level LED Software selected

Digital Inputs
Selectable (4) ENABLE 12-24 Volt, Optically Isolated, Single ended, Active High, 4.5 mA nominal 12-24 Volt, Optically Isolated, Single ended, Active High, 4.5 mA nominal. Minimum ON time= 1.5 msec.

Digital Outputs
Selectable (2) BRAKE READY Digital l/O Power Supply 12-24 Volt, Short Circuit Protected, Optically Isolated, Single-ended, Active High, 50 mA maximum Normally Open Relay, 1 A Normally Open Relay, 100 mA User supplied 12 to 24 VDC

Analog
Current Limit (1 LIMIT) COMMAND

Inputs

O to 10 Volt, single-ended, 5 kOhm input Impedance AI O Volt, Differential, 13 kOhm input Impedance, offset software adjustable

Analog
ANALOGI

Outputs

O to 10 Volt, 8 bits, 2 mA maximum

Auxiliary
Auxiliaty Encoder Signal Input

Encoder

Input

26LS33 Input, 4 MHz Count Frequency Differential/Single-ended A/B Step/Direction cw/ccw

Motor Encoder
Motor Encoder Output

Output

AM26C31 or AM26LS31 Differential Driver, Divide by 1, 2, 4, or 8 Differential output is 2.0 Vdc across a 100 Ohm load

S~ecifications

F-303

Memory
Parameter Data Retention 20 vears

Motor Protection
Motor Overload Protection The drive utilizes solid state motor overload protection which operates: within 8 minutes at 200% overload within 20 seconds at 600% overload

Speed Regulation
Type -3dB Bandwidth -45 Bandwidth Ripple Speed Range Digital, PI 300 Hz 50 Hz +0.44 rpm with 5000 line encoder 1:8000 rpm

Position
Type

Regulation

Digital, PI with Feedforward

Filters
Low Pass Digital, O -1000 Hz, -3 dB Bandwidth, Selectable

Software
Data Collection (2) Firmware Operating Modes Command Sources

Controls

128 samples @ 5 kHz Sample Rate Factory installed EEPROM Torque, Velocity or Position Analog Auxiliary Encoder Presets Step/Direction cw/ccw Indexing: Incremental, Registration, Absolute (Indexing on DSM 007P, 015P and 030P only) Position and Velocity Loop Position or Velocity Loop DSMPro or TouchPad

Autotuning Manual Tuning User Set-up

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

F-304

Specifications

Software
Diagnostics

Controls

(cont.)

Motor or Auxiliary Encoder Checks Digital Output Override Analog Output Override 7-bit ASCII, Checksum, Active Response EPROM Checksum EEPROM Checksum SRAM Write/Read Watchdog Reset A/D Conversion D/A Conversion Motor Overtemperature Bus Overvoltage 1PM Fault Overspeed Excess Error Encoder State Change Illegal Hall State Drive Mode Select Integrator Inhibit Follower Enable Forward Enable Reverse Enable Operation Mode Override Preset Selects Start Index Define Home Remove Command Offset Start Homing Sensor

Serial Protocol Power-Up Faults

Run-Time Faults

Selectable Digital Inputs

Specifications

F-305

Software
Selectable Digital Outputs

Controls

(cont.)

In-Position Within Window Zero Speed Speed Window * Current Limit Up To Speed Drive Enabled Bus Charged Disabling Motion In Motion In Dwell Sequence Complete Registered At Home Axis Homed

Speed Control
Range

Command

O to *32,767 RPM (actual maximum speed depends on the motor/drive combination)

InstallationManual for Models DSM 007. DSM015

and DSM 030

F306

S~ecifications

Power
DSM 007 & DSM 007P AC Input Voltage and Frequency 100-240 Vacrm~ nominal Single Phase 47-63 HZ 5 Arms 141-339 Vcfc 7.5 Amps 2.5 Amps 38 Joules C=141OUF 120 Vac 0.9 kWatts 240 Vacl.8 kWatts 120 Vac 0.3 kWatts 240 Vac 0.6 kWatts DSM015 & DSM015P 100-240 Vacrm~ nominal Single Phase 47-63 Hz 9 Arms 141-339 Vdc 15 Amps 5 Amps 51 Joules C=l 880UF 120 Vac 1.3 kWatts 240 Vac 2.7 kWatts 120 Vac 0.6 kWatts 240 Vac 1.2 kWatts DSM 030& DSM 030P 100-240 Vacrm~ nominal Single Phase 47-63 Hz 18 Arm= 141-339 Vdc 30 Amps 10 Amps 51 Joules C=l 880UF 120 Vac 2.7 kWatts 240 Vac 5.5 kWatts 120 Vac 1.2 kWatts 240 Vac 2.5 kWatts

AC Input Current Bus Voltage Output Peak Current Continuous Output Current (peak) Bus Capacitance Energy Absorption (from 325-400 Vdc Bus)a Peak Power Outputb Continuous Power Outputb

a. Bus capacitanceenergy absorptionis based on the followingequations:

;c(v:f) JW2i)

k 2(

420)2-

;C(325)2

(4202 - 3252) = C(35387)

ifC = 17 x 470uF, E= 282 b. Power outputs are based on the following equation:

kWatts

= (

VAC x l*X h

x ~3 x 0.85
)

Specifications

F-307

Power Dissipation
Centurion DSM Drives dissipate power that results in cabinet heating. The following table lists power dissipation values. Calculate the cabinet cooling requirements using the power dissipation information and formulas below.
Current as% of Rated Continuous Current 100 DSM 007& DSM 007P 48 W DSM 015 & DSM 015P 48 W DSM 030 & DSM 030P 50 w

NOTE: These values do not include external shunt regulator power (regenerated power).

Maximum power losses are shown to help size a NEMA 12 or equivalent enclosure and to ensure the required ventilation, Typical power losses are about one-half maximum power losses. When sizing an enclosure with no active method of heat dissipation, the following equation approximates the size of enclosure necessary: T=4.08*(Q/A)+l.l
where: T= Temperature difference between inside air and outside ambient pF) (watts)

Q = Heat generated A = Enclosure

in enclosure

surface area in f7,2= (2dw + 2dh + 2wh) / 144

d = Depth in inches h = Height in inches w = Width in inches

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

F-308

Specifications

Index

lnd-309

A
ABS Input 301 Absolute Indexing 189 AC Current input 138, 306 inrush 138 Frequency, input 306 Line Filters 74, 76 Power TB-1 137 Terminals 131 voltage, input 306 Accessories 235 Addressing 302 Agency Approvals 301 Altitude 301 Analog Controller Configuration Example 142 Analog Inputs 57 Troubleshooting 232 Analog outputs 302 Troubleshooting 231 Application Examples Absolute Indexing 189 Analog Controller 142 Incremental Indexing I is Modifying User Units 197 Position Follower Master Encoder 155 Step Up/Down 167 Step/Direction 161 Preset Controller 147 Registration Indexing 181 Auto Tune Overspeed Parameter 204 Selecting 202
Installation

Auxiliary Encoder Error, see Troubleshooting Auxiliary Encoder Signal Inputs 302

B
Backlash Tuning 202 Bandwidth -3dB 303 -45dB 303 BRAKE 302 Braking Dynamic Resistor Sizing 297 Breakout Board J1 (50 pin) 116 J2 (26 pin) 120 Bus Capacitance 306
Overvoltage 222

Undervoltage Vokage 306

22.2

c
Cables European Union Directives 74 Schematics and Diagrams 246 Cabling Examples 265 COMMAND 302 Command Sources
Analog 55

Types Accepted 303 Command Summary 270 Common Mode Choke 291 Compatible Components Motors 61
Manual for Models DSM 007, DSM 015 and DSM 030

lnd-310

Index

Configuration Examples Absolute Indexing 189 Analog Controller 142 Incremental Indexing 173 Modifying User Units 197

Position Follower Master Encoder 155 Step Up/Down 167 Step/Direction 161 Preset Controller 147 Registration Indexing 181 Connection Diagram Absolute Indexing 191 Analog Controller 143 Incremental Indexing 175 Position Follower Master Encoder 156 Step Up/Down 168 Step/Direction 162 Preset Controller 149 Registration Indexing 183 Current Limit 57, 98

Digital Outputs Troubleshooting 228 Digital Signal 57 Digital to Analog Converter 56 Display User Units, see User Units Drive Addressing serial Communications 123 Specifications 302 TouchPad Defaults 269 Installation Interface Connections 72 Mechanical Requirements 69 Storage 49 Drive/Motor Default Set Up Parameters 307 Dynamic Braking Resistors 297

E
Electromagnetic Compatibility (EMC) AC Line Filters 289 European Union Directives 74 Filtering 289 Grounding 291
Guidelines

D
DAC, see Digital to Analog Converter Data Collection 303
Retention DC BUS 303

LED 213
Terminals Default 131

Set Up Parameters Drive/Motor 30i Digital Inputs ENABLE 57 Troubleshooting 230

Designing for EMC 293 General 73 System 287 Shielding and Segregation 292 Electromagnetic Interference (EMI) 287 EMI Source-Victim Model 288 EMC, see Electromagnetic Compatibility ENABLE Signal 57, 302 Encoder Cabling 253

Index

lnd-311

Connections 117 Troubleshooting 233 Error Codes and Messages 213, 220 Power-Up 215 Run Time 213 Error Displays TouchPad 277, 278 European Union Directives AC Line Filters 74
Electromagnetic Compatibility 74

Grounding Types Single Point 291

H
Hall Inputs 301 Hardware Requirements
Host Commands 26, 29 63

Humidity 301

Excess Error, see Troubleshooting Excessive Average Current, see Troubleshooting

I
I LIMIT, see Current Limit 1/0 Connections Analog Command Signal 99 Analog Inputs 98 Analog Outputs 99 Auxiliary Encoder Inputs 105 Circuit Examples 88 Dedicated Relay Outputs 90 Digital Inputs 83 Digital Outputs 90 Drive 72 European Union Directives 74 J] 81 J2 117 J4 and J5 121 Motor Encoder Signal 101 Output Circuit Examples 95 Overview 57 Power 83 Selectable Outputs gO Wiring 73 1/0 Connectors Controller 81 Encoder 117 Interface Cable Examples 108
InstallationManual for Models DSM 007, DSM 015 and DSM 030

F
Filters 76 Firmware 67 Displaying Revision Level 67 Hexadecimal Files 67 Upgrading 67, 219 Fuse, see Power Supply Protection

G
Gains Effect on Tuning 206 I-gain Defined 206 Kd-gain, defined 206 Kff-gain, defined 207 Ki-gain, defined 207 Kp-gain, defined 206 P-gain Defined 206 Gear Ratios Selecting via TouchPad 277 Gravitational Effects Tuning .202

lnd-312

Index

J1 116
J2 117, 120 J4 and J5 121 RS-232 I/O and RS-485 121

Power External 83

I-gain

Schematics and Diagrams 246 Interface Connections 72 Signals 81 IPM Short, see Troubleshooting 1PM Thermal Protection Fault, see Troubleshooting

Defined 206 Illegal Hall State 222 Incremental Indexing 173 Indexing Absolute 189 Incremental 173 Registration 181 Indicators DC BUS 213 Inertia Possible Effects 200 Initial Inspection 43 Input Frequency 137 Power 138 Troubleshooting 232 Inrush Current 138 Inspecting the Drive 44 Inspection Procedures Checkout Test 47 Communications Verification 47 Hardware Set Up 4.5 Initial Drive Operation 48 Initial Power-up 47 Shipping Damage 43 Installing Software 64 TouchPad 269 Interconnect Cables European Union Directives 74

J
J1 Analog Command Signal 99 Analog Inputs 98 Analog Outputs 99 Auxiliary Encoder Inputs 105 Circuit Examples 88 Dedicated Relay Outputs 90 Digital Inputs 83 Digital Outputs 90 Interface Cable Examples 108 Motor Encoder Signal 101 Output Circuit Examples 9!5 Pin-outs 81 Power 83 Selectable Outputs 90 J2 Pin-outs 117 J4 Pin-outs 121 J5 Pin-outs 121

K
Kd-gain 206 Kff-gain 207 Ki-gain 207

Index

lnd-313

Kp-gain 206

L
LED DC BUS 213 Line Drivers 56 Line Filters 76 Low Pass Filter sos

Schematics and Diagrams 259 Troubleshooting Encoder Error 224 Motor Information Missing 225 Overspeed 223 Overtemperature 221 Thermal Protection Fault 224 Mounting Requirements 69

0
M
Maintenance 217 Cleaning 217 Manual Tuning 205 Filter Adjustment 207 Position Loop Procedure Procedures 208 Velocity Loop Examples Velocity Loop Procedure Mechanical Installation 69 Mechanical Resonance Possible Causes 200 Tuning 200 Modifying User Units, see Motor Encoder Input 301 Interface 301 output 302 Power Output 301
Identification Table 279

Operating Temperature 301 Options 235 Output Current Continuous (peak) 306 Peak 306 209 211 208

P
Part Numbers 235 AC Line Filters 237
Cables 246

Encoder Cables 239, 253 Fuses 236 User Units

Interface Manuals Cables 238 237

Mating Connectors 243 Motor Power Cables 241, 259

Serial Interface Cables 238, 251

Shunt Resistor 237 Terminal Strip 237

TouchPad 237

Overload Protection 13.5, sos overview 61 Phase Connections 132 Power Cabling 132
Installation

PC Display Units Dialog 197 P-gain Defined 206 Position Follower Master Encoder 155
Manual for Models DSM 007, DSM015 and DSM 030

lnd-314

Index

Step Up/Down 167 Step/Direction 161 Position Regulation 303 Power Input Frequency 137 output Continuous 306 Peak 306 Protection 135 Ratings 306 Source Separation 138 supply 135 Preset Binary Inputs Programmable Speed Inputs 147 Preset Controller Configuration Example 147 Product Notice v Product Support 323 Protection Circuitry 135 Motor Overload 135

RS-232 Multiple Axes Set-up 128

Single Axis Set-up 123

Troubleshooting 226 RS-485 Multiple Axes Set-up 127 Run Time Error Codes 213 Faults 304

s
Safety Guidelines 37
Safety Notes v

R
Readme File 67 READY 302 Registration Indexing 181 Requirements AC Input Current 138 1/0 Power External 83 Input Power 138 Transformer 138 Wire Size 138 Revision Level Software 67 Ripple Speed Regulation sos

Damaged Cables v Flying Leads v Generation of Power v Installation and Maintenance Logic Signals v Loose Cables v Loose Drives v Mechanical Connection v Motors v Product Disposal v
Requirements v supply v User Responsibilities 37 Weight v Sample Applications Absolute Indexing 189 Analog Controller 142 Incremental Indexing 173 Modifying User Units 197 Position Follower Master Encoder 155 Step Up/Down 167

Index

lnd-315

Step/Direction 161 Preset Controller 147 Registration Indexing 181 Selectable I/O 302 Digital Inputs 304 Digital Outputs 305 Self-Test 270 Separation of Power Sources 138
Serial Communications

Drive Addressing 123 RS-232 Multiple Axes 128 RS-232 Single Axis 123 RS-485 Multiple Axes 127 Hardware Addressing 123 Overview 55 Port (J5) 121 Serial Interface Cables Schematics and Diagrams 251 Serial Ports 302 Serial Protocol 304 Shipping Damage 44 Shock 301 Signal Extension Kits 81 Single Point Ground Example 291 Software Installation 64 Instructions 25 Readme File 67 Requirements 63 Starting and Quitting 65 Version Level 67 Space Requirements 69 Specifications 301, 306 ABS Input 301 AC Input Current 306 Frequency 306

AC Voltage 306 Addressing 302 Agency Approvals 301 Altitude 301 Analog Outputs 302 Auxiliary Encoder Signal Inputs 302 BRAKE 302 Bus Capacitance 306 Bus Voltage 306 COMMAND 302 Command Sources 303 Data Collection sos Data Retention 303 ENABLE 302 Hall Inputs 301 Humidity 301 Low Pass Filter sos Motor Encoder Input 301 Interface 301 Output 302 Signal Output Power 301 Operating Temperature 301 Output Current Continuous (peak) 306 Peak 306 Position Regulation 303 Power Output Continuous 306 Peak 306 Power-Up Faults 304 READY 302 Ripple Speed Regulation 303 Run-Time Faults 304 Selectable Digital Inputs 304 Selectable Digital Outputs 302, 305 Installation Manualfor
Models DSM 007, DSM015 and DSM 030

lnd-316

Index

Selectable Inputs 302 Serial Ports 302 Serial Protocol 304 Shock 301 Speed Control Command 305 Speed Regulation 303 -3dB Bandwidth 303 -45dB Bandwidth 303 Status Display 302 Storage Temperature 301 Thermostat Inputs 301 Vibration 301 Weight 301 Speed Control Command 305 Speed Regulation 303 Starting and Quitting Software 65 Status Display 302 Storage 32 Storage Temperature 301 Storing the Drive 49 SUppOrt 323 Local Product 35 Technical Product Assistance 35 Symbols and Conventions 30

J2 (26 pin) 120 see also TB-1 Testing the Drive 44 Thermostat Inputs 301 Timing Diagram Absolute Indexing 189 Incremental Indexing 173 Registration Indexing 181 Torque (Current) Loop Diagram 201 TouchPad 270 Character Selection 273 Cursor Movements 273
Default Settings 269

Drive Addressing Defaults 269 Error Display 278 Error Displays 277
Gear Ratios 277

T
TB-1 AC Power Terminals 131 Bus Terminals

AC Power 137
DC Bus Terminals 131 Motor Power Terminals 132 Technical Assistance 323 Terminal Strip J1 (50pin) 116

and Operation 269 Instructions 26 Lists Baud Rate 280 Drive Communications 280 Motor Table 279 Selections 276 Modes of Operation 271 Motor Selection 272 Motor Table Identification 279 Revision Level 67 Text Selection 273 Version Display 270 Warnings 277 Transformer sizing 138 Troubleshooting 21i Analog Outputs 231 Auxiliary Encoder Error 224 Bus Overvoltage 222 Bus Undervoltage 222
Installation

Index

lnd-317

Current Limit 232 Digital Inputs 230 Digital Outputs 228 Encoder Inputs 233 Excess Error 223 Excessive Average Current 223 Gain Adjustments 200 1PM Short 221 1PM Thermal Protection Fault 224 Motor Buzz or Squeal 200 Motor Encoder Error 224 Motor Overspeed 223 Motor Overtemperature 221 Motor Thermal Protection Fault 224 RS-232 Communications 226 TouchPad 277 Tuning 199 Auto Tune 202 Backlash 202 Gain Settings, Effect on 206 General 199 Gravitational Effects 202 High Inertia Loads 200 Manual Tune 205 Mechanical Resonance 200 Tuning Procedures Manual Mode 208 Position Loop 209 Velocity Loop 208 Velocity Loop Examples 211 Velocity Loop Filter 207 Overspeed Parameter 204 Typographical Conventions 30

u
ULTRA Master Instructions Unpacking the Drive 43 User Units 197 25

v
Velocity Loop Diagram 201 Version Level Firmware 67 Software 67 TouchPad 270 Vibration 301

w
Warnings TouchPad 277 Weight 301 Wire Size 138 Wiring 1/0 i3 Wording Conventions

Installation

Manual for Models DSM 007, DSM015

and DSM 030

lnd318

Index

Pictorial Index

m
2 RCV RS-232 3 XMT RS-232 4 XMT + Com RS-485 5 6 Reserved RCV -. 7
I

RS 3-485

o
i J

-1}

page 10-213, 11-220

XMT -

RS-485

Reservsd

page 6-121

1 2 3 4 5 6 7

Encoder +5V Pwr Encoder 5V Com Encoder +5v Pwr Encoder 5V Com

I I
I

page 7-138
!

Encoder +5V Pwr Encoder 5V Com Mtr Encdr /nRut Chnl A+ Mtr Encdr Input Chnl AMtr Encdr Input Chnl B+ Mtr Encdr input Chni BMtr Encdr Input Chnl 1+ Mtr Encdr input Chnl /. Hall A

{
?

page 6-117

8
9

page 7-137

70
11 12 13 14

E
Hall B 15 16 17 18 19 Hail C Absolute Position Reserved Reserved Thermal Switch + Thermal Switch 20 2 3 4 5 6 7 8 9 10 11 ?2 13 Encoder 5V Com Encoder +5VDC Encoder 5V Com External //0 Power External //0 Com Mtr Output Chnl A+ Mtr Output Chn/ AMtr Output Chn/ B+ Mtr Output Chm BMtr Output Chnl /+ L#r Output Chn/ )External //0 Com

page 7-132

{
J

140 41 42 43 I 44 45 46 47 48 49 50

page 6-81

~
14 15 16 17 18 19 20 21 22 23 24 25 26 I AuxJiarv Auxiliary Auxiliary Auxiliary Auxiliary Auxiliary Chn/ A+ Chn/ AChn/ B+ Chn/ BChn/ f+ Chn/ /I 27 28 29 30 31 32 33 34 35 36 37 W 39 I

L,
I Limit

Reserved Reserved Selectable Selectable Output 1

Analog Com Reserved Reserved Analog Output Selectable 1

Output 2

Reserved Reserved Reserved Reserved Reserved Brake Enable + Brake Enable -

Input 1

Drive Enable Fault Reset Ana/og Crnnd + Analog Cmnd Drive Ready + Dr;ve Reedy External //0 Power

Se/ectab/e /oput 2 Se/ectab/e Input 3

Reserved Reserved Reserved Reserved Reserved

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

lnd320

Pictorial Index

interface Connections
This section illustrates the components and connections typical for a CenturionDSM100 Drive DSM 007, 007P,015, 01 5P, 030 and 030P drive.

h > J+$
+ + > 3 > > > > .&2 JwJ J54 J56 J5.3 J5-7 J5-9 J54

.....-

?7 + 3 + 3 + 3 + + + .22! Jz? .22-3 J24 J2-5 J24 J2.7 J2+ J24

GM ST R

BRUSHLE22 MOTDR +

e
> > >
MPERATURE

SEE w CONTROL (

2 FOR 1NECTIONS

DSM Interface Connection Diagram - J2 and J5

Pictorial Index

lnd-321

SEEPART* FOR MOTORM WUNICATIONS co-s

> a
~uo&

M.o. m iE -J L--WAS w

+ NJLMT

,$7

..-,

Lzl

1 I

> > > > > > I

> I > ,

1 I

DSM Interface Connection Diagram - J1

Installation

Manual for Models DSM 007, DSM 015 and DSM 030

lnd-322

Pictorial Index

Product Support

Giddings & Lewis product support is available over the phone. When you call, you should be at your computer and have the hardware and software manuals at hand. Be prepared to give the following information:

.
. .
G

The version numbers of the hardware and software products, The type of hardware that you are using, The fault indicators and the exact wording of any messages that appears on your screen, How you have tried to solve the problem.

Distributor & Representative

Network

The Giddings & Lewis has a wide network of distributors that are trained to support our products. If you encounter problems, call the distributor or representative where you purchased the product before contacting the factory.

Applications

Engineers and Field Service

In the United States you can reach the Giddings & Lewis factory based support staff by phone between 7:00 AMand 5:00 PM (CST)MondaythroughFridayat 1-800-558-4808, The applications engineers can assist you with programming difficulties as well as ideas for how to approach your automation task. Should your problem require on-site assistance, field service is available. The applications engineers can atso be reached via fax at 1-920-929-4669, The fax machine is open 24 hours 7 days a week. Faxes will be answered during regular business hours only. In Europe, support can be obtained through Giddings & Lewis. The support staff may be reached by telephone between 8:30 and 17:30 local time, Monday through Friday at 01 I -44- 15154-62010, or via fax at 011-44-15154-72801.

Bulletin Board Service (BBS)

920-929-4682. The following

If you havea modem,you can reachthe Giddings& Lewis BBS 24 hours a day, 7 days a week at I servicesare availablethroughthe BBS: . Example application programs.
G

. .

Technical bulletins. Leave messages and files for the application engineers, Help with your application,

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