PACSystems™ RX3i and Series 90™-30 IC693DSM324-AC/IC694DSM324-AC GFK-2354C DSM324i Motion Controller June 27, 2005 The DSM324i Module can control up to four FANUC βi-series digital servos. This controller also supports high speed Local Logic that allows the DSM to perform limited logical decisions and math synchronous with the position loop update rate. Local Logic supports high-speed digital output control synchronous to axis motion. The module provides an electronic CAM Follower Function that allows the module to be used in many applications traditionally supported by mechanical cams. Release Information This is release 1.5 of the DSM324i Motion Controller firmware. Release History Catalog Number Firmware Version IC693/694DSM324-AA 1.0 IC693/694DSM324-AB 1.1 IC693/694DSM324-AC 1.5 Upgrades DSM324-Ax modules can be field upgraded to DSM324-xC modules using the firmware upgrade utility. The firmware upgrade kit 44A750894-G03 can be ordered from GE Fanuc or downloaded at no charge from the Tools and Support section of http://gefanuc.com. New Features in this Release Release 1.50 of the DSM324i Motion Controller firmware provides the following new features and enhancements: Support for Beta HV Motors and amplifiers The DSM324i supports the SVM1-10Hvi 10A, SVM1-20HVi 20A, and SVM1-40Hvi amplifier models and corresponding motor combinations of β2/4000HV is, β4/4000HV is, β8/3000HV is, β12/3000HV is, and β22/2000HV is series motors. Refer to the DSM324i Motion Controller for PACSystems Rx3i and Series 90-30 PLCs User’s Manual, GFK-2347A or later for configuration details. STATUS OK CONFIG FSSB 1 2 3 4 DSM324i COMM FSSB 24V I/O 5V I/O Resonance Elimination Filter Function The DSM324i supports the ability to configure resonance elimination filters via the advanced tuning parameter tab in Proficy Machine Edition. The user is able to define two sets of filters. Refer to the DSM324i Motion Controller for PACSystems Rx3i and Series 90-30 PLCs User’s Manual, GFK-2347A or later for details on configuring the filters. External Position Feedback Function The DSM324i external position feedback allows the user to control the servo position loops of axes 1 to 4 from a position feedback device (Quadrature Encoder) that is different from the position encoder mounted on the motor. The standard motor feedback (from the FANUC serial encoder) will be used for motor commutation and feedback for the remaining loops. Axes 1 through 4 in the DSM324i can be configured to use an external encoder connected to the quadrature encoder input. Refer to the DSM324i Motion Controller for PACSystems Rx3i and Series 90-30 PLCs User’s Manual, GFK- 2347 for details on the encoder input connections. 2 DSM324i Motion Controller, IC693DSM324-AC/IC694DSM324-AC GFK-2354C Problems Resolved in this Release DSM324i Velocity Loop Gain limit and scaling is not correct. In Release 1.0 of the DSM324i firmware, the allowable velocity loop gain was limited to 255, thus using the formula for velocity loop gain calculation (Velocity Loop Gain = (Load Inertia/Motor Inertia) * 32), the maximum Load Inertia to Motor Inertia ratio is 8:1. This release increases the maximum velocity loop gain to 511, allowing a maximum Load Inertia to Motor Inertia ratio of 16:1. Axis1 motor velocity output mapping to analog output not functional. In Release 1.0 of the DSM324i firmware, axis1 motor velocity when mapped to the module analog output does not indicate the axis 1 motor velocity. This has been corrected in release 1.5. Restrictions and Open Problems Follower makeup time error EC can be followed by error code EB The module correctly reports the error code EC when the follower makeup time is not long enough. However, in some instances, this can be followed by error code EB that indicates an error in the calculations has occurred. Either error can be eliminated by setting Ramp Makeup Time and Ramp Makeup Acceleration (if required) to higher values. Functional Compatibility CPU Version Requirements Use of DSM324i firmware version 1.5 or higher requires PACSystems Rx3i firmware release 2.8 or later or Series 90-30 CPU firmware release 10.0 or later. Programmer Version Requirements Use of DSM324i firmware version 1.5 or higher requires Machine Edition Logic Developer – PLC Version 5.0, Service Pack 2 or later. The DSM324i is not compatible with Logicmaster 90, Control, VersaPro or the DOSbased Motion Programmer (IC641SWP065). Product Documentation DSM324i Motion Controller for PACSystems RX3i and Series 90-30 User's Manual, GFK-2347A or later Servo Product Specification Guide, GFH-001 Important Product Information (this document), GFK-2354C Operational Notes Follower Disable and Abort Operation When the follower function is active, The DSM ABORT %Q bit DOES NOT disable the follower function. The user can immediately halt motion by turning off the Enable Follower %Q bit. Thus, the ABORT %Q bit halts programmed motion and the Enable follower %Q bit halts follower motion. CAM in Absolute Mode can Lose Synch if Master Drive is Disabled If the Master axis is disabled and then re-enabled, the CAM axis will lose master counts that result from master axis motion that occurs while the master axis is disabled. In Absolute mode, this can cause the CAM axis to lose synch from the absolute master value. It is recommended that when the CAM command is operated in absolute mode, the CAM be aborted when the Master axis is disabled. DSM324i Motion Controller, IC693DSM324-ACB/IC694DSM324-AC 3 GFK-2354C Specifications Power Supply Voltage: Power Supply Current Draw by DSM: 5 VDC from Host Controller backplane 860 mA plus encoder supply current (see next item). Available +5V Current/Module to supply external encoder, if used: 500 mA (if used, must be added to module +5v current draw) PACSystems RX3i Main Rack Model 310 CPUs: 5 DSM324i modules in CPU baseplate per PWR 040 Series 90-30 Expansion/Remote Racks (5 and 10-slot expansion or remote baseplates - 8 total baseplates per system) 2 DSM324i modules in remote baseplate with PWR321 3 DSM324i modules in expansion baseplate with PWR330/331 6 DSM324i modules in expansion/remote baseplate with PWR330/331 PACSystems RX3i Maximum 32 total DSM324i modules per PACSystems RX3i system Series 90-30 Main Rack Model 364, 374 CPUs: 1 DSM324i module in CPU baseplate with PWR321/322/328 4 DSM324i modules in CPU baseplate with PWR330/331 Main Rack Model 350, 352, 360, 363 CPUs: 2 DSM324i modules in CPU baseplate with PWR321/322/328 5 DSM324i modules in CPU baseplate with PWR330/331 Expansion/Remote Racks (5 and 10-slot expansion or remote baseplates - 8 total baseplates per system) 2 DSM324i modules in remote baseplate with PWR321/322/328 3 DSM324i modules in expansion baseplate with PWR330/331 6 DSM324i modules in expansion/remote baseplate with PWR330/331 Series 90-30 maximum 20 total DSM324i modules per Series 90-30 PLC system Installation in Hazardous Locations The following information is for products bearing the UL marking for Hazardous Locations: • WARNING - EXPLOSION HAZARD - SUBSTITUTION OF COMPONENTS MAY IMPAIR SUITABILITY FOR CLASS I, DIVISION 2; • WARNING - EXPLOSION HAZARD - WHEN IN HAZARDOUS LOCATIONS, TURN OFF POWER BEFORE REPLACING OR WIRING MODULES; AND • WARNING - EXPLOSION HAZARD - DO NOT DISCONNECT EQUIPMENT UNLESS POWER HAS BEEN SWITCHED OFF OR THE AREA IS KNOWN TO BE NONHAZARDOUS. • EQUIPMENT LABELED WITH REFERENCE TO CLASS I, GROUPS A, B, C & D, DIV. 2 HAZARDOUS LOCATIONS IS SUITABLE FOR USE IN CLASS I, DIVISION 2, GROUPS A, B, C, D OR NON-HAZARDOUS LOCATIONS ONLY. • Control circuit modules require one No. 14 AWG through 22 AWG or two No. 16 AWG through 22 AWG stranded or solid copper conductors. The tightening torque range for the control terminals is 9.6—11.5 in.-lb. Use only wire rated for 90°C. Observe any additional ratings that are provided with the module.