PACSystems™ RX3i and Series 90™-30 IC693DSM324-AE/IC694DSM324-AE GFK-2354E DSM324i Motion Controller February 8, 2008 The DSM324i module can control up to four FANUC αi or 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. Product Documentation DSM324i Motion Controller for PACSystems™ RX3i and Series 90™-30 User's Manual, GFK-2347C or later Servo Product Specification Guide, GFH-001F or later Important Product Information (this document), GFK-2354E Release Information Release 1.61 of the DSM324i Motion Controller firmware prevents PLC Loss of Module faults that sometimes occur when the Parameter Load COMM_REQ function block is used. For details, see Problems Resolved by this Revision of Product on page 2. Release History Catalog Number Firmware Version IC693/694DSM324-AE 1.61 IC693/694DSM324-AD 1.60 IC693/694DSM324-AC 1.50 IC693/694DSM324-AB 1.10 IC693/694DSM324-AA 1.00 Upgrades IC693DSM324-Ax modules are field upgradeable to IC693DSM324-xE and IC694DSM324-Ax modules are field upgradeable to IC694DSM324-xE using the firmware upgrade utility. The firmware upgrade kit 44A750894-G05 can be ordered from GE Fanuc or downloaded at no charge from the Tools and Support section of http://support.gefanuc.com/ STATUS OK CONFIG FSSB 1 2 3 4 DSM324i COMM FSSB 24V I/O 5V I/O 2 DSM324i Motion Controller, IC693DSM324-AE/IC694DSM324-AE GFK-2354E Functional Compatibility CPU Version Requirements Use of DSM324i firmware version 1.61 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 1.61 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 DOS-based Motion Programmer (IC641SWP065). Problems Resolved by this Revision of Product DSM324 Loss of Module after Parameter Load COMM_REQ In earlier versions of the DSM324, the Parameter Load COMM_REQ described in the DSM324 Motion Controller Users Manual Appendix B, Section 4 can sometimes cause a PLC Loss of Module fault. This problem has been corrected in firmware release 1.61. Restrictions and Open Issues DSM324 may allow Jog beyond EOT limits if software EOT limits are set equal or close to High / Low Position Limits The DSM324 may allow Jog beyond the configured Software EOT Limits if Jog is commanded with the Enable Drive %Q bit off and the software EOT limits enabled but set equal or close to the High / Low Position Limits. If the Enable Drive %Q bit is on while Jog is requested, Jog will always stop at the appropriate EOT limit. If the Software EOT Limits are less than the corresponding High / Low Position Limits by an amount equal to the maximum servo position error, Jog will always stop at the appropriate EOT limit. DSM324 path generator can run at velocity slightly greater than programmed velocity This issue occurs only when the acceleration time is greater than 65535 path generator samples (32 - 262 seconds depending on axis configuration and acceleration mode). When the problem occurs, the velocity can only be off by 0.0015 percent of the programmed value. DSM324 External Quadrature Encoder configuration produces no invalid configuration error when Feedback Mode is Absolute The DSM324 firmware does not support absolute mode external encoders. If the Axis Feedback Source is configured as Ext Quadrature Encoder, the encoder is treated as incremental even if of the Feedback Mode is configured as Absolute. DSM324 servo jumps when servo reenabled after amplifier E-Stop When a servo is moving and the amplifier E-Stop input is opened, the servo immediately stops. When the EStop (C0) error is cleared, reenabling the amplifier may cause the servo to jump even though the DSM is commanding zero velocity. Under this condition the servo jump may be a fraction of a revolution or more than one revolution. To prevent the servo from jumping, cycle 24v control power on the servo amplifier before reenabling the servo. DSM324i Motion Controller, IC693DSM324-AE/IC694DSM324-AE 3 GFK-2354E 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. Specifications Power Requirements 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 per 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 4 DSM324i Motion Controller, IC693DSM324-AE/IC694DSM324-AE GFK-2354E 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 NONHAZARDOUS 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.