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1. A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED D a gaa tia Contact us 888 88 SOURCE sales artisantg com www artisantg com August 1998 GFK 1465C IMPORTANT PRODUCT INFORMATION READ THIS INFORMATION FIRST Product 1C693DSM302 Module DSM302 IC693DSM302AD Firmware Version 1 30 Purpose of this Document Some of the information in this document is not available elsewhere so we recommend you save it for future reference This document covers the following subjects 1 2 3 4 Basic features of the DSM302 module Special Operational Notes Features of the module s latest firmware release versi2. described below 1C693ACC335 Servo terminal board e IC693ACC336 Auxiliary terminal board These terminal boards provide screw terminal connections for I O signals such as Position Strobes Home Switches Limit Switches Analog Inputs and Analog Outputs For additional information refer to Chapter 3 and Appendix E of GFK1464 DSM302 for IC693 PLCs User s Manual The terminal blocks contain Metal Oxide Varistor MOV circuit protectors which prevent excessive electrical energy from affecting the DSM302 The maximum recommended input voltage for any of the 24v I O circuits is 30 VDC with respect to earth ground S terminal or circuit common Problems Resolved by Firmware Release 1 30 AQ Command 30h Causes Module to Crash Issuing an AQ command of 30h Set Internal Master Velocity in Follower to a value larger that 32 767 999 generated a fatal error NMI generated watchdog timeout This is fixed in Firmware Version 1 30 Error checking is added to generate a warning when values outside the valid range 1 000 000 1 000 000 counts sec are entered If values outside the valid range are entered the command is ignored and error code01E9 for Axis 1 or 02E9 for Axis 2 is reported Turn off CONFIG LED when Flashing Error Code A fatal error does not turn off the CONFIG LED when a fatal error code occurs The firmware has been updated to turn off the CONFIG LED when a fatal error code is issued Jog Vel
3. OS is a registered trademark of Microsoft Corporation Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Important Product Information IC693 DSM302 Module GFK1465C e Automatic data transfer between PLC tables and the DSM302 without user programming e Ease of I O connection with factory cables and terminal blocks as well as a serial port for connecting programming devices Versatile I O e Control of GE Fanuc digital AC servos e Home and overtravel switch inputs for each servo axis e Two position capture strobe inputs for each position feedback input e 5v 24v and analog I O for use by the PLC e Incremental quadrature encoder input for Follower mode master axis e 13bit analog output for each auxiliary axis can be controlled by PLC or used as servo tuning monitor Product ID IC693DSM302AD Hardware ID AP3B1 44A4737294G01R03 or later Software ID Firmware version 1 30 Boot 44P725986408B App 44S750607 G01R04 Firmware Update Kit 44A732298 G03 firmware version 1 30 Applicable Documents GFK41464A DSM302 for IC693 PLCs User s Manual GFK0664A IC693PLC Axis Positioning Module APM Programmer s Manual Special Operational Notes IC693 CPU Firmware Use of DSM302 firmware version 1 30 requires that version 6 50 or higher of the IC693 CPU firmware be installed in the CPU module IC693 MSDOS Programming Software Use of DSM302 firmware version 1 30 requires that versio
4. User Units Counts Configuration Value Causes Module to Crash Configuring the module for User Units to Counts ratio of greater than 1 3 and Jog Vel 8 388 607 causes a fatal error NMI generated watchdog timeout The firmware has been enhanced to internally limit the Jog Velocity to 1 000 000 count sec If the module is configured to a number greater than 1 000 000 counts sec the module uses the maximum jog velocity of 1 000 000 count sec Follower Deceleration Ramp Reentry after Drive off on In follower mode if follower is disabled and then the drive is disabled motion will stop However the module continues to calculate the deceleration ramp while the follower is disabled If the deceleration ramp has not reached zero prior to the drive being re enabled the module will issue a velocity command corresponding to the current deceleration ramp value and complete the deceleration ramp This has been corrected in firmware version 1 30 such that the deceleration ramp is not re entered Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Important Product Information IC693 DSM302 Module 5 GFK 1465C Problems Resolved by the Previous Firmware Release 1 20 Input IN4_C Does Not Function As Described The on off state of the IN4_C input see GFK 1464 DSM302 for IC693 PLCs User s Manual chapter 5 DSM302 to PLC Interface for details was inverted from what was documented This
5. aV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED D a gaa tia Contact us 888 88 SOURCE sales artisantg com www artisantg com
6. e 16384 cts rev 3662 rpm 32768 cts rev 65536 cts rev 915 rpm Default Setting Some motors are restricted to a lower maximum rpm rating Features and Functionality Introduced in Release 1 10 HV Motors Support for the following three HV motors was added in firmware release 1 10 Motor Model Motor Type Code 12H V 3000 3 22H V 3000 030HV 3000 5 Set Aux Axis 3 Position Command Enhancement The Set Aux Axis 3 Position command was enhanced to execute regardless of the axis current velocity In firmware version 1 00 the command would be ignored and a 0X52 axis status error reported if the axis velocity exceeded 128 counts per second Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 Important Product Information IC693 DSM302 Module GFK1465C Restrictions and Open Problems Restriction Problem Axis Mode LINEAR may If Axis Mode LINEAR the axis will stop at the configured Positive Negative End of not operate correctly if Pos Travel limits if these values equal the corresponding Hi Lo Count Limits However you EOT Hi Limit or Neg EOT may not be able to jog back off the EOT To avoid this problem when using Axis Mode Lo Limit LINEAR always set Pos EOT below to a lower value than the Hi Limit and Neg EOT above to a higher value than the Lo Limit For example if the Hi Limit was set to 1000 and the Low Limit to 1000 the Pos EOT could be set
7. has been corrected in firmware version 1 20 such that the on off state of the input matches the documentation Firmware Reports D6 Error Sporadically during Normal Operation Previous firmware contains an error that causes a D6 error to be reported incorrectly during normal operation The nature of the firmware error also causes errors D3 D9 to be reported incorrectly These firmware errors were fixed in version 1 20 Documentation Issues in GFK 1464 DSM302 for IC693 PLCs User s Manual Resolved by Revision A May 1998 Release The following table outlines the previously identified documentation issues that have been resolved by the revision A release of GFK 1464 DSM302 for IC693 PLCs User s Manual Issues Resolved by Revision A of GFK 1464 May 1998 Release Documentation Issue Location Description Resolution PCR Connectors Mislabeled Chapter 2 Two different connector pin configurations for the emergency stop JX5 in Pin Configuration connector on the B Series servo amplifier were shown with the labels Diagrams HIROSE and HONDA incorrectly reversed The labels were switched Grounding Bars and Clamps Chapter 3 The I O Cable Grounding section did not specify the part numbers for the Need to Be Documented grounding bars and clamps needed for proper installation These have been added to the manual Not Documented axis were not documented These have been added to the manual Incorrect Part Numbers Listed Chapter 3 The i
8. ing AQ command 2Dh can be used to specify an expanded range at runtime Specifying the expanded range ratio greater than 1 32 at configuration time requires release 9 0 or higher of the MS DOS Programming Software or Windows based Programming Software release 2 11 or higher Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Important Product Information IC693 DSM302 Module 7 GFK 1465C Enhanced Position Loop Resolution Enhanced position loop resolution at the expense of maximum supported motor velocity was added to the product in firmware release 1 20 Prior to this release a non configurable position loop resolution of 8192 counts per encoder revolution was provided The table below describes the various selections now supported along with the maximum supported motor velocity for each setting Note that the configuration data is specified by entering a value of 1 to select parameter 1 in the Tuning Parl or Tuning Par field of the Axis 1 screen for axis 1 or Axis 2 screen for axis 2 The appropriate resolution setting value 0 3 is then entered in the corresponding Tuning Dat1 or Tuning Dat2 field in the Axis 1 screen for axis 1 or Axis 2 screen for axis 2 Enhanced Position Loop Resolution Selections Supported Encoder Resolution Maximum Motor Velocity Configuration Data in Counts per Revolution Revolutions per Minute 8102 eisrev 4400 1pm e a
9. motion smoothness Prior to this release when the follower was active and the master in motion the acceleration deceleration control during the make up correction phase was not controlled by a velocity profile This could cause unwanted machine shock The enhanced method uses a trapezoidal velocity profile to address this problem During the entire make up correction phase the acceleration deceleration is limited to the jog acceleration value Also during the correction the velocity is not allowed to exceed the maximum Appropriate warning error codes notify the user about abnormal operation see error table below Hexadecimal Type C Status Only Programmed makeup time is not long enough for trapezoidal correction of Axis the makeup distance Status Only Velocity limit violation during ramp Axis Status Only Time limit violation during acceleration sector of the distance correction The figure below shows the velocity profile during the follower ramp cycle Note The enhanced follower make up may affect existing applications that use the old follower make up feature max Vel 0 8 Vlim l Laana Follower Make up Disabled distance a lt correction Velocity o m l i Time Features and Functionality Introduced in Previous Release 1 20 Expanded Follower A B Ratio The A B slave master follower ratio has been expanded from the original range of 32 1 to 1 32 to a range that supports 32 1 to 1 10 000 Exist
10. n 8 02 or higher of the MSDOS Programming Software be used to configure the DSM302 module Version 9 00 or higher of the MS DOS Programming Software is required to fully configure the expanded A B ratio see the Expanded Follower A B Ratio section of the Features and Functionality Introduced in Release 1 20 heading below Motion Programmer Motion programs 110 must be created edited with separate Motion Programmer software DSM302 firmware version 1 30 requires that version 1 50 or higher of the APM300 MSDOS Motion Programmer software be used Essential Configuration Parameters MSDOS Programming Software version 8 02 or higher must be used to configure the DSM302 module The following configuration parameters will not default to the settings required for many applications and must be changed by the user Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Important Product Information IC693 DSM302 Module 3 GFK 1465C Caution Fdback Type and Ctl Loop MUST be changed first Any change to either Fdback Type or Ctl Loop resets all other parameters to default values AI AQ Len Set according to the minimum requirements of your application Setting 40 6 can be used for Standard mode Follower mode requires at least setting 50 9 if Master Axis position and velocity are to be monitored by the PLC Setting 64 12 provides the maximum amount of analog I O references Fdback Type M
11. ncorrect part numbers were given for the Terminal Board Connection for Terminal Block cables The incorrect part numbers listed were IC800CBL324 and Connection Cables IC800CBL325 These part numbers should have been IC693CBL324 and IC693CBL325 respectively and have been corrected Input IN4_C Wiring Not Chapter 3 The appropriate wiring for input IN4_C was not described The description Described has been added Final Home Velocity Valid Chapter 4 The Configuring the DSM302 section incorrectly specified the valid range Command Range Incorrectly as 1 8 388 607 The range is actually 1 65535 and has been corrected in the Specified manual Select Return Data Command Chapter 5 Section incorrectly stated that information is returned in the Commanded Incorrectly Described Position AI word for each axis Data is actually returned via the User Selected Data AI word for each axis Text has been corrected Wrong Graphic Used for Chapter 7 Figure Figure showed an expected velocity profile for a program example Velocity Profile describing hanging the DSM302 when distance runs out The incorrect graphic that was included has been replaced with the correct one Documented described as a find home while follower enabled error Wire Size Screw Torque and Appendix E The wire size screw torque and MOV descriptions for terminal block MOVs for Terminal Blocks assemblies IC693ACC335 and IC693ACC336 were not specified These Not S
12. on 1 30 Features of the module s two previous firmware releases Versions 1 20 and 1 10 Basic Features of the DSM302 Product Description The DSM302 Module is a twoaxis motion control module which is highly integrated with the logic solving and communications functions of the IC693 PLC Two primary control loop configurations are provided Standard mode and Follower mode The basic capabilities of the DSM302 are described below Performance Digital Signal Processor DSP provides vector control of GE Fanuc AC servos Servo loop update 250 usec torque 1 mSec velocity 2 mSec position Block processing time under 5 mSec Velocity Feed Forward and Position Error Integrator to enhance tracking accuracy High resolution of programming units Position 8 388 608 8 388 607 User Units e Velocity 1 8 388 607 User Units sec Acceleration 1 134 217 727 User Units sec sec Ease of Use Simple and powerful instruction set Oneaxis or twoaxis motion programs with synchronized block start Program support for a short motion program called Program Zero which can be created in the MS DOS programming software configuration function Nonvolatile flash storage for 10 programs and 40 subroutines User scaling of programming units in Standard mode only Generic programming using command parameters as operands for Acceleration Velocity Move and Dwell commands Configured with MSDOS configuration software MS D
13. pecified descriptions have been added Problems Resolved by Firmware Release 1 10 Encoder 3 Home Position During a Find Home cycle on the Aux 3 axis the Encoder 3 home position was not registered correctly in firmware version 1 00 when the encoder marker pulse was sensed This was corrected in firmware version 1 10 Note that this problem only pertained to Follower mode operation Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 Important Product Information IC693 DSM302 Module GFK1465C Module Sometimes Hangs Responding to COMMREQ Commands When the DSM module was receiving a high rate of COMMREQ commands from the PLC CPU and was simultaneously executing a series of short move commands the module would sometimes halt execution and flash a 6count 7count error code on its STAT LED see Appendix B of GFK41464 DSM302 for IC693 PLCs User s Manual for details This timing problem was corrected in firmware version 1 10 Features and Functionality Introduced in this Release 1 30 Enhanced Al and l Processing The internal DSM update rate for I data and AI data except for the Actual Velocity data has been increased from once every 10 milliseconds to once every 2 milliseconds Actual Velocity data is updated every 128 milliseconds Enhanced Follower Axis Ramp Control The Follower Axis Ramp Control Function is enhanced in DSM firmware release 1 30 The enhancement improves
14. s used programmed in a PLC program All motion causing Q bits such as Drive Enable Start Motion program Jog etc must be controlled from a programmed PLC coil reference for safe operation Grounding Bars and Clamps The DSM302 for IC693 PLCs User s Manual describes the I O cable grounding requirements necessary for a system to meet CE Mark installation guidelines These guidelines include the use of grounding bars and clamps both of which are available from GE Fanuc The Grounding Bar may be ordered as part number 44B295864001R02 and the Ground Clamp as part number A99L90359001 Cables Five different cables are available for use with the DSM302 as described below Consult the factory regarding custom length cables e 1C693CBL324 1 meter terminal board connection I O cable e 1C693CBL325 3 meter terminal board connection I O cable e IC800CBLO001 1 meter servo command cable e IC800CBL002 3 meter servo command cable e 1C693CBL316 Motion programmer communications cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Important Product Information IC693 DSM302 Module GFK1465C The I O and command cables listed above are custom manufactured with special shielding and internal construction Substituting nonapproved cables may adversely affect the servo system Terminal Boards Two terminal boards for user I O connections are available for use with the DSM302 as
15. to 990 and the Neg EOT to 990 Axis Mode LINEAR should In Follower Mode if the Axis Mode is set to LINEAR the Pos EOT Neg EOT values are not be selected when Ctl internally set to the corresponding Hi Lo Count Limits Because of the problem listed above Loop FOLLOWER a Jog or programmed Move may not work at the configured EOT limit In addition the EOT limits do not apply to motion generated by Follower Master Axis inputs Therefore Axis Mode LINEAR should not be selected for either servo axis when Ctl Loop FOLLOWER MCON can be left enabled If the following sequence is followed exactly MCON will be left on in error following the when aborting a Jog cessation of all motion Begin a Jog operation turn on the abort bit to abort the jog turn off the jog bit wait for motion to completely stop then turn off the abort bit Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS HUNDREDS OF Instr
16. ust be changed to DIGITAL Feedback types ENCODER LINEAR RESOLVR CUSTOM1 and CUSTOM2 are not supported in this release of the firmware Ctl Loop Select STANDARD for Standard control loop mode or FOLLOWER for Follower control loop mode CCL2 is reserved for special applications CCL1 is not supported in this release Servo Cmd Must be changed to DIGITAL ANALOG and DUAL are not supported in this release Motorl Type Must be changed to the correct GE Fanuc motor type Select type 0 only if no Motor2 Type servo is used Pos Err Lim Change from default setting of 4096 to a typical value of 15000 30000 Pos Loop TC Change from default setting of 1000 ms to a typical value of 30 50 mSec Vel at 10v Must be changed to 139 820 User Units Counts Configuration NOTEQ Not Equal When a rack configuration containing a DSM302 module is stored downloaded to an IC693 PLC CPU with a firmware revision earlier than 8 10 the MSDOSbased programmer status area will still show CONFIG NOTEQ even though the store operation completes successfully If the configuration is immediately loaded back into the MSDOS programming software the status area will now show the expected CONFIG EQUAL The status area will continue to show the correct CONFIG EQUAL setting until a new configuration is again stored to the PLC CPU PLC Q Bits PLC Q bits are by design RETENTIVE in nature These bits ONLY become NONRETENTIVE after the location i
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