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Giddings & Lewis CENTURION DSM100 Hardware And Installation Manual

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HARDWARE AND INSTALLATION MANUAL
CENTURION
DSM100
SERVO AMPLIFIERS
GIDDINGS & LEWIS, INC.

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Summary of Contents for Giddings & Lewis CENTURION DSM100

  • Page 1 HARDWARE AND INSTALLATION MANUAL CENTURION DSM100  SERVO AMPLIFIERS GIDDINGS & LEWIS, INC.
  • Page 2 NOTE Progress is an on going commitment at Giddings & Lewis. We continually strive to offer the most advanced products in the industry; therefore, information in this document is subject to change without notice. The illustrations and specifications are not binding in detail. Giddings & Lewis shall not be liable for any technical or editorial omissions occurring in this document, nor for any consequential or incidental damages resulting from the use of this document.

  • Page 3: Table Of Contents

    Interface Cables ......... . . Centurion DSM100 Drive Features ........
  • Page 4 Intro-2 Table of Contents Unpacking,Inspecting and Storing HAPTER Unpacking the Drive ......... . Inspection Procedure .
  • Page 5 Table of Contents Intro-3 Application and Configuration Examples HAPTER Analog Control..........Hardware Set Up .
  • Page 6 Centurion DSM100 Drives ........
  • Page 7 Table of Contents Intro-5 Motor Power Cables ......... Cabling Examples .
  • Page 8 Intro-6 Table of Contents...
  • Page 9 List of Figures Intro-7 List of Figures Safety HAPTER Selecting Other System Components HAPTER DSMPro Installation HAPTER Unpacking,Inspecting and Storing HAPTER Connection Diagram ..........38 Installation HAPTER DSM Mounting Dimensions...
  • Page 10 Intro-8 List of Figures Single-Ended Encoder Interface via Open Collector Transistor without Pull-up (not recommended) ......72 Single-Ended Encoder Interface via Standard TTL Signals (not recommended) .
  • Page 11 DSM175 to 600 Motors (FSM, HSM or SSM Series)(Part number to be determined, contact factory) . FSM, HSM or SSM Series Motors to Centurion DSM100 Drive ....201...
  • Page 12 Intro-10 List of Figures Electromagnetic Compatibility Guidelines for Machine Design PPENDIX EMI Source-Victim Model ........219 AC Line Filter Installation .
  • Page 13 List of Tables Intro-11 List of Tables Safety HAPTER Selecting Other System Components HAPTER DSMPro Installation HAPTER Unpacking,Inspecting and Storing HAPTER Installation HAPTER Qualified AC Line Filters ......... . .45 MDF AC Line Filter Dimensions .
  • Page 14 Intro-12 List of Tables AC Input Power Sizing Requirements ........98 Auxiliary Power Terminals .

  • Page 15: Electromagnetic Compatibility Guidelines For Machine Design

    PPENDIX Centurion DSM100 Drive Power Ratings ....... . . 233...
  • Page 16 Intro-14 List of Tables...

  • Page 17: About This Manual

    About This Manual This manual provides instructions on how to setup and connect the Centurion DSM100 Drive to a controlling device and a motor. A Centurion DSM100 Drive may operate in one of several different functional modes. The hardware connections necessary to run the drive are explained and basic software instructions are provided for common set up procedures.

  • Page 18: Dsmpro Installation

    Lists general safety requirements that must be followed when install- ing or servicing the drive. Selecting Other System Reviews the major features of the Centurion DSM100 Drives and iden- Components tifies motors and signal types that are compatible. DSMPro Installation Explains how to install, access and exit DSMPro.
  • Page 19 Describes how to program a Centurion DSM100 Drive using the optional TouchPad device. Tables reference the various motor types that are programmed to work with the Centurion DSM100 Drive. A copy of the TouchPad Command Tree Card for the current firmware version is bound into the manual.

  • Page 20: Additional Instructions And Manuals

    Press the F1 key. Touch Pad The optional TouchPad may be used to monitor and configure the Centurion DSM100 Drive. The Touch- Pad command structure is similar to the structure of DSMPro, but operates through an abbreviated keypad interface. The card TouchPad Instructions is provided with the TouchPad. It describes the installation and operational instructions in a pocket-sized directory.

  • Page 21: Symbols And Conventions

    Intro-19 Symbols and Conventions Typographical and Wording Conventions This manual uses the following typographical and wording conventions: Example Description » Text preceded by right guillemet explains how to access the particular function in the preceding paragraph. For example, To Start DSMPro in Windows »...

  • Page 22: Graphical Symbols And Warning Classifications

    Intro-20 Graphical Symbols and Warning Classifications This manual uses the following graphical symbols and warning classifications. The use of a symbol and signal word is based on an estimation of the likelihood of exposure to the hazardous situation and what could happen as a result of exposure to the hazard.

  • Page 23: Safety

    Safety Installing and Using the Centurion DSM100 Drive Read the complete manual before attempting to install or operate the Centurion DSM100 Drive. By reading the manual you will become familiar with practices and procedures that allow you to operate the Centurion DSM100 Drive safely and effectively.

  • Page 24: Voltage Potentials

    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 exceed 450 VDC or 240 VAC within the Centurion DSM100 Drive. All circuits, including the connections on the front panel, should be considered “hot” when main or auxiliary power is connected and for the time specified in the warning on the front of the drive after power is removed.

  • Page 25: Safety Guidelines

    • Be careful of the DC bus and shunt terminals. High voltage is present when power is applied to the Centurion DSM100 Drive. • Never connect the DC- terminal to earth ground, the drive requires a floating DC bus.
  • Page 26 1-24 Safety NOTES...

  • Page 27: Selecting Other System Components

    Selecting Other System Components The Giddings & Lewis Centurion DSM100 Drives are part of a family of digital drives that use micro- controllers to 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.

  • Page 28: Centurion Dsm100 Drive Features

    (Pulse Width Modulation) sine wave that controls the current loop, including overcurrent, short circuit and overtemperature protection. Analog and Digital Interfaces All Centurion DSM100 Drives allow the user to select one of the following analog or digital command interfaces: • ±10 Volt analog interface – position, velocity or torque control •...

  • Page 29: Analog I/O

    • Two selectable, ±10 Volt analog outputs, one 12-bit and one 8-bit (ANALOG1 and ANALOG2). AC Input Power Centurion DSM100 Drives are powered directly from a main 100-240 VAC line: • DSM110, DSM110P, DSM120, DSM120P, DSM130 and DSM130P require single-phase main power •...

  • Page 30: Communications

    2-28 Selecting Other System Components Communications One serial port, with two connectors, allows from 1 to 32 drives to be connected in parallel using either RS-232 or four-wire RS-485 communications. The serial interface allows the user to program a drive using any PC or host computer that permits RS-232 or four-wire RS-485 communications.

  • Page 31: Motors

    2-29 Motors The Centurion DSM100 Drive is compatible with many motors, both Giddings & Lewis motors and motors from other manufacturers. Drive and motor parameters for all compatible Giddings & Lewis motors are programmed into each Centurion DSM100 Drive at the factory. Giddings & Lewis motors that are compatible with the Centurion DSM100 Drives include all: •...

  • Page 32: European Union Requirements

    – Use of Giddings & Lewis cables to connect motors. See “European Union EMC Directives” on page 5-45; Appendix , “” lists the mentioned equipment and Giddings & Lewis part number. Giddings & Lewis motors available for use with Centurion DSM100 Drives include all: • FSM Series motors •...

  • Page 33: Dsmpro Installation

    DSMPro Installation Installation of DSMPro on a PC is covered in this chapter, which: • 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.

  • Page 34: Installing Dsmpro

    3-32 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. •...

  • Page 35: Starting And Quitting Dsmpro

    DSMPro Installation 3-33 Starting and Quitting DSMPro Version Level The release level and date for DSMPro may be 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.

  • Page 36: The Readme File

    3-34 DSMPro Installation From the C:> Prompt 1. Type win c:\dsmpro\dsmpro.exe. dsmpro This step assumes DSMPro was loaded into the c:\ directory during setup. The DSMPro start-up screen will open. From Windows 1. Choose the DSMPro program group from the Program Manager in Windows. 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.

  • Page 37: Unpacking,Inspecting And Storing

    • Guidelines for storing the drive. Unpacking the Drive 1. Remove the Centurion DSM100 Drive from the shipping carton and remove all packing materi- als from the unit. The materials and carton may be retained for storage or shipment of the drive.

  • Page 38: Testing 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 DSM100 Drive is operational and undamaged. Abbreviated directions for connecting the drive to a motor and a PC are provided.

  • Page 39: Hardware Set Up

    DSM100 Drive. • An Giddings & Lewis cable connects the 9-pin serial port of the Centurion DSM100 Drive to a 9-pin D-shell connector on a serial port of the PC. Giddings & Lewis cables are avail- able in various lengths for connecting between J4 or J5 and a computer. The Appendix “” on page -173 lists the cables.

  • Page 40: Unpacking,Inspecting And Storing

    4-38 Unpacking,Inspecting and Storing Intro DRIVE Motor 2 RCV Encoder 3 XMT 5 COM Phase R 1 Phase S 2 26 +24V Phase T 3 Close to ENABLE drive 20 ENABLE Motor Gnd 4 Close to RESET faults 21 FAULT RESET L1 7 100-240 VAC 50/60 Hz...
  • Page 41 Unpacking,Inspecting and Storing 4-39 Communications Verification 7. Start DSMPro on the PC. 8. Close any windows that are open in DSMPro. 9. Select PC Set Up from the Communications menu in DSMPro. 10. Verify the communication port settings match those of the drive, then select OK. Factory default drive settings are: •...

  • Page 42: Storing The Unit

    25. Open the connection between J1-26 and J1-20 to disable the drive. 26. Choose Close from the Control Panel window. A drive completing these steps is functional. If the Centurion DSM100 Drive did not pass the steps above, refer to “Troubleshooting” on page 11-161.

  • Page 43: Installation

    30.5 cm (12 inches). • Adequate sizing and/or ventilation to dissipate the heat generated by the Centurion DSM100 Drives. Refer to “Power Dissipation” on page F-235 for the amount of heat generated by a Centurion DSM100 Drive and enclosure sizing equations.

  • Page 44: Dsm Mounting Dimensions

    5-42 Installation 4. Bolt the unit to the cabinet using the mounting slots in the drive. Mounting dimensions are shown in Figure 5.1. The recommended size of mounting hardware is: • M5 Metric (1/4-20 equivalent), or • #10 MS bolts. Intro mm (in) DSM110 / 110P...
  • Page 45 Installation 5-43 Intro 8.00 203.20 8.84 224.50 1.25 5.50 31.70 139.70 2.75 69.80 AIR EXHAUST DSM 1150 and DSM 1150P BRU-Series mm (in) STATUS 360.7 (14.20) 331.5 (13.05) 349.0 (13.74) 6.86 (0.27) 33.02 (1.30 36.32 (1.43) WARNING: HIGH VOLTAGE MAY EXIST UP TO FIFTEEN MINUTES AFTER REMOVING POWER.

  • Page 46: Interface Connections

    5-44 Installation Interface Connections Input/output and power cables connect to the front panel of a Centurion DSM100 Drive, no internal connections are necessary. Intro The user is responsible for conforming with all applicable local, national and DANGER international codes. Wiring practices, grounding, disconnects and overcurrent protection are of particular importance.

  • Page 47: Electromagnetic Compatibility

    2. Use of Giddings & Lewis cables. Qualified AC Line Filters Listed below are AC line filters that have been qualified for use with Centurion DSM100 Drives. Filters equivalent to those listed are widely available, and Giddings & Lewis does not recommend one manu- facturer over another.

  • Page 48: Mdf Ac Line Filter Mounting Diagrams

    5-46 Installation Intro MDF Single-phase Intro MDF Three-phase MDF AC Line Filter Mounting Diagrams IGURE...

  • Page 49: Mdf Ac Line Filter Dimensions

    Installation 5-47 MDF AC Line Filter Dimensions ABLE DIMENSION SINGLE PHASE THREE PHASE THREE PHASE THREE PHASE 36 A and 50 A 36 A 50 A 70 A 6.85 9.06 9.06 9.37 104 (2) 4.09 (2) 110 (3) 4.33 (3) 110 (3) 4.33 (3) 150 (3)

  • Page 50: Mif Single Phase Ac Line Filter Mounting Diagram

    5-48 Installation Intro 20 (2) 104 (2) 11 (2) 192 (2) 11 (2) 192 (2) 16 (2) ¯ 7 MIF Single Phase AC Line Filter Mounting Diagram IGURE MIF AC Line Filter Dimensions ABLE DIMENSION SINGLE PHASE SINGLE PHASE 10 A 23 A 8.43 8.43...

  • Page 51: Power Wiring Diagram For Dsm110,110P, 120, 120P, 130 And 130P

    Installation 5-49 DSM 110 DSM 120 DSM130 HSM/SSM 205 DSM 110 HSM/SSM 307 HSM/SSM 320 DSM 120 DSM 130 HSM/SSM 430 FSM 430 HSM/SSM 460 FSM 460 HSM/SSM 490 FSM 490 HSM SERIES HSM SERIES SSM SERIES SSM SERIES FSM SERIES FSM SERIES MOTORS MOTORS...

  • Page 52: Power Wiring Diagram For Dsm175 And Dsm175P

    5-50 Installation DSM175 DSM175 HSM/SSM460 DSM175 FSM460 HSM/SSM490 FSM490 HSM/SSM610 FSM610 HSM/SSM620 FSM620 HSM SERIES HSM SERIES SSM SERIES SSM SERIES FSM SERIES FSM SERIES MOTORS MOTORS DSM175 Confidential Information of Giddings & Lewis Fond du Lac, WI 54935 Power Wiring Diagram for DSM175 and DSM175P IGURE...

  • Page 53: Power Wiring Diagram For Dsm1150 And Dsm1150

    Installation 5-51 INPUT POWER WIRES DIGITAL DRIVE MODULE INPUT CURRENT REQUIREMENTS MOTOR POWER WIRES R,S,T,GND MOTOR POWER CONNECTOR DRIVE TERMINALS CURRENT REQUIREMENT, MAXIMUM (AMPS AC RMS) RECOMMENDED MINIMUM MOTOR POWER SIGNAL POWER WIRE RECOMMENDED L1, L2, L3 DSM1150 46.0 Amps (RMS) at 100-240 Volts AC Three Phase TERMINAL(S) MATING CONNECTOR MOTOR...
  • Page 54 5-52 Installation...

  • Page 55: Interfaces

    J1 is a 50 pin female mini-D connector (AMP 2-178238-7) for connecting a host computer or controller to the Centurion DSM100 Drive. Contact between the connector’s shell and the grounded chassis provides shield termination. This section list the connector pin-outs and provides signal specifications.

  • Page 56: Digital I/O Power

    ENABLE Drive Enable Reserved Digital I/O Power Centurion DSM100 Drives provide +24VDC and +5VDC to power external devices within the following specifications. 24 Volt I/O Power One isolated 24 Volt power supply is accessible from the connector: • The allowable load is <500 mA.

  • Page 57: Digital Inputs

    (VDC) 4.75 5.25 Output Current Current flow (mA) Digital Inputs Centurion DSM100 Drives have active high, current sinking inputs, which prevent disconnects and ground faults from activating a drive. Intro Drive 24VCOM Digital Input Circuit IGURE Two discrete input circuits types are available on the J1 connector. Both circuits support logic type interfaces with 24 Volt, optically isolated, single ended and active high, current sinking characteristics.

  • Page 58: General And Dedicated Inputs

    6-56 Interfaces Selectable Circuits INPUT 1, INPUT 2, INPUT 3, INPUT 4 and FAULT RESET operate with switch closures or sourcing type circuitry. Each input channel sinks 4.5 mA nominal. Selectable inputs are: • Drive Mode Select • Integrator Inhibit •...

  • Page 59: Digital Input Specifications

    Interfaces 6-57 INPUT1, INPUT2, INPUT3, INPUT4 ABLE and FAULT RESET Functions (continued) Function Description Operation Mode Active state selects the Operation Mode Override setting as the command Override source. Inactive state selects the Operation Mode setting as the command source. Table 6.4 on page 6-56 lists the valid Operation Mode and Operation Mode Override combinations.

  • Page 60: Drive Input Connected To A Switch/Relay Contact

    6-58 Interfaces Input Interface Circuit Examples Intro Drive +24VDC 24COM Drive Input Connected to a Switch/Relay Contact IGURE Intro Drive +24VDC 24VCOM Drive Input Connected to an Opto-Isolator IGURE Intro Drive +24VDC 24VCOM Drive Input Connected to an Active High Sourcing Transistor IGURE Intro OUTPUT...

  • Page 61: An Opto-Isolator

    Interfaces 6-59 Intro INPUT OUTPUT (Drive) +24VDC 24VCOM 24VCOM Drive Input Connected to Active Low Output using IGURE an Opto-Isolator Intro OUTPUT INPUT (Drive) +24VDC 24VCOM J1-6 or J1-13 24VCOM Drive Input Connected to Sourcing Output IGURE DSM Drive Hardware and Installation Manual...

  • Page 62: Digital Outputs

    6-60 Interfaces Digital Outputs Two types of discrete output circuits are available on the J1 connector: • Dedicated relay outputs • Selectable transistor based outputs Both types support 24 VDC logic interfaces: Dedicated Relay Outputs BRAKE and DRIVE READY. Each output is a normally open relay. The brake contacts are rated for 1 Amp at 50 Volts.

  • Page 63: Digital Output Circuit

    Interfaces 6-61 Intro Drive +24VDC Digital Output Circuit IGURE Selectable Output Circuits General and Dedicated Outputs ABLE Digital Function/Description Internal Con- Output Number nections READY J1-24 (+) Relay closure indicates the drive does not have a J3-24 (+) J1-25 (-) fault.

  • Page 64: Drive Output Connected To An Opto-Isolator

    6-62 Interfaces Transistor Output Specifications 6.10 ABLE Parameter Description Minimum Maximum ON state Voltage Voltage difference between the +24 VDC 0 VDC 1.5 VDC supply and the output when the transistor is ON state current Current flow when the transistor is ON. 0 mA 50 mA OFF state Voltage...

  • Page 65: Drive Output Connected To A Resistive Load

    Interfaces 6-63 Intro Drive +24VDC Pin 6 Pin 13 24VCOM Drive Output Connected to a Resistive Load 6.12 IGURE Intro Drive I/O Pwr Pin 6 Pin 13 I/O COM Drive Output Connected to a Switch/Relay 6.13 IGURE Intro OUTPUT INPUT (Drive) +24VDC 3.3K...

  • Page 66: Analog Inputs

    6-64 Interfaces Intro OUTPUT INPUT (Drive) +24VDC 24VCOM J1-6 or J1-13 24VCOM Drive Output Connected to Active High (Sinking) Input 6.16 IGURE Analog Inputs Two types of analog input circuits are available on the J1 connector: • The current limiting inputs support 0 to +10 Volt signals •...

  • Page 67: Analog Command Input Circuit

    Interfaces 6-65 Positive and Negative Current Limit Imput Specification 6.12 ABLE Specification Description Minimum Maximum Resolution Number of units that the input voltage is 10 Bits converted to. Maximum Current Short circuit between the input and -1.5 mA ground. Input Signal Range Allowable voltage applied to the input.

  • Page 68: Analog Outputs

    6-66 Interfaces Analog Outputs Intro Drive -5 Volts ANALOG OUTPUT ANALOG 1 and ANALOG 2 Output Circuits 6.19 IGURE Two selectable outputs are available for monitoring by the user: ANALOG 1 (J1-30) and ANALOG 2 (J1-31). A 12 bit digital to analog converter (DAC) generates ANALOG 1. ANALOG 2 is a filtered PWM signal with 8 bit resolution and a carrier frequency of 32.8 kHz.

  • Page 69: Motor Encoder Output Signals

    Interfaces 6-67 Motor Encoder Output Signals Intro Drive AMOUT- AMOUT AMOUT+ AM26C31 or AM26LS31 Output Encoder Interface Circuit 6.20 IGURE 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.

  • Page 70: Iout Signal Generation

    6.21 IGURE Two options are available to achieve European Union EMC compliance when a Centurion DSM100 Drive uses the J2 Breakout Board Assembly 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 instal- lation option is in addition to the EMC requirements specified elsewhere in this manual.

  • Page 71: Auxiliary Encoder Inputs

    Auxiliary Encoder Input Types 6.22 IGURE The Centurion DSM100 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 •...

  • Page 72: Auxiliary Encoder/Step And Diection/Cw & Ccw

    6-70 Interfaces Auxiliary Encoder/Step and Diection/CW & CCW 6.19 ABLE (Step Up & Down) Signals Auxiliary Encoder Input Description Internal Number Connections AX + and AX-, or J1-14 (+) Auxiliary Channels A(+) and A(-). Dif- J3-14 (+) Step + and Step-, or J1-15 (-) ferential, quadrature, or TTL level J3-15 (-)

  • Page 73: Interface Cable Examples

    Interfaces 6-71 Interface Cable Examples The use of differential signals is highly 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 (360°).

  • Page 74: Complementary Encoder Interface Via Standard Ttl Logic

    6-72 Interfaces Intro ENCODER Drive 74xx Ch A twisted pair 74xx Ch B twisted pair 74xx Ch I twisted pair ECOM Supply twisted pair Return +5 Volts +5VDC Supply 5V @ 250 mA For horizontal dashed lines, Encoder Case Drive Chassis connect only if J1 sources Encoder power Complementary Encoder Interface via Standard TTL Logic 6.26...

  • Page 75: Single-Ended Encoder Interface Via Open Collector Transistor With 5 Vdc To 12 Vdc Pull-Up (Not Recommended)

    Interfaces 6-73 Intro ENCODER Drive 5-12 Volts Ch A twisted pair ECOM Supply Return twisted pair 5-12 Volts Ch B 5-12 Volts Ch I Encoder Case Drive Chassis Single-Ended Encoder Interface via Open Collector 6.29 IGURE Transistor with 5 VDC to 12 VDC Pull-up (not recommended) Intro ENCODER Drive...

  • Page 76: External Step/Direction Interface Via Ttl Differential

    6-74 Interfaces Step/Direction and CW/CCW (Step Up/Step Down) 6.21 ABLE Interface Specifications Specification Description Minimum Maximum Signal frequency Frequency of the input signal. (MHz) Pulse Width Time interval the step (CW/CCW) signal (nsec) must remain in a single state for detection. Setup Time Time interval the direction (CW/CCW) sig- (nsec)

  • Page 77: J1 Terminal Strip/Breakout Board

    Interfaces 6-75 Intro Drive USER ELECTRONICS twisted pair Differential Line Drivers CCW+ CCW+ CCW- twisted pair CCW- ECOM Supply twisted pair Return +5 Volts +5VDC Supply 5V @ 250 mA Drive Chassis For horizontal dashed lines, connect only if J1 sources +5VDC power to user electronics External CW/CCW (Step Up/Step Down) Interface via TTL 6.33 IGURE...
  • Page 78 6-76 Interfaces...

  • Page 79: J2 - Encoder

    Channel B(-) J2 is a 20 pin female mini-D ribbon connector (AMP 2-178238-2). It connects the motor encoder, hall effect switches, and the thermostat to the Centurion DSM100 Drive. Contact between the connector shell and a grounded chassis provides shield termination.

  • Page 80: Motor Encoder Interface Circuit

    6-78 Interfaces Intro Drive AM(+) 220pF 26LS33 .01uF AM(-) 220pF LINE BREAK DETECT Motor Encoder Interface Circuit 6.35 IGURE Intro Drive V or AM26C31 +2.5V Hall Effect Sensor Circuit 6.36 IGURE J2- Motor Encoder Connector Pin-Outs 6.22 ABLE Motor Encoder Pin Number Description EPWR...

  • Page 81: Centurion Dsm Motor Encoder Connections

    Interfaces 6-79 J2- Motor Encoder Connector Pin-Outs (continued) 6.22 ABLE Motor Encoder Pin Number Description HALL B J2-14 Hall Effect B sensor logic level input. Internally pulled up to +5VDC through a 1 kOhm resistor. The input signal interfaces to both a differential and single-ended Hall effect sensor, using either a TTL level signal or open collec- tor signal.

  • Page 82: J2 Terminal Strip/Breakout Board

    6-80 Interfaces J2 Terminal Strip/Breakout 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”.

  • Page 83: J3 - Auxiliary Port

    Interfaces 6-81 6Interfaces J3 – Auxiliary Port Signal Description Signal Description +5VDC Encoder +5V DC Auxiliary Channel A+ ECOM Encoder Common Auxiliary Channel A- +5VDC Encoder +5V DC Auxiliary Channel B+ pin 26 pin 13 ECOM Encoder Common Auxiliary Channel B- +24VDC Isolated +24 VDC Auxiliary Channel I+...
  • Page 84 6-82 Interfaces J3 – Auxiliary Connector Pin-Outs (continued) 6.23 ABLE Motor Encoder Pin Number Description Internal Connections AOUT (+) J3-7 (+) Motor Output Channels A(+) and A(-). Dif- J1-7 (+) AOUT (-) J3-8 (-) ferential TTL levels from line driver. J1-8 (-) Refer to “Motor Encoder Output Signal”...
  • Page 85 Interfaces 6-83 J3 – Auxiliary Connector Pin-Outs (continued) 6.23 ABLE Motor Encoder Pin Number Description Internal Connections FAULT RESET J3-21 General purpose input, selectable to one of J1-21 several drive functions. Refer to “Digital Input Specifications” on page 6-57 and Figure 6.1. COMMAND (+) J3-22 (+) Analog command signal is a differential type...
  • Page 86 6-84 Interfaces...

  • Page 87: J4 And J5 - Serial Port

    J4 and J5 are 9 pin female D-shell (AMP 205204-4, pins AMP 66506-3) connectors. Each connector is a serial interface that allows communication with another Centurion DSM100 Drive, a PC, a terminal, a host computer, a controller or an optional TouchPad. The signals on J4 and J5 are internally connected, which allows daisy-chain connection of several drives.

  • Page 88: Serial Communications Overview

    Do not connect any device to J4-6, J5-6, J4-9 or J5-9, except an Giddings & Lewis TouchPad. Serial Communications Overview Centurion DSM100 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.

  • Page 89: Rs-232 Connections

    Interfaces 6-87 Drive Addressing 6.25 ABLE Address Range Communications Hardware Software Factory Default • 9600 baud rate • 8 Data • 1 Stop Bit • No Parity 1–A Software Selected Settings include: • 1200, 2400, 4800, 9600 and 19200 baud rates •...

  • Page 90: Rs-232 Connection Diagrams

    6-88 Interfaces Single Axis RS-232 Set Up A single Centurion DSM100 Drive may be 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.

  • Page 91: Four Wire Rs-485 Connections

    Four Wire RS-485 Connections The Centurion DSM100 Drives use a variation of the RS-485 standard, known as four wire RS-485. 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 transmis- sions in both directions.)
  • Page 92 6-90 Interfaces Multiple Axes Four-Wire RS-485 Communications Do not connect any device to J4-6, J4-9, J5-6 or J5-9 except an Giddings & Lewis TouchPad. 1. Set the rotary address switch on each drive to an unassigned address: • If physical addressing is used, set the rotary switch to a previously unused address (1-A). •...

  • Page 93: Four Wire Rs-485 Daisy Chain Connection Diagram

    Interfaces 6-91 Intro HOST COMPUTER RS-485 INTERFACE *RCV- *RCV+ *XMT- *XMT+ * Pin-outs may vary by manufacturer RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- ..Drive 1 Drive 2 Drive n Four Wire RS-485 Daisy Chain Connection Diagram...

  • Page 94: A1, A2 And Com - Analog Outputs

    6-92 Interfaces A1, A2 and COM – Analog Outputs Analog outputs may be monitored with external equipment, such as an oscilloscope, on the external output pins A1 (ANALOG 1), A2 (ANALOG 2) and COM (COMMON). These output signals are parallel connections to the analog command signals available on connector J1.

  • Page 95: Power Connections

    Power Connections TB1 – DC Bus and AC Power Refer to Figure 5.4 for power wiring connection diagrams for the drives. Description Identifier DSM110 and DSM110P Terminal DSM175 and DSM175P Identifier Description DSM120 and DSM120P DSM 1150 and DSM DSM130 and DSM130P 1150P R phase power to motor R phase power to motor...

  • Page 96: Motor Power Cabling

    7-94 Power Connections An explanation of how to set these values is contained in DSMPro on-line help. Intro DC bus capacitors may retain hazardous voltages for several minutes after DANGER input power has been removed, but will normally discharge in several seconds. Measure the DC bus voltage to verify it has reached a safe level each time power is removed before working on the drive;...

  • Page 97: Motor Power Emc Shield Connection

    YSM Series Pigtail Ground IGURE Intro WARNING High voltage may be present on the terminals of the Centurion DSM100 Drive. Remove power and disconnect the power cable before making or removing any connection. Intro Do not tin (solder) the exposed leads on cables. Solder contracts over time and CAUTION may loosen the connection.

  • Page 98: Motor Overload Protection

    7-96 Power Connections Motor Power Contact and Wire Sizing Recommendations ABLE Motor Motor Power Mating Minimum Maximum Recommended 90°C Contact Size Power Wire HSM/SSM205 HSM/SSM307 HSM/SSM320 HSM/SSM/FSM430 HSM/SSM/FSM460 HSM/SSM/FSM490 HSM/SSM/FSM610 10.0 HSM/SSM/FSM620 10.0 10.0 HSM/SSM/FSM630 10.0 10.0 HSM/SSM/FSM835 25.0 16.0 HSM/SSM845 25.0 16.0...

  • Page 99: Dc Bus

    NOTE: Torque all terminal connections to 1.25 Nm (11.0 lb-in). AC Power Cabling The Centurion DSM100 Drives require 100 to 240 VAC rms power with an input frequency of 47 - 63 Hz. The DSM110, DSM110P, DSM120, DSM120P, DSM130 and DSM130P require single phase input power.

  • Page 100: Tb1 - Ac Power Terminals

    Failure to observe this precaution could result in severe bodily injury or loss of life. Intro High voltage may be present on the terminals of the Centurion DSM100 Drive. WARNING Ensure that the drive is connected to a safety (earth) ground.

  • Page 101: Auxiliary Power

    3. The Centurion DSM100 Drive three phase products require 240 VAC line to line power. This is not available in Europe, where the three phase power distribution is 400 VAC line to line, 240 VAC line to neutral.

  • Page 102: Auxiliary Power Terminals

    Local regulations must be observed when selecting fuses. 2. The Centurion DSM100 Drives do not require an isolation transformer. The rec- ommended transformer sizes are the minimum that is adequate for most servo appli- cations.

  • Page 103: Tb2 - Shunt Regulator

    7-101 TB2 – Shunt Regulator The Centurion DSM100 Drive has a built-in shunt regulator. The figure depicts the internal shunt selection with a factory installed jumper between terminals TB-1 and TB-2. Removal of the internal shunt jumper and installation of an external shunt between terminals TB-1 and TB-3 allows voltage to be dissipated at a faster rate than possible with the internal shunt.

  • Page 104: External Shunt Wiring Examples

    10.0 19.0 If the application requires a higher continuous power dissipation, the Centurion DSM100 Drive provides easy access to an external shunt connection. Connecting an external resistor requires disabling of the internal shunt resistor. Figure 7.4 depicts the use of one or more shunt resistors to provide 1X, 4X or 9X resistance (200 Watts to 2.4 kWatts).

  • Page 105: External Shunt Connection

    Power Connections 7-103 External Shunt Connection The following procedure outlines the installation of an external shunt resistor. 1. Remove jumper between TB1-1 and TB1-2, the internal shunt connection. The jumper is sup- plied with the drive. 2. Wire an external shunt resistor between TB1-1 and TB1-3, the external shunt connections. Use wire of the size recommended in “Minimum Ratings for Customer Supplied External Shunt Resistor”...
  • Page 106 7-104 Power Connections...

  • Page 107: Application And Configuration Examples

    How to modify the units of measurement for DSMPro displays is explained on page 8-141. Analog Control The Centurion DSM100 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.

  • Page 108: Connection Diagram

    8-106 Application and Configuration Examples Connection Diagram Intro DRIVE Motor Encoder 2 RCV 3 XMT T B 1 5 COM P h a se R 1 P h ase S 2 26 +24V P ha se T 3 Close to ENABLE Drive 20 ENABLE M o tor G nd 4 Close to RESET Fault...

  • Page 109: Tuning

    Application and Configuration Examples 8-107 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-166 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 110: Operation

    8-108 Application and Configuration Examples 5. Close the toggle switch between J1-26 and J1-20 to enable the drive. Intro Rotating motor shafts can cause extensive damage and injury. Motors must be WARNING properly guarded during testing and installation. 6. Choose Start from the Tuning window. The drive powers the motor shaft for a short period and then motion will cease.

  • Page 111: Preset Controller

    8Application and Configuration Examples Preset Controller The Centurion DSM100 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.

  • Page 112: Connection Diagram

    8-110 Application and Configuration Examples • J1-34 (INPUT3) and J1-26 (I/O PWR) • Connect a switch between J1-21 (FAULT RESET) and J1-26 (I/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. 5.

  • Page 113: Configuration

    Application and Configuration Examples 8-111 Configuration Carefully check all connections before entering these parameters. 1. Switch the AC Power to ON and verify: • Green DC BUS LED is ON • Display shows an operational status: A, F or P (Analog, Follower or Preset mode of opera- tion).

  • Page 114: Tuning

    8-112 Application and Configuration Examples 15. Enter the appropriate parameters for the Command mode in which the drive will operate: Velocity Mode Settings Torque Mode Settings Enter the appropriate velocity value for each Enter the appropriate current value for each speed required torque required Up to eight presets (0-7) may be programmed.

  • Page 115: Operation

    Application and Configuration Examples 8-113 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 Normal Drive Operation from the Tuning window. 8.

  • Page 116: Position Follower (Master Encoder)

    Application and Configuration Examples Position Follower (Master Encoder) The Centurion DSM100 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.

  • Page 117: Connection Diagram

    Application and Configuration Examples 8-115 Connection Diagram Intro DRIVE Motor 2 RCV Encoder 3 XMT 5 COM Phase R 1 Master Phase S 2 Encoder 1 +5V Phase T 3 2 5V COM Motor Gnd 4 14 AX+ 15 AX- 16 BX+ 100-240 VAC 17 BX-...
  • Page 118 8-116 Application and Configuration Examples – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-166 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 119: Tuning

    Application and Configuration Examples 8-117 Tuning Do not attempt to Auto Tune systems that have gravitational effects. The Cen- turion DSM100 Drive will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.
  • Page 120 8-118 Application and Configuration Examples...

  • Page 121: Position Follower (Step/Direction)

    8Application and Configuration Examples Position Follower (Step/Direction) The Centurion DSM100 Drive can be set up 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 DSM100 Drive to electronically gear or drive a servo motor using step and direction signals that typically control a stepper drive.

  • Page 122: Connection Diagram

    8-120 Application and Configuration Examples Connection Diagram Intro DRIVE 2 RCV Motor Encoder 3 XMT 5 COM Phase R 1 Phase S 2 Phase T 3 14 STEP+ Motor Gnd 4 15 STEP- Step/Dir 16 DIR+ Generator 17 DIR- 100-240 VAC 20 ENABLE Close to ENABLE Drive L2/N...
  • Page 123 Application and Configuration Examples 8-121 – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-166 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 124: Tuning

    8-122 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The Cen- turion DSM100 Drive will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 125: Position Follower (Step Up/Step Down)

    8Application and Configuration Examples Position Follower (Step Up/Step Down) The Centurion DSM100 Drive can be set up 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.

  • Page 126: Connection Diagram

    8-124 Application and Configuration Examples Connection Diagram Intro DRIVE Motor 2 RCV Encoder 3 XMT 5 COM Phase R 1 Phase S 2 Phase T 3 14 CW+ Motor Gnd 4 15 CW- Step 16 CCW+ Indexer 17 CCW- 100-240 VAC L2/N 20 ENABLE Close to ENABLE Drive...
  • Page 127 Application and Configuration Examples 8-125 – Parity: None – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-166 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 128: Tuning

    8-126 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The Cen- turion DSM100 Drive will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 129: Incremental Indexing

    This feature is available only on drives capable of indexing: DSM110P, DSM120P, DSM130P, DSM175P and DSM 1150P. The Centurion DSM100 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 mini- mum hardware necessary.

  • Page 130: Hardware Set Up

    1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the Centu- rion DSM100 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 DSM100 Drive.

  • Page 131: Configuration

    Application and Configuration Examples 8-129 Configuration Carefully check all connections before entering these parameters. 1. Switch the AC Power to ON and verify: • Green DC BUS LED is ON • Display shows an operational status: A, F or P (Analog, Follower or Preset mode of opera- tion).

  • Page 132: Tuning

    8-130 Application and Configuration Examples Single Move Settings Batched Move Settings Incremental as Mode Incremental as Mode 8000 as Distance 8000 as Distance 1 as the Batch Count 3 as the Batch Count 0 as Dwell 1000 as Dwell Appropriate values for Acceleration and Appropriate values for Acceleration and Deceleration Deceleration...

  • Page 133: Operation

    Application and Configuration Examples 8-131 10. Close any open windows or dialog boxes. Operation The drive is now configured as an Incremental Indexing controller. • The servo parameters have been setup with the unloaded motor. • Motion is commanded through the inputs. The firmware saves the parameters in EEPROM memory.

  • Page 134: Registration Indexing

    This feature is available only on drives capable of indexing: DSM110P, DSM120P, DSM130P, DSM175P and DSM 1150P. The Centurion DSM100 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 mini- mum hardware necessary.

  • Page 135: Connection Diagram

    Application and Configuration Examples 8-133 6. Connect the drive to a 100/240 VAC, 50/50 Hz power source appropriate to the drive: • Single Phase: DSM110, DSM110P, DSM120, DSM120P, DSM130, DSM130P, DSM175 or DSM175P • Three Phase: DSM175, DSM175P, DSM 1150 or DSM 1150P Connection Diagram Intro DRIVE...
  • Page 136 8-134 Application and Configuration Examples 5. Verify the communications 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 with the drive.

  • Page 137: Tuning

    Application and Configuration Examples 8-135 16. Choose Close to exit the Drive Parameters window. 17. Select the I/O Configuration command icon from the Drive Window. 18. Select an appropriate digital input from the pull-down lists available as Digital Input Assign- ments in the I/O Configuration window.

  • Page 138: Operation

    8-136 Application and Configuration Examples Operation The drive is now configured as a Registration Indexing controller. • 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.

  • Page 139: Absolute Indexing

    8Application and Configuration Examples Absolute Indexing The Centurion DSM100 Drive can be set up as a absolute indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the mini- mum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J1, refer to “J1 –...

  • Page 140: Connection Diagram

    8-138 Application and Configuration Examples Connection Diagram Intro DRIVE Motor 2 RCV Encoder 3 XMT 5 COM Phase R 1 Phase S 2 Phase T 3 26 I/O PWR Motor Gnd 4 Close to ENABLE Drive 20 ENABLE Close to RESET Fault 21 FAULT RESET Close to Start INDEX...
  • Page 141 Application and Configuration Examples 8-139 Refer to the section “RS-232 Communication Test” on page 11-166 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 142: Tuning

    8-140 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The Cen- turion DSM100 Drive will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 143: Modifying User Units

    8Application and Configuration Examples Modifying User Units The units displayed for any Centurion DSM100 Drive may be 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.
  • Page 144 8-142 Application and Configuration Examples 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: • Distance in Mtr Revs • Acceleration in Revs/sec •...

  • Page 145: Tuning Guidelines

    Tuning Centurion DSM100 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.

  • Page 146: Backlash

    9-144 Tuning There are several ways of dealing with this problem but they fall into two groups: change the mechanical system or change the servo-motor response. Changing the mechanical system might involve reducing the inertia ratio via gearboxes or pulleys, or by increasing the stiffness of the couplings. For very high performance systems and systems with low resonance frequencies the mechanics may require changing to effectively deal with the resonance.

  • Page 147: Auto Tune Mode

    Tuning 9-145 Intro CURRENT TORQUE CURRENT LIMIT COMMAND OUTPUT AVERAGE CURRENT AVERAGE LP ENABLE CURRENT EXCESSIVE TORQUE CURRENT CURRENT COMMAND LOW PASS INPUT CURRENT CURRENT FILTER LIMIT LIMIT POSITIVE CURRENT PEAK DETECT PEAK NEGATIVE CURRENT PEAK DETECT PEAK Torque Current Conditioning Structure IGURE Auto Tune Mode The Auto Tune mode uses a “self-tuning”...

  • Page 148: Auto Tuning

    9-146 Tuning Auto Tuning A PC running DSMPro is required to perform tuning on a Centurion DSM100 Drive. The optional TouchPad does not support tuning. 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.

  • Page 149: Manual Tune Mode

    Tuning 9-147 Manual Tune Mode Manual tuning may be used to adjust the gain settings and filter frequency of the velocity 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: •...

  • Page 150: Filters

    9-148 Tuning Position Loop Gains ABLE Parameter Description Kp-gain Proportional gain of the position loop. Kp-gain changes: • The position loop bandwidth. • 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.

  • Page 151: Manual Tuning

    Tuning 9-149 Manual Tuning Manual tuning may be used to adjust the gain control parameters P, I, D and the filters. A square wave is generated by the drive to assist in the adjustment. Manual velocity tuning requires the following: •...
  • Page 152 9-150 Tuning Tuning the Position Loop Specify the step period and step position values, and then input a square wave to the position loop. Adjust the gain controls parameters Kp, Kd, Kff, Ki, and Ki Zone Filters to tune the system. Tune the velocity loop before attempting to tune the position loop.

  • Page 153: Velocity Loop Tuning Examples

    Tuning 9-151 Velocity Loop Tuning Examples Intro VELOCITY Overshoot Following Error Steady State Error Undershoot TIME Settle Time Rise Time Transient State Steady State Signal Nomenclature IGURE Intro UNDERDAMPED Motor Velocity consistently overshoots the Velocity Command. To correct: Decrease P-gain Decrease I-gain Underdamped Signal IGURE...

  • Page 154: Overdamped Signal

    9-152 Tuning Intro OVERDAMPED Motor Velocity consistently undershoots the Velocity Command. To correct: Increase I-gain Increase P-gain Overdamped Signal IGURE Intro CRITICALLY DAMPED Motor Velocity quickly settles to the Velocity Command. Critically Damped Signal (Ideal Tuning) IGURE...

  • Page 155: Status Display

    – = Tuning mode (the Tuning mode in DSMPro is active.) Refer to“Application and Configuration Examples” beginning on page 8-105 for information on config- uring the Centurion DSM100 Drives in any of these command modes. DSM Drive Hardware and Installation Manual...

  • Page 156: Error Messages

    • Illegal Hall State error requires the motor to be configured as having a hall switch input signal. Run-Time Error Codes “Maintaining and Troubleshooting the Centurion DSM100 Drive” lists the error codes and possible actions or solutions to take when resolving the error condition.

  • Page 157: Power-Up Error Codes

    Status Display 10-155 Run-Time Error Codes (continued) 10.1 ABLE Status Display Error Code Fault Description E..2..9 Motor Selection not in Table E..3..0 Personality Write Error E..3..1 Service Write Error E..3..2 CPU Communications Error 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.
  • Page 158 10-156 Status Display Power-Up Error Codes (continued) 10.2 ABLE Status Display Error Code Fault Description E..7..6 Software Clock Error E..7..7 Sub Processor Communication Checksum Error E..7..8 Sine Table Generation Error E..7..9..n 79-n Personality Data Out of Range where n = suberror parameter 1 - Serial baud rate selection 2 - Serial stop bits/parity selection 3 - Position Loop Kp...

  • Page 159: Maintenance And Troubleshooting Maintenance

    The personality module may be removed from a Centurion DSM100 Drive and installed in another drive. By transferring the personality module from a drive to another drive, the drive’s “personality” is moved to the new drive.
  • Page 160 11-158 Maintenance and Troubleshooting EEPROM Removal/Replacement To remove the EEPROM from a drive: 1. Remove all power from the drive. 2. Disconnect all connections to the front of the drive. 3. Remove the protective cover by removing the screws attaching the right-side cover to the chas- sis.

  • Page 161: Fuse And Jumper Locations

    Maintenance and Troubleshooting 11-159 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 off line will allow you to clone several machines with the same mechanics and provides an emergency backup of the drive data.

  • Page 162: Firmware Upgrading

    Maintenance and Troubleshooting Firmware Upgrading Centurion DSM100 Drives may be upgraded in the field to the latest version of firmware. Firmware versions are available from the Giddings & Lewis Product Support group. The procedure describes how to reload the firmware installed in your drive using the Upgrade Firmware command available in DSMPro software.

  • Page 163: Troubleshooting

    Maintenance and Troubleshooting 11-161 Troubleshooting Two front panel indicators display the status of the drive on a continuous basis: • The Status display indicates the operating mode of the drive (A, F, P, etc.). • The DC Bus LED lights whenever the main AC input is connected to line voltage. A table of problems, potential causes, and appropriate actions to take to resolve the problem is included below.
  • Page 164 11-162 Maintenance and Troubleshooting Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution Encoder Fuse Blown F3 blown Check for shorts on motor Encoder signals and cable wiring. Check/replace fuse F3 if necessary. Bad encoder Replace encoder and or motor.
  • Page 165 Maintenance and Troubleshooting 11-163 Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution Channel AM line Bad connections Verify continuity of the encoder cable. Verify continuity of the AM+ and AM- wiring sig- nals. Bad Encoder Replace the motor or the encoder.
  • Page 166 11-164 Maintenance and Troubleshooting Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution Excessive Average Current Excessive time at peak cur- Reduce acceleration rates rent Reduce duty cycle (ON/ OFF) of commanded motion. Increase time permitted for motion.
  • Page 167 Maintenance and Troubleshooting 11-165 Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution Auxiliary Encoder state Auxiliary encoder encoun- Use shielded cables with error tered an illegal transition twisted pair wires. Route the encoder cable away from potential noise sources.

  • Page 168: Rs-232 Communication Test

    11-166 Maintenance and Troubleshooting RS-232 Communication Test This test verifies the functionality of the communications port on an MS-DOS based personal computer. The test uses the Terminal mode available in Microsoft Windows. 1. Close all DSMPro windows. 2. Select Communication from DSMPro and verify your communication settings. 3.

  • Page 169: Testing Digital Outputs

    Maintenance and Troubleshooting 11-167 Testing Digital Outputs This test verifies the functionality of the selectable outputs. Test equipment requirements are: • A PC running DSMPro • A multimeter. It assumes there are no error codes displayed, and the 24V power supply is connected correctly. Disconnect the outputs from any external hardware while performing this test.

  • Page 170: Testing Digital Inputs

    11-168 Maintenance and Troubleshooting Testing Digital Inputs This test verifies the functionality of the selectable inputs. Test equipment requirements are: • A PC running DSMPro • A jumper wire. It assumes there are no error codes displayed, and the 24V power supply is connected correctly. 1.

  • Page 171: Testing Analog Outputs

    Maintenance and Troubleshooting 11-169 Testing Analog Outputs The following tests verify the functionality of the analog outputs. Test equipment requirements are: • A PC running DSMPro • A voltmeter. Testing Analog Output 1 1. Disable the drive, by opening the connections between the ENABLE input and the + 24 VDC. 2.
  • Page 172 11-170 Maintenance and Troubleshooting Testing Positive Current Limit 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 +24VDC. 3. Disconnect the connections to J1-27 and J1-28. 4.

  • Page 173: Testing Encoder Inputs

    Maintenance and Troubleshooting 11-171 Testing Encoder Inputs The following test verifies both reception and transmission of the line count from an encoder by the drive. The tests require: • A PC running DSMPro, and • A motor encoder. To test encoder inputs: 1.

  • Page 174: Maintenance And Troubleshooting

    11-172 Maintenance and Troubleshooting...

  • Page 175: Options And Accessories

    Options and Accessories Centurion DSM100 Drives conformance to the European Union Directives is contingent on: • Installation of AC line filters between the power source and the drive, and • Use of Giddings & Lewis cables to connect FSM, HSM, NSM, SSM, or YSM Series motors to a DSM110, DSM110P, DSM120, DSM120P, DSM130, DSM130P, DSM175, DSM175P, DSM1150 or DSM1150P drive.

  • Page 176: Fuses

    A-174 Options and Accessories Fuses Description Part Number 1 Ampere, fast acting, inline (Littlefuse R451001, or equivalent) for To be determined. DSM110 or DSM110P, DSM120 or DSM120P, Contact factory. DSM130 or DSMDSM130P, DSM175 or DSM175P, DSM1150 or DSM1150P Options and Accessories Description Part Number TouchPad...

  • Page 177: Options And Accessories

    Options and Accessories A-175 Description m (ft) Part Number J1 to customer supplied connector (no connector) 3 (10) 401-34411-10 7.6 (25) 401-34411-25 15 (50) 401-34411-50 23 (75) 401-34411-75 J3 to customer supplied connector (no connector) 3 (10) 401-34410-10 (Standard sized drives only) 7.6 (25) 401-34410-25 15 (50)

  • Page 178: Serial Interface Cables

    A-176 Options and Accessories Serial Interface Cables Diagrams and schematics for cables listed below are shown in Appendix B “Interface Cables.”. Description m (ft) Part Number J4/J5 to PC [RS-232] 3 (10) 502-04020-10 (9 pin D-shell connector) 7.6 (25) 502-04020-25 15 (50) 502-04020-50 J4/J5 to customer supplied connector...

  • Page 179: Encoder Feedback Cables

    Options and Accessories A-177 Encoder Feedback Cables Diagrams and schematics for cables listed below are shown in Appendix B, “Interface Cables”, beginning on page B-192. Description m (ft) Part Number FSM, HSM or SSM Series Motor to customer supplied 3 (10) 401-34425-10 connector (i.e., no connector) 7.6 (25)

  • Page 180: Motor Power Cables

    A-178 Options and Accessories Motor Power Cables Diagrams and schematics for cables listed below are shown in Appendix B, “Interface Cables”, beginning on page B-197. Description m (ft) Part Number Drive to 200 or 300 Motors (FSM, HSM or SSM Series) 3 (10) 401-34413-10 7.6 (25)

  • Page 181: Connector Kits

    The following connectors are listed solely to provide a cross-reference of mating connectors for the J1, J2 or J3 connectors on the Centurion DSM100 Drives. The connectors are not available from Giddings & Lewis. Please contact the manufacturer or a distributor for additional information. Manufacturer phone...

  • Page 182: Options And Accessories

    A-180 Options and Accessories...

  • Page 183: Cable Diagrams, Schematics And Examples

    Cable Diagrams, Schematics and Examples Factory supplied cables allow Centurion DSM100 Drives to conform to the European Union Directives when connecting the drive to motors, controllers or computers. The following diagrams provide infor- mation on the cables available from the factory.

  • Page 184: Interface Cables

    B-182 Cable Diagrams, Schematics and Examples Interface Cables Intro J1 to J3 Interface Cable (P/N 401-34422) IGURE BCable Diagrams, Schematics and Examples...

  • Page 185: J1 To No Connector Interface Cable (P/N 401-34411)

    Cable Diagrams, Schematics and Examples B-183 Intro J1 to No Connector Interface Cable (P/N 401-34411) IGURE DSM Drive Hardware and Installation Manual...

  • Page 186: J3 To No Connector Interface Cable (P/N 401-34410)

    B-184 Cable Diagrams, Schematics and Examples Intro J3 to No Connector Interface Cable (P/N 401-34410) IGURE...

  • Page 187: J1 To 50-Pin Terminal Block Kit Diagram

    Cable Diagrams, Schematics and Examples B-185 Intro Mounting bracket (shown) and cable supplied with 401-34409-00 kit. NOTES: The terminal block and cable provide a one-to-one transfer of the signals from the connector to the respective pin(s) on the terminal block. The cabling examples beginning on page B-201 depict the use of this kit to pass a cable through a restricted bulkhead.

  • Page 188: J1 To 50-Pin D-Connector Cable (Supplied With 401-34409 Kit)

    B-186 Cable Diagrams, Schematics and Examples Intro J1 to 50-pin D-Connector Cable (supplied with 401-34409 kit) IGURE...

  • Page 189: J2 To 25-Pin Terminal Block Kit Diagram (P/N 401-34408-00)

    Cable Diagrams, Schematics and Examples B-187 Intro Mounting bracket (shown) and cable (next page) supplied with kit 401-34408. NOTES: The terminal block and cable provide a one-to-one transfer of the signals from the connector to the respective pin(s) on the terminal block. The cabling examples beginning on page B-201 depict the use of this kit to pass a cable through a restricted bulkhead.

  • Page 190: J2 To 25-Pin D-Connector Cable (Supplied With Kit 401-34408)

    B-188 Cable Diagrams, Schematics and Examples J2 to 25-pin D-Connector Cable (supplied with kit 401-34408) IGURE...

  • Page 191: Serial Interface Cables

    Cable Diagrams, Schematics and Examples B-189 Serial Interface Cables Intro J5 to 9-pin D-Shell Interface Diagram (P/N 502-04020-XX) IGURE B Cable Diagrams, Schematics and Examples DSM Drive Hardware and Installation Manual...

  • Page 192: J5 To J5 Serial Interface Cable (P/N 502-04021-Xx)

    B-190 Cable Diagrams, Schematics and Examples Intro J5 to J5 Serial Interface Cable (P/N 502-04021-XX) IGURE...

  • Page 193: J5 To No Connector Serial Interface Cable (P/N 401-34423-Xx)

    Cable Diagrams, Schematics and Examples B-191 Intro J5 to No Connector Serial Interface Cable (P/N 401-34423-XX) B.10 IGURE DSM Drive Hardware and Installation Manual...

  • Page 194: Encoder Feedback Cables

    B-192 Cable Diagrams, Schematics and Examples Encoder Feedback Cables Intro FSM, HSM or SSM Series Motors to No Connector Encoder Cable B.11 IGURE (P/N 401-34425-XX) BCable Diagrams, Schematics and Examples...

  • Page 195: J2 To Fsm, Hsm Or Ssm Series Encoder Cable (P/N 401-34407-Xx)

    Cable Diagrams, Schematics and Examples B-193 Intro J2 to FSM, HSM or SSM Series Encoder Cable (P/N 401-34407-XX) B.12 IGURE DSM Drive Hardware and Installation Manual...

  • Page 196: J2 To Ysm Series Encoder Cable (P/N 401-30233-Xx)

    B-194 Cable Diagrams, Schematics and Examples Intro J2 to YSM Series Encoder Cable (P/N 401-30233-XX) B.13 IGURE...

  • Page 197: No Connector To Ysm Series Encoder Cable (P/N 401-30253-Xx)

    Cable Diagrams, Schematics and Examples B-195 Intro No Connector to YSM Series Encoder Cable (P/N 401-30253-XX) B.14 IGURE DSM Drive Hardware and Installation Manual...

  • Page 198: J2 To No Connector Encoder Cable (P/N 401-34424-Xx)

    B-196 Cable Diagrams, Schematics and Examples Intro J2 to No Connector Encoder Cable (P/N 401-34424-XX) B.15 IGURE...

  • Page 199: Motor Power Cables

    Cable Diagrams, Schematics and Examples B-197 Motor Power Cables Intro Shielded power cables must be grounded at a minimum of one point for safety. CAUTION Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it. Intro 200 or 300 FSM, HSM or SSM Series Power Cable (P/N401-34413-XX) B.16...

  • Page 200: Or 620 Fsm, Hsm Or Ssm Series Power Cable (P/N 401-34415-Xx)

    B-198 Cable Diagrams, Schematics and Examples Intro 610 or 620 FSM, HSM or SSM Series Power Cable (P/N 401-34415-XX) B.18 IGURE Intro WIRING DIAGRAM BROWN BLACK CABLE, "SINE ULTI-MAX " BLUE KA-50962, 90×C 600 VOLT GRN/YEL SHIELDED 4/C, 8 AWG. SHIELD ATTACH TO THE MOLDING ADAPTER AND WRAP WITH ALUMINUM FOIL TAPE...

  • Page 201: Ssm Or Hsm Series Power Cable (P/N 401-34417-Xx)

    Cable Diagrams, Schematics and Examples B-199 Intro WIRING DIAGRAM CABLE, "SINE ULTI-MAX " KA-50962, 90×C, 600 VOLT, BROWN SHIELDED 4/C 8 AWG BLACK BLUE GRN/YEL SHIELD ATTACH TO THE MOLDING ADAPTER AND WRAP WITH ALUMINUM FOIL TAPE BETWEEN THE SHIELD AND THE ADAPTER. THE TAPE MUST MAKE CONTACT WITH VIEW A THE ENTIRE SHIELD CIRCUMFERENCE AND...
  • Page 202 B-200 Cable Diagrams, Schematics and Examples Intro NOTE: This cable is not CE marked. DSM175 to 600 Motors (FSM, HSM or SSM Series)(Part number to be determined, B.22 IGURE contact factory)

  • Page 203: Cabling Examples

    50-pin D connector at the terminal strip end. Motor Power Cables - Use Centurion DSM100 Drive cables if the CE Mark is required. Other cables may be used if the CE Mark is not an issue.

  • Page 204: Fsm, Hsm Or Ssm Series Motors To Centurion Dsm100 Drive

    20-pin D connector at the terminal strip end. Motor Power Cables - Use Centurion DSM100 Drive cables if the CE Mark is required. Other cables may be used if the CE Mark is not an issue. In either case, the shield on the motor power cable must be properly grounded at both ends;...

  • Page 205: Ysm Series Motors To Centurion Dsm100 Drive

    Adaptor Kit 401-34409 includes the 3 foot cable, screw terminal strip and mounting 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. YSM Series Motors to Centurion DSM100 Drive B.25...

  • Page 206: Ysm Series Motors To Centurion Dsm100 Drive Using P2 Terminal Strip

    Adaptor Kit 401-34408 includes the 3 foot cable, screw terminal strip and mounting bracket. The cable has a 20-pin Mini D Ribbon connector at the drive end and a 20-pin D connector at the terminal strip end. YSM Series Motors to Centurion DSM100 Drive B.26...

  • Page 207: Touchpad Instructions Installation And Operation

    Installation and Operation 1. Power down the drive. 2. Plug the TouchPad into the serial port on the Centurion DSM100 Drive by latching the tab into the drive and then mating the connector as shown. Intro 1.

  • Page 208: Touchpad Version Number Display

    C-206 TouchPad Instructions Intro Drive Type: DSM110 or DSM110P, Ver11.10 DSM120 or DSM120P, DSM130 or DSM130P, DSM175 or DSM175P, DSM 1150 or DSM 1150P DSM 007 or DSM 007P, DSM 015 or DSM 015P, DSM 030 or DSM 030P Firmware Level: 1.00 = Version 1.00 1.10 = Version 1.10 2.00 = Version 2.00 (Indexing capable)

  • Page 209: Touchpad Commands

    TouchPad Instructions C-207 TouchPad Commands Commands are entered by pressing a single key or combination of keys. Two modes of operation are available. Parameter mode allows you to move through the TouchPad Command Tree to each parameter. Modify mode allows you to monitor and change each parameter, often while the drive is operational. Function Toggles the parameter display between the two operating modes.
  • Page 210 C-208 TouchPad Instructions Intro DRVSETUP DRVPARM I/OCONFIG MotorSel Drv Mode DigInp1 Motor Selection 0 Mode Digital Input 1 see Table Velocity or Torque see Table Drv Name DigInp2 Cmd Src Drive Name Command Source Digital Input 2 <32 characters Path Selections see Table Drv Comm OvrdMode...
  • Page 211 TouchPad Instructions C-209 Intro TUNING DISPLAY DRVINFO STATUS CTLPANEL SWEnable I Cmd FW Ver DrvStat IndxCtrl Software Enable Current Command Firmware Version Drive Status Index Control Selection Amps Release Level see Table On or Off TuneMode I Avg Boot Ver InpFlags StrtCtrl Tuning Mode...

  • Page 212: Supplemental Instructions

    C-210 TouchPad Instructions Supplemental Instructions Motor Selection Enter a Motor Identification number to load the correct motor parameters into the drive. Table C.2 and Table C.3 list the motors available in the motor table directory. Displays Selection of a motor defines default operating parameters for the drive and motor combination. Text A drive name longer than eight characters may require scrolling with the Left, , and Right,...

  • Page 213: Touchpad Fault/Error/Warning Displays

    TouchPad Instructions C-211 List The most significant digit is reserved for an active/inactive selection marker when a parameter provides a list of possible selections. • A filled arrow, , in the most significant digit indicates the active setting from a list of possible set- tings.
  • Page 214 C-212 TouchPad Instructions TouchPad Fault/Error/Warning Displays (continued) ABLE Display Level Description DataDisp Warning The parameter is a live data display and cannot be modified. DrvEnabl Warning The parameter cannot be changed while the drive is enabled. Fault Fault Drive fault detected. InvlData Warning Invalid data was entered for the parameter.

  • Page 215: Motor Table

    TouchPad Instructions C-213 Motor Table TouchPad Motor Table Identification by Motor Series ABLE Motor Motor Motor Motor FSM430 B24 HSM610 NSM4220 E5000 SSM620 FSM460 B24 HSM620 NSM5630 SSM630 FSM490 B24 HSM630 NSM5630 E5000 SSM835 FSM610 B24 HSM835 NSM5637 SSM845 FSM620 B24 HSM845 NSM5637 E5000 YSM102 115V...

  • Page 216: Touchpad Lists

    C-214 TouchPad Instructions TouchPad Lists Drive Communications Parameter List for the TouchPad ABLE Display 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 Baud Rate Parameter List for TouchPad ABLE...

  • Page 217: Index Termination Parameter List For Touchpad

    TouchPad Instructions C-215 Index Termination Parameter List for TouchPad C.10 ABLE Display Parameter Stop Stop NxtINow Start another Index immmediately NxtIWt Start another Index at next Start Index transition a. Parameters available only if the drive supports Indexing. Home Type Parameter List for TouchPad C.11 ABLE Display...

  • Page 218: Digital Output Parameter List For Touchpad

    C-216 TouchPad Instructions Digital Output Parameter List for TouchPad C.15 ABLE Display Parameter Not Asgn Not Assigned (not used) InPos In Position PosWin Within Position 0 Speed Zero Speed SpdWin Speed Window +ILimit Positive Current Limit -ILimit Negative Current Limit UpToSpd Up to Speed DrvEnab...

  • Page 219: Input Flags Parameter List For Touchpad

    TouchPad Instructions C-217 Drive Status List for TouchPad (continued) C.17 ABLE Display Parameter BusOvV Bus Undervoltage BusUndV Bus Overvoltage IlglHal Illegal Hall State SubIntr Unused Interrupt - sub processor MainInt Unused Interrupt - main processor ExsAvgI Excessive Average Current OvSpeed Motor Overspeed ExsFErr Excessive Following Error...

  • Page 220: Touchpad Instructions

    C-218 TouchPad Instructions...

  • Page 221: Emi Source-Victim Model

    Design This appendix provides background information about Electromagnetic Interference (EMI) and machine design guidelines for Electromagnetic Compatibility (EMC). The Centurion DSM100 Drive installation requirements for compliance to the European Electromagnetic Compatibility Directive are specified in “European Union Requirements” on page 2-30. AC Line Filters necessary for European EMC compliance are listed in Chapter 5, “Installation”.

  • Page 222: Electromagnetic Compatibility Guidelines For Machine Design

    D-220 Electromagnetic Compatibility Guidelines for Machine Design 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.

  • Page 223: Ac Line Filter Installation

    A common mode choke, as is used in the Centurion DSM100 Drive, 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.

  • Page 224: Grounding

    D-222 Electromagnetic Compatibility Guidelines for Machine Design 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 20 nH/in regardless of diameter.

  • Page 225: Shielding And Segregation

    Electromagnetic Compatibility Guidelines for Machine Design D-223 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 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.
  • Page 226 D-224 Electromagnetic Compatibility Guidelines for Machine Design...

  • Page 227: Dynamic Braking Resistor Selection

    Dynamic Braking Resistor Selection This appendix provides equations to assist in sizing resistors for dynamic braking. A properly sized resistive load may be required to dynamically brake the system by dissipating the energy stored in a motor. The section “Emergency Stop Wiring” on page 7-96 depicts the necessary circuitry. Winding inductance is ignored in this analysis, which allows the load on the motor winding to be con- sidered as purely resistive when dynamic braking occurs.
  • Page 228 E-226 Dynamic Braking Resistor Selection 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: ω 3 ( )   )ω...

  • Page 229: Sample Calculations

    Dynamic Braking Resistor Selection E-227 Sample Calculations The following example uses an HSM475 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 paramters, but it is unlikely that a resistor with this Wattage is required.
  • Page 230 E-228 Dynamic Braking Resistor Selection 1 10 7500 P( ) t 5000 2500 0.05 0.15 Average Power (Watts): ⋅ ⋅ ω · ----------------------------- - ⋅ 1116...

  • Page 231: Specifications

    Specifications Item Specification Agency Approvals UL and cUL UL508C File E145959 CE mark Low Voltage Directive and Electromagnetic Compatibility Directive Certificate of Conformity from TUV Product Service Environmental Operating Temperature DSM110 or DSM110P, C to 55 C (32 F to 131 DSM120 or DSM120P C to 55 C (32...
  • Page 232 F-230 Specifications Item Specification Digital Inputs Selectable (5) 24 Volt, Optically Isolated, Single ended, Active High, Current Sinking, 4.5 mA nominal ENABLE 24 Volt, Optically Isolated, Single ended, Active High, Current Sinking, 4.5 mA nominal Digital Outputs Selectable (4) 24 Volt, Optically Isolated, Single-ended, Active High, Current Sourcing, 50 mA maximum BRAKE 24 Volt, Normally Open Relay, 1 A...
  • Page 233 Specifications F-231 Item Specification Resolution 10-bit Speed Regulation Type Digital, PID Update Rate 5 kHz -3dB Bandwidth 150 Hz -45° Bandwidth 50 Hz Ripple ±2 RPM @ 1000 RPM Resolution 16-bit Position Regulation Type Digital, PID with Feedforward Filters Low Pass Digital, 0 - 1000 Hz, -3 dB Bandwidth, Selectable Software Controls Data Collection (2)
  • Page 234 F-232 Specifications Item Specification Run-Time Faults Motor Overtemperature Bus Overvoltage IPM Fault Overspeed Excess Error Encoder State Change Encoder Line Break Fuse Illegal Hall State Selectable Digital Inputs Drive Mode Select Integrator Inhibit Follower Enable Forward Enable Reverse Enable Operation Mode Override Preset Selects Start Index Define Home...

  • Page 235: Power

    Specifications F-233 Power Centurion DSM100 Drive Power Ratings ABLE DSM110, DSM120, DSM130, DSM175, DSM1150, DSM110P DSM120P DSM130P DSM175P DSM 1150P Auxiliary AC Input Voltage (rms Volts nominal) 100 to 240 100 to 240 100 to 240 100 to 240 100 to 240...
  • Page 236 F-234 Specifications Centurion DSM100 Drive Power Ratings (continued) ABLE DSM110, DSM120, DSM130, DSM175, DSM1150, DSM110P DSM120P DSM130P DSM175P DSM 1150P Bus Capacitance (µF) 1170 1950 2730 4290 7520 Peak Power Output (kWatts @ 120 V 1.25 3.75 ∅ (kWatts @ 240 V 14, 1 ∅...

  • Page 237: Power Dissipation

    F-235 Power Dissipation The Centurion DSM100 Drive controller dissipates power that results in cabinet heating. The following table lists power dissipation values for the Centurion DSM100 Drives. Calculate the cabinet cooling requirements using the power dissipation information and formulas below.
  • Page 238 F-236 Specifications...
  • Page 239 Index Ind-237 Index Configuration Example, see Example Connection Diagram Absolute Indexing Analog Controller Incremental Indexing ABS Input Position Follower Absolute Indexing Master Encoder Step Up/Down Step/Direction Line Filters Preset Controller Power Registration Indexing see also Power Current Accessories Limit Address Switch Regulation Agency Approvals Altitude...
  • Page 240 Ind-238 Index Guidelines Selecting via TouchPad Design Graphical Symbols General Gravitational Effects System Tuning Shielding and Segregation Grounding Types Electromagnetic Interference (EMI) Single Point EMC, see Electromagnetic Compatibility Guidelines EMI Source-Victim Model Electromagnetic Compatibility ENABLE, see Specifications Manual Tune Encoder Cabling Inputs Overcurrent...
  • Page 241 Index Ind-239 Indicators DC Bus Kd-gain Status Kff-gain Inertia Ki-gain Input Kp-gain Frequency Power Inrush Current Fusing Inspection Procedures DC Bus Checkout Test Status Communications Verification Line Hardware Set Up Filters Initial Drive Operation Location of Initial Power-up Fuses Shipping Damage Jumpers Installing Low Pass Filter...
  • Page 242 Ind-240 Index Manual Mode Position Loop Operating Temperature Velocity Loop Options Product Support ccxlix Output Current PWM Carrier Frequency Continuous (peak) Peak Readme File Part Numbers READY, see Specifications AC Line Filters Registration Indexing Cables Requirements Connector Kits Input Power Drives Transformer Encoder Cables...
  • Page 243 Index Ind-241 Example Continuous (peak) Types Peak Software Position Regulation Installation Power Output Instructions Continuous Readme File Peak Requirements Power Ratings Starting and Quitting Power Supply Version Level 5 Volt Space Requirements Power-Up Faults Specifications PWM Carrier Frequency ABS Input Address Switch Run-Time Faults Agency Approvals...
  • Page 244 Ind-242 Index Character Selection Mechanical Resonance Cursor Movements Tuning Procedure Default Settings Auto Tune Drive Addressing Defaults Filter for Velocity Loop Error Display Overspeed Parameter Gear Ratios Velocity Loop Examples Installation and Operation Typographical Conventions Instructions Lists Baud Rate Drive Communications Unpacking the Drive Motor Table Update Rate, see Specifications...

  • Page 245: Dsm 007 And Dsm 007P, Dsm120 And Dsm120P

    Pictorial Index DSM 007 and DSM 007P, DSM120 and DSM120P, DSM130 and DSM130P J4 and J5 – Serial Port RCV + RS-485 RS-232 RS-232 XMT + RS-485 RSVD RCV - RS-485 XMT - RS-485 page 10-153 RSVD J3 – Auxiliary Port page 7-101 page 6-92 Duplicates J1 pins 1 –...

  • Page 246: Dsm175 And Dsm175P

    -244 DSM175 and DSM175P J4 and J5 – Serial Port RCV + RS-485 RS-232 RS-232 XMT + RS-485 RSVD RCV - RS-485 XMT - RS-485 RSVD J3 – Auxiliary Port Duplicates J1 pins 1 – 26 J2 – Encoder Encoder Pwr Encoder Com page 10-153 Encoder Pwr...

  • Page 247: Dsm1150 And Dsm1150P

    -245 DSM1150 and DSM1150P J4 and J5 – Serial Port RCV + RS-485 RS-232 RS-232 XMT + RS-485 RSVD RCV - RS-485 XMT - RS-485 RSVD J3 – Auxiliary Port Duplicates J1 pins 1 – 26 BRU-Series J2 – Encoder Encoder Pwr page 10-153 STATUS...

  • Page 248: Interface Connections

    -246 Interface Connections Shown here are typical components and connections for a Centurion DSM100 Drive. Intro DSM Interface Connection Diagram...

  • Page 249: Eu Directives

    Electromagnetic Compatibility Guidelines for Machine Design D-247 HelpEU Directives Declaration of Conformity DSM Drive Hardware and Installation Manual...
  • Page 250 D-248 Electromagnetic Compatibility Guidelines for Machine Design NOTES...
  • Page 251 Product Support Giddings & Lewis Automation Control 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: • The version numbers of the Giddings & Lewis Automation Control hardware and software products. •...
  • Page 252 Bulletin Board Service (BBS) • NOTES DSM Hardware and Installation Manual •...
  • Page 253 Centurion DSM100 Drive Hardware and Installation Manual Giddings & Lewis Automation Control...
  • Page 254 cclii Bulletin Board Service (BBS) • DSM Hardware and Installation Manual •...

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