Giddings & Lewis CENTURION DSM120P Hardware And Installation Manual

Servo amplifiers
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Giddings and Lewis DSM120P
Centurion Servo Amplifier
A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
• C r i t i c a l a n d e x p e d i t e d s e r v i c e s
• I n s t o c k / R e a d y - t o - s h i p
Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate, representative, or authorized distributor for any manufacturer listed herein.
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  • Page 1 Giddings and Lewis DSM120P Centurion Servo Amplifier 1395 In Stock Qty Available: 1 Used and in Excellent Condition Buy Today! https://www.artisantg.com/65209-1 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s . •...
  • Page 2: Servo Amplifiers

    HARDWARE AND INSTALLATION MANUAL CENTURION DSM100  SERVO AMPLIFIERS GIDDINGS & LEWIS, INC.
  • Page 3 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 4: Table Of Contents

    Table of Contents Intro-1 Table of Contents About This Manual......... . . Additional Instructions and Manuals .
  • Page 5 Intro-2 Table of Contents Unpacking,Inspecting and Storing HAPTER Unpacking the Drive ......... . Inspection Procedure .
  • Page 6 Table of Contents Intro-3 Application and Configuration Examples HAPTER Analog Control..........Hardware Set Up .
  • Page 7 Intro-4 Table of Contents Tuning HAPTER Tuning Guidelines ......... . General Tuning Rules .
  • Page 8 Table of Contents Intro-5 Motor Power Cables ......... Cabling Examples .
  • Page 9 Intro-6 Table of Contents...
  • Page 10: List Of Figures

    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 11 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 12 List of Figures Intro-9 Signal Nomenclature ..........151 Underdamped Signal .
  • Page 13 Intro-10 List of Figures Electromagnetic Compatibility Guidelines for Machine Design PPENDIX EMI Source-Victim Model ........219 AC Line Filter Installation .
  • Page 14: List Of Tables

    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 15 Intro-12 List of Tables AC Input Power Sizing Requirements ........98 Auxiliary Power Terminals .
  • Page 16: Electromagnetic Compatibility Guidelines For Machine Design

    List of Tables Intro-13 Electromagnetic Compatibility Guidelines for Machine Design PPENDIX Dynamic Braking Resistor Selection PPENDIX Dynamic Braking Resistor Parameters ........225 Specifications PPENDIX Centurion DSM100 Drive Power Ratings...
  • Page 17 Intro-14 List of Tables...
  • Page 18: About This Manual

    Intro-15 Preface This manual provides a step-by-step approach to building a servo system using a Centurion DSM100 Drive . The manual is divided into chapters that cover specific phases of the system design process; from ordering components that will complement the performance of the Centurion DSM100 Drive , to receiv- ing, installing and verifying the drive’s functionality.
  • Page 19: Dsmpro Installation

    Intro-16 Title Description Safety 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 20 Intro-17 Title Description Lists the optional equipment available for the Centurion DSM100 Drives. Cable Diagrams, Schemat- Provides schematics and cabling examples. ics and Examples TouchPad Instructions 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.
  • Page 21: Additional Instructions And Manuals

    Intro-18 Additional Instructions and Manuals Host Commands and DSMPro All Centurion DSM100 Drives are setup through serial Host Commands. The drives may be configured directly through the Host Command language or indirectly through the DSMPro software. DSMPro is a graphical user interface that provides a visual method of accessing the Host Command language through the Microsoft Windows Operating System.
  • Page 22: 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 23: 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 24: 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 25: Voltage Potentials

    1-22 Safety Voltage Potentials Intro DANGER DC bus capacitors may retain hazardous voltages for several minutes after 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 26: Safety Guidelines

    Safety 1-23 Safety Guidelines Electrical shock and fire hazards are avoided by using normal installation procedures for electrical power equipment in an industrial environment. Installation must be undertaken by suitably qualified personnel. Note that this amplifier must be installed in an industrial cabinet such that access is restricted to suitable qualified personnel.
  • Page 27 1-24 Safety NOTES...
  • Page 28: 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. This chapter reviews the Centurion DSM100 Drive and associated motors, command sources and inter- faces.
  • Page 29: Centurion Dsm100 Drive Features

    2-26 Selecting Other System Components Centurion DSM100 Drive Features Stand-alone Design A single unit fully encloses all electronics, including both the power supply and a built-in shunt regulator. An external transformer is not required on the main power line. All connectors and indicators are accessible and clearly marked on the front panel.
  • Page 30: Analog I/O

    Selecting Other System Components 2-27 Analog I/O Two analog inputs are dedicated to current limits and two analog outputs can be customized to fit the application: • Two dedicated 10 bit, 0 – 10 Volt, analog inputs (+I LIMIT and -I LIMIT) •...
  • Page 31: 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 32: Motors

    Selecting Other System Components 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 33: European Union Requirements

    2-30 Selecting Other System Components European Union Requirements Centurion DSM100 Drives conform to the following European Union Directives: • Machinery Directive (89/392/EEC, Article 4.2 and Annex II, sub B) • Low Voltage Directive (72/23/EEC, 93/68/EEC) • Electromagnetic Compatibility Directive (89/336/EEC, 92/31/EEC, 93/68/EEC). Compliance with the EEC Directives is contingent on: –...
  • Page 34: 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 35: 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 36: 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 37: From Windows

    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 38: Unpacking,Inspecting And Storing

    Unpacking,Inspecting and Storing This chapter describes four steps which should ensure that the drive functions correctly. The steps include: • Unpacking the Centurion DSM100 Drive • Inspecting the drive for shipping damage • Testing the basic functionality of the drive •...
  • Page 39: Testing The Unit

    4-36 Unpacking,Inspecting and Storing 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. The test requires: •...
  • Page 40: Hardware Set Up

    Unpacking,Inspecting and Storing 4-37 Hardware Set Up Make the connections described below and shown in Figure 4.1. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the Centu- rion DSM100 Drive. • An Giddings &...
  • Page 41: 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 42 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 43: Storing The Unit

    4-40 Unpacking,Inspecting and Storing 22. Choose Set to Zero. The motor will stop rotating. 23. Choose Drive Disable and verify the motor shaft can be rotated by hand. 24. Choose Drive Enable and verify the motor shaft has holding torque. (i.e., The shaft cannot be moved or moves with resistance.) 25.
  • Page 44: Installation

    Installation Mechanical Installation Requirements 1. Mount the unit in an enclosure providing protection to IP54 (protected against dust and splashing water), or IP65 (dust free and protected against water jets) if the work environment is poor. Many NEMA (National Electrical Manufacturers Association) Type 4 cabinets provide this level of protection.
  • Page 45: 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 46 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 47: 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 48: Electromagnetic Compatibility

    Installation 5-45 Electromagnetic Compatibility General Guidelines Appendix D, “Electromagnetic Compatibility Guidelines for Machine Design” contains guidelines for reducing electrical noise and increasing electromagnetic compatibility (EMC) plus a discussion of elec- tromagnetic interference (EMI). European Union EMC Directives The Centurion DSM100 Drives are designed and tested to meet the European EMC Directive. A Decla- ration of conformity, which enumerates the standards used, is located at the end of Appendix D.
  • Page 49: 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 50: 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 51: 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 52: 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 53: 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 54: 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 55 5-52 Installation...
  • Page 56: Interfaces

    Interfaces This chapter provides information about: • Interface signals available on the Centurion DSM100 Drive • Commonly encountered interface cabling methods • Optional signal extension kits and standard Giddings & Lewis cables. J1 – Controller 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.
  • Page 57: Digital I/O Power

    6-54 Interfaces Signal Description Signal Description Signal Description +5VDC Encoder +5V DC RESET Fault Reset Reserved ECOM Encoder Common COMMAND+ Analog Command+ OUTPUT1 Selectable Output 1 +5VDC Encoder +5V DC COMMAND- Analog Command- OUTPUT2 Selectable Output 2 ECOM Encoder Common READY+ Drive Ready+ OUTPUT3...
  • Page 58: Digital Inputs

    Interfaces 6-55 The +24 Volt power supply is internally fused by F1, a 1 Amp, fast acting fuse. Refer to “Fuse and Jumper Locations” on page 11-159, for the location of F1. If an external +24VDC power source will power the I/O, remove jumpers P5 and P6.
  • Page 59: 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 60: 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 61: 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 62: 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 63: 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 64: 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 65: 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 66: 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 67: 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 68: 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 69: 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 70: 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 71: Iout Signal Generation

    6-68 Interfaces IOUT Signal Generation The Index output signal (IOUT) is not synchronized to a particular state of the A and B output signals (AOUT and BOUT). Some controllers, such as those used in the CNC industry, use the condition I=1, A=1, B=1 to indicate a home position.
  • Page 72: Auxiliary Encoder Inputs

    Interfaces 6-69 Auxiliary Encoder Inputs Intro STEP 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 73: 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 74: 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 75: 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 76: 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 77: 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 78: 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 79 6-76 Interfaces...
  • Page 80: J2 - Encoder

    Interfaces 6-77 6Interfaces J2 – Encoder Pin Signal Description Pin Signal Description EPWR Encoder I (+) Motor Power Encoder Input Channel I(+) ECOM Encoder I (-) Motor pin 10 pin 20 Common Encoder Input Channel I(-) EPWR Encoder HALL Hall Effect A Power ECOM Encoder...
  • Page 81: 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 82: 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 83: 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 84: 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 85 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 86 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 87 6-84 Interfaces...
  • Page 88: J4 And J5 - Serial Port

    Interfaces 6-85 6Interfaces J4 and J5 – Serial Port Signal Description RCV(+) Receive (+) RS-485 (four wire) Receive RS-232 pin 5 pin 9 Transmit RS-232 XMT(+) Transmit (+) RS-485 (four wire) +5 VDC Common pin 6 pin 1 Reserved RCV(-) Receive (-) RS-485 (four wire) XMT(-)
  • Page 89: J4 And J5 - Serial Port Connector Pin-Outs

    6-86 Interfaces Giddings & Lewis cables are available in various lengths for connecting to the serial port of an Centurion DSM100 Drive and a control unit, such as a PC. “” on page -173 lists the cables, and the male and female connectors for the cables.
  • Page 90: 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 91: 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. The following steps outline how to select the communications options: 1.
  • Page 92: Four Wire Rs-485 Connections

    Interfaces 6-89 The cable diagrams provide wiring examples for both 9 pin and 25 pin serial ports from an IBM compatible personal computer to the drive. RS-232 pin-outs vary between computer manufacturers. Check the hard- ware reference manual of your machine to ensure correct signal connections between the computer and the drive.
  • Page 93 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 94: 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 95: 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 96: 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 97: 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 98: Motor Power Emc Shield Connection

    Power Connections 7-95 Shield Termination of Power Cables Intro Shielded power cables must be grounded at a minimum of one point for safety. DANGER Failure to ground a shielded power cable will result in potentially lethal voltages on the shield and anything connected to it. Giddings &...
  • Page 99: 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 100: Dc Bus

    Power Connections 7-97 • Shields should be unbraided (not a drain wire soldered to the shield). • Connection lengths should be minimized. • Safety ground (GND) and shield connections are permanently connected. This is essential for electri- cal safety. • EMC guidelines require connection of the shield at the point where the contactor is inserted. Intro Overlapping Contactor...
  • Page 101: Tb1 - Ac Power Terminals

    7-98 Power Connections Terminals 7, 8 and 9 are the single phase AC input power connections for the DSM110, DSM110P, DSM120, DSM120P, DSM130 and DSM130P. Terminals 7, 8, 9 and 10 are the three phase AC input power connections for the three-phase DSM175, DSM175P, DSM 1150 and DSM 1150P. Terminals 7, 8 and 10 are the AC input power connections when the DSM175 and DSM175P are powered from a single-phase input.
  • Page 102: Auxiliary Power

    Power Connections 7-99 AC Input Power Sizing Requirements (continued) ABLE Model Current Requirements Inrush Fuse Wire Transformer Input (peak Amps) (Amps) (AWG) (kVA) (rms Amps) DSM175, DSM175P single phase DSM175 DSM175P three phase DSM 1150, DSM 1150P 1. In the United States, the National Electrical Code (NEC), specifies that fuses must be selected based on the motor full load amperage (FLA), which is not to be confused with the drive input current.
  • Page 103: Auxiliary Power Terminals

    7-100 Power Connections Auxiliary Power Terminals ABLE Signal Description Terminal DSM110, DSM175, DSM110P DSM175P DSM120, DSM 1150, DSM120P DSM 1150P DSM130, DSM130P L1 AUX Auxiliary 100/240 Volts AC Line 1 input TB1-10 TB1-11 L2 AUX IN Auxiliary 100/240 Volts AC Line 2 input (or TB1-11 TB1-12 neutral)
  • Page 104: Tb2 - Shunt Regulator

    Power Connections 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 105: External Shunt Wiring Examples

    7-102 Power Connections Internal Shunt Power Ratings for Drive Models ABLE Drive Model DSM110, DSM120, DSM130, DSM175, DSM 1150, DSM110P DSM120P DSM130P DSM175P DSM 1150P Continuous Shunt Power (Watts) Peak Shunt Power (kWatts) 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.
  • Page 106: 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 107 7-104 Power Connections...
  • Page 108: Application And Configuration Examples

    Application and Configuration Examples This section explains how to install and verify the Centurion DSM100 Drive for various modes of oper- ation. The procedures verify the installation by: • Showing how the power and logic wiring is connected. • Selecting the Operation Mode setup for the drive. •...
  • Page 109: 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 110: 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 111: 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 112: Preset Controller

    Application and Configuration Examples 8-109 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.
  • Page 113: 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 114: 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 115: 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 116: 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 117: Position Follower (Master Encoder)

    8-114 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 118: 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 119 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 120: 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 121 8-118 Application and Configuration Examples...
  • Page 122: Position Follower (Step/Direction)

    Application and Configuration Examples 8-119 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 123: 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 124 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 125: 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 126: Position Follower (Step Up/Step Down)

    Application and Configuration Examples 8-123 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. Interfacing the drive to a controller requires similar circuitry from the indexer to J1.
  • Page 127: 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 128 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 129: 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 130: Incremental Indexing

    Application and Configuration Examples 8-127 8Application and Configuration Examples 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.
  • Page 131: Hardware Set Up

    8-128 Application and Configuration Examples Hardware Set Up Make the connections described below and shown in the Figure 8.7. The appendix “” on page -173 lists the interconnect cables available from the factory. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the Centu- rion DSM100 Drive.
  • Page 132: 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 133: 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 134: 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 135: Registration Indexing

    8-132 Application and Configuration Examples 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.
  • Page 136: 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 137 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 138: 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 139: 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 140: Absolute Indexing

    Application and Configuration Examples 8-137 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.
  • Page 141: 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 142 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 143: 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 144: Modifying User Units

    Application and Configuration Examples 8-141 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 145 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 146: 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 147: 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 148: 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 149: 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 150: 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 151: 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 152: 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 153: Tuning The Position Loop

    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 154: 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 155: 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 156: Status Display

    Status Display Two front panel indicators display the status of the drive on a continuous basis: • The Status display shows the operating mode of the drive. • The DC Bus LED lights whenever the bus is energized. The 7-segment Status display indicates the drive status and operating mode. After power-up or reset the operating mode is indicated by a single letter message.
  • Page 157: Error Messages

    10-154 Status Display Error Messages If there is a fault, the drive provides specific error messages. Faults are detected by the drive in two ways: power-up hardware and run-time faults. A power-up fault usually requires servicing of the hardware, while a run-time fault can be cleared by resetting the drive. The Status display indicates faults by flashing the letter “E”, followed by additional digits to indicate the error.
  • Page 158: 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 159 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 160: Maintenance And Troubleshooting Maintenance

    Maintenance and Troubleshooting Maintenance The Centurion DSM100 Drive is designed to function with minimum maintenance. Periodic Maintenance Normally the only maintenance required is removal of superficial dust and dirt from the drive and a quick check of cable insulation and connections. Cleaning To clean the drive, use an OSHA approved nozzle that provides compressed air under low pressure <20 kPa (30 psi) to blow the exterior surface and the vents clean.
  • Page 161 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 162: 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 163: Firmware Upgrading

    11-160 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 164: 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 165 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 166 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 167 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 168 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 169: 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 170: 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 171: 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 172: 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 173 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 174: 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 175: Maintenance And Troubleshooting

    11-172 Maintenance and Troubleshooting...
  • Page 176: 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 177: 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 178: 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 179: 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 180: 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 181: 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 182: Connector Kits

    Options and Accessories A-179 Connector Kits Connector kits provide the ability to construct custom length cables. Kits are available for all Centurion DSM100 Drive connectors. Each kits consists of the appropriate 3M connector with the corresponding plastic backshell, and instructions. Connector Type Part Number...
  • Page 183: Options And Accessories

    A-180 Options and Accessories...
  • Page 184: Cable Diagrams, Schematics And Examples

    Cable Diagrams, Schematics and Examples B-181 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. Refer to Appendix , “”...
  • Page 185: 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 186: 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 187: 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 188: 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 189: 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 190: 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 191: 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 192: 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 193: 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 194: 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 195: 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 196: 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 197: 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 198: 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 199: 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 200: 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 201: 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 202: 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 203 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 204: Cabling Examples

    Cable Diagrams, Schematics and Examples B-201 BCable Diagrams, Schematics and Examples Cabling Examples Intro Motor Enclosure/Cabinet Encoder Connector Motor Power Connector 401-34407 401-34409 Control Interface Screw Terminal Strip Clamp exposed motor cable shield to the chassis ground terminal Motor Power Cable NOTES: This wiring method should be used to run cables through a bulkhead or enclosure without removing the connectors.
  • Page 205: Fsm, Hsm Or Ssm Series Motors To Centurion Dsm100 Drive

    B-202 Cable Diagrams, Schematics and Examples Intro Motor Enclosure/Cabinet Encoder Connector Motor Power Connector Screw Terminal Strip 401-34408 401-34409 Control Interface Screw Terminal Strip Clamp exposed motor cable shield to the chassis ground terminal Motor Power Cable NOTES: This wiring method provides the option to run cables through a restrictive bulkhead or enclosure. Cable 401-34425-XXX has a connectors on the motor end only.
  • Page 206: Ysm Series Motors To Centurion Dsm100 Drive

    Cable Diagrams, Schematics and Examples B-203 Intro Motor Enclosure/Cabinet Encoder Connectors CPC connectors 401-30233-XXX 401-34409 Motor Power connectors Control Interface Pigtail cable to Screw Terminal Strip machine chassis ground Clamp exposed motor cable shield to the chassis ground terminal 401-30232-XXX NOTES: This wiring method should be used to run cables through a bulkhead or enclosure without removing the connectors.
  • Page 207: Ysm Series Motors To Centurion Dsm100 Drive Using P2 Terminal Strip

    B-204 Cable Diagrams, Schematics and Examples Intro Enclosure/Cabinet Motor Encoder Connectors 401-30253-XXX CPC connectors Screw Terminal Strip 401-34408 401-34409 Control Motor Power connectors Interface Screw Terminal Strip Pigtail cable to machine chassis ground Clamp exposed motor cable shield to the chassis ground terminal 401-30232-XXX NOTES:...
  • Page 208: Touchpad Instructions Installation And Operation

    TouchPad Instructions The optional TouchPad is a compact and rugged device for interfacing with Centurion DSM100 Drives. It provides the operator with a convenient device for accessing status information, program variables, and control functions, plus message display capabilities on any Centurion DSM100 Drive. An 8-character dot matrix display and a sealed-membrane type keyboard are housed in a compact case.
  • Page 209: 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 210: 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 211 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 212 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 213: 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 214: 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 215 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 216: 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 217: 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 218: 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 219: 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 220: 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 221: Touchpad Instructions

    C-218 TouchPad Instructions...
  • Page 222: Emi Source-Victim Model

    Electromagnetic Compatibility Guidelines for Machine 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”...
  • Page 223: 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 224: Ac Line Filter Installation

    Electromagnetic Compatibility Guidelines for Machine Design D-221 be radiation, or stray capacitance between the wires. The best method of achieving this is to mount the filter where the AC power enters the enclosure. “AC Line Filter Installation” shows a good installation and a poor installation. Intro POOR GOOD...
  • Page 225: 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 226: 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 227 D-224 Electromagnetic Compatibility Guidelines for Machine Design...
  • Page 228: 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 229 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 230: 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 231 E-228 Dynamic Braking Resistor Selection 1 10 7500 P( ) t 5000 2500 0.05 0.15 Average Power (Watts): ⋅ ⋅ ω · ----------------------------- - ⋅ 1116...
  • Page 232: 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 233 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 234 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 235 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 236: 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 Frequency (Hz) 47 - 63...
  • Page 237 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 238: Power Dissipation

    Specifications 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. Current as % of DSM110, DSM120,...
  • Page 239 F-236 Specifications...
  • Page 240 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 241 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 242 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 243 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 244 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 245 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 246: Pictorial Index

    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 247: 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 248: 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 249: Interface Connections

    -246 Interface Connections Shown here are typical components and connections for a Centurion DSM100 Drive. Intro DSM Interface Connection Diagram...
  • Page 250: Eu Directives

    Electromagnetic Compatibility Guidelines for Machine Design D-247 HelpEU Directives Declaration of Conformity DSM Drive Hardware and Installation Manual...
  • Page 251 D-248 Electromagnetic Compatibility Guidelines for Machine Design NOTES...
  • Page 252: Product Support

    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 253 Bulletin Board Service (BBS) • NOTES DSM Hardware and Installation Manual •...
  • Page 254 Centurion DSM100 Drive Hardware and Installation Manual Giddings & Lewis Automation Control...
  • Page 255 cclii Bulletin Board Service (BBS) • DSM Hardware and Installation Manual •...

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