User Manual
Chapter 1
GFK-1742F
Jan 2020
Product Overview
9
Servo Drive and Machine Interfaces
The servo drive and machine interface are made through a 36-pin connector for each axis.
This interface carries the signals that control axis position such as the Pulse Width
Modulated (PWM) signals to the amplifier, Digital Serial Encoder Feedback signals or Analog
Servo Command and Quadrature Encoder Feedback. Also provided are Home Switch and
Axis Overtravel inputs as well as general-purpose host controller inputs and outputs.
Standard cables that connect directly to custom DIN rail or Panel mounted terminal blocks
simplify user wiring and are available from Emerson. The terminal blocks provide screw
terminal connection points for field wiring to the DSM314 module. For more information
concerning the cables and terminal blocks used with the DSM314 module, refer to chapter
3.
1.3
Section 2: Overview of DSM314 Operation
Each DSM314 axis may be operated with the Follower Control Loop enabled or disabled:
Standard Mode (Follower Control Loop Axis Configuration = Disabled)
•
In Digital Standard mode, the module provides closed loop position, velocity, and
torque control for up to two
α
or
β
Series servomotors on Axis 1 and Axis 2.
Axis 3 can be used as an Analog Velocity command interface servo axis or an Aux
master axis.
•
In Analog Standard mode, the module provides closed loop position control for up
to four servomotors. Also, based upon the axis configuration, the DSM provides
velocity loop control for Analog Torque mode. When the DSM is used with analog
velocity interface servos, velocity and torque control loops are closed in the servo
amplifier, while the DSM closes the position loop. When the DSM is used with analog
torque interface servos, the torque control loop is closed in the servo amplifier, while
the DSM closes the velocity and position loops.
•
For both digital and analog applications, user programming units can be adjusted by
configuring the ratio of User Units and Counts configuration parameters. Jog, Move
at Velocity and Execute Motion Program commands allow Standard mode to be
used in a wide variety of positioning applications.
Follower Mode (Follower Control Loop Axis Configuration = Enabled)
•
In Digital Follower mode, the module provides closed loop position, velocity, and
torque control for up to two
α
or
β
Series servomotors on Axis 1 and Axis 2. Axis 3
can be used as an Analog Velocity Command Interface servo axis or an Aux master
axis.
•
In Analog Follower mode, the module provides closed loop position control for up
to four servomotors (one or two of the four available axes may instead be used as an
Aux master axis). Additionally, based on the axis configuration, the module provides
velocity loop control for Analog Torque mode. When the DSM is used with analog
velocity interface servos, velocity and torque control loops are closed in the servo
amplifier, while the DSM closes the position loop. When the DSM is used with analog