ETEL DSC Series Digital Position Controller Operating Software Manual

Basic Information

1. Applicable products and firmware versions

The manual covers the full range of DSC2P/DSC2V (single axis) and DSCDP/DSCDL/DSCDM (dual axis) direct drive digital servo drives. It is a dedicated manual for operation, debugging, and programming, and the hardware and electrical specifications need to be referred to the accompanying hardware manual.

DSC2P/DSC2V: firmware ≥ V1.22

DSCDP: firmware ≥ V1.15

DSCDL: firmware ≥ V1.06

DSCDM: firmware ≥ V1.02

Supporting upper control requirements: DSMAX motherboard firmware ≥ V1.20A, DSTEB supporting DLL ≥ EDI2.13A, ETEL Tools software ≥ V4.11.

2. Safety and usage environment

Security classification

Danger: High voltage terminals pose a risk of electrocution and death; After power outage, wait for 2 minutes for DSCDM and 10 minutes for other models to release the bus capacitor before wiring.

Attention: Static electricity can damage the board, and anti-static measures should be taken throughout the entire process; Personnel are strictly prohibited from approaching the motor movement area.

Protection: The equipment protection ground PE must be connected first; Leakage current>3.5mA, the entire machine must meet EMC 89/336/EEC standards.

Operating environment: Clean and non corrosive space, temperature of 15-30 ℃, humidity of 10% -85% without condensation, altitude<2000m; not suitable for aviation, nuclear power, and life support core equipment.

Revision record: Version F (June 3, 2005) is the final updated version, which adds features such as open-loop stepping, real-time interrupt RTI, extended triggering, and rotation mapping.

Chapter A: Controller Internal Architecture and Bottom Layer Principles (Core Bottom Layer)

1. Dual DSP layered control architecture

Adopting dual ADI SHARC DSP division of labor operation, the closed-loop is divided into two stages of PI regulation: position loop and current loop

Trajectory DSP: point generation, motion curve, STI slow interrupt, sequence program execution

Adjusting DSP: Position closed-loop, current closed-loop, FTI fast interpolation, CTI current loop high-speed operation

Complete control chain: upper target → set value generator → position regulator outputs target force → current reference generator outputs three-phase sine current → current PI loop drives motor; The encoder provides real-time feedback on position/velocity to the position loop for correction.

2. Principle of generating three-phase sine current

Internally stored 2048 point sine lookup table, outputs three-phase reference current with a phase difference of 120 ° based on the motor’s electrical angle, multiplies it by the target force Fc to obtain current commands for each phase, and achieves direct drive control without torque fluctuations; Phasing is used to identify the initial magnetic pole position of a motor during power on phase calibration.

3. 8 types of motion trajectory generators

The controller supports two types of curves: linear and rotational. Only the S-curve and step curve are universal production movements, while the rest are customized for advanced use

Basic curve (universal)

Step by Step: Debugging Single Point Impact Test

S-curve (3rd order acceleration Jerk smoothing): mainstream straight/rotational positioning, no mechanical impact

Advanced Curve (Professional Equipment)

Trapezoidal, rectangular (2nd order)

Check the LKT custom trajectory table (up to 2000 points, electronic cam)

Infinite rotation, rotation lookup, custom calculation curve

Dual level interpolation mechanism for trajectory: STI coarse interpolation points and FTI fine linear interpolation to achieve ultra-high smoothness.

4. Three layer hardware interrupt timing (core real-time guarantee)

All movements, adjustments, and communication are based on fixed hardware interrupts, with different models having different cycles:

table

Interruption action DSC2P cycle DSCDL cycle

STI slow interrupt trajectory calculation, program sequence, RTI trigger 166.67 μ s (6kHz) 500 μ s (2kHz)

FT fast interrupt position loop, trajectory interpolation, EBL communication 41.67 μ s (24kHz) 55.56 μ s (18kHz)

CTI current interruption three-phase current PI closed-loop 41.67 μ s (24kHz) 13.89 μ s (72kHz)

The timing values can be read and converted through the monitoring registers M242/M243/M244.

5. Three types of multi axis communication topologies (EBL2/TEB dual protocol)

Single machine independent (EBL2)

The PC is directly connected to a single driver via RS232 EBL2 bus, and the baud rate can be selected from 9600~115200bps (K195 parameter configuration, effective upon restart).

DSMAX/DSTEB main station multi axis (TEB bus)

PCI/ISA card serves as the upper master station, with TEB daisy chain cascading up to 31 axes, supporting multi axis interpolation synchronization, and mainstream industrial multi axis solutions.

Micro host μ – Master (DSC2P as the main station)

One DSC2P is set as Micro Host 0, EBL2 is connected to PC, and TEB cascades up to 30 slave axes; No hardware interpolation function, suitable for low-cost distributed single control.

6. Complete syntax system for instructions and registers

(1) Three letter instruction system

Format: Instruction <Axis>[=Parameter 1, Parameter 2], supports batch execution of single axis, all axes (!), and axis mask (%); Built in accumulator XAC performs four logical operations.

Example: AUT. 1=1 (1 axis automatic setting) TST.0=X1, 500 (compare variables X1 and 500).

(2) Multi type register grouping (core storage unit)

Basic register (required)

K parameter register: motor, encoder, gain, limit, protection configuration (four sets of storage for depths of 0-4)

M monitoring register: read-only, real-time reading of position, current, temperature, and fault status

X User Variables: Program custom floating-point/integer storage, free read and write

Advanced Register (Advanced Function)

R: Real time interrupt RTI configuration; E: Position triggered Trigger; F: 32-bit floating-point operation; L: Check the table trajectory LKT; S: User motion sequence; T: Oscilloscope Sampling Trace

(3) Register read-write syntax

Read: K1.1 (Read the proportional gain of the position loop of axis 1); Assignment: K4:1.2=1000 (write depth of K4 parameter 1 to 1000 for 2 axes), supports cross axis register assignment, addition, subtraction, multiplication, and division operations.

Chapter B: System Installation, Wiring, and ETEL Tools Debugging Software

1. Three major configuration schemes for hardware wiring

1) Single independent wiring (EBL2)

Mandatory wiring sequence: protective earth PE → 220V main power supply → encoder cable → motor power line → EBL2 communication serial port; Power on self-test LCD display model, firmware, and shaft number.

2) DSMAX Multi Unit Network (TEB daisy chain)

The PC is equipped with a DSMAX sports motherboard, TEB cable cascaded driver, and unified clock synchronization, suitable for gantry and multi axis linkage devices.

2. ETEL Tools (ETT) software complete feature suite

1) Software basic requirements

Windows9X/2000/XP， Minimum 166MHz CPU, 64MB memory, 250MB hard disk space, desktop shortcut after installation, including 6 core tools:

Drive Setting: One click configuration of the drive (preferred for beginners)

Guided automatic tuning, step-by-step process: save old parameters → driver recognition → motor selection → encoder configuration → initialization mode → zero return mode → load inertia/mass input → automatic AUT tuning, one click generation of all K parameters.

Key configuration page:

The motor supports ETEL linear/rotary ironless and iron-based torque motors, as well as third-party BLDC/DC/three-phase stepper motors; Automatically calculate phase resistance, inductance, and back electromotive force parameters.

The encoder is compatible with analog sine, EnDat2.1, TTL differential, supports multiple index origins, and adjustable interpolation multiplier K77.

Two types of motor initialization: constant current magnetic pole recognition (universal) and short pulse displacement free initialization (vertical axis specific).

Zeroing (Indexing) supports three types of benchmarks: encoder indexing, mechanical stops, and limit switches, and can be configured with zeroing speed, offset, and fault-tolerant error.

Automatic AUT tuning: Automatically identify phase offset and current loop gain, output optimal PI parameters, and place the motor in the middle of the stroke before tuning.

Scope Digital Oscilloscope Debugging Tool

Dual channel real-time waveform acquisition, capable of monitoring position, speed, three-phase current, and error; Support step response testing, system identification, and trigger sampling for fine tuning of PID parameters.

Terminal Command Console

Directly issuing three letter instructions, reading and writing registers, supporting batch commands, variable operations, debugging faults, and manual point-to-point movement.

Editor Motion Sequence Editor

Built in syntax highlighting, write loop, judgment, jump, and subroutine SEQ programs, support downloading to the local drive for offline operation.

Unit Converter Unit Conversion Tool

Conversion between mechanical units (mm/rad) and driver pulse units in both directions, suitable for linear/rotary motor resolution and screw lead conversion.

Advanced Tools (Professional Users)

Multiscope multi axis synchronous sampling, register batch editor, sequence conversion, driver parameter backup and recovery, EBL protocol translator.

3. Standard installation and debugging process

Hardware wiring completed, check PE grounding and ensure high voltage is not exposed;

Install ETEL Tools on PC, select EBL2/DSMAX communication port to establish connection;

Open the Drive Setting wizard and enter the motor, encoder, and load in sequence;

Perform AUT automatic tuning and save K parameters to the flash drive;

Scope: Observe step response, fine tune position/current loop PI gain to eliminate oscillations;

Write basic motion sequences, perform single axis jog and zero return tests;

Configure limit, overcurrent, and over temperature protection parameters, and conduct a no-load trial run of the entire machine.

Chapter C: System Basic Functions+Advanced Professional Functions (Core Functions of the Whole Book)

Part 1: Basic Essential Functions (Essential for Normal Equipment Operation)

Axis address configuration: DIP dialing or AXI command to set axis number 0-30, multiple axes cannot be repeated; Can read firmware version and device serial number.

Encoder fully compatible configuration (K79 parameter differentiation type)

K79=0: Simulate sine encoder; K79=4: EnDat2.1 absolute value; K79=1/7: TTL increment; K79=20~24: open-loop stepping; K79=100: Macro mode; Support encoder disconnection and real-time monitoring of signal amplitude.

Hardware security protection system

Sports protection: positive and negative soft limit, hard limit DIN input, maximum travel error;

Electrical protection: three-phase peak/continuous current limit, bus overvoltage and undervoltage, fuse detection;

Thermal protection: Motor temperature detection, shutdown due to overheating and timeout;

Fault handling: RST machine reset, CPE clearing alarm, dynamic braking shutdown; The appendix of fault codes and alarm lists can be found.

Motor initialization and zeroing

Phase initialization Phasing: Identify magnetic poles when powered on to ensure linear output; Support multiple K90 initialization modes;

Homing: Multi mode origin search, establishing a mechanical absolute coordinate system after returning to zero, supporting origin offset and search deceleration.

Basic motion instructions

SET: Mechanical coordinate reset; Linear/rotational S-curve positioning; Infinite rotational continuous motion;

Basic monitoring: Real time reading of position/speed/current, onboard LCD or software virtual display screen to view status.

Part 2: Advanced Expansion Features (High Precision Customized Equipment)

Advanced Multi Type Sports

LKT table lookup custom trajectory: up to 8 sets of 2000 point cam curves, supporting reciprocating and irregular movements;

MMC continuous splicing motion: smooth transition of multiple S-curves without pause; CAM electronic cam synchronization;

STA/STI segmented start, BRK/STP deceleration stop, supporting pre-defined motion curve formulas.

Digital/Analog IO System

Multiple DIN isolated inputs and DO outputs; Support digital input locking to capture real-time position; ± 10V analog input/output, used for external force control and analog settings.

RTI real-time hardware interrupt

Position, speed IO、 Fault conditions trigger hardware interrupts, immediately jump to sequence subroutines, microsecond level response, used for visual synchronization and laser triggering.

Position triggered Trigger event

Custom multi position trigger DO output, interrupt, and motion jump, supporting mask and action combinations, used in high-speed synchronous machining scenarios.

Encoder correction function

Encoder linear scaling and nonlinear mapping compensation eliminate machining errors of mechanical screws/guides and improve positioning accuracy.

Multi axis synchronous communication

TEB bus global clock synchronization, real-time monitoring of RTM multi axis status, supporting master-slave tracking and electronic gear synchronization.

Chapter D: Local Sequence Programming of Drivers (Built in Motion PLC)

The drive supports offline storage of SEQ programs without the need for continuous PC control. The complete programming syntax is as follows:

Process control instructions

Unconditional jump to JMP; Conditional judgment TST/JEQ/JNE/JLT/JGT; Subroutine CAL/RET/POP; Sequence stop HLT/HLB/HLO; CLX clears user variables, END program ends.

Accumulator XAC operation

Supports addition, subtraction, multiplication, division, bitwise AND/OR NOT, shift, and floating-point F-register operations for coordinate conversion and threshold determination.

Complete example instruction

The document appendix provides 26 complete sets of replicable programming examples, including AXI, SAV, AUT, CAM, MMC, RTI, triggers, loops, floating-point operations, etc; Support tags: 0~511 mark program segments, 79/80 are system specific special tags.

Chapter E: Appendix Reference List (Operation and Maintenance Quick Reference)

Complete index of all three letter instructions: function, parameters, and applicable driver models for each instruction;

K parameter list: divided into four sets of parameter tables: DSC2P/DSCDP/DSCDL/DSCDM, including gain, limit, communication, zeroing, and IO configuration items;

M Monitoring Register List: All read-only status variables, including current, temperature, timing, axis mask, and fault bit;

Alarm and fault code comparison table: distinguish error meanings and troubleshooting solutions by model;

Unit conversion formula: Linear motor mm unit, rotary motor rad/° unit, encoder resolution conversion standard formula.

Overall application scenarios of the product

The ETEL DSC series is a high-end direct drive dedicated servo drive, suitable for high-precision direct drive automation equipment:

Semiconductor wafer platform, vacuum precision positioning platform;

Laser cutting, microfabrication, and electronic cam printing equipment;

High precision gantry and multi axis synchronous detection equipment;

Laboratory precision displacement table and optical alignment equipment;

Closed loop control system for ironless linear motor and torque rotary motor.

The supporting upper level can be paired with cPCI industrial control, PXI acquisition card, and AMP sports card to build a complete high-end measurement and control platform.