Etel DSC Series Operation & Software Manual

Etel DSC Series Operation & Software Manual

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DSC2P 903 ver. F
DSCxx
HEADQUARTERS
SWITZERLAND
ETEL S.A.
Zone industrielle
CH-2112 Môtiers
Phone : +41 (0)32 862 01 23
Fax : +41 (0)32 862 01 01
E-mail : etel@etel.ch
http://www.etel.ch
Copyright ETEL SA. All rights reserved. Reproduction, adaptation or translation of this document is prohibited without prior written permission.
ETEL SA makes no warranty for the use of its products and assume no responsibility for any errors which may appear in this document.
Software Manual
AMERICAS
ETEL Inc.
333 E. State Parkway,
US - Schaumburg
IL 60173-5337
Phone : +1 847 519 3380
Fax : +1 847 490 0151
E-mail : info@etelusa.com
SWITZERLAND
ETEL S.A.
Zone industrielle
CH-2112 Môtiers
Phone : +41 (0)32 862 01 33
Fax : +41 (0)32 862 04 12
E-mail : sales@etelsa.ch
ETEL SA retains the right to make any change to these specifications at any time, without notice.
Operation &
FRANCE
ETEL S.A.
89 rue Henri Rochefort
FR-91025 Evry cedex
Phone : +33 (0)1 64 97 98 05
Fax : +33 (0)1 64 97 30 56
E-mail : etel@etel.fr
THE NETHERLANDS
ETEL B.V.
Copernicuslaan 34
NL-6716 BM Ede
Phone : +31 (0)318 495 200
Fax : +31 (0)318 495 210
E-mail : etel@etelbv.nl
GERMANY
ITALY
ETEL GmbH
ETEL S.A.
Schillgasse 14
Piazza della Repubblica 11
DE-78661 Dietingen
IT-28050 Pombia
Phone : +49 (0)741 17453-0
Phone : +39 0321 958 965
Fax : +49 (0)741 17453-99
Fax : +39 0321 957 651
E-mail : etel@etelgmbh.de
E-mail : etel@etelsa.it
ISRAEL (Sales rep)
AUSTRIA (Sales rep)
MEDITAL COMOTECH Ltd
I+L ELEKTRONIK GmbH
7 Leshem St. - Ramat Siv
Vibrütteweg 9
IL-49170 Petach tikva
AT-6840 Gotzis
Phone : +972 3 923 3323
Phone : +43 55 23 645 42
Fax : +972 3 923 1666
Fax : +43 55 23 645 424
E-mail : comotech@medital.co.il
E-mail : IUL@uta1002.at

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  • Page 1 Copyright ETEL SA. All rights reserved. Reproduction, adaptation or translation of this document is prohibited without prior written permission. ETEL SA makes no warranty for the use of its products and assume no responsibility for any errors which may appear in this document.
  • Page 2 THIS PAGE IS INTENTIONALLY LEFT BLANK...
  • Page 3: Table Of Contents

    Examples of use ............ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 4 7.3 Install ETEL Tools software ........
  • Page 5 10. Controller regulators tuning principle ......ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 6 12.9.3 K40 parameter: ............ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 7 13.8.1 RTI structure ............. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 8 13.13.4 Use ..............ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 9 14.6.1 Read / write F registers ........... . ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 10 15.34XAC, IGE, ILE example ......... . . ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 11 20.3 Time quantities units ..........ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 12 Operation & Software Manual Direct Drives & Systems THIS PAGE IS INTENTIONALLY LEFT BLANK ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 13 Can be fatal for a person. Caution : Signals a danger for the controller. Can be destructive for the material. A danger for the operator can result from this. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Introduction...
  • Page 14: Chapter A

    They can drive single-phase, two-phase and three-phase motors (two motors for the DSCDP, DSCDL and DSCDM). You can obtain brushless torque and linear motors from ETEL as well as moving coils and moving magnets. They can also drive brushless motors, DC motors, steppers (only if three-phase motors are star- connected).
  • Page 15 # EBL2 908 x • DSO-PWS User's Manual (Power module installation and specifications) # DSOPWS 902 x • DSO-RAC2 Hardware Manual (DSO-RAC2 principal) # DSORAC2 904 x ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Introduction...
  • Page 16 Operation & Software Manual Direct Drives & Systems THIS PAGE IS INTENTIONALLY LEFT BLANK Introduction ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 17: Chapter A

    Operation & Software Manual Direct Drives & Systems Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 18: The Regulators

    Regulation (current & position) processor The elements of this regulation general diagram are detailed in §9.1(for beginners) and in §13.1(for advanced users). Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 19: Current References Generator

    The initialization procedure allows the user to know the initial position. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 20: Set Point Generator

    Position Position Position final final final final Speed Speed Speed Speed Acceleration Acceleration Acceleration Acceleration Jerk Jerk Jerk Jerk Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 21: Movements Trajectories Used In The Controller

    • Rotary look-up table movement (refer to §4.) • Rotary calculated movements with predefined profiles The Step movement is used by ETEL Tools for the controller & system tuning only (refer to §10. for more information). The S-Curve and Rotary S-Curve movements are used in most applications (refer to §12.10. for more information).
  • Page 22 LKT. time 0 µs 166,7 µs 500 µs 666,7 µs 333,3 µs 41µs (fti) Example with a DSC2P Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 23: Controller Timing

    1/72kHz = 13.89µs To obtain the actual CTI value in seconds, divide M243 by M242: CTI [s] = M243 / M242 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 24: Communication With The Controller

    PC communicates via the PC ISA or PCI connector. The axes are called slaves. All axes are linked together by the Turbo-ETEL-Bus also called TEB (ETEL proprietary protocol). One of the roles of the master is to dispatch the orders he receives from the PC or (sent by itself) to the slaves. Each axis has a personal number, and if several axes are chained, every number must be different from the others (from 0 to 30);...
  • Page 25: Multi-Axis Configuration With Micro-Master

    It always has the axis number 0. The other axes are called slaves. All axes are linked together by the Turbo-ETEL-Bus also called TEB (ETEL proprietary protocol). One of the roles of the master is to dispatch the orders he receives from the PC or (sent by itself) to the slaves.
  • Page 26 In the µ-master mode, the axis 0 can execute normal commands (record 20H), emergency commands (record 18H) and monitorings (record 12H) on all the axes present on the TEB. When the ETEL Tools is connected on the µ-master, all the slaves present on the TEB are visible and can be questioned. The µ-master can execute a sequence and receive normal commands, emergency commands or monitorings via the EBL2 at the same time.
  • Page 27: Commands & Registers Syntax

    Exception: The STE command (ex: STE.1+=X4.1) uses + or - operators, with the following syntax: <cmd_name>.<axis>[<operator>][=<p1>][,<p2>] Remark: Refer to §8.5 to know how to send a command. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 28: Accumulator Operations

    Integer from 0 to 30 depending on the axis used. • Symbol % if the command refers to the axis (controller) where the sequence is stored Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 29: Registers Groups

    S, for sequence It allows the user to write/read a user’s programmed sequence. A ’download/upload’ menu is available from each tool of ETEL Tools to use the sequence without using the S registers (transparent for the customer). Refer to §8.5.3 for more information.
  • Page 30: Register Value Attribution

    Symbol % and the axes mask total number, to select some axes (refer to §14.4.2). • Y (indirect parameterization, refer to the 'EBL2 Communication Manual' for more information) Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 31 0. The default value for depth 1, 2 and 3 is the same for all registers and corresponds to 0. For floating-point variables (F), refer also to §14.6. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 32: Register Value Reading

    Reading simultaneously two registers is possible if both commands are separated by a coma but it only works with two registers belonging to the same axis. Example: M6.1, M7.1 Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 33: Bit Fields Or Numerical Values For Registers And Commands

    Phasing with digital Hall effect sensor (mode 2) (DSCDL) Phasing and commutation with digital Hall effect sensor only (DSCDL) Small movement Phasing ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture...
  • Page 34: Examples Of Use

    +, -, *, /, ~, &, l, &~, l~, >> and <<, . Chapter A: Internal functioning & architecture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 35 Operation & Software Manual Direct Drives & Systems Chapter B: System setup and tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 36: Initial System Installation

    (ETT) to display a software display indicating the status, the error and the warning messages. • The system is ready to work. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 37: Configuration With A Dsmax Or A Dsteb

    (ETT) to display a software display indicating the status, the error and the warning messages. • The system is ready to work. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 38 (or 2min for the DSCDM) and before touching them, check with a voltmeter that no residual voltage remains on these connectors! Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 39: Controller Setup Principle

    The values of these parameters depend on the motor's characteristics and on your system's specifications. The 'ETEL Tools' (ETT) software provides the necessary tools to set up the controller. It is possible to send parameters and commands (a command can include parameters) to the controller. ETT 'Scope tool' is used to monitor graphically the system's performance.
  • Page 40: Install Etel Tools Software

    The installation will take a few minutes, depending on your PC performances. e) A shortcut called ETEL Tools 4.xx (will change with new releases) has been created on your desktop. If you look in your Windows Start menu under Programs, you will find an ETEL Tools 4.xx directory, containing shortcuts to 2 files: ETEL Tools 4.xx, and Documentation.
  • Page 41: Controller Setup With Etel Tools

    PC and the controller (through DSMAX-TEB if present). 3°a Select the port to be used by EBL2 on your PC (ETEL-Bus-Lite 2 on COM1 recommended). No other application should run on the port selected for EBL2! 115'200 bps is the communication speed's default setting.
  • Page 42 If you go back to the Connection Chooser window, DSMAX1 (reset DSMAX) is in bold, indicating that the DSMAX1 communication is running: To stop the DSMAX1 (reset DSMAX) communication, click on the following button: Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 43: Main Menu Window

    The reverse conversion is also possible. To use the 'Unit Converter', the ETT communication with a drive has to be established. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 44: Tools Menu

    Advanced are reserved to experienced users only! Some tools may be opened several instances simultaneously. They are listed under New: Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 45: Drive Setting Tool

    Caution: By clicking on NO, you will loose all parameters you were previously using with the controller! • Click on the YES button and the next window will appear. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 46: Drive Selection

    11 [A] for 2 [sec] (with 3-phase motor) The DC voltage used value will influence the phasing parameters (K90 to K98 and K101). Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 47: Motor Selection

    If this occurs, or the wirings may be irreversibly damaged! ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 48: Encoder Selection

    K77. • Click on the NEXT button and the next window will appear. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 49: Initialization Mode

    If you are an experienced user, you may modify this default setting (refer to the explanations above). • Click on the NEXT button and the next window will appear. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 50: Homing Mode

    It is possible to modify K41, 42, 43. Never modify these values unless you are an experienced user! • Click on the NEXT button and the next window will appear. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 51: Mass Or Inertia

    Put the motor in the middle of the stroke to avoid problems and click on START. The message Automatic tuning proceeding! appears. Wait until the next window appears (in case of problem, click on Abort). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 52 • Click on Start to automatically adjust the value of parameters K70 to K73 and then click on OK. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 53 LOOP ADJUSTMENT, MOTOR PHASE ADJUSTMENT, FINE PHASE ADJUSTMENT • Wait a few seconds and click on in the Drive Setting window to quit the tool. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 54: Scope Tool

    Similar to PWR command. The IND button starts the motor's homing process (reference marks search). Similar to IND command. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 55: Scope Menu

    Thanks to this function, the user can save in .txt file all the points of a plot which can be used later for calculations. 8.4.2.3 FFT analysis tool This tool has exactly the same function as the Spectrum tool described in §2.6.5 of the ’ETEL Tools Setup Software Manual’. 8.4.2.4 Derivative analysis This tool enables the user to obtain the 1st, 2nd and 3rd order derivative of a plot.
  • Page 56: Digital Oscilloscope

    In this window, the Dual scale mode is selected. The 2nd scale is on the right side of the Scope: Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 57 Zoom out from a point. If you hold down the mouse on a specific point, the graph continuously zooms out until you release the mouse button. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 58 In the window below, the two cursors are in Lock to plot mode. Cursor A is on monitoring M11 (signal trace 1, Lock to plot 1.), Cursor B is on monitoring M7 (signal trace 2, Lock to plot 2.): Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 59: Scope's Trigger

    The first three triggers are simple: The acquisition start can be: Immediate, at a Beginning of movement, or at an End of movement. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 60: Parameters

    They will influence either the position state regulator, the current reference generator or the PI current regulator response. These parameters are listed in two tables and DIN/DOUT status in a third one: Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 61: Commands

    (typically, 1.0 mm), and press on the Do a step (F2) button (or type F2 on your keyboard) to perform the step. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 62: System Identification

    Daisy chain (TEB): the Axis present scroll menu shows Axis 0, Axis 1 and *(DSMAX) (Axis 31). Axis 31 is reserved for the DSMAX; the axes number may be from 0 to 30. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 63: Terminal Tool

    The motor position is kept and the instruction PWR.[axis]=1 is sufficient to reset the motor under control (similar to RST.! command). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 64: Read / Send Registers And Commands To The Controller

    • Select the file (here, the file example.txt in the example directory), and click on the 'ouvrir' (Open) button. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 65 For registers, follow the same procedure as for a sequence (refer to §8.5.3.1). Remark: The window's name will be Download Registers. The Error window will never appear. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 66: Editor Tool

    It is used in case of emergency (unexpected motor noise, e.g.). The Esc key on your keyboard has the same effect. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 67: Download (Create, Open, Modify) Sequences / Registers

    The Download Sequence window appears • Select an axis and click on the Download button. Wait until the sequence is completely downloaded. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 68: Upload (Create, Open, Modify) Sequences / Registers

    Click on Download/Upload, then on Upload sequence to window, in the menu bar. • It is recommended to answer Yes to the question below (to have a backup): Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 69 Select an axis and click on the Upload button. Wait until the sequence is completely uploaded. 8.6.3.2 Upload registers For registers, follow the same procedure as for a sequence (refer to previous paragraph). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 70: Unit Converter Tool

    It is used in case of emergency (unexpected motor noise, e.g.). The Esc key on your keyboard has the same effect. Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 71: Unit Conversion

    This is like sending the following command from the terminal: POS.0 = 65536000 (Enter) Note: The position value sent is always an absolute position! ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 72: Simplified Regulator's Principle

    Operation & Software Manual Direct Drives & Systems Simplified regulator's principle General diagram Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 73: Parameters Description

    The main effect of parameter K81 is to suppress the current permanent error. Current Time Ic reference current K81 effect I real current Time ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 74: Position Regulator

    (V). The main effect of parameter K2 is to reduce (suppress) the overshoot and the low-frequency oscillations. Time Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 75 Should be used when an audible high frequency perturbation occurs on the speed (f > 700 Hz). Remark: Advanced users may refer to §13.1 for a more complete regulation loop description. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 76: Controller Regulators Tuning Principle

    Controller regulators tuning principle Tuning the controller's regulators gains is necessary to adapt them to the characteristics of the motor and load that it will drive. You will use ETEL Tools for this operation, especially its Scope Tool (refer to §8.4). Caution: The following diagram describe, in a basic way, the principles to tune the controller's current and position regulators.
  • Page 77 Saturation ? Reduce 'Do a step' size (M30 > K60) no more saturation Current regulator's basic tuning = OK ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter B: System setup & tuning...
  • Page 78 High freq. noise ? Speed feedback filter : K8 + 1 (high note) Position regulator's basic tuning = OK Chapter B: System setup & tuning ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 79 Operation & Software Manual Direct Drives & Systems Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 80: Save The Settings

    ’flash’ with those contained in the SDRAM. To avoid possible problems, SAV, RES and NEW commands should be executed if the controller is in ’Power Off’. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 81 Parameter K1 is equal to 4000, value contained in the RES.1 = 2 Parameter K1 is still equal to 4000. flash. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 82: Basic Functions And Settings (Necessary To Operate The Controller)

    §12.1.1) and in case of a dual axes controller (DSCDP, DSCDL and DSCDM), it must be used on an even axis number with an even value. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 83: Serial Number And Firmware Version

    VER.<axis> Firmware version Gives the firmware version installed in the controller. SER.<axis> Serial number Gives the serial number of the controller. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 84: Motor

    Motor type (parameter K240): This parameter is only used for unit calculation by ETEL Tools program and by DLL libraries (if used). If the values of this parameter is not correct, the motor will correctly work but the curves will not be displayed correctly in the units given by the ETEL Tools program (meter, amp, etc.)
  • Page 85: Position Encoder

    Parameter K79 is only read when the controller is switched on and must be saved with SAV command when it is changed and then the controller must be switched off and on to integrate this ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 86: Analog Encoders (K79=0)

    K75. Formula for linear motors: ⋅ 1024 Distance between 2 indexes [m] ------------------------------------------------------------------------------------- - with PCod = encoder period [m] PCod Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 87 K72, K73 = 32767 A / 2 Position Signal with amplitude correction for adjusting, value is included between 32767 (·1) and 16384 (·1/2) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 88: Endat 2.1 Encoders (K79=4)

    K72, K73 = 32767 Position A / 2 Signal with amplitude correction for adjusting, value is included between 32767 (·1) and 16384 (·1/2) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 89: Ttl Encoders (K79=1 And K79=7)

    12.3.4 Stepper in open loop (K79=20, 21, 23 and 24) Available on DSC2P DSC2V DSCDP DSCDL DSCDM Refer to §12.13 for more information about the stepper in open loop. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 90: Macro Modes (K79=100, 101 And 104)

    Position division factor Used by DLLs only to calculate the position unit with indirect encoder In ETEL Tools, all the quantities representing a position given in ISO unit can be multiplied by the Kpos-iso factor. Kpos-iso = K242 / K243.
  • Page 91: Precaution Parameters - Important

    12.4 Precaution parameters - IMPORTANT The parameters K described below are set only once. Generally, they are set automatically by ETEL Tools during the Drive setting process (refer to §8.). These parameters are added up to the existing material protections (fuses, mechanical end stops, etc) and protect the controller, the machine, its motor and its compounds.
  • Page 92: Current Limits

    As long as the current stays over the value of parameter K84, it is integrated, but when it passes under it the integrator empties progressively. If the integral value is higher than parameter K85, the controller displays an I2T ERROR error (M64=4). Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 93 Thus, ETEL cannot be hold as responsible in case of system failure due to motor overheating. The next example explains how to calculate parameters K83, K84, K85. Some information concerning the system configuration has to be known.
  • Page 94: Safety Signals On Din And Dout

    DIN1 digital input is not set to 1. The error displayed on the LCD screen shows POWER OFF/ON Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 95: Motor Temperature, Teb Time-Out And Analog Encoder Error Check

    DIN1, 2, 9 and 10 are standard inputs then be careful when choosing the type of temperature sensor (digital only). Refer to the corresponding 'Hardware Manual' for more information about the inputs. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 96: Vpower Dc Bus Voltage

    If the check of the fuse is enabled and if the fuse is broken, the ENCODER FUSE KO error (M64=35) will appear. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 97: Errors And Warnings Handling

    K84, K85 temperature controller is greater than 70°C. OVER Heat This measured TEMPERAT evacuation thermostat mounted on the heat sink. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 98: Reset Errors: Rst And Rsd

    This command, apart from resetting the error, resets the ’pending’ error bit to 0. This way, when the following error takes place, it enables again the controller to jump to label 80. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 99: Dynamic Braking

    The braking is deactivated when monitoring M67 (I2t value) is bigger than 75% of I2t error (parameter K85). The braking is reactivated when monitoring M67 is again smaller than this limit. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 100: Basic Reference Mode (K61=1)

    Remark: Refer to §13.2 for more information about the other values of parameter K61. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 101: Initialization

    K53 in K53 Motor ready for motions. Motor ready for motions. PWR.<axis>=1 phase AUT fine phase adjustment adjustment ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 102 PSA in this document. Force produced by phase A B-EMF in phase A current in phase A Good phase shift adjustment Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 103 Replaces the phase shift adjustment by parameter K53 Look-up table phase Motor phase shift adjustment value according to the ref. mark position adjustment ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 104: Phasing Processes (K90)

    ⋅ Time [s] K94 10 Phasing motor Pointers initial position adjustment in the current loop look-up table. minimum adjustment Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 105 Stable and unstable balance points alternate every 16mm (for most ETEL's motors) if the magnetic period is equal to 32mm or every 32mm if the magnetic period is equal to 64mm.
  • Page 106 The time elapsed since the start of the phasing determines the end of the phasing by constant current. It is determined by parameter K94 and is expressed in seconds: 3 – Time s [ ] × K94 10 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 107 On the following graph, the Hall signals and the sine voltages between the motor phases (V1-2, V2-3 and V3-1) are displayed: ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 108 The commutation is done with a digital Hall effect sensor up to the first edge and with the position encoder up to the reference mark is found. From then on, the commutation is done with the position encoder with the value Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 109 When parameter K90 or K68 is modified, the command AUT = 10 must be executed to re-calculate parameter K53. Remark: Refer to the corresponding ’Hardware Manual’ for more information about the connection of the Hall effect sensor. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 110 Phasing time [ms] The current level used for the phasing may widely vary, mainly depending on the moving inertia. ETEL advises to begin the setting with a current level (given by parameter K91) at 5 % of the force/torque limit (parameter K60).
  • Page 111: Autosetting

    With EnDat 2.1 encoder, there is no homing. Thus, there is the phasing and then the reading of the absolute position ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 112 K93 - K97 final position time Tuning max [K93] Tuning min [K97] 1/3 K94 2/3 K94 2/3 K94 2/3 K94 t [ms] Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 113: Pwr Command

    ;The power is switched off, it is possible to freely move the motor with the hand, but PWR.1=0 the position value is always calculated. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 114: Homing

    In that case, bit# 0 and 1 of K58 must be equal to 0. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 115 - Move the motor out of the limit switch (with POS.<axis> command) - Set to 1 the bit# 0 of parameter K32 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 116 Bit 2 Home switch on DIN1 (for DSCDM only) Bit 3 Home switch on DIN9 (for DSCDM only) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 117: K45 Parameter

    EnDat 2.1 encoder), the position of the '0 machine' is determined and modified by an offset given by parameter K45 to place the origin position in the requested position. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 118: Homing Modes

    DIN2 is set to 1. OK+DIN2* Particular homing which controller only selects a ref. mark if the OK+DIN2* input DIN2 is set to 1. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 119: K40 Parameter

    Here is a description of the symbols used in this paragraph: Reference position Reference mark Zero machine Motor position Motor trip ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 120 K48 in the opposed direction of the homing, to leave the home switch. Then it moves back towards the home switch in the right direction. Parameter K48 must be bigger than the home switch length. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 121 If at the beginning of the homing the motor is on the positive limit switch, the motor moves back the distance given by K48. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 122 Same as K40 = 8 but the motor changes direction when meeting a limit switch instead of mechanical end stop. Only case 3 is shown. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 123 If the motor does not find two successive ref. marks (or a mechanical end stop) during this movement, the MULT IDX SEARCH error (M64=61) will appear on the LCD display. MOTOR The '0 machine' is found ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 124 SING IDX SEARCH error (M64=62) appears. MOTOR Motor braking distance (variable) The '0 machine' is found Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 125 If the limit switch is found before the reference mark, the SING IDX SEARCH error (M64=62) appears. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 126 When a DSCDM is used with K40 = 36 and 37, the HOME NOT POSSIBLE error (M64=69) will appear if bits# 2 and 3 of parameter K58 are equal to 0. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 127 Motor braking distance (variable) The '0 machine' is found K40 = 39: Same as K40 = 38 but with a negative movement. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 128: Basic Movements

    ACC, SPD, POS and JRT alias use the same syntax than their corresponding parameter K. Refer §6.3 for more information about the syntax and the possible operators. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 129 The motor moves to the absolute position 300000. The POS.1=300000 movement can be positive or negative according to the motor position with respect to the 300000 point. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 130: Rotary S-Curve Movement

    DSCDM A maximum limit is required for the position counter (refer to §12.4.1). For a rotary motor revolving at constant speed: Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 131 POS.1=90000 or POS.1+=75000 (means: Xref=90000 > K27=40000) Xfinal=10000 (brought back to a value < K27) Position [incr] Xref=90000 K27=40000 Xstart=15000 Xfinal=10000 time ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 132: Monitorings

    In the voltage display mode (K66=32), the controller’s internal DC bus U=313 V voltage in [V] (13.) is displayed (ONLY available on DSC2P and DSC2V) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 133: Controller Software Characteristics

    (or if the power bridge of the DSC2V is overheating), the SENSOR TEMP ERR error (M64=13) will appear. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 134: Stepper In Open Loop

    Homing mode with home switch: K40=4 and 5 if bit# 0 and 1 of parameter K58 are equal to 0 (refer to §12.9.3 for more information) • Immediate homing: K40=22 (refer to §12.9.3 for more information) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 135 Motor commutation look-up table Integrator K213 Theoretical trajectory order filter Remark: The regulation loop principle is identical with a three-phase stepper motor. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 136 • The number of period per turn given by parameter K241 which is equal to K54 x 2 (refer to §12.3 for more information) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 137: Advanced Functions (Only For Advanced Users)

    Operation & Software Manual Direct Drives & Systems Advanced functions (only for advanced users) 13.1 Regulators in details - advanced tuning 13.1.1 Regulators diagram ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 138: Regulators Parameters

    K20 = K2 (they have the same unit). Note: Parameters K20 and K21 can be used with all reference modes (parameter K61) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 139 The same type of formula is valid to calculate cut off frequencies f at –3dB for parameters K8, K9 and K82: ------------------------------------------------------------------- - ⋅ ⋅ 2Π SamplingTime Gain ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 140 Force reference output filter Parameter of the second digital filter K118 Force reference output filter Parameter of the second digital filter Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 141: Monitorings Diagram

    Operation & Software Manual Direct Drives & Systems 13.1.3 Monitorings diagram ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 142 Real force F [foi], [toi] Theoretical force (before Theoretical force Fc after K9-filter and before advanced filter 1 [foi], [toi] advanced filter) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 143: External Reference Modes (K61=0, 3, 4 Or 36)

    [toi]. The SET command is disabled. When one of the external reference modes is used, the user must set first parameters K220 to K224 before parameter K61. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 144 Each external reference will now be reviewed in the next paragraphs. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 145 The graph below shows the regulation loop of the position reference mode: Remark: The external position reference is given in [upi] and [rupi]. Refer to §20. for more information. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 146 (by default) the ITP=2 command to put the controller into position reference mode. Refer to the ’DSMAX User’s Manual’ for more information. The Turbo-ETEL-Bus (TEB) cycle is 166,67µs (6kHz). The DSMAX motion controller works at the same frequency as the TEB and sends a point of interpolation at each cycle (sti).
  • Page 147 Operation & Software Manual Direct Drives & Systems The graphs below show the regulation loop of the DSMAX position reference mode: ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 148 The graph below shows the regulation loop of the speed reference mode: Remark: The external speed reference is given in [usi] and [rusi]. Refer to §20. for more information. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 149 Remark: The external force reference is given in [foi] and [toi]. Refer to §20. for more information. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 150: Advanced Movements

    LTI and CAM alias use the same syntax than their corresponding parameter K. Refer to §6.3 more information about the syntax and the possible operators. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 151 POS, K27, K209, K203, K204, K206, Rotary look-up table movement §13.3.2.2 K207, K208, MMC Example: ;Select S-curve movement. MMD.1=1 ;Select Rotary infinite movement. MMD.1=24 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 152: Look-Up Table Movements

    LTI alias use the same syntax than the corresponding parameter K. Refer to §6.3 for more information about the syntax and the possible operators. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 153 To stop a concatenated look-up table movement, use a STP or BRK command. The POS command will also stop the movement at the nearest start or end point of the LKT. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 154: Infinite Rotary Movements

    Remark: K209 = 0 would give a positive movement, and K209 = 1 would give a negative movement (refer to §12.10.4.1) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 155 The motor is revolving with a constant speed (parameter K211) and its acceleration is limited (parameter K212). Pos 0 one turn ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 156 (K212) pos. to reach new position to reach current position Step 3 start of the deceleration (K212) position reached position reached Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 157: Movement With Predefined Profile

    If such a command is used, the position is not lost and the movement can start again from this point. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 158 K230=2: Sine modified movement (the graph represents the theoretical speed and position) K230=3: Real sine movement (the graph represents the theoretical speed and position) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 159: Start Movements: Sta And Sti Commands

    If <p2> value = 0, the controller considers that all <p2> bits = 1 (bits# 0-12: 8191 decimal) Do not use values 16 (bit 4) or 32 (bit 5) for <p2> of STA and STI commands. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 160 (STA.1=2,7), the acceleration of 500000, the speed of 200000 which were initially at the depth 0 are lost. However, all the others at the depths other than 0 remain unchanged. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 161 Defines with a mask of bits which DOUT status will be set after a STI command. Remark: Parameter K162 is always > K163 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 162 ;513 = (1 + 512) means that the inputs DIN1(=1, bit# 0) and DIN10 (= 512, bit# 9) will K160.1 = 513 be tested to execute a STI command Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 163: Concatenated Movements: Mmc Command

    Position Position Remark: For the same final position, times t and t are not identical; time t is shorter. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 164 1 is higher than that of the previous movement and it will finally stop at the position 200000. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 165: Cam Command

    The STE command (STEp) is a command which enables the motor to make jump movements. It is used by the ETEL Tools program to find out the right values of the regulator different gains. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 166: Brk And Stp Commands

    The POS, SPD and ACC commands are used respectively to determine a position to reach, a speed or an acceleration. The arguments of these commands must be given in a unit called user increment. The Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 167: Movements Equations

    A CALM is a movement with a constant acceleration. The movement trajectory of a constantly accelerated linear movement is described by the following equation: ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 168 (For understanding principle - not implemented in the controller). The rectangular movement is a special case of trapezoidal movement. Its speed trajectory has a rectangular Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 169 If a very big jerk time is used, the maximum programmed speed will not be reached. Remark: A S-curve movement without any jerk time is equal to a trapezoidal movement. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 170: Digital Inputs / Outputs

    ;Reads the digital inputs state. The controller gives the value 301 in hexa, because 0x301 in binary DIN.1 is 1100000001 and each bit represents one of the digital inputs, from right to left. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 171 M55.1 because 0xFF in binary is 11111111 and each bit represents one of the eight digital inputs, from right to left. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 172: Digital Outputs

    Binary In the first line of the above-mentioned example, DOUT1 to 4 are activated. ;Activates DOUT1, 2, 3 and 4. DOUT.0=15 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 173 In the third line of the above-mentioned example, XDOUT2, 4, 6 and 8 are activated and XDOUT1, 3, 5 and 7 are deactivated. ;Activates XDOUT2, 4, 6 and 8 and deactivates XDOUT1, 3, 5 and 7. K172.1=170 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 174: Position Capture On Digital Inputs

    K182 activates the capture and resets (=0) bit# 2 of SD2 (monitoring M61) and bit# 30 of on DIN monitoring M63. Writing a 0 stops the process. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 175: Description Of The Position Capture Process On The Digital Inputs

    DIN valid Bit# 2 of M61 and bit# 30 of M63 Capture of the Restart a new position in M12 position capture ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 176: Analog Input / Output

    Reads the value of XAIN1 analog input of the DSO-HIO XAIN2 XAIN2 status Reads the value of XAIN2 analog input of the DSO-HIO Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 177: Analog Outputs

    8192 Example: ;-4600 is converted into +11.23V on XAOUT3. This can be measured between K173:2.1=-4600 XAOUT3+ and XAOUT3- on the DSO-HIO. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 178 (X, K or M) present in the controller. To do so, the following commands (or parameters) must be used (the 4 depths of the parameters correspond to the 4 analog outputs): Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 179 Modifies the amplitude of the signal sent to the analog outputs (XAOUT1 to K157 DAA:[depth].<axis>=<p1> output XAOUT4). The 4 depths of the parameter correspond to the 4 analog outputs. amplitude +32767 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 180 Inc. Inc. Inc. Inc. +17384 +16384 +8292 -20V +8192 -10V +4146 +100 1000 -4046 +10V -8092 -8192 +20V -15384 -16384 K173 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 181: In-Window

    When K39 = 0, the In-window bit (bit# 5 of monitoring M60) is set to 1 at the end of the theoretical trajectory plus the value of parameter K38. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 182: Rti: Real-Time Interrupts

    RTI (automatic execution of command RID). Note: A RTI must be valid, enabled and active to be executed (refer to §13.8.4). Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 183: Rti Structure

    13.8.1.3 Y: Axis number Axis number values: Y = 0 to 30. 13.8.1.4 Z: Elements values The possible values are different for every element. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 184: Rti Elements Description

    ;Wait for the end of commands 'wait' or come back in the sequence before the commands 'wait'. Used to have the state of a RTI Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 185 ;X11 variable to increment. R0:1.1=0x0001000B ;X10 variable as a limit. R0:2.1=0x0001000A ;Bit 2 from digital outputs. R0:3.1=0x020200AB ;Digital outputs set to 1. R0:4.1=1 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 186: Controller Parameters And Commands For Rti

    ;Executes the RIE and RET commands within one instruction. The sequence returns to the line which follows the last executed line before the call of the RTI label. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 187: Rti Process Chart

    Sequence jumps to the specified label To be processed + = 1 To be processed > 7 ? ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 188: Rti Types

    P3 modification mode 2: P3 is set to 0 when jump condition is detected 3: P3 is toggled when jump condition is detected Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 189 132: P1 < P2 state 133: P1 != P2 state 134: P1 <= P2 state Bit to modify Bit Description (BD) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 190 Calculation of P3 from P1 and P2 according to the mode defined in P4 Parameters Function Format Register P1 Register Description (RD) Register P2 Register Description (RD) Register P3 Register Description (RD) Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 191 P3 modification mode 1: P3 = !M60bit10 * M60bit1 * M60bit0 ? P1 2: P3 = !(!M60bit10 * M60bit1 * M60bit0 ? P1) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 192: Rti Programming Examples

    ;Sets the controller RTI enable mode RIE.1 ;Label 200. :200.1 ….. ;Commands ;Resets the flag K193.1=0 ;Back to the sequence and RTI activation REI.1 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 193 ;Digital Output is switched off K171.1=0 ;Every preset RTI validated (§13.8.3.1) K191.1=1 ;Back to the sequence and RTI activation (§13.8.3.2). REI.1 END.1 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 194: Triggers

    The TRS command can select another mapping for each movement and therefore use a different group of triggers (refer to §13.9.6 for more information). Mapping #1 Last mapping Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 195: Triggers Definition And Structure

    Z = 131 (0x83) Bidirectional trigger: active on a negative and positive movement. Remark: It is recommended to program the element Type in hex. (0x81, e.g.), for a better readability. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 196 XDOUTs. It is then recommended to use the action 4 instead of 2 when using a DSO-HIO with a DSCDP and DSCDL. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 197 The bits# 8 to 15 of SD2 are identical to the bits# 0 to 7 of monitoring M63. Refer to §13.11 more information. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 198: Masks, Actions Selection

    (refer to §13.4 for more information). Remark: Parameter K184 may also be set with bits 0 - 15 of monitoring M63. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 199: Mappings Activation

    Mask (parameter K183 or K185) for each mapping is defined. Bits set to 1 in the mask show the selected actions. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 200 ;’Status drive’ SD2 bits = 01 bin. Bit# 9=0, Bit# 8=1 (masked by parameter K184) E3:2.1=1 ;Trigger position = 40000 [upi] E3:3.1=40000 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 201 ;Goes to the position 0 [upi] POS.1=0 ;Waits for the end of the previous movement WTM.1 ---------------------------------------------------------------------------------------------------------------------------------------------- ;Goes to the label 10 JMP.1=10 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 202: Analog Encoder Interpolation

    4 bits (= 16) default shift value. Refer also to formulas in §12.3, to see the effect of this factor 16 value. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 203: Status Drive

    'in the window' (bits 0, 1, 2, 3 and 5 are set to 1). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 204: M61 Monitoring (Sd2)

    User bit 11, could be modified by trigger functions or by parameter K177 - 4096 User bit 12, could be modified by trigger functions or by parameter K177 - Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 205 SD2, bit# 2 it is reset when 1 is written in parameter K182 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 206: Advanced Communication

    DSCDP DSCDL DSCDM The synchronization is given by the TEB synchro signal present on the Turbo-ETEL-Bus (TEB). This signal allows several daisy-chained controllers to be synchronized to the same reference. • For the DSC2P/DSC2V: the TEB synchro signal frequency is equal to 1/sti (1/sti = 1/166,67µs = 6 kHz).
  • Page 207: Real-Time Monitoring (Rtm)

    To enable the slave to slave mode, parameter K102 must be equal to 2 (bit 1 set) or 3 (bits 1 & 2 set). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 208 Parameter K219 is used to choose two registers to be sent: the first depth corresponds the first register and the second depth corresponds to the second register. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 209 ;Register 1 is monitoring M7 (03 = monitoring M; 07 = monitoring number) K219:1.5=0x0300001E ;Register 2 is monitoring M30 (03 = monitoring M; 1Eh= 30 = monitoring number) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 210: Encoder Scaling And Mapping

    Parameter K168 determines the point where the correction is null. The principle is to add a correction in dpi on the reference position. The correction is calculated as follows: Correction = (position - K168) * K169 / 100000 Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 211: Encoder Mapping

    Point 1999 Point 0 Point 1999 of the lkt of the lkt of the lkt of the lkt of the lkt ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions...
  • Page 212: Activation Of The Corrections

    Once the controller is powered on, K168.0=M8.0 can be executed to automatically set a null correction at the current position. K169 will be modified by the user to change the correction of the encoder scaling. Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 213: Chapter D: Programming

    Operation & Software Manual Direct Drives & Systems Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 214: Basic Programming

    Waits for the motor to cross position <P1> before going on with the [upi] WTP.<axis> = <P1> position execution of the sequence. [rupi] Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 215 Here is the end of the wait WTW=2 WTW=2 executed here In-window WTW=2 executed here Here is the end of the wait ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 216: Wait On Bits: Wbs And Wbc Commands

    <P2> are never reached by the chosen register, the pause has an infinite duration. If the condition is already met when the command is executed, the sequence goes on immediately. Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 217: Controller Busy: Wtb Command

    Bit# 3 Bit# 2 Bit# 1 Bit# 0 000000000000000000000000 000000000000000000000000 000000000000000000000000 Dec. Hexa. Binary (only bits set to 1 will be tested) Example: ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 218 ;When the movement of the axis 1 is over, the axis 0 goes to the position 10000. POS.0=10000 (refer to §15.29 for another example) Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 219: Labels

    JMP instruction, or from the place where the error has occurred with the RET command. With the JMP command, it is recommended to erase the stack with the POP command (refer to §14.2.4). ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 220: Unconditional Jump: Jmp Command

    If the label given by <P1> is not in the sequence, a MAX SEQ LINE ERR error (M64=37) appears and the sequence stops (refer to §18. for the warning list). Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 221: Conditional Jump: Tst, Jeq, Jne, Jlt And Jgt Commands

    ;If no test is right when X1<25, the sequence goes on from the following line and the POS.1=50000 motor moves to the position 50000. :10.1 Instruction 1 :20.1 Instruction 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 222: Routine Commands: Cal, Ret And Pop

    In the example above, the commands have been executed in the following order: Instruction 5, 7, 8, 6, 3 and 4. Instruction 9 is only executed when an error is displayed. Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 223: Accumulator Functions

    Values in <P1> and <P2> may be immediate values or registers. Caution: XAC is pointing on the user variable X511; thus, never use the register X511! ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 224: Test Xac Value: Ieq, Ine, Ilt, Igt, Ile, Ige, Jbs And Jbc

    :20.1; ;The execution of the sequence continues from label 10 because bit 1 of the JBC.1=1,10 accumulator is really equal to 0. Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 225: Sequences Handling

    Let's take as example the axes 1 and 4; they give in binary: 10010; this is 18 decimal or 12 Hexadecimal Examples: POS.%18 = X1.1 POS.%0x12 = X1.1 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 226: Clear User Variables: Clx

    Entering JMP.1=10 command is enough to start the sequence 1, JMP.1=20 command for the sequence 2, and JMP.1=30 command for the sequence 3. Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 227: Mathematical Operations

    A ∧ (¬B) ¬A A v B A v (¬B) A & B A I B A & ~ B A I ~ B ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 228 X1.1 is 23=10111 in both cases. result: 101=5. Shift 2 to the right. X1.1>>=2 result: 10111000=184. Shift 3 to the left. X1.1<<=3 Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 229: Float Functions

    Example: F5.1+=X1.1 is not allowed! Thus, the conversion command (=) should be used every time when integer and float should be mixed up. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming...
  • Page 230 Operation & Software Manual Direct Drives & Systems THIS PAGE IS INTENTIONALLY LEFT BLANK Chapter D: Programming ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 231 Operation & Software Manual Direct Drives & Systems Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 232: Commands Examples & Reference List

    It is not necessary to reset all the controllers of the daisy chain. Only the axis with the new axis number can be reset. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 233: Brk Example

    ;Stops the movement with the acceleration programmed in parameter K206 BRK.0 ;Waits for 5 (ISO unit) WTT.0=5.0 ;Jumps to label 30 JMP.0=30 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 234: Cal, Ret, Pop Example

    RST.0 ;Waits for 1 (ISO unit) WTT.0=1.0 ;Power on PWR.0=1 ;Waits until the movement is finished WTM.0 ;Jumps to label 30 JMP.0=30 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 235: Cam Example

    ;Sets the default value of the CAM (no diminution of speed and acceleration) CAM.0=100 ;Waits for 3 (ISO unit) WTT.0=3.0 ;Returns to the calling routine RET.0 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 236: Clx Example

    ;Clears all user’s variables X (resets to 0) as well as the accumulator CLX.0 ;Waits for 2 (ISO unit) WTT.0=2.0 ;Jumps to label 10 JMP.0=10 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 237: Dout Example

    ;Enables the DOUTs 1, 2 and 3 (only DOUT1 and 2 on DSCDP and DSCDL) DOUT.0=7 ;Waits for 1 (ISO unit) WTT.0=1.0 ;Jumps to label 10 JMP.0=10 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 238: End Example

    ;Waits for 1 (ISO unit) WTT.0=1.0 ;Power on PWR.0=1 ;Waits until the movement is finished WTM.0 ;Stops the execution of the sequence END.0 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 239: F Registers (Float) Example

    ;Sets user’s variable X10 of axis 0 with the value of F100 (as the user’s variable must X10.0=f100.0 include an integer, X10.0=8) ;Stops the execution of the sequence END.0 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 240: Hlt, Hlb, Hlo Example

    K206 and stops the sequence. Command HLO stops the motor, switch off the power in the motor phases (PWR.<axis>=0) and stops the sequence Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 241: Jbs, Jbc Example

    ;Waits for 2 (ISO unit) WTT.0=2.00000 ;Goes to the position 0 (ISO unit) POS.0=0.00000 ;Waits for 2 (ISO unit) WTT.0=2.00000 ;Goes to label 20 JMP.0=20 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 242: Jmp Example

    ;Waits for 1 (ISO unit) WTT.0=1.0 ;Goes to label 20 JMP.0=20 ;Label 40 :40.0 ;Waits for 1 (ISO unit) WTT.0=1.0 ;Goes to label 30 JMP.0=30 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 243: Mmc Example

    ;Goes to the position 30 (ISO unit) POS.2=30.0000 ;Waits until the movement is finished WTM.2 ;Waits for 1 (ISO unit) WTT.2=1.00000 ;Goes to label 40 JMP.2=40 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 244: Mmd, Ltn, Lti Example

    ;Goes to label 30 JMP.2=30 Remark: If this example is realized with a linear motor, the mechanical end stop could be reached quickly. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 245: Mmd=3 (Calculated Mvt.), Set Example

    ;Waits until the movement is finished WTM.2 ;Sets the current position as the ’0 machine’ SET.2=0.00000 ;Waits for 1 (ISO unit) WTT.2=1.00000 ;Jumps to label 30 JMP.2=30 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 246: Pwr, Ind, Acc, Spd, Pos Example

    ;Goes to the absolute negative position -20 (ISO unit) with the new acceleration and POS.0=-20.000 speed ;Waits until the movement is finished WTM.0 ;Power off PWR.0=0 ;Stops the sequence execution END.0 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 247: Rei: Rti Example

    ;The sequence returns to the line which follows the last executed line before the call REI.2 of the RTI label Remark: The REI command executes the RIE and the RET commands within one instruction ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 248: Rsd Example

    ;Jumps to label 30 JMP.2=30 ;Label 50 :50.2 ;Power off PWR.2=0 ;Waits for 2 (ISO unit) WTT.2=2.00000 ;Hardware reset of the controller RSD.2=255 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 249: Special Labels (79, 80) Example

    ;Label 80 (the sequence jumps automatically to this label if an error occurs) :80.2 ;Power off PWR.2=0 ;Sets user’s variable X100 of axis 2 to 25 X100.2=25 ;Stops the execution of the sequence END.2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 250: Sls Example

    PWR.0=0 ;Stops the sequence execution END.0 After having found the mechanical end stop, the motor moves back the distance given in K47. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 251: Sta Example

    500) ;Waits until the movement is finished WTM.2 ;Waits for 1 (ISO unit) WTT.2=1.00000 ;Jumps to label 30 JMP.2=30 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 252: Ste Example

    ;Jumps to label 30 JMP.2=30 Remark: The STE command must be used with the utmost prudence as the movement speed is very high. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 253: Sti Example

    ;Waits for 1 (ISO unit) WTT.2=1.00000 ;Goes to the position 0 (ISO unit) POS.2=0.00000 ;Waits until the movement is finished WTM.2 ;Jumps to label 30 JMP.2=30 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 254: Stp Example

    ;Waits for 5 (ISO unit) WTT.0=5.0 ;Stops the movement with an infinite deceleration STP.0 ;Waits for 5 (ISO unit) WTT.0=5.0 ;Jumps to label 30 JMP.0=30 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 255: Tcl, Tmk, Tnb, Trs Triggers Example

    ;Goes to the position 0 (ISO unit) POS.2=0.0 ;Waits until the movement is finished WTM.2 ;Waits for 1 (ISO unit) WTT.2=1.00000 ;Jumps to label 30 JMP.2=30 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 256: Tst, Jgt, Jeq, Jne Example

    ;Goes to the position 0 (ISO unit) POS.2=0.0 ;Waits until the movement is finished WTM.2 ;Waits for 2 (ISO unit) WTT.2=2.00000 ;Jumps to label 20 JMP.2=20 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 257: Tst, Jlt Example

    ;Goes to the position 0 (ISO unit) POS.2=0.0 ;Waits until the movement is finished WTM.2 ;Waits for 2 (ISO unit) WTT.2=2.00000 ;Jumps to label 20 JMP.2=20 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 258: Wbc, Wbs Example

    ;Goes to the position 0 (ISO unit) POS.2=0.0 ;Waits until the movement is finished WTM.2 ;Waits for 2 (ISO unit) WTT.2=2.00000 ;Jumps to label 30 JMP.2=30 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 259: Wpg, Wpl, Wsg, Wsl Example

    WSL and WSG commands work respectively like WPL and WPG commands but in this case the parameters <P1> and <P2> can be signed. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 260: Wtb Example

    ;Waits for the axes 0, 2 and 3 not to be busy any more before executing the next WTB.0=13 command ;Jumps to label 20 JMP.2=20 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 261: Wtm, Wtt Example

    ;Goes to the position 20 (ISO unit) POS.2=20.0 ;Waits until the movement is finished WTM.2 ;Waits for 1 (ISO unit) WTT.2=1.0 ;Jumps to label 20 JMP.2=20 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 262: Wtp Example

    ;Sets user’s variable X10 of axis 2 to 0 X10.2=0 ;Waits until the movement is finished WTM.2 ;Waits for 1 (ISO unit) WTT.2=1.0 ;Jumps to label 20 JMP.2=20 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 263: Wtw Example

    WTW.2=0 ;Goes to the position 0 (ISO unit) POS.2=0.0 ;Waits until the movement reaches the window WTW.2=0 ;Jumps to label 20 JMP.2=20 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 264: Xac, Ieq, Ilt, Igt Example

    WTT.2=2.0 ;Adds 2 to the previous value of the user’s variable X10 of the axis 2 X10.2+=2 ;Jumps to label 20 JMP.2=20 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 265: Xac, Ige, Ile Example

    WTT.2=2.0 ;Adds 2 to the previous value of the user’s variable X10 of the axis 2 X10.2+=2 ;Jumps to label 20 JMP.2=20 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 266: Xac, Ine Example

    WTT.2=0.1 ;Adds 1 to the previous value of the user’s variable X10 of the axis 2 X10.2+=1 ;Jumps to label 20 JMP.2=20 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 267: Commands Reference List

    (edit mode) of SD1 Executes the operation: <P1> = FCOS.<AXIS>=<P1>,<P2> cos(<P2>). Both operands (<P1> and <P2>) are only float (type F) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 268 <P1> is less than the accumulator ILT.<AXIS>=<P1>,<P2> (XAC). Sets bit#8 (seq_on) of status drive 1 (SD1) IND.<AXIS> Starts a homing sequence Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 269 :80 Restores default current parameters NEW.<AXIS>=<P1> (K register) and clears sequence according to <P1> ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 270 (S register), look-up table SAV.<AXIS>=<P1> register), trigger register), real-time interrupt (R register), float (F register) and axis number in flash memory in function of <P1> Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 271 Gets look-up table time (LTI=K204) from the specified index Gets user amplitude for look-up table (K208) in mode K207=1 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 272 (K209) only when the 1024 motor is not moving (bit#4 of SD1 at 0) Gets K230 from the specified 2048 index Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 273 SD1) to be at 1. If the motor is not moving (bit#4 of SD1 at 0) when this command is executed, the controller does not wait ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 274 K parameter or a X <REG>.<AXIS>+=<P2> variable, the second one can be an immediate value or any other register. Example: X1.1 += M7.1 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 275 K or <REG>.<AXIS><<=<P2> a variable X, the second one can be an immediate value or any other reg- ister. Example: X1.1 <<= M7.1 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 276 1. See EBL2 User's Manual Starts trigger acquisition for trace ZTR.<AXIS>=<P1>,<P2> register defined parameters. See EBL2 User's Manual Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 277: Parameters K

    Enabled signal not used (DIN1 is not taken into account). PWR.#=1 command switches the power on the motor Minimum software position limit -2147483648 2147483647 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 278 If after the mechanical end stop it does not meet home switch before stroke defined by K46, the controller generates an error (M64=62) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 279 Displays analog encoder amplitude and index position Displays sequence line number Displays optional board message Displays DC power voltage (Vpower) [V] Inverts positive/negative way Inverts analog 1Vptp encoder ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 280 Phasing with digital Hall sensors until the index is found then commutation by position encoder. The value stored in K53 is used if K52 = 1 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 281 K125 Trace trigger mode. See EBL2 manual No trigger Start of movement End of movement Trigger at a position selected by K127 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 282 (M64=6). If 80000 100000 K149=0, the limit detection is disabled. For DSC2P the limit is reduced by firmware Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 283 K173 XAOUT -8192 8191 between XAOUT+ and XAOUT-). It has 4 depths that corresponds to the 4 analog outputs of the DSO-HIO ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 284 The register number is given by K198 when it is equal to K198 65535 Y or y (ex: Ky.1=...). See EBL2 manual K201 Concatenated movement selection Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 285 Source type is a parameter K Source type is a monitoring M K221 Control source index K222 Control source shift factor K223 Control source offset -2147483648 2147483647 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 286: Parameters K For Dscdp

    Position loop acceleration feedforward gain 2147483647 Commutation phase advance according to the speed 65535 Maximum position range limit for rotary movement 2000000000 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 287 Homing with a negative movement Homing on home switch Homing on limit switch Homing on home switch with detection of limit switch ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 288 2147483647 period for linear motor Motor commutation phase inversion enabled Limit switch mode Limit switch mode DIN9 and DIN10 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 289 Stepper in open loop with EnDat encoder as secondary Mode MACRO: 1Vptp Mode MACRO: TTL Mode MACRO: EnDat Current loop proportional gain 2147483647 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 290 -2147483648 2147483647 K114 Second advanced filter coefficient for term yk-1 -2147483648 2147483647 K115 Second advanced filter coefficient for term yk-2 -2147483648 2147483647 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 291 Enables test of motor overtemperature protection, connected to DIN1 Enables test of motor overtemperature protection, connected to DIN2 Enables test of motor overtemperature protection, connected to DIN9 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 292 (DOUT1 and DOUT2). K37 (if different from 0) K171 DOUT changes the value of the digital outputs in case of error, but not the value of DOUT (K171) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 293 Continuous back and forth movement enabled for MMD = 10, 26, 3 and 19 movement (could be stopped by POS, BRK, HLT, HLB and HLO commands) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 294 10000 500000 K230 Movement type selection for MMD = 3 or 19 Triangular speed movement S-curve (full jerk) movement Sine modified movement Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 295: Parameters K For Dscdl

    K60 and K31. K179:2 defines the mask of the DIN that should be at 0 to limit K60 and K31. K60:3 and K31:3 are the limitation Enables input mode ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 296 If after the mechanical end stop it does not meet an index before a stroke defined by K46, the controller generates an error (M64=62) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 297 K220 to K224. After a power on, it takes into account the actual motor position as reference Display mode Displays normal informations ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 298 SPD, ACC and MMD after IND selection mode Sets SPD, ACC and MMD parameter that was set before IND command at the end of the homing process Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 299 -2147483648 2147483647 K137 Optional board parameter (see optional board manual) -2147483648 2147483647 K138 Optional board parameter (see optional board manual) -2147483648 2147483647 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 300 Optional board analog gain. It has 4 depths, for DSO- K157 HIO analog output, each depth corresponds to the 32767 -32767 32767 depths of K173 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 301 SD2 (bit#8 to 15) for trigger K185 Digital output mask for trigger K186 Trigger mapping number. -1 deactivates the trigger K187 Trigger mapping size ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 302 Starts movement (only depth 0) and gives the target K210 -2147483648 2147483647 position K211 Absolute maximum speed 2000000 2147483647 K212 Absolute maximum acceleration and deceleration 1000000 2147483647 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 303: Parameters K For Dscdm

    Position loop acceleration feedforward gain 2147483647 Commutation phase advance according to the speed 65535 Maximum position range limit for rotary movement 2000000000 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 304 Homing on home switch Homing on limit switch Homing on home switch with detection of limit switch Homing on a single index Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 305 Motor commutation phase inversion enabled Limit switch mode Limit switch mode DIN9 and DIN10 Limit switch mode L1/L2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 306 Current loop integrator gain 2147483647 Current loop output filter Current loop software overcurrent limit 16000 32000 Current loop i2t rms current limit 8192 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 307 Second advanced filter coefficient for term xk-1 -2147483648 2147483647 K118 Second advanced filter coefficient for term xk-2 -2147483648 2147483647 K120 Enables trace synchronization mode. See EBL2 manual ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 308 Negative movement to search mechanical limit switch Inverts the digital inputs for position capture. If K33=0 K159 (DIN1 is a safety input), DIN1 cannot be inverted Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 309 K195 and then 115200 save it into the controller with SAV.#=2. Then switch off and on the controller ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 310 Starts movement (only depth 0) and gives the target K210 -2147483648 2147483647 position K211 Absolute maximum speed 2000000 2147483647 K212 Absolute maximum acceleration and deceleration 1000000 2147483647 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 311 Position division factor (is used by the DLL to calculate K243 2147483647 the position unit with indirect encoder) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 312: Monitorings M

    Analog encoder sine signal -2048 2047 Analog encoder cosine signal -2048 2047 Analog encoder index signal -2048 2047 Analog encoder sine^2 + cosine^2 4194304 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 313 User bit 2, could be modified by trigger functions or by 1024 K177 User bit 3, could be modified by trigger functions or by 2048 K177 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 314 The controller is executing an internal sequence 67108864 The controller is in error mode Trace busy flag is set during a register trace 134217728 acquisition Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 315 The fuse of the encoder supply is broken Error when the label of a jump or a call is greater than ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 316 Other axis error on EBL2 Overrun error with Macro Violation error with Macro Parity error with Macro Underrun error with Macro Synchro error with Macro Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 317 This warning occurs when M67 is greater than K85/2 This warning occurs when the temperature of the controller is greater than 60°C ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 318 4 depths of M86. Each depth shows 4 strings (in ASCII) Gives the axis number Temperature of the controller measured by a thermostat on the heat sink Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 319 M244 1250 1250 1250 time in second Controller slow interrupt time factor (sti). M245/M242 = M245 5000 5000 5000 time in second ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 320: Monitorings M For Dscdp

    Analog encoder sine^2 + cosine^2 4194304 Encoder limit switch Encoder limit switch ELS (L1 or L) Encoder limit switch EHO (L2 or H) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 321 User bit 6, could be modified by trigger functions or by 16384 K177 User bit 7, could be modified by trigger functions or by 32768 K177 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 322 The current measured in phase 2 is greater than K83 This occurs when M67 becomes greater than K85. This is a power protection (of the motor and/or the controller) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 323 Time-out error in TEB communication. This error is checked only if bit#1 of K141 is set There are several nodes that have the same number on the TEB ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 324 Optional board error 107. See optional board manual Optional board error 108. See optional board manual Optional board error 109. See optional board manual Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 325 Current loop i2t value. When M67 is greater than K85, 2147483647 the controller generates an I2T error (M64=4) Indicates the type of controller ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 326 Takes DOUT (K171) and K37 into account Real state of DSO-HIO analog output 1. Takes K173, M173 -8192 8191 K150, K151 and K154 to K158 into account Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 327: Monitorings M For Dscdl

    32767 Real current in phase 2 -32768 32767 Current reference in phase 1 -32768 32767 Current reference in phase 2 -32768 32767 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 328 Trace busy flag is set during a register trace acquisition 8192 This bit is set during the homing process 8388608 Global warning Drive status 2 4294967295 Sequence error label pending Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 329 K177 User word bit 15, could be modified by trigger functions 32768 or by K177 65536 The controller is in power on ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 330 Error when the same label is defined several times. If the error appears, checks the sequence and if it is correct, erases sequence (NEW.#=1 command) and then download again the sequence Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 331 Optional board error 103. See optional board manual Optional board error 104. See optional board manual Optional board error 105. See optional board manual ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 332 Gives the software boot version of the controller. A special ETEL procedure allows the conversion of this 4294967295 value in the software boot version (format is the same than M72) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 333 K150, K151 and K154 to K158 into account Real state of DSO-HIO analog output 3. Takes K173, M175 -8192 8192 K150, K151 and K154 to K158 into account ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 334: Monitorings M For Dscdm

    -32768 32767 Current loop look-up table value of phase 1 -32768 32767 Current loop look-up table value of phase 2 -32768 32767 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 335 User bit 1, could be modified by trigger functions or by K177 User bit 2, could be modified by trigger functions or by 1024 K177 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 336 The controller is executing an internal sequence 67108864 The controller is in error mode 134217728 Trace busy flag is set during a register trace acquisition Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 337 This error occurs when the stack is overflowed (256 times) This error occurs when K79 as a wrong value This error occurs when K89 as a wrong value ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 338 K90 = 1 or 2 Too low force when K90=6 Too high force when K90=6 Too low time when K90=6 Time-out during AUT command Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 339 65535 [mm] (for linear encoder) EnDat analog encoder period per turn (for rotary M147 65535 encoder) or in [mm] (for linear encoder) ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 340 M244 1667 1667 1667 time in second Controller slow interrupt time factor (sti). M245/M242 = M245 15000 15000 15000 time in second Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 341: Warnings Reference Lists

    Power supply inrush or power voltage too low (for rack version, it occurs when inrush signal on W INRUSH P.SUPPLY d14 of JC15 is not at 0V; this signal is given by ETEL's power supply or must be given by the user in case of another power supply)
  • Page 342: Warnings For Dscdm

    W DIGIT. HALL Wrong value coming from the digital Hall sensor WuCONTRO LSYNCHRO Loss of synchronization between the TEB signal and the controller interrupt Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 343: Errors Reference Lists

    CURERROR is greater than 8% of the maximum current of the controller (M82) SENSOR The temperature sensor does not TEMP ERR respond ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 344 No slave present on the TEB. The NO SLAVE command or parameter axis number command, PRESENT is wrong (axis does not exist) on the sequence u-master chain programming Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 345 Input buffer full on EBL2 INBUFFER Noise on line, EBUSLITE Bad CRC on EBL2 in received user BAD CRC message in CRC Mode program ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 346 Motor PHASING process when K90=2 K98 K79 encoder cable SWITCH OFF The controller has executed a save & ON operation (SAV command) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 347: Errors For Dscdp

    The velocity is greater than K31 SPEED K53, K56 POWER OFF/ Error when power on with DIN1 is equal to 0 when K33 = 0 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 348 K44, K45 having finished the homing process (for linear motors) SYNCHRO Error in start synchro on input (STI user K164 START command) sequence Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 349 Hardware overcurrent. The current HARDWARE Motor cable, reached maximum OVERCURR external relay,… admissible value by the controller FPGA DSP watchdog error ERROR 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 350: Errors For Dscdl

    (M82) SENSOR The temperature sensor does not TEMP ERR respond ENDAT The calculated EnDat position is too OVERFLOW big. Decrease K77 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 351 K141 BAD NODE There are several nodes that have Duplicated node TEB ERR the same number on the TEB number ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 352 DSMAX Hardware overcurrent. The current HARDWARE Motor cable, reached maximum OVERCURR external relay,… admissible value by the controller Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 353: Errors For Dscdm

    The calculated EnDat position is too OVERFLOW big. Decrease K77 Bad type cable ENDAT Zero position of the EnDat encoder cable POS LOST not found long ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 354 K141 BAD NODE There are several nodes that have Duplicated node TEB ERR the same number on the TEB number Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 355 Hardware overcurrent. The current HARDWARE Motor cable, reached maximum OVERCURR external relay,… admissible value by the controller FPGA DSP watchdog error ERROR 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 356 Motor PHASING process when K90=2 K98 K79 encoder cable SWITCH OFF The controller has executed a save & ON operation (SAV command) Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 357: Units Conversion

    Read also §13.3.10 about parameter K50 for units scales definition. Offset between [dpi] and [upi]: [upi] = ([dpi] + M4) / 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 358: Linear Motors

    6 – ⋅ ⋅ ⋅ PCod 2 40 10 The value which has to be programmed is 3072000 increments for this movement. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 359 ⋅ 65536 64 2 Remark: 1024 * 2 and 64 * 2 can be replaced by the value given by monitoring M241. ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 360: Rotary Motors

    65536 64 2 encoder) Remark: 1024 * 2 and 64 * 2 can be replaced by the value given by monitoring M241. Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 361: Resolution

    256 1024 2 And for a controller resolution: PCod Speed [m/s] Speed [dsi] ⋅ ----------------------------------------------- - ⋅ ⋅ ⋅ 256 1024 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 362: Current, Force And Torque Units

    [foi] increment [foi] → [N] • M30 to M32 (linear motors) ⋅ max, controller ⋅ ---------------------------------------- - Force [N] Force [foi] 32768 Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05...
  • Page 363: Time Quantities Units

    ⋅ ⋅ ⋅ 256 1024 2 PCod ⇒ ----------------------------------------- - (for TTL encoder) Controller resolution [m/s] ⋅ ⋅ ⋅ 256 64 2 ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes...
  • Page 364 DIN 170 STA 159, 251 DOUT 172, 237 STE 165, 252 EDI 203 STI 159, 253 END 226, 238 STP 166, 254 ERR 99 TCL 199, 255 Index ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05...
  • Page 365 Dip switch 82 FSIGN 229 Display modes 132 FSIN 229 DOUT 172, 237 FSQRT 229 Drive increments FTI 23, 363 table for linear and rotary 357 ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05 Index...
  • Page 366 JRT 128, 244 K88 206, 208 K89 84 K90 33, 104 K parameters K91 104, 110 K1 138 K92 104 K2 138 K93 104 K3 138 K94 104 Index ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05...
  • Page 367 M5 85 K191 186 M6 141 K192 186 M7 141 K193 186 M8 212 K195 24 M10 141 K201 150, 163 M11 141 K202 146, 150 ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05 Index...
  • Page 368 152 M140 96 rectangular 168 M145 89 rotary look-up table 153 M146 89 rotary S-Curve 130 M147 89 S-Curve 169 M148 89 trapezoidal 168 Index ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05...
  • Page 369 20 Speed feedforward 75, 138 Reference Speed filter 75 advanced modes 143 Speed reference mode 148 basic mode 100 Speed trajectory 20 external modes 143 ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05 Index...
  • Page 370 358 usi 358 User increments, rotary ruai 360 rupi 360 rusi 360 VER 83 Voltage display mode 132 Wait and pause commands 214 Warnings description 341 Index ETEL Doc. - Operation manual # DSC2P 903 / Ver. E / 3/6/05...

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