E-Tel DSC Series Mounting instructions

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ETEL SA makes no warranty for the use of its products and assume no responsibility for any errors which may appear in this document.
ETEL SA retains the right to make any change to these specifications at any time, without notice.
THE NETHERLANDS
ETEL B.V.
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NL-6716 BM Ede
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ETEL Inc.
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ETEL GmbH
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ETEL S.A.
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AUSTRIA (Sales rep)
I+L ELEKTRONIK GmbH
Vibrütteweg 9
AT-6840 Gotzis
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ISRAEL (Sales rep)
MEDITAL COMOTECH Ltd
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Digital position controllers
Digital position controllers
DSC2P 903 ver. F
DSCxx Operation &
Software Manual

THIS PAGE IS INTENTIONALLY LEFT BLANK

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
Operation & Software Manual
Direct Drives & Systems 3
Chapter A:
Internal functioning & architecture
1. The regulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2. Current references generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3. Set point generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1 Introduction to movements trajectories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1.1 Movements trajectories used in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4. Controller timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 STI (Slow Time Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 FTI (Fast Time Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 CTI (Current Time Interrupt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5. Communication with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.1 Single-axis configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.1.1 Baud rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.2 Multi-axis configuration with DSMAX or DSTEB . . . . . . . . . . . . . . . . . . . . . . . 24
5.3 Multi-axis configuration with micro-master . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6. Commands & registers syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.1 Sending commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1.2 Accumulator operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.1.3 Sequence labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2 Registers groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.1 Basic registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2.2 Advanced registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.3 Register value attribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.4 Register value reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.5 Bit fields or numerical values for registers and commands . . . . . . . . . . . . . . 33
6.5.1 Bit fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.5.2 Examples of use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Operation & Software Manual
4Direct Drives & Systems
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
Chapter B: System setup and tuning
7. Initial system installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.1 Controller connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.1.1 Stand-alone configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.1.2 Configuration with a DSMAX or a DSTEB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.2 Controller setup principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.3 Install ETEL Tools software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.3.1 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.3.2 Installing ETT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8. Controller setup with ETEL Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.1 Run ETT and set up the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.2 Main Menu window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.2.1 Tools menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
8.3 Drive Setting tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.3.1 Drive selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.3.2 Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
8.3.3 Encoder Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.3.4 Initialization mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.3.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.3.6 Mass or inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.3.7 Automatic tuning options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.4 Scope tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.4.1 The icons bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.4.2 Scope menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.4.3 Digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.4.4 Scope's Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
8.4.5 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
8.4.6 Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.4.7 Step movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.4.8 System identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.5 Terminal tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
8.5.1 The icons bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
8.5.2 Read / send registers and commands to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . 64
8.5.3 Download sequence / registers into the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
8.6 Editor tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.6.1 The icons bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.6.2 Download (create, open, modify) sequences / registers . . . . . . . . . . . . . . . . . . . . . . . . . 67
8.6.3 Upload (create, open, modify) sequences / registers . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

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Operation & Software Manual
Direct Drives & Systems 5
8.7 Unit Converter tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
8.7.1 The icons Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
8.7.2 Unit conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
9. Simplified regulator's principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.1 General diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
9.2 Parameters description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.2.1 Current regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
9.2.2 Position regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
10. Controller regulators tuning principle . . . . . . . . . . . . . . . . . . . . . . . . 76

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6Direct Drives & Systems
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
Chapter C: System functions
11. Save the settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
12. Basic functions and settings (necessary to operate the controller) 82
12.1 Axis number selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
12.1.1 Selection with DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
12.1.2 Selection with command AXI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
12.1.3 Serial number and firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
12.2 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
12.3 Position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
12.3.1 Analog encoders (K79=0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
12.3.2 EnDat 2.1 encoders (K79=4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12.3.3 TTL encoders (K79=1 and K79=7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.3.4 Stepper in open loop (K79=20, 21, 23 and 24) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.3.5 Macro modes (K79=100, 101 and 104) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
12.3.6 Position factors for DLLs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
12.3.7 Encoder monitorings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
12.4 Precaution parameters - IMPORTANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
12.4.1 Movements limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
12.4.2 Current limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
12.4.3 Safety signals on DIN and DOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
12.4.4 Motor temperature, TEB time-out and analog encoder error check . . . . . . . . . . . . . . . . 95
12.4.5 Vpower DC bus voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.4.6 Fuse check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.5 Errors and warnings handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.5.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.5.2 Reset errors: RST and RSD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
12.5.3 Clear errors: CPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
12.5.4 Errors management with the m-master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
12.5.5 Dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
12.6 Basic reference mode (K61=1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
12.7 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
12.7.1 Phasing and homing basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
12.7.2 Phasing processes (K90) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
12.8 Autosetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
12.8.1 AUT command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
12.8.2 PWR command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
12.9 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
12.9.1 K45 parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
12.9.2 Homing modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
12.9.3 K40 parameter: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

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12.10Basic movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.10.1 SET command: zero machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.10.2 Linear or rotary movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.10.3Movement trajectory parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.10.4 Rotary S-Curve movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
12.11Monitorings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
12.11.1 Monitoring registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
12.11.2 LCD display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
12.12Controller software characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
12.13Stepper in open loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
13. Advanced functions (only for advanced users) . . . . . . . . . . . . . . . . . 137
13.1 Regulators in details - advanced tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
13.1.1 Regulators diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
13.1.2 Regulators parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
13.1.3 Monitorings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
13.2 Advanced reference modes (K61¼1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
13.2.1 External reference modes (K61=0, 3, 4 or 36) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
13.3 Advanced movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
13.3.1 Movements types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
13.3.2 Look-up table movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
13.3.3 Infinite rotary movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
13.3.4 Movement with predefined profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
13.3.5 Start movements: STA and STI commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
13.3.6 Concatenated movements: MMC command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
13.3.7 CAM command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
13.3.8 STE command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
13.3.9 BRK and STP commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
13.3.10 Parameters defining units scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
13.3.11 Movements equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
13.4 Digital inputs / outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
13.4.1 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
13.4.2 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
13.5 Position capture on digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
13.5.1 Description of the position capture process on the digital inputs . . . . . . . . . . . . . . . . . 175
13.6 Analog input / output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
13.6.1 Analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
13.6.2 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
13.7 In-window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
13.8 RTI: Real-Time Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
13.8.1 RTI structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

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13.8.2 RTI elements description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
13.8.3 Controller parameters and commands for RTI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
13.8.4 RTI process chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
13.8.5 RTI types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
13.8.6 RTI programming examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
13.9 Triggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
13.9.1 Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
13.9.2 Mappings definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
13.9.3 Triggers definition and structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
13.9.4 Elements description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
13.9.5 Masks, actions selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
13.9.6 Mappings activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
13.9.7 Programming triggers example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
13.10Analog encoder interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
13.11Status Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
13.11.1 M60 monitoring (SD1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
13.11.2 M61 monitoring (SD2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
13.11.3 M63 monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
13.12Advanced communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
13.12.1 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
13.12.2 Real-time monitoring (RTM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
13.13Encoder scaling and mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
13.13.1 Encoder scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
13.13.2 Encoder mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
13.13.3 Activation of the corrections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
13.13.4 Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

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Chapter D: Programming
14. Basic programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
14.1 Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
14.1.1 Wait commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
14.1.2 Wait on bits: WBS and WBC commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
14.1.3 Wait on values: WPL, WSL, WPG and WSG commands . . . . . . . . . . . . . . . . . . . . . . . . . . 216
14.1.4 Controller busy: WTB command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
14.2 Tests and jumps to labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
14.2.1 Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
14.2.2 Unconditional jump: JMP command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
14.2.3 Conditional jump: TST, JEQ, JNE, JLT and JGT commands . . . . . . . . . . . . . . . . . . . . . . 221
14.2.4 Routine commands: CAL, RET and POP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
14.3 Accumulator functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
14.3.1 Set the accumulator: XAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
14.3.2 Test XAC value: IEQ, INE, ILT, IGT, ILE, IGE, JBS and JBC . . . . . . . . . . . . . . . . . . . . . . . . 224
14.4 Sequences handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
14.4.1 Stop a sequence: HLT, HLB, HLO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
14.4.2 Group of axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
14.4.3 Clear user variables: CLX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
14.4.4 End of sequence: END . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
14.5 Mathematical operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
14.5.1 Arithmetical operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
14.5.2 Logical operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
14.6 Float functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
14.6.1 Read / write F registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

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Chapter E: Appendixes
15. Commands examples & reference list . . . . . . . . . . . . . . . . . . . . . . . . 232
15.1 AXI, SAV example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
15.2 BRK example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
15.3 CAL, RET, POP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
15.4 CAM example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
15.5 CLX example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
15.6 DOUT example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
15.7 END example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
15.8 F registers (float) example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
15.9 HLT, HLB, HLO example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
15.10JBS, JBC example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
15.11JMP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
15.12MMC example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
15.13MMD, LTN, LTI example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
15.14MMD=3 (calculated mvt.), SET example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
15.15PWR, IND, ACC, SPD, POS example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
15.16 REI: RTI example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
15.17RSD example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
15.18Special labels (79, 80) example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
15.19SLS example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
15.20STA example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
15.21STE example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
15.22STI example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
15.23STP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
15.24TCL, TMK, TNB, TRS triggers example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
15.25TST, JGT, JEQ, JNE example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
15.26TST, JLT example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
15.27WBC, WBS example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
15.28WPG, WPL, WSG, WSL example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
15.29WTB example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
15.30WTM, WTT example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
15.31WTP example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
15.32WTW example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
15.33XAC, IEQ, ILT, IGT example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
15.34XAC, IGE, ILE example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

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15.35XAC, INE example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
15.36Commands reference list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
16. Parameters K . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
16.1 Parameters K for DSC2P and DSC2V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
16.2 Parameters K for DSCDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
16.3 Parameters K for DSCDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
16.4 Parameters K for DSCDM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
17. Monitorings M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
17.1 Monitorings M for DSC2P and DSC2V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
17.2 Monitorings M for DSCDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
17.3 Monitorings M for DSCDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
17.4 Monitorings M for DSCDM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
18. Warnings reference lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
18.1 Warnings for DSC2P and DSC2V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
18.2 Warnings for DSCDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
18.3 Warnings for DSCDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
18.4 Warnings for DSCDM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
19. Errors reference lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
19.1 Errors for DSC2P and DSC2V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
19.2 Errors for DSCDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
19.3 Errors for DSCDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
19.4 Errors for DSCDM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
20. Units conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
20.1 Cinematic quantities units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
20.1.1 Linear motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
20.1.2 Rotary motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
20.1.3 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
20.2 Current, force and torque units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
20.3 Time quantities units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

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ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Introduction
Operation & Software Manual
Direct Drives & Systems 13
Introduction
This document concerns the following ETEL digital position controllers: the DSC2P, DSC2V, DSCDP, DSCDL
and DSCDM also called 'position controller’ or simply ’controller’.
The purpose of this manual is to give details regarding the system's functioning, installation, tuning, functions
and programming possibilities. For electrical specifications, interfaces and hardware items, please refer to the
corresponding 'Hardware Manual'.
The information given in this manual is valid for:
• the DSC2P and DSC2V with a firmware from version 1.22 (firmware identical for both products)
• the DSCDP with a firmware from version 1.15
• the DSCDL with a firmware from version 1.06
• the DSCDM with a firmware from version 1.02
If a DSMAX motion controller is used, its firmware must be from version 1.20A for the DSMAX1 and
DSMAX2 and from version 1.10A for the DSMAX3.
If a DSTEB motion controller is used, the DLL used must be from version EDI2.13A (usable with
ETT4.11A or above).
All the functions described in this manual have not been implemented in all the controllers. This is why
a table is present at the beginning of all the paragraphs describing a function to indicate in which
product(s) this function is present.
Example:
Remark: If a part of a function is not present in a controller, the name of the corresponding controller will
be crossed out in the comment of the function (e.g: DSCDP).
Remark: The updates between two successive versions are highlighted with a modification stroke in the
margin of the manual.
General operating conditions
The controllers are designed to operate in a non-aggressive and clean environment, with a humidity rate
ranging between 10% and 85%, an altitude < 2000m (6562 ft), and a temperature ranging between +15°C
(59°F) and +30°C (86°F) or +40°C (104°F) depending on the product (refer to the corresponding ’Hardware
Manual’ for more information). They must be connected to an electrical network of overvoltage category 2
(refer to EN 50178 and UL 840 standards for more information). The DSC2P, DSCDP and DSC2V are suitable
for use on a circuit capable of delivering not more than 5000 Arms, symmetrical amperes, 400 volts maximum.
The DSCDM must be connected to a power supply with SELV outputs. The electronics must be in an enclosure
respecting a pollution degree of 2 (refer to UL508C and EN 50178 standards for more information).
The controllers are not designed or intended for use in the on-line control of air traffic, aircraft navigation and
communications as well as critical components in life support systems or in the design, construction, operation
and maintenance of any nuclear facility.
Safety
Please, read all the safety precautions listed in this manual before handling the
controller:
Warning:Signals a danger of electrical shock to the operator.
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.
DSC2P Function present in the DSC2P DSC2P Function not present in the DSC2P

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14 Direct Drives & Systems
Introduction ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
Caution: Indicates electrostatic discharges (ESD), dangerous for the controller.
The components must be handled in an ESD protected environment only.
• Before installing or operating the controller, all the corresponding documentations listed page 15 as well as
the one related to the motor(s) used with it.
• Never use the controller for purposes other than those described in this manual.
• A competent and trained technician must install and operate the controller, in accordance with all specific
regulations of the respective country concerning both safety and EMC aspects.
• Troubleshooting and servicing are permitted only for ETEL's technicians and agreed distributors.
• Operating the controller will make the motor move. Keep away from all moving parts to avoid
injuries!
• High voltage may be present on the power and motor connectors.
• Before connecting or disconnecting a cable on one of these connectors or touching the controller, turn off
all the power supplies and wait 10 minutes (2min for the DSCDM) to allow the internal DC bus
capacitors to discharge.
• All the connector must be handled in an ESD protected environment, only.
• The safety symbols placed on the controller or written in the manuals must be respected.
• In the controller, the leakage current through the protective conductor to the GND is greater than a.c. 3.5
mA.
If the controller is integrated into a machine, the manufacturer of this machine must establish that it fulfils the
89/336/EEC directive on EMC before operating the controller.
How to use this manual
If you are not an experienced user, read first the Chapter A to catch the basis about the controller's internal
functioning and commands' syntax.
Then, follow step-by-step the Chapter B to successfully realize the first installation and setup of the
controller.
In Chapter C, §11. and §12., all the basic functions necessary to operate the controller are described in
details. Chapter C, §13. is reserved for experienced users and describes advanced functions only used in
specific applications.
Chapter D describes how to program the controller (movements sequences).
The appendixes in Chapter E include the registers and commands references lists (with commands
examples), as well as error and warning messages lists and units conversion formulas.
Remark: ETEL can provide its customers with training courses including theoretical presentation
and practice in real conditions, at our facilities in Môtiers (Switzerland).
Working principle
These digital position controllers have been designed for direct drive applications. They can work in
interpolated mode if they are mastered by a DSMAX motion controller (refer to the 'DSMAX User's Manual').
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). They must be implemented with analog (incremental or absolute (EnDat2.1)) or TTL encoders
available on the market.

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Operation & Software Manual
Direct Drives & Systems 15
Record of revisions, document # DSC2P 903 x
Documentation concerning the position controllers:
• Operation & Software Manual (Controller's setup, use & programming) # DSC2P 903 F
• DSC2P Hardware Manual (Specifications & electrical interfaces) # DSC2P 904 x
• DSC2V Hardware Manual (Specifications & electrical interfaces) # DSC2V 904 x
• DSCDP Hardware Manual (Specifications & electrical interfaces) # DSCDP 904 x
• DSCDL Hardware Manual (Specifications & electrical interfaces) # DSCDL 904 x
• DSCDM Hardware Manual (Specifications & electrical interfaces) # DSCDM 904 x
• EBL2 communication Manual (EBL2 principal, messages mapping) # 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
Documents revisions
Issue (x) Date Modified
A 30.05.01 Operation & Software DSC2P, PRELIMINARY EDITION for firmware ver. 1.xx
B 06.11.01 Updated version with firmware from version 1.03
C 06.06.02 Updated version with firmware from version 1.10 for DSC2/6-P and with firmware from version 1.0 for DSCDP
D 03.03.03 Updated version with firmware from version 1.14 for DSC2P and with firmware from version 1.04 for DSCDP
E 12.11.03
Updated Version with firmware from version 1.17 for DSC2P and with firmware from version 1.07 for DSCDP
- Extended functions for K141 parameter (refer to §12.4.4)
- Dynamic braking (refer to §12.5.5)
- Extended functions for K32 parameter and new parameter K100 (refer to §12.9)
- New homing modes: K40 = 34 to 39 (refer to §12.9.2)
- New parameters and monitorings managing the analog I/O of the DSO-HIO optional board (refer to §13.6)
- Real-time monitorings (refer to §13.12.2)
- New mapping mode: the rotary mapping (refer to §13.13.2)
F 03.06.05
Updated Version with firmware from version 1.22 for DSC2P/DSC2V, 1.15 for DSCDP, 1.06 for DSCDL and 1.02
for DSCDM.
- New interpolation mode: ITP = 2 (refer to §13.2.1.3)
- New small movement phasing mode: K90 = 6 (refer to §12.7.2.4)
- Stepper mode in open loop (refer to §12.13)
- New monitorings: M110 (refer to §13.2.1.3), M239 and M241 (refer to §12.3), M240 (refer to §12.2) and M145,
M146, M147, M148 and M149 (refer to §12.3.2)
- Extended possibilities with the AUT command (refer to §12.8.1)
- New command: INI (refer to §12.7.1.2)
- Extended functions for K32 parameter (refer to §12.9)
- Extended description of command WTW (refer to §14.1.1.3)
- Digital Hall effect sensor available for DSCDP and DSCDM (refer to §12.7.2.3)
- Increase of the triggers number and actions (refer to §13.9)

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ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture
Operation & Software Manual
Direct Drives & Systems 17
Chapter A:
Internal functioning & architecture

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1. The regulators
Two Digital Signal Processors (DSP, Sharc from Analog Devices) manage the controller. The first manages
the movements profiles and the second is used for the regulation loops. There are two regulation loops, a
position loop and a current loop, controlled by the second DSP. The position loop calculates the reference
force Fcthat the motor supplies to follow the position reference calculated in a separated generator, called set
point generator. This force is afterwards sent to the current loop where the current reference generator
calculates the reference currents Icx for each motor phase. Those references are eventually sent to a PI
(proportional-integral) regulator which controls the current in the motor phase(s). The diagram below shows the
complete regulation process.
The elements of this regulation general diagram are detailed in §9.1(for beginners) and in §13.1(for advanced
users).
Set point
generator
User
amax
vmax
xfinal
State regulator
Position
control
Current
reference
generator
PI regulator
Current
control
Motor
Speed
estimator
x: Motor real position
V: Motor speed
F: Force supplied by the motor
I:Current in the motor
Kt : Motor force constant
xc:Position reference
Vc:Speed reference
Fc:Force reference
Ic:Current reference in the motor
ac:Acceleration reference
Movement manager processor
Regulation (current & position) processor
xc
Vc
ac
FcIcI
Kt
FI
x
x
V

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Direct Drives & Systems 19
2. Current references generator
The motor has to deliver a force F = Fc
independently of its position with respect to the
magnets poles. All phases must then be fed with
sinusoidal type currents, in phase with the
magnetic field. For a three-phase motor, 3
sinusoidal currents must have a 120ophase-shift
(for a two-phase motor, it has to be a 90ophase-
shift). Three phases motor will be considered, as it
is the most commonly used. The current
reference generator multiplies first the force
reference Fcby the motor position on the sinusoid,
making out reference currents:
Ic1= sin (X + 0o) in phase 1, Ic2= sin (X + 120o)in
phase 2 and Ic3= sin (X + 240o)in phase 3.
The motor currents calculation is as follows:
Three pointers (1), with a 120°electrical phase-
shift, point at in a table, according to the motor
position. This table, called commutation look-up
table (2), contains 2048 points (3) forming a
sinusoidal function period. Motor position sine-
forms are thus immediately read on the numbers of
the table. The force Fcis then multiplied by each of
the two values giving Ic1, Ic2 and Ic3.
Remark: When one of the pointers reaches the end of the table, it goes on from the other end.
Pointing at the right places in the table when powering on the motor is important, because its position with
respect to the magnets is not known at the beginning. The initialization procedure allows the user to know the
initial position.
Current references generator
Fc
Ic1
Ic2
Sinusoid current shape 1
Motor
position
(1)
(2)
(3)
120 °
Sin. current shape 3
Ic3
Sinusoid current shape 2

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3. Set point generator
The set point generator calculates the motor position, speed and acceleration references. These references
are introduced in the position regulator. This calculation is made according to the type of requested movement,
the final position to reach, maximum authorized speed and acceleration. The set point generator carries out
one of the most important functions of the controller: the movement calculation.
3.1 Introduction to movements trajectories
Note: From the movements described below, the controller uses only the step movement (for
tuning) and the S-Curve movement (for motors movements in applications).
The users interested in the movements equations (order 0,1,2 and 3) can refer to Chapter C
(§13.3.11).
A movement trajectory is a function which represents the position of a mobile in one direction versus time.
The first derivative of this function gives the speed trajectory of the movement (speed versus time). The
second derivative determines the acceleration trajectory of the movement (acceleration versus time). The
third derivative is called the jerk trajectory of the movement (jerk versus time).
The step movement is a very abrupt movement in which the motor position changes instantaneously. The
rectangular movement whose speed trajectory is a rectangle, is a specific case of trapezoidal movement. The
trapezoidal movement is a movement whose speed trajectory is a trapezium and the S-Curve movement is
a movement which is a step ahead from the trapezoidal movement (trapezoidal acceleration), it is the smoother
movement, but for an identical maximum speed, the movement takes more time.
Step movement
(order 0)
Rectangular movement
(order 1)
Trapezoidal movement
(order 2)
S-Curve movement
(order 3)
Position Position Position Position
Speed Speed Speed Speed
Acceleration Acceleration Acceleration Acceleration
Jerk Jerk Jerk Jerk
t ttt
t ttt
t ttt
t ttt
Xfinal Xfinal Xfinal Xfinal
Vmax Vmax Vmax
amax amax
Jmax