ETEL DSCDP/DSCDL/DSCDM Dual Axis Controller Debugging Guide

The offset/amplitude correction parameters (K70~K73) of the analog encoder need to be independently set for both axes and optimized by executing the AUT command separately.

3.2 Encoder Monitoring (M40/M41/M43)

The encoder signal quality can be monitored in real-time through M40 (sine signal) and M41 (cosine signal). For DSCDL, the encoder signal value conversion formula is: voltage [V]=encoder value [inch]/65536 × 0.74 (x coefficient 0.74), which is different from the x=0.83 of DSC2P/DSC2V.

If the amplitude of M43 (sin ²+cos ²) is too low, it will trigger "ENCODER AMPLITUD" (M64=20), and K72/K73 (amplitude correction) needs to be adjusted or the installation gap of the encoder reading head needs to be checked.

Phasing fault diagnosis during initialization

The brushless motor must perform initialization (Phasing) upon initial power on to determine the initial electrical angle of the rotor relative to the stator magnetic poles. The two axes of the dual axis controller can independently select the initialization mode (K90), but it should be noted that some modes are not available on specific models.

4.1 K90=2 (constant current initialization) - General mode

Suitable for most iron core and iron core less motors. The parameters K92 (constant current amplitude) and K94 (initialization time) are crucial.

Fault phenomenon: During initialization, the motor does not move or moves very little, reporting "Initialize LOW CUR" (M64=153) or "TIMEOUT AUT CMD" (M64=156).

Troubleshooting steps:

Gradually increase K92 (but not exceeding the incremental value corresponding to the peak current of the motor).

Increase K94 (typical value of 5000~15000, corresponding to 5~15 seconds).

If the motor is equipped with a brake, confirm that the brake has been released (controlled by DOUT).

Fault phenomenon: During initialization, the motor moves too far (exceeding ± 20% of the magnetic pole period), and reports "Initialize HIGH CUR" (M64=154).

Countermeasure: Reduce K92 or switch to small displacement initialization mode (K90=6).

4.2 K90=6 (small displacement initialization) - DSCDL specific

For vertical axis or high friction systems, small displacement initialization measures the motor position through short-term pulse current measurement, with almost no visible movement. This mode is best supported on DSCDL (recommended for vertical motion in the manual).

Parameter settings:

K91 (pulse current amplitude): Initially set to around 5% of K60 (force limit).

K101 (pulse interval time): The high inertia system needs to be increased to 2000-5000ms.

If it reports' Initial LOW TIME '(M64=155), K101 should be increased; If it reports' Initial HIGH CUR '(M64=154), K91 should be lowered.

4.3 Digital Hall Sensor Initialization (K90=3/4/5) - DSCDP/DSCDM

DSCDP and DSCDM support initialization through digital Hall signals (H1/H2/H3), suitable for commutation requirements without encoders. However, it should be noted that:

The H1/H2/H3 of DSCDM are dedicated pins and cannot be used as standard DIN.

K90=5 (only Hall commutation, no encoder) can eliminate the encoder, but the positioning accuracy is lower.

4.4 Phase reversal (K56) and AUT command

If the output direction of the motor after initialization is opposite to the command, executing AUT.<axis>=10 (bit1+bit3) can automatically calculate K56 (phase sequence reversal) and K53 (fine phase adjustment). For dual axis controllers, the AUT command needs to be executed separately for both axes and in the "Power Off" state.

Homing mode selection and exception handling

The dual axis controller's return to zero (IND command) supports up to 40 modes (K40), but some modes have limitations on specific models.

5.1 Effects of DIN2 Deficiency in DSCDM

DSCDM does not have a DIN2 pin, so when using the Home switch's return to zero mode (K40=2/3/6/7/16/17/18/19/36/37), alternative pins must be selected through K58's bit2 and bit3:

Bit2=1: Home switch connected to DIN1

Bit3=1: Home switch connected to DIN9

If K58 is not set correctly, it will report "HOME NOT POSSBLE" (M64=69).

5.2 Zero return timeout or collision limit

The common error is "SING IDX SEARCH" (M64=62) or "MULT IDX SEARCH" (M64=61), indicating that the reference pulse was not found. Key points of investigation:

K41 (return to zero speed): It is recommended to set it at 10% to 20% of the rated speed.

K43 (limit detection tracking error) and K44 (limit detection force limit): It is necessary to ensure that K43>50% of K30 (tracking error limit) and K44<80% of K60 (force limit).

K48 (distance from origin switch/Index): For Home switch mode, K48 must be greater than the physical length of the Home switch.

5.3 Repeated accuracy difference at the origin after zeroing is completed

Possible reasons:

Fine phase adjustment is not enabled (K52=1). After activation, replace the initialization phase with K53 (measured by the AUT command) each time the reset is completed.

Return to zero direction setting error (K40's positive/negative direction does not match the edge of the encoder Index signal).

For multi reference pulse encoders such as Heidenhain LIDA, K75 (reference pulse spacing) must be precisely set.