ETEL DSCDP/DSCDL/DSCDM Dual Axis Controller Debugging Guide

Dual axis digital I/O independent configuration

The dual axis controller provides independent digital I/O interfaces for each axis (JC12 corresponds to motor 1, JC13 corresponds to motor 2), but special attention should be paid to the DIN/DOUT pin reuse of DSCDM.

6.1 Digital Input (DIN1/DIN2/DIN9/DIN10)

DIN10 (positive limit), DIN9 (negative limit), DIN2 (Home switch, DSCDM not available).

The input voltage of+12~+28V corresponds to logic "1", and 0V corresponds to logic "0".

6.2 Digital Output (DOUT1/DOUT2)

The optocoupler isolation collector is open, and an external pull-up or load power supply (+Text, 12-28V) is required.

The total output current is ≤ 500mA (limited by F1 fuse).

6.3 DSCDM Pin Reuse (K171)

The DIN and DOUT pins of DSCDM share the same pin, and the direction needs to be selected through K171:

Bit=0: corresponding pin is a digital input

Bit=1: corresponding pin is a digital output

Attention: Misconfiguration may result in hardware damage (as explicitly warned in the manual).

Parameter tuning of regulator and vibration suppression

The parameters of the two axis adjusters of the dual axis controller need to be independently set and adjusted separately.

7.1 Current loop regulation (K80/K81)

DSCDL specificity: The current loop sampling time is 13.89 μ s (72kHz), which is the fastest among the three. K80 range 0~16383 (different from DSCDP/DSCDM range 0~2147483647), K81 range 0~127.

Automatic tuning of AUT usually provides a good initial value, but if current oscillation occurs, K80 can be manually reduced or K82 can be increased (current output filtering).

7.2 Position ring adjustment (K1/K2/K4)

K1 (Proportional Gain): Increasing it can reduce tracking error, but if it is too large, it can cause overshoot.

K2 (speed feedback gain): Increasing it can suppress overshoot and oscillation, but it will reduce the system stiffness.

K4 (Integral Gain): Used to eliminate static position errors.

7.3 Feedforward compensation (K20/K21) and filters (K8/K9)

The initial value of speed feedforward K20 is set to 70%~100% of K2.

Acceleration feedforward K21 is used to compensate for tracking deviation during acceleration and deceleration phases.

Mechanical resonance (500Hz~1kHz howling) can enable K8 (velocity filtering) or K9 (force reference filtering). The formula for calculating the cutoff frequency of K8/K9 is detailed in section 13.1.2.3 of the manual.

Quick diagnostic reference for error codes

Error code display information Possible reasons (dual axis specific) Priority processing

M64=2/3 OVER CURRENT1/2 phase sequence error (K56) or K83 set too low, execute AUT=10, check K83

M64=4 I2T ERROR Periodic motion overload, improper setting of K84/K85, recalculate K84/K85

M64=20 ENCODER AMPLITUD encoder signal amplitude too low. Check the gap between the reading heads and adjust K72/K73

M64=35 ENCODER FUSE KO. The power supply fuse F2 of a certain axis encoder is blown. Check the encoder cable and replace the fuse

M64=59 BAD NOTE TEB ERR TEB There is a duplicate axis number on the TEB ring. Check the DIP switch and use AXI to reassign

M64=69 HOME NOT POSSBLE DSCDM not set K58 instead of DIN2 set K58 bit2 or bit3

M64=153 Initial LOW CUR K92 Current too low increases K92

M64=154 Initial HIGH CUR K92. If the current is too high, reduce K92 or switch to K90=6

M64=155 Initial LOW TIME K101 Time is too short, increase K101

Parameter Save (SAV) and Curing

After all parameter adjustments are completed, execute SAV.<axis>=2 to save the K, X, E, R, F parameters and axis numbers to Flash. For dual axis controllers:

The SAV command must be applied to even axes (such as SAV.6=2), and the second axis automatically follows.

If only the sequence (S register) and lookup table (L) need to be saved, use SAV.<axis>=0 or 1.