ETEL DSCDL Dual Axis Controller Hardware Integration Guide

3.2 EnDat 2.1 Absolute Value Encoder

Supporting EnDat 2.1 absolute value encoders from brands such as Heidenhain, adding serial communication on the basis of simulating sine and cosine signals:

1: EDT+(Serial Data I/O+, RS485)

2: ECL+(clock output+, RS485）

3: ECL - (Clock Output -, RS485）

9: EDT - (Serial Data I/O -, RS485)

Advantages: Absolute position upon power on, no need to perform an IND operation, suitable for devices that require quick startup or can still remember position after power off.

Wiring Attention: EnDat communication cables must use twisted pair shielded wires, and the power cord (+5V/GND) diameter must be sufficient to ensure that the encoder terminal voltage is not lower than 4.75V (refer to the encoder data manual).

3.3 TTL Encoder

Supports differential TTL (RS422) encoder, but the upper limit of input frequency is 400kHz (limited by analog front-end circuit). Pin correspondence:

6: UA2- (TTL signal 2 negative terminal)

7: UA1- (TTL signal 1 negative terminal)

8: UA0- (TTL zero negative terminal)

13：UA2+

14：UA1+

15：UA0+

Applicable scenarios: Upgrading existing equipment or cost sensitive projects, but if high-speed motion (>2m/s with high-resolution grating) is required, it is recommended to use an analog encoder to obtain higher interpolation resolution.

Dual axis I/O interface wiring (JC12/JC13)

DSCDL provides independent I/O interfaces for each motor (JC12 corresponds to motor 1, JC13 corresponds to motor 2), including 4 digital inputs, 2 digital outputs, and 1 analog input.

4.1 Digital Input (9-Pin D-Sub Male Head)

Pin 1: DIN1+

Pin 2: DIN2+(high-speed input, response 100ns)

Pin 3: DIN9+(default negative limit)

Pin 4: DIN10+(default forward limit)

Pin 5: GNDext (external power supply ground)

Function allocation (configured by software, hardware manual only specifies interfaces):

DIN10 is usually connected to a forward limit switch (PEL)

DIN9 connection negative limit switch (MEL)

DIN2 is connected to the home switch and is a high-speed optocoupler (100ns response), suitable for capturing origin signals during rapid motion

Power supply method: External+12~+28V power supply, connected to pin 6 (+Text) and pin 5 (GNDext). The logic of each digital input is "1" when it is+12~+28V, and "0" when it is 0V.

4.2 Digital Output

Pin 7: DOUT1+

Pin 8: DOUT2+

Pin 6:+Text (output load power input)

The output is in the form of an optocoupler isolated collector open circuit, which requires an external pull-up or load power supply (+Text). The total output current shall not exceed 500mA (limited by F1 fuse). Typical application: Output "servo ready" or "fault" signals to the upper PLC.

4.3 Analog Input (JC7, 5-pin Phoenix Terminal)

Pin 1: GND

Pin 2: AIN+(M1)/Pin 3: AIN - (M1)

Pin 4: AIN+(M2)/Pin 5: AIN - (M2)

Specification: 16 bit ADC, input range ± 10VDC. Corresponding relationship:+10V → M51=-32767, -10V → M51=+32768. Can be used for external speed/torque command input or pressure sensor feedback.

Communication interface wiring (JC1~JC4)

5.1 Turbo TEL Bus (JC1 input/JC2 output)

Based on 100Mbps Ethernet physical layer, but incompatible with standard Ethernet - it is strictly prohibited to connect TEB ports to PC network cards! CAT5 shielded twisted pair (1:1 direct connection) is required to connect the controller daisy chain, supporting up to 15 DSCDL (30 axis) and 1 DSMAX/DSTEB master station.

5.2 ETEL-Bus-Lite2（JC3，RJ45）

Used for PC debugging communication (ETEL Tools), supporting RS232 and RS422:

RS232 mode: Pin 6 (TXD), 7 (RXD), 8 (GND)

RS422 mode: pins 2/3 (RXD ±), 4/5 (TXD ±)

Pin 1 (EBL2_delect_422/232): Suspended=RS422 (default), connected to GND=RS232

5.3 Download button (JC4, RJ45)

Used for firmware upgrade, insert a dedicated download button (5-6 pins short circuited), and enter the "Wait for Program" mode after the controller is powered on.

Additional features (can be measured without a download button):

Pin 1: SIN M1 (motor 1 sine signal zero crossing indication)

Pin 2: COS M1 (zero crossing indication for cosine signal of motor 1)

Pin 3: SIN M2 (motor 2 sine signal zero crossing indication)

Pin 4: COS M2 (zero crossing indication for cosine signal of motor 2)

Pin 7: STI (slow interrupt, 2kHz)

Pin 8: FTI (Fast Interrupt, 18kHz)

These TTL signals can be used for oscilloscope debugging and observing encoder signal quality.

Dual axis motor connection (JC8/JC9)

DSCDL supports single-phase or two-phase motors (not three-phase), with each axis connected independently:

JC8: Motor 1

JC9: Motor 2

Each 5-pin Phoenix Terminal (MC 1.5-5-STF-3.81):

Pin 1: PE (protective ground)

Pin 2: P1- (first negative terminal)

Pin 3: P1+(positive terminal of the first phase)

Pin 4: P2- (Second phase negative terminal, not connected when single-phase)

Pin 5: P2+(second phase positive terminal, not connected when single-phase)

Dual phase motor wiring: The current phase difference between the two windings is 90 °, which can provide a smoother torque output. If using ETEL standard motors, the correspondence between cable numbers and pins should refer to Section 3.7 of the manual.

Power Connection (JC10)

DSCDL requires three DC inputs (5-pin Phoenix terminal):