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Table of Contents

Default Chapter3
- Table of Contents3
Chapter a14
- Chapter a17
1 The Regulators18
2 Current References Generator19
3 Set Point Generator20
- Movements Trajectories Used in the Controller21
4 Controller Timing23
5 Communication with the Controller24
- Multi-Axis Configuration with Micro-Master25
  - Commands & Registers Syntax27
  - Accumulator Operations28
- Registers Groups29
- Register Value Attribution30
- Register Value Reading32
- Bit Fields or Numerical Values for Registers and Commands33
  - Examples of Use34
7 Initial System Installation36
- Configuration with a DSMAX or a DSTEB37
- Controller Setup Principle39
- Install ETEL Tools Software40
8 Controller Setup with ETEL Tools41
- Main Menu Window43
  - Tools Menu44
- Drive Setting Tool45
- Scope Tool54
- Parameters60
15 Commands61
- System Identification62
- Terminal Tool63
  - Read / Send Registers and Commands to the Controller64
- Editor Tool66
  - Download (Create, Open, Modify) Sequences / Registers67
  - Upload (Create, Open, Modify) Sequences / Registers68
- Unit Converter Tool70
  - Unit Conversion71
9 Simplified Regulator's Principle72
- Parameters Description73
- Position Regulator74
10 Controller Regulators Tuning Principle76
11 Save the Settings80
12 Basic Functions and Settings (Necessary to Operate the Controller)82
- Serial Number and Firmware Version83
- Motor84
- Position Encoder85
- Precaution Parameters - IMPORTANT91
- Errors and Warnings Handling97
  - Reset Errors: RST and RSD98
  - Dynamic Braking99
- Basic Reference Mode (K61=1)100
- Initialization101
  - Phasing Processes (K90)104
- Autosetting111
  - PWR Command113
- Homing114
- Basic Movements128
  - Rotary S-Curve Movement130
- Monitorings132
- Controller Software Characteristics133
- Stepper in Open Loop134
13 Advanced Functions (Only for Advanced Users)137
- Regulators Parameters138
- Monitorings Diagram141
- External Reference Modes (K61=0, 3, 4 or 36)143
- Advanced Movements150
- Digital Inputs / Outputs170
  - Digital Outputs172
- Position Capture on Digital Inputs174
  - Description of the Position Capture Process on the Digital Inputs175
- Analog Input / Output176
  - Analog Outputs177
- In-Window181
- RTI: Real-Time Interrupts182
  - RTI Structure183
- RTI Elements Description184
- Controller Parameters and Commands for RTI186
- RTI Process Chart187
- RTI Types188
- RTI Programming Examples192
Triggers194
- Triggers Definition and Structure195
- Masks, Actions Selection198
- Mappings Activation199
Analog Encoder Interpolation202
Status Drive203
- M61 Monitoring (SD2)204
Advanced Communication206
- Real-Time Monitoring (RTM)207
Encoder Scaling and Mapping210
- Encoder Mapping211
- Activation of the Corrections212
Chapter D: Programming213
14 Basic Programming214
- Wait on Bits: WBS and WBC Commands216
- Controller Busy: WTB Command217
- Labels219
- Unconditional Jump: JMP Command220
- Conditional Jump: TST, JEQ, JNE, JLT and JGT Commands221
- Routine Commands: CAL, RET and POP222
- Accumulator Functions223
  - Test XAC Value: IEQ, INE, ILT, IGT, ILE, IGE, JBS and JBC224
- Sequences Handling225
  - Clear User Variables: CLX226
- Mathematical Operations227
- Float Functions229
- Commands Examples & Reference List232
- BRK Example233
- CAL, RET, POP Example234
- CAM Example235
- CLX Example236
- DOUT Example237
- END Example238
- F Registers (Float) Example239
- HLT, HLB, HLO Example240
- JBS, JBC Example241
- JMP Example242
- MMC Example243
- MMD, LTN, LTI Example244
- MMD=3 (Calculated Mvt.), SET Example245
- PWR, IND, ACC, SPD, POS Example246
- REI: RTI Example247
- RSD Example248
- Special Labels (79, 80) Example249
- SLS Example250
- STA Example251
- STE Example252
- STI Example253
- STP Example254
- TCL, TMK, TNB, TRS Triggers Example255
- TST, JGT, JEQ, JNE Example256
- TST, JLT Example257
- WBC, WBS Example258
- WPG, WPL, WSG, WSL Example259
- WTB Example260
- WTM, WTT Example261
- WTP Example262
- WTW Example263
- XAC, IEQ, ILT, IGT Example264
- XAC, IGE, ILE Example265
- XAC, INE Example266
- Commands Reference List267
16 Parameters K277
- Parameters K for DSCDP286
- Parameters K for DSCDL295
- Parameters K for DSCDM303
17 Monitorings M312
- Monitorings M for DSCDP320
- Monitorings M for DSCDL327
- Monitorings M for DSCDM334
18 Warnings Reference Lists341
- Warnings for DSCDM342
19 Errors Reference Lists343
- Errors for DSCDP347
- Errors for DSCDL350
- Errors for DSCDM353
20 Units Conversion357
- Linear Motors358
- Rotary Motors360
- Resolution361
- Current, Force and Torque Units362
- Time Quantities Units363

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