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Etel DSC2P User Manual
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ETEL Doc. - Operation & Software Manu
al # DSC2P 903 / Ver. F / 3/6/05
Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems
237
15.6
DOUT example
:10.0
;La
bel 10
DOUT.0=0
;Clears all the
DOUTs
WTT.0=1.0
;Waits for
1 (ISO unit)
DOUT.0=7
;Ena
bles the DOUTs 1, 2 and 3
(only DOUT1 and 2 on DSCDP and DSCDL)
WTT.0=1.0
;Waits for
1 (ISO unit)
JMP.0=10
;Jumps to label 10
236
238
Table of Contents
Default Chapter
3
Table of Contents
3
Chapter a
14
Chapter a
17
1 The Regulators
18
2 Current References Generator
19
3 Set Point Generator
20
Movements Trajectories Used in the Controller
21
4 Controller Timing
23
5 Communication with the Controller
24
Multi-Axis Configuration with Micro-Master
25
Commands & Registers Syntax
27
Accumulator Operations
28
Registers Groups
29
Register Value Attribution
30
Register Value Reading
32
Bit Fields or Numerical Values for Registers and Commands
33
Examples of Use
34
7 Initial System Installation
36
Configuration with a DSMAX or a DSTEB
37
Controller Setup Principle
39
Install ETEL Tools Software
40
8 Controller Setup with ETEL Tools
41
Main Menu Window
43
Tools Menu
44
Drive Setting Tool
45
Drive Selection
46
Motor Selection
47
Encoder Selection
48
Initialization Mode
49
Homing Mode
50
Mass or Inertia
51
Scope Tool
54
Scope Menu
55
Digital Oscilloscope
56
Scope's Trigger
59
Parameters
60
15 Commands
61
System Identification
62
Terminal Tool
63
Read / Send Registers and Commands to the Controller
64
Editor Tool
66
Download (Create, Open, Modify) Sequences / Registers
67
Upload (Create, Open, Modify) Sequences / Registers
68
Unit Converter Tool
70
Unit Conversion
71
9 Simplified Regulator's Principle
72
Parameters Description
73
Position Regulator
74
10 Controller Regulators Tuning Principle
76
11 Save the Settings
80
12 Basic Functions and Settings (Necessary to Operate the Controller)
82
Serial Number and Firmware Version
83
Motor
84
Position Encoder
85
Analog Encoders (K79=0)
86
Endat 2.1 Encoders (K79=4)
88
TTL Encoders (K79=1 and K79=7)
89
Macro Modes (K79=100, 101 and 104)
90
Precaution Parameters - IMPORTANT
91
Current Limits
92
Safety Signals on DIN and DOUT
94
Motor Temperature, TEB Time-Out and Analog Encoder Error Check
95
Vpower DC Bus Voltage
96
Errors and Warnings Handling
97
Reset Errors: RST and RSD
98
Dynamic Braking
99
Basic Reference Mode (K61=1)
100
Initialization
101
Phasing Processes (K90)
104
Autosetting
111
PWR Command
113
Homing
114
K45 Parameter
117
Homing Modes
118
K40 Parameter
119
Basic Movements
128
Rotary S-Curve Movement
130
Monitorings
132
Controller Software Characteristics
133
Stepper in Open Loop
134
13 Advanced Functions (Only for Advanced Users)
137
Regulators Parameters
138
Monitorings Diagram
141
External Reference Modes (K61=0, 3, 4 or 36)
143
Advanced Movements
150
Look-Up Table Movements
152
Infinite Rotary Movements
154
Movement with Predefined Profile
157
Start Movements: STA and STI Commands
159
Concatenated Movements: MMC Command
163
CAM Command
165
BRK and STP Commands
166
Movements Equations
167
Digital Inputs / Outputs
170
Digital Outputs
172
Position Capture on Digital Inputs
174
Description of the Position Capture Process on the Digital Inputs
175
Analog Input / Output
176
Analog Outputs
177
In-Window
181
RTI: Real-Time Interrupts
182
RTI Structure
183
RTI Elements Description
184
Controller Parameters and Commands for RTI
186
RTI Process Chart
187
RTI Types
188
RTI Programming Examples
192
Triggers
194
Triggers Definition and Structure
195
Masks, Actions Selection
198
Mappings Activation
199
Analog Encoder Interpolation
202
Status Drive
203
M61 Monitoring (SD2)
204
Advanced Communication
206
Real-Time Monitoring (RTM)
207
Encoder Scaling and Mapping
210
Encoder Mapping
211
Activation of the Corrections
212
Chapter D: Programming
213
14 Basic Programming
214
Wait on Bits: WBS and WBC Commands
216
Controller Busy: WTB Command
217
Labels
219
Unconditional Jump: JMP Command
220
Conditional Jump: TST, JEQ, JNE, JLT and JGT Commands
221
Routine Commands: CAL, RET and POP
222
Accumulator Functions
223
Test XAC Value: IEQ, INE, ILT, IGT, ILE, IGE, JBS and JBC
224
Sequences Handling
225
Clear User Variables: CLX
226
Mathematical Operations
227
Float Functions
229
Commands Examples & Reference List
232
BRK Example
233
CAL, RET, POP Example
234
CAM Example
235
CLX Example
236
DOUT Example
237
END Example
238
F Registers (Float) Example
239
HLT, HLB, HLO Example
240
JBS, JBC Example
241
JMP Example
242
MMC Example
243
MMD, LTN, LTI Example
244
MMD=3 (Calculated Mvt.), SET Example
245
PWR, IND, ACC, SPD, POS Example
246
REI: RTI Example
247
RSD Example
248
Special Labels (79, 80) Example
249
SLS Example
250
STA Example
251
STE Example
252
STI Example
253
STP Example
254
TCL, TMK, TNB, TRS Triggers Example
255
TST, JGT, JEQ, JNE Example
256
TST, JLT Example
257
WBC, WBS Example
258
WPG, WPL, WSG, WSL Example
259
WTB Example
260
WTM, WTT Example
261
WTP Example
262
WTW Example
263
XAC, IEQ, ILT, IGT Example
264
XAC, IGE, ILE Example
265
XAC, INE Example
266
Commands Reference List
267
16 Parameters K
277
Parameters K for DSCDP
286
Parameters K for DSCDL
295
Parameters K for DSCDM
303
17 Monitorings M
312
Monitorings M for DSCDP
320
Monitorings M for DSCDL
327
Monitorings M for DSCDM
334
18 Warnings Reference Lists
341
Warnings for DSCDM
342
19 Errors Reference Lists
343
Errors for DSCDP
347
Errors for DSCDL
350
Errors for DSCDM
353
20 Units Conversion
357
Linear Motors
358
Rotary Motors
360
Resolution
361
Current, Force and Torque Units
362
Time Quantities Units
363
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Etel DSC2P Specifications
General
Brand
Etel
Model
DSC2P
Category
Controller
Language
English
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