ETEL DSCDL Dual Axis Digital Direct Drive Controller Hardware Manual

ETEL DSCDL Dual Axis Digital Direct Drive Controller Hardware Manual

Product core positioning

DSCDL is a single 6U rack mounted dual axis integrated direct drive digital controller, which integrates dual power drives and dual SHARC floating-point DSP control cores. It can drive two linear/torque direct drive motors simultaneously with a single card; Supports both closed-loop servo and open-loop stepper modes, equipped with high-speed Turbo TEL Bus (TEB) multi axis synchronous bus, facing semiconductor, optical, and vacuum high-precision dual axis positioning platforms, and compatible with 19 inch standard industrial control rack systems.

Whole machine model, hardware structure, and power specifications

1. Two major hardware versions (both 6U rack, no built-in power supply, requiring external ± 36VDC power supply)

Model Width Weight Continuous/Peak Current (Single Axis) Applicable Scenarios

DSCDL331-xxx 10F narrow version 1.1kg single-phase: 1.5A continuous/4A (2s); Two phases: 1.7A continuous/2.8A (2s) small thrust linear motor, small optical platform

DSCDL332-xxx 14F with extruded heat dissipation fins 2kg single-phase: 2.3A continuous/5A (2s); Two phases: 3.5A continuous/4A (2s) high thrust torque motor, high-speed reciprocating worktable

2. Internal hardware architecture

The whole machine is a single servo integrated PCB, with no electrical isolation between the power circuit and control circuit, only the IO port with optocoupler isolation; Core architecture:

Computing unit: dual 32-bit SHARC floating-point DSP, three-layer hardware interrupt;

Power unit: Two independent linear power amplification circuits with overcurrent fuses and temperature control;

Acquisition unit: Two independent encoder signal conditioning, 16 bit analog AD;

Communication unit: TEB high-speed bus+EBL2 debugging serial port;

Expansion slot: JC11 can choose DSO-HIO expansion board, with additional IO and analog channels.

3. Core control timing parameters (universal across the entire system)

Current loop: 13.89 μ s (72kHz high-speed closed-loop);

Position loop: 55.55 μ s (18kHz position correction);

Trajectory interpolation cycle: 500 μ s;

Support motion curves: trapezoidal, S-shaped, sine, custom lookup table, multi axis linkage interpolation (with DSMAX main card).

4. Power input requirements

Main power: ± 36VDC DC, maximum input 5A for 10F model, maximum 10A for 14F model;

Auxiliary power supply:+15~+36VDC, providing power for encoder and IO;

Protection: Independent fuses for power circuit F4/F5 (8A), encoder F2 (1A), and digital output F1 (500mA).

Classification of full board connectors and definition of complete interfaces

The whole machine interface is divided into encoder IO、 Communication, motor, power supply, expansion 6 categories, front panel partition layout, JC number differentiation M1 (1 axis)/M2 (2 axes):

Overall functional diagram of the machine interface

3.1 Encoder interface JC5 (M1)/JC6 (M2) (15 pin high-density DB)

Single axis compatible with three types of encoders, hardware automatic adaptation:

1Vpp analog sine cosine grating: 90 ° sine cosine+Z index, up to 32768 times subdivision, 400kHz input;

EnDat2.1 absolute value encoder: RS485 serial absolute position, no need to return to zero when powered on;

TTL RS422 incremental encoder: A/B/Z differential, upper limit 400kHz (analog interface bandwidth limit);

Supporting signals: EHO encoder origin, ELS hardware limit; Onboard+5V encoder power supply (1A fuse protection).

3.2 IO signal interface

1) Digital IO JC12 (M1)/JC13 (M2) (9-pin DB, optocoupler isolation)

Each axis has 4 independent inputs and 2 outputs, with full SELV safety low voltage:

Digital input DIN: DIN2 high-speed 100ns (origin specific), DIN9 negative limit, DIN10 positive limit; External trigger of 12-28V;

Digital output DO: 2-channel relay driven output, total current limited to 500mA; maximum output delay of 330 μ s;

Power supply: The external 12-28V auxiliary power supply independently supplies the IO circuit.

2) Analog input JC7 (Phoenix terminal)

1 differential ± 10V analog input per axis, 16 bit AD sampling; Used for external force control and simulating speed settings; -10V corresponds to 32767 count value,+10V corresponds to+32767.

3.3 Communication RJ45 bus interface (core multi axis synchronization)

JC1 TEB IN / JC2 TEB OUT（Turbo-ETEL-Bus）

100Mbps private high-speed bus, CAT5 shielded network cable daisy chain networking; Up to 15 DSCDL (30 axes)+1 DSMAX/DSTEB upper main card for a single link; Global synchronous clock, supporting multi axis gantry and electronic cam linkage; Cannot connect to a regular computer Ethernet port.

JC3 EBL2 (PC Debugging Serial Port)

Support RS232/RS422 hardware jumper switching, baud rate 115200; Connect to PC and run ETEL Tools software for parameter tuning, waveform oscilloscope, and program download.

JC4 download key port

Insert a dedicated key to force entering firmware upgrade mode; Simultaneously output encoder sine cosine zero crossing TTL signal and STI/FTI hardware interrupt monitoring signal.

Encoder zero position monitoring waveform

3.4 Motor power interface JC8 (M1)/JC9 (M2) (Phoenix terminal)

Supports single-phase/two-phase direct drive motor wiring, 5-pin terminals: PE protective ground, P1+/- one phase, P2+/- two phases; The terminal tightening torque is ≤ 0.25Nm, and it must be locked to ensure EMC performance.

3.5 Power Input JC10 (5-pin Phoenix)

PE protection ground (must be wired first), 0V, V - (-36V), V+(+36V), VAUX (+15-36V auxiliary);

Tightening torque ≤ 0.6Nm, shielded DC power cord must be used.

3.6 Expansion Slot JC11

Optional DSO-HIO daughter card, expanded with additional analog input/output, multi-channel digital IO, suitable for complex automation workstations.

Hardware dialing and status indicator lights

1. Axis address DIP dialing code

Onboard binary dip switch, set the starting axis number of the controller:

Dial value x 2=M1 axis number, M2 automatic+1;

Range 0~29, maximum 30 axis networking for the entire machine; At full high level, priority is given to reading the software saved axis number.

2. Front panel LED status light

TEB OK (green): High speed bus communication is normal;

SERVO ON (green): Controller enabled ready;

ERROR (red alert): Machine malfunction;

POWER ON M1/M2 (green): corresponding shaft power output is turned on;

ERROR M1/M2 (red): Single axis overcurrent, encoder disconnection, overtemperature fault.

Cabinet installation, heat dissipation, and EMC wiring specifications

1. Requirements for rack installation

Standard 19 inch 6U subrack vertical installation, cabinet depth 240mm;

Reserve 100mm ventilation space above and below the cabinet, with a minimum airflow of 2m/s for forced air cooling;

Axial flow fans must be equipped under full load conditions, and the fans should be kept away from the controller to avoid current sampling interference;

2. EMC cable hard standard (mandatory)

The shielding layer covers the entire metal connector shell 360 °, and it is prohibited to ground a single tail wire;

Only 85% coverage of copper braided shielding is allowed, and the use of aluminum foil shielded cables is prohibited;

The power motor lines, encoder signal lines, and communication lines should be routed independently in the distribution slots, and long-distance parallel connections are prohibited;

All cable copper conductors have a temperature resistance of ≥ 75 ℃, and motor cable terminals are fixed with plastic wire clips to prevent pulling and loosening.

Software support and application scenarios

1. Supporting ecological development

ETEL Tools visualization upper software: automatic motor AUT setting, dual channel waveform oscilloscope, sequence editor, register read-write terminal; Support Win9x/2000/XP;

Cross platform DLL library: C/C++/VB/LabVIEW, compatible with Windows, QNX4/QNX6;

Local program storage: A single axis 4096 line motion sequence that can run independently offline without the need for continuous instruction from a PC.

2. Typical application areas

Semiconductor wafer biaxial translation stage, vacuum precision positioning equipment;

Optical detection and laser microfabrication dual axis synchronous platform;

High precision linear/torque direct drive automated testing equipment;

Build a multi axis synchronous high-end motion control system with DSMAX PCI main card and cPCI industrial control chassis;

Closed loop direct drive and open-loop stepper dual-use small automation workstation.