Table of Contents

1. Functions .............................................................................................................. 1
1.1 Intruduce ........................................................................................................ 1
1.2 Specifications.................................................................................................. 1
2. Warranty period and Coverage ......................................................................... 2
2.1 Warranty period .............................................................................................2
2.2 Warranty Coverage ........................................................................................2
2.3 Notes on safety ................................................................................................2
3. Signals summary of DCS3T-28 ...........................................................................3
3.1 Structural diagram .........................................................................................4
3.2 Signals connector ............................................................................................5
3.2.1 CN1 (Power board, Input, Output) ................................................... 5
3.2.2 CN2 (RS232) ........................................................................................ 6
3.2.3 SW Mode ............................................................................................. 7
3.2.4 CN3 (Power Motor) ............................................................................ 7
3.2.5 CN4 (Encoder)..................................................................................... 8
3.2.6 Display Led .......................................................................................... 8
3.3 Status Display Led ......................................................................................... 9
3.4 Connectors used ........................................................................................... 10
4. Fast connect ........................................................................................................ 11
4.1 Prepare ......................................................................................................... 11
4.2 The step install and use ............................................................................... 11
5. Fault processing ................................................................................................. 15
6. Software PID Position & Speed Control ........................................................ 16
6.1 Install software............................................................................................. 16
6.2 User manual software ................................................................................. 16
6.3 How to set PID parameters......................................................................... 18
7. Size DCS3T-28 ....................................................................................................21
 Operation manual DCS3T-28 www.robot3t.com

1. Functions
1.1 Introduce
The DCS3T-28 is used to control the DC Servo Motor with Encoder feedback. It is
receives input pulse speed precision control and communicate with software on your
computer to adjust the controller parameters. The device has patented solutions made with
the highest quality components to ensure a safe, durable, and reliable long-term operation.

PID control Interface Display LEDs Input

Encoder A+, B+
RS232 Encoder
CLK, DIR, DCS3T-28
HOME, Output
IO Blocks CONTROLLER Servo motor
LIMIT, ALM Motor

Fig 1.1 Simplified block diagram

1.2 Specifications

No. Items Description

1 Supply voltage for board 24-36VDC/2A
2 Maximum electric Power 1500W
3 Supply voltage for Motor 24-150VDC
4 Output current steady 0-10A
5 Output current peek 15A
6 Duty cycle 100%
7 Encoder +5VDC
8 Input PULSE, DIR +5VDC
9 Input Enable, Limit+, Limit- Logic level active LOW
10 Output ALARM Logic NPN-Type
11 Weight 400g
12 External Dimensions L*W*H 147x113x42[mm]

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2. Warranty Period and Coverage

2.1 Warranty Period
12 months after being shipped from our factory.
2.2 Warranty coverage
During the warranty period, we will repair without charge any problems on the
board that occurredwhile it was being used appropriately, and where the cause of
the problem is due to us.
However, the following cases will be not be covered by the warranty, even if the
warranty period has not expired.
- Problems caused by inappropriate handling or use.
- Problems caused by using parts not made or approved by us.
- Problems caused by modifications made to the board that were not authorized by
ROBOT3T.
- Problems caused by disasters, accidents, or fires.
We warranty only the product as delivered, and we do not accept responsibility for
any loss caused by a fault in our product. We will repair the board when the user
sends it to our plant
2.3 Notes on safety

Improper use or disregard of these warnings may result in the injury or death of
people.
 Do not, in any manner, process, take apart, or make changes to this product.
 When installing this product, we recommend that if technical knowledge
becomes necessary please consult a qualified mechanic.
 Do not operate this product with wet hands, wet gloves, or any wet clothing.
 Before turning the unit on, secure the safety of others, and read and understand
all instructions. If you have any questions or concerns, do not continue.
 After assembly, secure protection of contact terminals from operator's touch.
Here are the addresses where you can get help if you encounter problems:
 E-mail: [email protected]
 Website : www.robot3t.com

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3. Signals sumary of DCS3T-28

POWER_SUPPLY
+24VDC/2A

GND
+24VDC GND, +5VDC
BOB BOARD Z-
PUL- ENCODER A+, A-,
PUL+ Z+
DIR-
B- B+, B-, Z+, Z- ,
B+
DIR+
LIMIT- A-
LIMIT+ A+
DISABLE +5VDC
ALRAM GND
GND-EXT M-
+24V-EXT
GND-EXT M+
SENSOR V+
DC SERVO
V- MOTOR
GND-EXT
MASS

USB-COM RS232

COMPUTER POWER_MOTOR
0->150VDC/10A

Fig 3.1 Block diagram

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3.1 Structural diagram

Connector (CN1) CN2 SW MODE

1 2 3 4 5 6 7 8 9 10 11 12 RS232

Fig 3.2 Signals connector CN1, CN2, SWMODE

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CN3 CN4 Display LED

1 2 3 4 5 1 2 3 4 5 6 7 8
2 2 2 2 2 2 2 2

Fig 3.3 Signals connector CN3, CN4, Display LED

3.2 Signals connector

3.2.1 CN1(Power board, Input, Output)
GND-EXT
+24VDC
PULSE-
+24VDC

ALARM
PULSE+

DISABLE
LIMIT+
LIMIT-
GND

DIR+
DIR-

EXT

BUTTON

Computer
Mach3 BOB Board GND-EXT

Limit Switch

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Fig 3.4 Signals of CN1
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Table 1. Signals of CN1 (Fig 3.2 page 4)

No. Items Discription
1 GND 0VDC
2 +24VDC 24->36VDC
3 PULSE- LOW 0VDC
4 PULSE + HIGH +5VDC
5 DIR- LOW 0VDC
6 DIR+ HIGH +5VDC
7 LIMIT- Input, Active LOW
8 LIMIT+ Input, Active LOW
9 DISABLE Input, Active LOW
10 ALARM Output Logic NPN
11 GND-EXT 0VDC- Extended
12 24VDC-EXT +24VDC - Extended

3.2.2 CN2 ( RS232)

RS232 PORT

P2-TX

P3-RX

DCS-28

Fig 3.5 Signal connector of CN2-RS232

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Table 2. Signal connector of CN2 (Fig 3.2 page 4)

No. Items Discription
1 N.C Not Connect
2 TX TX
3 RX RX
4 N.C Not Connect
5 GND GND
6 N.C Not Connect
7 N.C Not Connect
8 N.C Not Connect
9 N.C Not Connect

3.2.3 SW MODE

SW1: ON: receive Pulse from software,

OFF: receive Pulse from STEP/DIR

SW2: ON: set over pulse input

Hình 3.6 Switch MODE
OFF: not set over pulse input

3.2.4 CN3 (Power Motor)

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CN3 CN4

ENC A+

ENC B+

ENC Z+
ENC B-
ENC A-

ENC Z-
+5VDC
MOTOR-

GND
MOTOR+
0->150VDC
MASS

GND

DC SERVO MOTOR

Hình 3.7 Signals connector of CN3 và CN4

Table 3. Signals connector of CN3 (Fig 3.7 Page 8)

No. Items Discription
1 MASS Ground
2 V- 0 VDC
3 V+ 0->150 VDC
4 MOTOR+ Wire motor +
5 MOTOR- Wire motor -

3.2.5 CN4 ( Encoder)

See Fig 3.7, Page 8
Table 4. Signal connector of CN4
No. Items Discription
1 GND
2 +5VDC
3 Encoder A+ HIGH +5VDC
4 Encoder A- LOW 0VDC
5 Encoder B+ HIGH +5VDC
6 Encoder B- LOW 0VDC
7 Encoder Z+ HIGH +5VDC
8 Encoder Z- LOW 0VDC

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3.2.6 Display Led

4.Power Led

3.V+ Led

1.Error Led

2.Run Led

Fig 3.8 Display LED

Table 5. Signals connector of CN5

No. Items Discription
1 Error Led Green Led - overload
2 Run Led Green Led - board is running
3 V+ Led Red Led - supply board V+
4 Power Led Red Led - supply board +24VDC

3.3 Status Display Led

- Error Led: when overloaded, Led light
- Run Led:
+ When board running, Led flashing cycle 1s
+ When overloaded and Signal DISABLE active LOW, Led off
+ When signal LIMIT+, LIMIT- active, Led flash cycle 1/4s
- Power led, V+Led: when supplied board and supplied Motor, Led light.

3.4 Connectors used

- Supply voltage for board 24 - 36VDC
- Supply voltage for motor 24 -150VDC (V+, V-)
- Input signals osilation +5VDC (DIR+,DIR-,CLK+,CLK-)

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- Output motor (MOTOR+, MOTOR-)

- Signals Encoder (GND, +5VDC, A+, A-, B+, B-), in case of single use only 2
encoder pulse types A, B users simply connect the two signals in A +, B +, 2
signals A-, B- no connection.
- Using a USB cable to connect RS232 COM software on the computer.
- Using a Domino Female to connect IO signals.

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4. Fast connect

4.1 Prepare
- 1 DCS3T-28.
- 1 power supply +24VDC (CN1).
- 1 power supply 24->150VDC (CN3).
- 1 DC Servo motor (Power < 1500W) Encoder (Pulse +5VDC).
- 1 board BOB.
- 1 cable USB-COM RS232.
- A lot of cables (Supply board, MOTOR, Encoder and I/O, CLK, DIR, LIMIT+,
LIMIT-, DISABLE, ALAMR, GND-EXT, 24VDC-EXT).
- Software Mach3, 3T PID TUNING SOFTWARE.
4.2 The steps install and use
- Step 1: Connect power supply board (CN1-page 5)
+ After switching power on, Power Led is turn on, after 5 seconds Run Led
flashing cycle 1s  Turn off board power and go to Step 2.
+ In case of, Power Led or Run Led not turn on  Error.1- page.15
- Step 2: Connect Encoder (CN4- Fig 3.7, page 8)
+ Connect Encoder from motor to CN4 (fig 3.7 page 8) and (table 4-page 8)  go
to step 3
- Step 3: Connect power supply motor and motor
+ See fig 3.7 - page 8->go to step 4

- Step 4: Operation check board positions

+ Turn on power supply motor (set voltage test <30VDC), after turn on power
supply board (+24VDC),
+ When Run Led flashing cycle 1s and fixed motor position  Turn off board
power and go to Step 5.
+ In case of, Run Led flashing cycle 1s and motor rotate freely Turn off board
power ->Error .2 page 15
+ In case of, Run Led flashing cycle 1s and not fixed motor position  Turn off
board power -> Error.3 page 15
- Step 5: Set PID parameters and overcurrent.
+ Connect RS232 (USB-COM) from board (CN2) to computer.
+ After see set PID parameters and overcurrent Part 6-page 16.  Turn off board
power and go to Step 6.
- Step 6: Control JOG_UP, JOB DOWN from board BOB and computer

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+ Connect CLK+, CLK-, DIR+, DIR- from board DCS3T-28 to board BOB (see
Fig 2.1 Table 1 page 6)

DCS-28

+ Connect board BOB to computer by cable.

+ Turn on power supply board and motor.
+ Open software Mach3 on computer and connect to board BOB.
+ When Run Led turn on and the button is pressed JOG_UP/ JOB DOWN on
Mach3, the motor will turn in the direction JOG  Turn off board power and go
to Step 7.
+In case of, the button is pressed JOG_UP / JOG_DOWN, motor not run-> see
Error.4 page 15.
- Step 7: Connect DISABLE

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DCS-28

+ Connect to DISABLE – see Fig 3.4 and table 1 page 5, turn on power supply.
+ When signal DISABLE ON, RUN LED off and motor will not fixed position ->
go to step 8
+ In case of, signal DISABLE ON, RUN LED on and motor fixed position -> see
Error.5 page 15
- Step 8: Connect LIMIT+, LIMIT-

DCS-28

+ Connect to LIMIT+, LIMIT- – see Fig 3.4 and table 1 page 5, turn on power
supply.
+ When there is a positive signal LIMIT+, LIMIT-, RUN LED will flash cycle
1/4s and motor will not JOG one side if the board have pulse in, -.go to step 9.

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+ In case of, there is a positive signal LIMIT+, LIMIT- motor JOB both side when
the button is pressed JOG_UP / JOG_DOWN -> see Error.5 page 15.

- Step 9: Connect Output ALARM.

DCS-28

+ Connect to ALARM see Fig 3.4 page 5, turn on power supply.

+ When Run Led flash, ALARM will active logic LOW level.
- + In case of, Run Led turn on and ALARM is not active LOW level -> see Error.5
page 12

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5. Fault processing
Table 6. Fault processing for DCS3T-28

No. Code Name Causes Countermeasures

1 Error.1 Power fault 1.The DCS3T-28 is broken 1. Replace the DCS3T-28
2.The power is not 2. Connect the power supply
connected
3.The line of power supply 3.Check that the power line are
is broken wired correctly, Replace the
power cable
2 Error.2 Encoder 1. Encoder A and B wire 1. Swap 2 wire A and B, or
fault connection error wire motor (M+, M-)
2. Wire or connection jack 2. Replace the power cable and
broken Encoder new Jack.

3 Error.3 Motor 1. The DCS3T-28 is broken 1. Replace the DCS3T-28

position 2. The power is not 2. Connect the power supply.
fault connected 3. Replace the power cable
3. The line of power supply
is broken
4 Error.4 CLK, DIR 1. The line of signals 1. Replace the power cable.
fault connect is broken 2. Replace the BOB.
2. The board BOB is broken 3. Replace the DCS3T-28
3. The DCS3T-28 is broken
5 Error.5 LIMIT+, 1. The line of signals 1. Replace the power cable
LIMIT-, connect is broken
DISABLE, 2. The DCS3T-28 is broken 2. Replace the DCS3T-28
ALARM
fault

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6. Software PID Position & Speed Control

6.1 Install software
- Link download software:
https://drive.google.com/file/d/0B-VJV01sv0uOTjJZV2ZlcEloRGc/view
- The first setup file setup.exe. Then setup file setup1.msiOpen 3T PID
TUNING SOFTWARE in desktop computer.
6.2 User manual software
- Select COM number  Connect

Fig 5.1 COM port connection interface

- The main interface of the software: Used to observe the motor response, adjusting
the PID parameters and pulse, set over current.

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Fig 5.2 The main interface of 3T PID TUNING SOFTWARE

Function of software: Tool Position (Fig 5.2)

 1-POSITION: display the pulse value in the Set position (Red Digit) and the
Position Pulse of the Motor (Green Digit), shown in Fig 5.3-page 15.
 2-TUNING PID: TUNING Kp-CW, Kp-CCW, Ki, Kd values of the motor, the
value range of these coefficients from 0.001 to 50.
 3-TORQUE: to adjust the holding value of the motor. Value range from 0.001 to 1
 4-MOTOR CONFIGURATION: to enter the motor resistance and inductive
settings. Max Current_A (0 to 10), Resistor _Ohm (0 to 50), Inductance _mH (0 to
50)
 5-PULSE SCALE: to select the pulse multiply multiplier. Area hit pulses: x1, x2,
x4, x8, x16, x32, x64, x128.
 6-CHECK & SAVE: to check and save all values from functional areas 2 to 5
 7-POSITION GRAGH: to display the pulse input and pulse response of the driver.
 8-Select grid display mode according to X and Y, Zoom mode in X and Y.

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 9-START / STOP _ On/Off graph display mode POSITION, CLEAR_ delete the
current graph, SCALE- to view the entire graph, MODE_to view the instantaneous
graph area- see Fig 5.3.

Fig 5.3 Graphs the value of the motor encoder pulses

6.3 How to set PID parameters

 Step 1: Set value in MOTOR CONFIGURATION and select the pulse - PULSE
SCALE (areas 4 and 5, Fig 5.2 page 14).
+ Max Current: overload protection for the engine, when the motor current
exceeds the set line from the software, the driver will stop working. Setting the
over current alarm from 0 to 10 is practically equivalent to 0-> 10A. When the test
needs to set values in the 2-> 3A range to ensure board and motor safety.

+ Resistor: Enter the resistance value of the motor winding, the unit is Ohm (Ω).
For example, if you measure the resistance of the R motor = 1.5 (Ω), enter 1.5
(click on the Resistor box and enter the number from the keyboard).

+ Inductance: Enter the inductance value of the motor coil, unit of millihenry
(mH).

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For example: if you measure the inductance of the L = 3 mH, enter 3 (click on
the Inductance box and enter the number from the keyboard).

+ Scale pulse: choose pulse multiplier.

Pulse out (motor control) = Pulse output (input clk pulse) x Selection factor.

For example, if x2 is selected, when the CLK pulse is 10 pulse, the pulse output
is 10x2 = 20 pulses.

Table 7. Meaning of Scale pulse

No. Scale pulse Discription

1 X1 Pulse out = Pulsein x1
2 X2 Pulse out = Pulsein x2
3 X4 Pulse out = Pulsein x4
4 X8 Pulse out = Pulsein x8
5 X16 Pulse out = Pulsein x16
6 X32 Pulse out = Pulsein x32
7 X64 Pulse out = Pulsein x64
8 X128 Pulse out = Pulsein x128

 Step 2: Setup motor holding parameters - TORQUE (areas 3, Fig 5.2 page 14).
+ Value from torque from 0.001 to 1, when torque = 0, the motor does not hold.

+ At the start of the engine test, enter the torque value 0.001 and enter the Kp-
CW = 1, Kp-CCW = 1, Ki = 0, Kd = 0. Use the hand to keep the engine shaft
rotated one quarter to see the hardening force.

+ Requirements: When using the arm to rotate the engine shaft rotated one
quarter is hard to rotate is qualified.

+ If not met the torque, then increase in step of 0.001 until it is required. Then
save the value again. (Usually the torque value is between 0.005 and 0.05). Skip
to step 3.

 Step 3: Setup TUNING PID (areas 2, fig 5.2 page 14).

- Once you have set the required torque value, start setting the PID values for the
motor to hold.

- Enter the coefficients Kp, Ki, and Kd small and incremented, then see the
response and the error between Set position and position.

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A good PID set is usually the biggest bias, usually only 2 to 10 pulses.

- Description of meaning and adjustment of parameters Kp-CW, Kp-CCW, Ki,

Kd:

+ Initially Ki and Kd equal 0, then proceed to adjust parameter Kp-CW = 1, Kp-

CCW = 1.

+ Kp-CW: forward, use the original hardness setting of the engine. Starting from
1 (according to torque value) and increasing by 0.01 units until engine remains
relatively rigid [Typical value range from 0.01 to 50]

+ Kp-CCW: reverse, using the original hardness setting of the engine. Starting
from 1 (in torque value) and increasing by 0.01 units until the engine remains
relatively rigid [Typical value range from 0.01 to 50].

+ Ki: Correcting defects, in case of a defect between setting pulse value and
feedback value from large encoder, user can increase this parameter to reduce set
error. However, if increased too much will cause overshoot. . Users adjust this
value according to step 0.01, this value is often 10% to 30% compared to Kp

+ Kd: Parameter may not need to be adjusted, in case of overshoot or vibration,

the user can increase this parameter (in 0.01 increments) to compensate for the
effect of Ki and Kp. Kd value adjustment region of the same Ki.

Note: Ki and Kd are general settings for 2-way engines (CW and CCW).

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7. Size DCS3T-28

Connector Connector
JACK JACK

Unit: mm

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