Canon GC-201, GM-1000 User Manual

CANON Digital Galvano Scanner System

GM-1000 Series

GC-201

Users Manual

Rev. 1.20

Be sure to read this guide before using the product.

Keep this guide carefully for future use.

For Safe and Correct Use

To prevent injury to the user or damage to property, this guide gives information for the safe and correct use of this product.

Before installation, operation, maintenance, or inspection, be sure to read this guide.

Markings

This guide uses the following markings:

Warning

This indicates the possibility of death or serious injury by a fire or electric shock.

Caution

This indicates the possibility of injury or damage to property.

Warning

Do not use the product in an atmosphere of inflammable or explosive gas or vapor.Use the product at the specified voltage.

Connect the power supply line correctly.

Do not install, operate, maintain, or inspect the product with wet hands.Do not disassemble or alter this product.

Do not drop or cause impact to the product.

Caution

Before installation, operation, maintenance, or inspection, thoroughly check that the device is safe.When connecting a connector, check the pin numbers with the power off.

When connecting oscilloscope probes to the test pins, be careful not to apply tension to them.Since this product is a precision device, use it under the specified environmental conditions.

Do not store or transport this product in a place exposed to direct sunlight, moisture, dust, or temperature of 60ºC or higher.

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Contents
1. Product Outline.............................................................................................................................	5
1.1. Features ............................................................................................................................................	5
1.2. Configuration.....................................................................................................................................	5
2. Specifications................................................................................................................................	6
2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020)........................................................................	6
2.2. Controller (GC-201)...........................................................................................................................	7
2.3. Dimensions .......................................................................................................................................	8
2.4. Power Supply ..................................................................................................................................	11
2.5. Connections ....................................................................................................................................	11
2.6. Connector and Pin Assignment.......................................................................................................	13
2.7. Optional Cables...............................................................................................................................	17
2.8. Control Specifications......................................................................................................................	19
2.8.1. Number of Encoder Pulses....................................................................................................	21
2.8.2. RS-232C command input ..................................................................................................	22
2.8.3. High-speed serial communication....................................................................................	26
2.8.3.1. Origin Offset .......................................................................................................................	32
2.8.3.2. High-speed serial communication motor drive timing.........................................................	33
2.8.4. Status (High-speed Serial Communication STS)..........................................................	34
2.8.5. RS-232C Communication Command Input and High-Speed Communication
Switching ..........................................................................................................................................	37
2.9. Heat Radiation and Installation........................................................................................................	38
3. Software ..........................................................................................................................................	39
3.1. Supported PC Environment.............................................................................................................	39
3.2. Installation CD.................................................................................................................................	39
3.3. Control Software Installation ...........................................................................................................	40
3.4. Software Start Up ............................................................................................................................	43
3.5. Control Screen ................................................................................................................................	45
4. Operating Procedure...............................................................................................................	47
4.1. Controller Start Up...........................................................................................................................	47
4.2. Step Movement ...............................................................................................................................	49
4.2.1. Step Movement Responce Time Measurement............................................................	51
4.2.1.1. Measurement Data Display Zoom Method .........................................................................	54
4.2.1.2. Reference Data Comparison Method .................................................................................	56
4.3. Raster Scan ....................................................................................................................................	59
4.4. Position Command Input by High-speed Serial Communication .....................................................	61
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5. Monitor Output and Digital Input Functions .............................................................	62
5.1. Connector Pin Assignment..............................................................................................................	62
5.2. Analog Monitor Output Selecting.....................................................................................................	66
5.3. Digital Input-Output Function...........................................................................................................	69
6. Other - Operation Setting .....................................................................................................	70
6.1. Setting Controller Start Up Mode.....................................................................................................	70
6.2. Controller LED Display ....................................................................................................................	72
6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan)...............................	74
7. Tuning ..............................................................................................................................................	76
7.1. Tuning .............................................................................................................................................	76
7.2. Frequency Characteristic (FFT) Measurement................................................................................	77
7.3. Easy Auto Tuning ............................................................................................................................	81
7.4. X and Y Axis Matching.....................................................................................................................	87
8. Commands ....................................................................................................................................	95
8.1. List of Commands ...........................................................................................................................	95
8.2. Command Details............................................................................................................................	97
9. Parameters ..................................................................................................................................	108
9.1. List of Parameters .........................................................................................................................	108
9.2. Parameter Details..........................................................................................................................	110
9.3. Modifying Parameters ...................................................................................................................	126
9.4. Writing Parameters into ROM .......................................................................................................	127
9.5. Saving a Parameter File................................................................................................................	128
10. Safety Functions....................................................................................................................	129
10.1. Safety Functions..........................................................................................................................	129
10.2. Errors ..........................................................................................................................................	130
11. Appendix.....................................................................................................................................	132
11.1. Firmware Update .........................................................................................................................	132
11.1.1. Writing Procedure................................................................................................................	133
11.2. Parameter Changes from the Number of Encoder Divisions .......................................................	137

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1. Product Outline

1.1. Features

The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the controller.

This system has the following features:

zHigh positioning precision

zLow temperature drift

zFast and stable operation by a unique control system

zEasy tuning with parameter settings

1.2.Configuration

This system supports various applications by the combination of a galvano motor and a controller.

Galvano motor:	Encoder-mounted galvano motor
GM-1010			Beam diameter: φ8 to φ10 mm
GM-1015			Beam diameter: φ10 to φ15 mm
GM-1020			Beam diameter: φ15 to φ30 mm
Controller:	Digital servo-controller
GC-201			Controller for two-axis control
IF board:	IF board for high-speed serial communication
GC-422			IF board for 5V-TTL (RS-422)
GC-LVDS			IF board for LVDS level
Extension cable:	Extension cable for galvano motor and controller connection
GM-EC10, 20, 30		Encoder extension cable (1, 2, 3 m)
GM-MC10, 20, 30		Motor extension cable (1, 2, 3 m)

Controller

IF board

Motor extension
cable	Galvano motor

Encoder extension cable

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2. Specifications

2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020)

Performance and shape

	GM-1010	GM-1015	GM-1020
Conforming	Φ8 to φ10	φ10 to φ15	φ15 to φ30
beam diameter
Scan angle	±20 deg	±20 deg	±20 deg
Encoder cycle	1000 pulses/rotation	1500 pulses/rotation	1500 pulses/rotation
number
Number of encoder	8,192,000 pulses	12,288,000 pulses	12,288,000 pulses
pulses
Command	0.77 μrad	0.51 μrad	0.51 μrad
resolution
Torque constant	0.0127 Nm/A	0.0226 Nm/A	0.0415Nm/A
Weight	200 g	300 g	600g

(Reference)

For details about encoder cycle number, number of encoder pulses, and command resolution, see2.8.1. “Number of Encoder Pulses”.

Environmental conditions

Operating temperature and humidity	0 to 50ºC, 90% RH or less (No condensation)
Storage temperature and humidity	–20 to 60ºC, 90% RH or less (No condensation)

Note: The above operating temperature and humidity conditions depend on the operating and heat radiation conditions.

Stopper

Part names

Motor cable

Encoder

Encoder cable

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2.2. Controller (GC-201)

Performance and Dimensions

					GC-201
		Number of control axes			2
		Control sampling			100 kHz
		Maximum drive current		Peak 10 A (each axis)
		Interface	RS-232C , High-speed serial communication(XY2-100)
			Digital notch filter		×2
		Notch filter	Digital low-pass filter		×1
			Analog notch filter		×2
		Weight			350 g
Environmental conditions
		Operating temperature and humidity		0 to 50ºC, 90% RH or less (No condensation)
		Storage temperature and humidity		-20 to 60ºC, 90% RH or less (No condensation)

Note: The above operating temperature and humidity conditions depend on the operating and heat radiation conditions.

Section names
	Mounting	screw				Heat radiation
	hole (M3 × 4)					frame
	Mounting	screw
	hole (φ3.5 × 4)				IF board

Analog board (lower)

Digital board (upper)

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2.3. Dimensions

GM-1010

36

36

6

φ33

-0.005 φ5 -0.015		0 φ22 -0.03

32 (Clamp area)

Encoder cable

Motor cable

GM-1015

36 46

φ33

Encoder cable

Motor cable

	6		0.005- 0.015-6φ		-0 -28φ003

42 (Clamp area)

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GM-1020

42.7 56

φ43

Encoder Cable

Motor Cable

	-0.005			φ7 -0.015		-0 φ36 -003
	7.5

51.4 (Clamp Area)

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GC-201

10				7	118	4-M3

33

38

88

80

5
							5		120			4-φ3.5
									125

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2.4. Power Supply

Power supply specifications
+24 V ± 10%	(For motor drive)	Peak	10 A × 2 axes
		RMS	2.5 A × 2 axes

(RMS value differs according to operating conditions, the above conditions GM-1010, Ymirror ±5°, 200Hz)

+5 V ± 5% (For control circuit) 2.8 A

2.5. Connections

IF board

High-speed serial

communication

Digital

input/output

RS-232C

+24 V power

+5 V power

Axis 2

Axis 1

Galvano motor

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Note:

Connecting the power +24 V, and GND in reverse will damage the GC-201 controller. Take caution when connecting.

Connecting the power +5 V, and GND in reverse will damage the GC-201 controller. Take caution when connecting.

+5V

+ +24V

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2.6. Connector and Pin Assignment

(Connector types)

Axis 1 motor encoder connector

Axis 2 motor encoder connector

+5 V power supply

+24 V power supply

RS-232C

High-speed serial communication

Digital input/output

Analog monitor

Fan power supply (+24 V)

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(Connector model number & pin assignment)

+5 V power supply

(Connector model number)

	Connector				Model No.		Manufacturer
	Board side			S2P-VH			JST
	Cable side			VHR-2N			JST
(Connector pin assignment)
	Pin No.					Signal Description
	1		+5 V
	2		GND
	+24 V power supply
(Connector model number)
	Connector				Model No.		Manufacturer
	Board side			S4P-VH			JST
	Cable side			VHR-4N			JST
(Connector pin assignment)
	Pin No.					Signal Description
	1		+24 V input for Axis 1
	2		+24 V input for Axis 2
	3,4		GND
	RS-232C
(Connector model number)
	Connector				Model No.		Manufacturer
	Board side			S03B-PASK-2			JST
	Cable side			PAP-03V-S			JST
(Connector pin assignment)
	Pin No.					Signal Description
	1		Send data (Signal level complying with RS-232C)
	2		Receive data (Signal level complying with RS-232C)
	3		GND

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High-speed Serial Communication

(Connector model number)

	Connector		Model No.			Manufacturer
	Board side	SM12B-PASS-1-TB				JST
	Cable side	PAP-12V-S				JST
(Connector pin assignment )
	Pin No.		Signal Name			Signal Description
	1		CLK-		Clock (-)
	2		CLK+		Clock (+)
	3		FS-		Frame sync (-)
	4		FS+		Frame sync (+)
	5		DAT(AXIS	1) -	Axis 1	Target position data (-)
	6		DAT(AXIS	1)	Axis 1	Target position data (+)
	7		DAT(AXIS	2) -	Axis 2	Target position data (-)
	8		DAT(AXIS	2)	Axis 2	Target position data (+)
	9		STS-		Status (-)
	10		STS+		Status (+)
	11		GND		System GND
	12		FG		Frame GND

The signal levels depend on the IF board.

GC-422 - Receiver: AM26LV32C (TI), Driver: SN75179B (TI)

GC-LVDS - Receiver: SN65LVDS32 (TI), Driver: SN65LVDS179 (TI)

Digital I/O

See 5.1. “Connector Pin Assignment”

Analog Monitor

See 5.1. “Connector Pin Assignment”

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Cooling Fan Power Supply

(Connector model number)

	Connector		Model No.		Manufacturer
	Board side		S04B-PASK-2		JST
	Cable side		PAP-04V-S		JST
(Connector pin arrangement)
	Pin No.			Signal Description
	1	+24 V Output
	2	GND
	3	(No connection)
	4	(No connection)

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2.7. Optional Cables

Optional cables are prepared for power and communications cables. Connector pin assignment for each cable as follows.

Verify details with your sales representative.

Option cables

	Power cable (+5 V)
	Power cable (+24 V)
	RS-232C cable
	High-speed serial communication cable

Power Cable +5 V

Power Cable +24 V

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RS-232C Cable

PC side (D-sub 9 pin)

Pin	Signal
2	RX
3	TX
5	GND

High-Speed Serial Communication Cable

PC side (D-sub 25pin)

	Pin	Signal		Pin		Signal
	1	Clock -		14		Clock +
	2	FS -		15		FS +
	3	Data (Axis 1) -		16		Data (Axis 1) +
	4	Data (Axis 2) -		17		Data (Axis 2) +
	5	Do not connect		18		Do not connect
	6	Status -		19		Status +
	7	Do not connect		20		Do not connect
	8	Do not connect		21		Do not connect
	9	Do not connect		22		Do not connect
	10	Do not connect		23		GND
	11	GND		24		GND
	12	Do not connect		25		Do not connect
	13	Do not connect
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2.8. Control Specifications

The controller (GC-201) is operated by:

•RS-232C command input

•High-speed serial communication

RS-232C

High-speed serial communication

communication command input

- Raster scan and step movement etc. - Vector scans with control over the

can be performed easily.

desired locations of two axes are

possible. This is used in laser

- In order to obtain synchronization

marking etc.

with external equipment, operation

can be started with an external

- Complete

synchronization

with

trigger signal. (Fluctuating delays

external equipment can be obtained

Features

may occur within the internal control

in order to use high-speed serial

sampling time.)

communication

clock pulses

by

controlling the controller.

- As it can be operated with XY2-100

communication

specifications,

a

controller compliant with XY2-100

can be connected.

Target position

RS-232C communication command

High-speed serial communication

command

RS-232C communication command

RS-232C communication command

Operation

setting

parameter

setting

Control clock

Uses the controller GC-201 internal

Uses

high-speed

serial

circuit clock pulses

communication clock pulses

- A target position command input by an RS-232C communication command, or a target position command from a high-speed serial communication can be mutually switched with a command. (See

2.8.5.“RS-232C Communication Command Input and High-Speed Communication Switching”)

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-With the default settings at shipping, power-on starts up the controller with in RS-232 Communication Command Input mode.

-The parameter can be set to determine which mode the controller starts after power-on. (See 6.1. “Setting Controller Start Up Mode”)

Note:

For start up when set to the High-Speed Serial Communication mode, in order to use high-speed serial communication clock pulses internally, signal input by high-speed serial communication is necessary at power-on. When there is no signal input, a Clock Lack error occurs. (See 10.2. “Errors”) After an error occurs, and input of a high-speed serial communication signal begins correctly, operation begins automatically from the high-speed serial communication signal.

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2.8.1. Number of Encoder Pulses

This section explains the relationship between the galvano scanner motor rotating angle and the number of encoder pulses.

Control commands and some of the parameter angle settings use the number of encoder pulses.

The controller divides one encoder cycle into 8,192, and this is the number of encoder pulses. Depending on the type of encoder included on the motor, caution is necessary as the number of pulses for the same specified angle can differ.

Many commands use pulses as a unit in the RS-232C communication command parameter data used for operations.

In the case of the GM-1010 for example

1 rotation (360°) = 1,000 cycles = 1,000 × 8,192 = 8,192,000 pulses 1° (angle of equipment) = 8,192,000 pulses × 1 / 360 = 22,756 pulses Resolution = 360° ÷ 8,192,000 pulses = 0.0000429° = 0.77 urad

Each motor is as follows.

	Motor type			GM-1010			GM-1015, GM-1020
	Included encoder cycles / 1			1,000 cycles			1,500 cycles
	rotation 360°
	Number of pulses			8,192,000 pulses			12,288,000 pulses
	Command resolution (1 pulse)			0.77 urad			0.51 urad

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2.8.2. RS-232C command input

RS-232C command input allows the following:

•Operation setting

•Parameter setting

•Error processing

•Status check

(For details, see 8. “Commands”)

In case not using high-speed serial communication, RS-232C communication command input is enough for the following function:

•Step movement

•Raster scan (Continuous oscillation of a certain angle at a fixed frequency)

(Communication specifications)

Wiring	Cross wiring
Communication rate	38400 bps
Data length	8 bits
Stop bit	1
Parity	None
Data format	ASCII code
Delimiter code	LF (0x0a) or CR (0x0d)

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(Command specifications)

In response to command send, the controller returns a reply with data.

The data contents depend on the command. (For details, see 8.2. “Command Details”)

Command send
A Axis No. C Command ID / Data	Delimiter

Axis No.	Command	Command ID				Data			Delimiter
1 or 2		Decimal, 3-digit				Added	to	command as	LF or CR
		(See 7.1 for details)
						required (decimal)
E.g. Servo ON ID = 4		Data = 1
A1C004 / 1 (LF)
(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a)
		A	1	C 0	0	4	/	1 (LF)

Command reply
A Axis No. C Command ID / Data	Delimiter

Axis No.	Command	Command ID				Return value		Delimiter
1 or 2		Decimal, 3-digit						LF or CR
		(See 7.1 for details)
E.g. Servo ON ID = 4		Data = 1
A1C004 / 1 (LF)
(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a)
		A	1	C 0	0	4	/ 1	(LF)

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Parameters of the GC-201 can be changed by the following sending method to the controller. Also in response to parameters sent, the controller always returns a reply with data.

The data contents depend on the command. (For details, see 9.2. “Parameter Details”)

When a parameter is changed, in order to start up with the same setting the next time power is turned on, it is necessary to write the changed parameter to the ROM.

(See 9.4. “Writing Parameters into ROM” for methods of writing to ROM with control software)

(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on the changed values, the controller may not start normally.)

Parameter send
A	Axis No.	P	Parameter ID	/	Data	Delimiter

Axis No.	Parameter	Command ID	Parameter setting	Delimiter
1 or 2		Decimal, 3-digit	Decimal	LF or CR
		(See 7.1 for details)

E.g. LQ gain parameter	ID = 6	Data = 4500
A1P006 / 4500 (LF)
(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)
A	1	P 0	0	6	/ 4	5	0 0 (LF)

Parameter reply

A

Axis No.

P

Parameter ID

/

Data

Delimiter

Axis No.	Parameter	Command ID				Parameter		setting	Delimiter
1 or 2		Decimal, 3-digit				successful / unsuccessful			LF or CR
		(See 7.1 for details)
						0 or 1
E.g. LQ gain parameter		ID = 6	Data = 4500
A1P006 / 4500 (LF)
(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)
	A	1	P 0	0	6	/	0	(LF)

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Writing parameters to ROM is also possible with commands via RS-232C.

When writing parameters to ROM, a reply that definitely contains data will be sent by a controller. The content of data is different by a parameter. (For details, see 9.2. “Parameter Details”)

(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on the changed values, the controller may not start normally.)

Parameter ROM Write send

E

Axis No.

P

Parameter ID

/

Data

Delimiter

Axis No.	Parameter	Parameter ID	Parameter setting	Delimiter
1 or 2		Decimal, 3-digit	Decimal	LF or CR
		(See 7.1 for details)

E.g. LQ gain parameter	ID = 6	Data = 4500
E1P006 / 4500 (LF)
(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)
E	1	P 0	0	6	/ 4	5	0 0 (LF)

Parameter ROM Write reply

E

Axis No.

P

Parameter ID

/

Data

Delimiter

Axis No.	Parameter	Parameter ID				Parameter		setting	Delimiter
1 or 2		Decimal, 3-digit				successful / unsuccessful			LF or CR
		(See 7.1 for details)
						0 or 1
E.g. LQ gain parameter		ID = 6	Data = 4500
E1P006 / 4500 (LF)
(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)
	E	1	P 0	0	6	/	0	(LF)

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2.8.3. High-speed serial communication

To control the mirror to an arbitrary position by marking or any other application, target position data updated as required can be given to the controller by using high-speed serial communication.

By setting, the controller can be started up in the mode of tracking a target position specified by high-speed serial communication. (For details, see 6.1. “Setting Controller Start Up Mode”)

(Communication specifications)

Base clock (CLK)

2 MHz

Frame sync (FS)

100 kHz

Data (DAT)

20 bits (Position data: 16 bits)

Status (STS)

20 bits

Transmission system

Differential signal

Signal level

5V-TTL, LVDS

(Selectable by the optional IF board)

(Timing Diagram)

Timing Diagram

2MHz

CLK

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

FS

DAT (AXIS 1)

AXIS 1 DATA -1

AXIS 1 DATA

AXIS 1 DATA +1

DAT (AXIS 2)

AXIS 2 DATA -1

AXIS 2 DATA

AXIS 2 DATA +1

STS

Status -1

Status

Status +1

Input Signal to GC-201

: CLK , FS , DAT

Ounput Signal from GC-201

: STS

As indicated in the above timing diagram, it is necessary to always continuously input the CLK, FS, and DAT signals to the GC-201. In the event that the signal is disconnected, or the signal’s timing is incorrect, the GC-201 will output an error signal (Clock Lack). (For details, See 10.2. “Errors”.)

When switching to high-speed serial communication mode, or starting up in high-speed serial communication mode when turning on the controller’s power supply, input of the high-speed serial communication signal (all of CLK, FS, and DAT) beforehand is necessary.

For the support of other communication specifications, contact the Sales Department.

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(Target Position Data) DAT (AXIS1), DAT (AXIS 2)

It is possible to switch the length of data used as target position data from the DAT (AXIS1), DAT (AXIS 2) 20 bit (every 100 kHz) signals. Please set appropriately to match the signal specifications of the scanner controller that outputs a high-speed serial communication signal, and other output equipment.

Note: The length of data input in the GC-201 is always 20 bit (every 100 kHz). The bits of the target position data that get used and sent are switched from within 20 bit data.

When there is a big difference in the target position specified in the high-speed serial communication, and the actual operation position, it is possible this parameter setting is incorrect. Please verify.

The data length of the target position data by the high-speed serial communication can be changed by two following parameters.

(Target position data length)

Can be changed by 16 bit – 20 bit.

Parameter ID		DATA
	16: 16bit	Data *
	17: 17bit	Data
67	18: 18bit	Data
	19: 19bit	Data
	20: 20bit	Data

(Data position)

The least significant bit position of the target position data of high-speed serial communication 20bit data can be set by following parameter. The specified number of bits is shifted right, making the target position data.

Parameter ID		DATA
	0: 0bit	position
	1: 1bit	position *
68	2: 2bit	position
	3: 3bit	position
	4: 4bit	position

With the default settings at shipping, the setting is * (16 bit position data length, data least significant bit 1 bit position). This communication specification is compatible with XY2-100. When using the scanner controller of XY2-100 specifications, please use this setting.

CANON Digital Galvano Scanner System GM-1000 Series

Users Manual 1.20

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Examples of the settings are as follows.

(Example 1) Parameter ID = 67

16

Parameter ID = 68

1

XY2-100 specification compatible

Bit

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

DATA (AXIS 1)

N

N

N

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

DATA (AXIS 2)

N

N

N

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

16bit

1bit

(Parameter ID = 67)

(Parameter ID = 68)

Note: The above N bit data is not used. It does not matter if it is either 1 or 0.

(Example 2) Parameter ID = 67

16

Parameter ID = 68

3

Bit

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

DATA (AXIS 1)

N

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

N

N

DATA (AXIS 2)

N

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

N

N

16bit		3bit
		(Parameter
(Parameter	ID = 67)		ID = 68)

(Example 3) Parameter ID = 67

18

Parameter ID = 68

2

Bit

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

DATA (AXIS 1)

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

N

DATA (AXIS 2)

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

N

N

	18bit		2bit
			(Parameter	ID = 68)
		ID = 67)
	(Parameter

(Example 4) Parameter ID = 67

20

Parameter ID = 68

0

Bit

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

DATA (AXIS 1)

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

DATA (AXIS 2)

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

20bit	0bit
( ID = 67)	ID = 68)
(Parameter	(Parameter

CANON Digital Galvano Scanner System GM-1000 Series

Users Manual 1.20

28

This section explains the motor rotating angle for the high-speed serial communication data. Default settings have the following relationships.

Data 1 = 1 pulse (factory setting)

See 2.8.1. “Number of Encoder Pulses" for the relationship between the motor rotating angle and the number of pulses.

In the case of 16 bit data (GM-1010)

	High-speed communication		Motor
	Target position data value
			Number of pluses			Motor rotating angle
	16bit
Maximum	0xFFFF		32767 pulses			1.44 deg
position
0 pulse	0x8000	0			0
position
Minimum	0x0000		32768 pulses			1.44 deg
position
(GM-1015, GM-1020)
	High-speed communication		Motor
	Target position data value
			Number of pluses			Motor rotating angle
	16bit
Maximum	0xFFFF		32767 pulses			0.96 deg
position
0 pulse	0x8000	0			0
position
Minimum	0x0000		32768 pulses			0.96 deg
position

Note: The motor rotating angle + direction when viewed from the rotation axis appear as clockwise.

When set to the factory default, rotation is only possible up to angles above.

If a greater angle is specified, set a magnification by using the following parameter.

CANON Digital Galvano Scanner System GM-1000 Series

Users Manual 1.20

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Parameter ID

Data

13
(High-speed serial communication	Magnification ×1000
conversion gain parameter)

E.g. For x2 (parameter ID = 13 setting: 2000), the following angle can be specified: -1.44 × 2 deg ~ 1.44 × 2 deg (GM-1010)

-0.96 × 2 deg ~ 0.96 × 2 deg (GM-1015, 1020) The command resolution will be two times

CANON Digital Galvano Scanner System GM-1000 Series

Users Manual 1.20

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