CANON Digital Galvano Scanner System
GC-251 KP-1SM30 SM100
Users Manual
Rev. 1.00
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.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
2
Contents
1.Product Outline
1.1··· Features··········································································································· 5
1.2··· Configuration ·································································································· 5
2.Specifications
2.1Galvano Motor (KP-1SM30, SM100)······························································ 6
2.2Controller (GC-251)························································································ 7
2.3Outline Drawing ······························································································ 8
2.4Power Supply ································································································ 10
2.5Connections ·································································································· 10
2.6Connector Pin Arrangement ········································································ 11
2.7Control Specifications·················································································· 15
2.7.1RS-232C command ·············································································· 16
2.7.2High Speed Serial Communication ······················································ 20
2.8Heat Radiation and Installation···································································· 26
3.Software (GALILEO)
3.1Supported PC Environment ········································································· 27
3.2Installation ····································································································· 27
3.3Activation······································································································· 30
3.4Control Screen ······························································································ 32
4.Operating Procedure (Quick Start)
4.1Controller Activation ···················································································· 34
4.2Step Movement ····························································································· 36
4.3Raster Scan ··································································································· 37
4.4Position Command Input by High-speed Serial Communication ············· 38
5.Monitor Output and Digital Input Functions
5.1Connector Pin Arrangement ········································································ 39
5.2Analog Monitor Output Switching ······························································· 42
5.3Digital Input-Output Function ······································································ 45
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
3
6.Other - Operation Setting
6.1Setting Controller Activation Mode ····························································· 46
6.2Operation that synchronizes with external trigger Signal input ··············· 48
7.Commands
7.1List of Commands························································································· 50
7.2Details of Commands ··················································································· 52
8.Parameters
8.1List of Parameters························································································· 64
8.2Details of Parameters ··················································································· 67
8.3Modifying Parameters··················································································· 82
8.4Writing Parameters into ROM ······································································ 83
8.5Saving a Parameter File················································································ 84
9.Safety Functions
9.1Safety Functions ··························································································· 85
9.2Errors ············································································································· 86
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
4
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:High positioning precision
Low temperature drift
Fast and stable operation by a unique control systemEasy tuning by parameter setting
1.2.Configuration
This system supports various applications by the combination of a galvano motor and a controller.
Galvano motor: |
Encoder-mounted galvano motor |
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KP-1SM30 |
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Beam diameter: φ10 to φ20 mm |
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KP-1SM100 |
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Beam diameter: φ20 to φ30 mm |
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Controller: |
Digital servo-controller |
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GC-251 |
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Controller for two-axis control |
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IF board: |
IF board for high-speed serial communication |
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GC-422 |
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IF board for 5V-TTL (RS-422) |
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GC-LVDS |
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IF board for LVDS level |
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Extension cable: |
Extension cable for galvano motor and controller connection |
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GM-EC |
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Encoder extension cable |
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GM-MC |
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Motor extension cable |
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Controller |
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IF Board |
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Galvano Motor |
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Encoder Signal
Board
Motor
Extension Cable
Encoder
Extension Cable
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
5
2. Specifications
2.1.Galvano Motor (KP-1SM30, KP-1SM100)
Performance and shape
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KP-1SM30 |
KP-1SM100 |
Conforming |
Φ10 to φ20 |
Φ20 to φ30 |
beam diameter |
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Scan angle |
±20 deg |
±20 deg |
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Number of encoder |
83328 pulses/rotation |
83328 pulses/rotation |
pulses |
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Command resolution |
0.036 μrad |
0.036 μrad |
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Torque constant |
0.041 Nm/A |
0.093 Nm/A |
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Weight |
0.95kg |
1.65kg |
(Reference) Command resolution
The controller of this system divides one encoder cycle into 2048. KP-1SM30,SM100 is controlled by the following command resolution:
83328 pulses × 2048 divisions = 170655744 pulses/rotation (360°) 360°/ 170655744 = 0.000002109° = 0.036urad
Environmental conditions
Operating temperature and humidity |
23 ±10 , 80% RH or less (No condensation) |
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Storage temperature and humidity |
–20 to 60ºC, 90% RH or less (No condensation) |
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Note: The above operating temperature and humidity conditions depend on the operating and heat radiation conditions.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
6
2.2.Controller (GC-251)
Performance and shape
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GC-251 |
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Number of control axes |
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2 |
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Control sampling |
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100 kHz |
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Maximum drive current |
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10 A (each axis) |
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Interface |
High-speed serial communication for position input (XY2-100) |
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Control RS-232C |
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Digital notch filter |
×2 |
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Notch filter |
Digital low-pass filter ×1 |
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Analog notch filter |
×3 |
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Weight |
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500 g |
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Environmental conditions |
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Operating temperature and humidity |
0 to 50ºC, 90% RH or less (No condensation) |
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Storage temperature and humidity |
-20 to 60ºC, 90% RH or less (No condensation) |
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Note: The above operating temperature and humidity conditions depend on the operating and heat radiation conditions.
Section names |
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Mounting |
screw |
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Heat radiation |
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hole (M3 × 4) |
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frame |
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Mounting |
screw |
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hole (φ3.5 × 4) |
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IF board |
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Digital board (upper) |
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Analog board (lower) |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
7
2.3. Outline Drawing
KP-1SM30
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126.2 |
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37 |
11.5 |
7.5 |
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0.01- |
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φ6.35 |
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φ36h7 |
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φ56 |
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φ34 |
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Thermistor Cable
Encorder Cable |
Motor Cable |
3-M4 Depth 8
Φ48
KP-1SM100
TBD
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
8
GC-251
10 |
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7 |
118 |
4-M3 |
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80 |
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5 |
120 |
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4-φ3.5 |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
9
2.4.Power Supply
Power supply specifications
+24 V ± 10% |
10 A (max) × 2 axes |
(For motor drive) |
+5 V ± 5% |
2.8 A |
(For control circuit) |
2.5.Connections
IF board
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High Speed serial |
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Communication |
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Digital |
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Input/Output |
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RS-232C |
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+24V power
+5V power
Axis2
Axis1
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Encoder Signal |
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Galvano motor |
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Board |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
10
2.6. Connector Pin Arrangement
(Connector types)
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Axis 1 motor encoder
Axis 2 motor encoder
+5 V power supply
+24 V power supply
RS-232C
High-speed serial communication
Digital input/output
Analog monitor
Fan power supply (+24 V)
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
11
(Pin arrangement)
+5 V power supply
Connector model number
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Connector |
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Manufacturer |
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Board side |
S2P-VH |
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JST |
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Cable side |
VHR-2N |
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JST |
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Connector pin arrangement |
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Pin No. |
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Signal Description |
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+5 V |
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GND |
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+24 V power supply |
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Connector model number |
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Connector |
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S4P-VH |
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JST |
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Cable side |
VHR-4N |
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JST |
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Connector pin arrangement |
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Pin No. |
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Signal Description |
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1 |
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+24 V input for Axis 1 |
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+24 V input for Axis 2 |
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3,4 |
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GND |
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RS-232C |
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Connector model number |
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Connector |
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Model No. |
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Manufacturer |
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Board side |
S03B-PASK-2 |
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JST |
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Cable side |
PAP-03V-S |
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JST |
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Connector pin arrangement |
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Pin No. |
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Signal Description |
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Send data (Signal level complying with RS-232C) |
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Receive data (Signal level complying with RS-232C) |
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GND |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
12
High-speed Serial Communication
Connector model number
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Connector |
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Manufacturer |
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Board side |
SM12B-PASS-1-TB |
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JST |
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Cable side |
PAP-12V-S |
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JST |
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Connector pin arrangement |
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Pin No. |
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Signal Description |
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Name |
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1 |
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CLK- |
Clock (-) |
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2 |
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CLK+ |
Clock (+) |
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3 |
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FS- |
Frame sync (-) |
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FS+ |
Frame sync (+) |
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XD- |
Axis 1 data (-) |
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XD+ |
Axis 1 data (+) |
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YD- |
Axis 2 data (-) |
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8 |
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YD+ |
Axis 2 data (+) |
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STS- |
Status (-) |
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STS+ |
Status (+) |
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GND |
System GND |
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FG |
Frame GND |
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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 Arrangement”
Analog Monitor
See 5-1 , “Connector Pin Arrangement”
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
13
Fan Power Supply
Connector model number
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Board side |
S04B-PASK-2 |
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JST |
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Cable side |
PAP-04V-S |
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JST |
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Connector pin arrangement |
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Pin No. |
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Signal Description |
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1 |
+24 V Output |
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2 |
GND |
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2 |
Fan Rotation Error (Open collector Input) |
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3 |
(No connection) |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
14
2.7.Control Specifications
The controller (GC-201, GC-101) is operated by:
•RS-232C command input
•High-speed serial communication
In addition, either the internal clock or external clock (high-speed serial communication) can be selected for operation.
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Internal Clock |
External Clock |
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(High-speed serial communication) |
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Clock input |
Clock pulses generated by the |
High-speed serial |
communication |
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controller internal circuit |
clock pulses |
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RS-232C command |
High-speed serial communication |
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command |
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Target position |
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(When RS-232C |
command |
input |
command |
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mode is set, a high-speed serial |
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communication |
command |
is |
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ignored.) |
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Operation setting |
RS-232C command |
RS-232C command |
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parameter setting |
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With the default settings at shipping, power-on activates the controller with the internal clock. The parameter can be set so that the controller starts with the external clock after power-on.
For activation with the external clock, however, signal input by high-speed serial communication is necessary at power-on.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
15
2.7.1RS-232C command input
RS-232C command input allows the following:
•Operation setting
•Parameter setting
•Error processing
•Status check
(For details, see 7, “Commands.”)
If position data send by high-speed serial communication is disabled, RS-232C command input is enough for the following:
•Step movement
•Raster scan (Continuous oscillation of a certain angle at a fixed frequency)
(Communication specifications)
Wiring |
Cross wiring |
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Communication rate |
38400 bps |
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Data length |
8 bits |
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Stop bit |
1 |
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Parity |
None |
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Data format |
ASCII code |
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Delimiter code |
LF (0x0a) or CR (0x0d) |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
16
(Command specifications)
In response to command send, the controller returns a reply with data.
The data contents depend on the command. (For details, see 7-2, “Command Details.”)
Command send |
|
A Axis No. C Command ID / Data |
Delimiter |
Axis No. |
Command |
Command ID |
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Data |
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Delimiter |
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1 or 2 |
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Decimal, 3-digit |
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Added |
to |
command as |
LF or CR |
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(See 7-1 for details) |
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required (decimal ) |
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E.g. Servo ON ID = 4 |
Data = 1 |
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A1C004 / 1 (LF) |
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(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a) |
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A |
1 |
C 0 |
0 |
4 |
/ |
1 (LF) |
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Command reply |
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A Axis No. C Command ID / Data |
Delimiter |
Axis No. |
Command |
Command ID |
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Return value |
Delimiter |
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1 or 2 |
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Decimal, 3-digit |
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0 or 1 |
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LF or CR |
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(See 7.1 for details) |
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E.g. Servo ON ID = 4 |
Data = 1 |
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A1C004 / 1 (LF) |
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(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a) |
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A |
1 |
C 0 |
0 |
4 |
/ 1 |
(LF) |
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
17
Parameter of controller can be changed by the following sending method to controller.
Also in response to parameter send, the controller always returns a reply with data.
The data contents depend on the command. (For details, see 7-2, “Command Details.”)
When changed a parameter of it, to start it by the same setting in power supply on at the next time; the parameter that changed, it is necessary to write in it at ROM.
Parameter send |
|
A Axis No. P Command ID / Data |
Delimiter |
Axis No. |
Parameter |
Command ID |
Parameter setting |
Delimiter |
1 or 2 |
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Decimal, 3-digit |
Decimal |
LF or CR |
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(See 7-1 for details) |
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E.g. LQ gain parameter |
ID = 6 |
Data = 4500 |
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A1P006 / 4500 (LF) |
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(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a) |
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A |
1 |
P 0 |
0 |
6 |
/ 4 |
5 |
0 0 (LF) |
Parameter reply |
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A Axis No. P Command ID / Data |
Delimiter |
Axis No. |
Parameter |
Command ID |
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Parameter |
setting |
Delimiter |
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1 or 2 |
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Decimal, 3-digit |
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successful / unsuccessful |
LF or CR |
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(See 7-1 for details) |
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0 or 1 |
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E.g. LQ gain parameter |
ID = 6 |
Data = 4500 |
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A1P006 / 4500 (LF) |
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(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a) |
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A |
1 |
P 0 |
0 |
6 |
/ |
0 |
(LF) |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
18
For the ROM Write of the parameter, a reply with data has been sent by all means by a controller. The content of data is different by a parameter. (For details, see 7-3, “Parameter Details.”)Note Please make the ROM write of the parameter after enough confirmation. Depending on value for change, the controller may not start normally.
Parameter ROM Write send |
|
E Axis No. P Command ID / Data |
Delimiter |
Axis No. |
Parameter |
Command ID |
Parameter setting |
Delimiter |
1 or 2 |
|
Decimal, 3-digit |
Decimal |
LF or CR |
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(See 7-1 for details) |
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E.g. LQ gain parameter |
ID = 6 |
Data = 4500 |
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E1P006 / 4500 (LF) |
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(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a) |
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E |
1 |
P 0 |
0 |
6 |
/ 4 |
5 |
0 0 (LF) |
Parameter ROM Write reply |
|
E Axis No. P Command ID / Data |
Delimiter |
Axis No. |
Parameter |
Command ID |
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Parameter |
setting |
Delimiter |
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1 or 2 |
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Decimal, 3-digit |
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successful / unsuccessful |
LF or CR |
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(See 7-1 for details) |
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0 or 1 |
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E.g. LQ gain parameter |
ID = 6 |
Data = 4500 |
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E1P006 / 4500 (LF) |
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(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a) |
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E |
1 |
P 0 |
0 |
6 |
/ |
0 |
(LF) |
|
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
19
2.7.2High-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 activated in the mode of tracking a target position specified by high-speed serial communication. (For details, see 6-1, “Setting Activation Mode.”)
(Communication specifications) |
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Base clock (CLK) |
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2 MHz |
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Frame sync (FS) |
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100 kHz |
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Data (DAT) |
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20 bits (Position data: 16 bits) |
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Status (STS) |
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20 bits |
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Transmission system |
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Differential signal |
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Signal level |
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5V-TTL, LVDS |
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(Selectable by the optional IF board) |
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Timing Diagram |
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XDAT |
XData-1 |
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YDAT |
YData -1 YData |
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YData +1 |
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Status -1 Status |
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Status +1 |
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(Bit) |
1 |
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2 |
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3 |
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4 |
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5 |
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6 |
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7 |
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8 |
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9 |
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18 |
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20 |
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16bit |
XDAT |
C2 |
C1 |
C0 |
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D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
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D6 |
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D5 |
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D4 |
D3 |
D2 |
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D1 |
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D0 |
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P |
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Data |
YDAT |
C2 |
C1 |
C0 |
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D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
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D6 |
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D5 |
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D4 |
D3 |
D2 |
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D1 |
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D0 |
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P |
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STS |
S19 |
S18 |
S17 |
S16 |
S15 |
S14 |
S13 |
S12 |
S11 |
S10 |
S9 |
S8 |
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S7 |
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S6 |
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S5 |
S4 |
S3 |
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S2 |
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S1 |
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S0 |
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20bit |
(Bit) |
1 |
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2 |
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3 |
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4 |
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5 |
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6 |
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7 |
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8 |
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9 |
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10 |
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11 |
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12 |
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14 |
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15 |
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16 |
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18 |
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XDAT |
D19 |
D18 |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
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D7 |
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Data |
YDAT |
D19 |
D18 |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
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D7 |
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STS |
S19 |
S18 |
S17 |
S16 |
S15 |
S14 |
S13 |
S12 |
S11 |
S10 |
S9 |
S8 |
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CLK |
Frequency |
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2MHz |
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XDAT, YDA |
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C2 .. C0 |
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Header ( un-used ) |
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D15 .. D0 |
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Position Data ( Signed Integer data ) |
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Parity ( un-used ) |
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(20bit Data) |
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D19 .. D0 |
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Position Data ( Signed Integer data ) |
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STS |
S19 .. S0 |
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( Status Table ) |
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Input signal from PC |
: CLK, FS, XDAT, YDAT |
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Output signal from DRIV : |
STS |
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For the support of other communication specifications, contact the Sales Department.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
20
Note: For setting high-speed serial communication mode or controller activation in high-speed serial communication mode at power-on, high-speed serial communication signals are necessary. Enter the CLK, FS, and DAT signals in advance.
For how to set the activation mode, see 6-1, “Setting Activation Mode.”
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
21
(Target Position Data) XDAT YDAT
The data length of the target position data by the high-speed serial communication can be changed by two following parameters.
The target position data length can be changed in 16bit – 20bit.
Parameter ID |
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DATA |
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16 16bit |
Data |
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17 17bit |
Data |
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18 18bit |
Data |
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19 19bit |
Data |
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20 20bit |
Data |
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The least significant bit position of the target position data of high-speed serial communication 20bit data can be set by following parameter.
The right shifts this number of bit make the target position data.
Parameter ID |
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DATA |
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0 0bit |
position |
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1 1bit position |
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2 2bit |
position |
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3 3bit |
position |
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4 4bit |
position |
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An example of the setting as follows.
16bit |
(Bit) |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
XDAT |
C2 |
C1 |
C0 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
P |
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Data |
YDAT |
C2 |
C1 |
C0 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
P |
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Parameter ID = 67 |
16 |
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Parameter ID = 68 |
1 |
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18bit |
(Bit) |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
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XDAT |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
C1 |
C0 |
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Data |
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YDAT |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
C1 |
C0 |
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Parameter ID = 67 |
18 |
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Parameter ID = 68 |
2 |
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CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
22
20bit |
(Bit) |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
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XDAT |
D19 |
D18 |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
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Data |
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YDAT |
D19 |
D18 |
D17 |
D16 |
D15 |
D14 |
D13 |
D12 |
D11 |
D10 |
D9 |
D8 |
D7 |
D6 |
D5 |
D4 |
D3 |
D2 |
D1 |
D0 |
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Parameter ID = 67 |
20 |
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Parameter ID = 68 |
0 |
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With the default settings at shipping, the setting is (16bit position data length, data least significant bit 1bit position).
This communication specification has compatibility of XY2-100.
When using the scanner controller of XY2-100 specifications, please use this setting.
Motor rotating angle for the high-speed serial communication data
In the case of 16bit position data
Data: 1 for one pulse that can be specified up to the following positions:
Maximum position: |
0xFFFF = 32767 pulses = About 5.76 deg (GM-1010) |
0-pulse position: |
0x8000 = 0 |
Minimum position: |
0x0000 = –32768 pulses = About –5.76 deg (GM-1010) |
If a greater angle is specified, set a magnification by using the High-speed Serial Communication Conversion Gain parameter (Parameter ID = 13)
E.g. For x2 (Setting: 2000), the following angle can be specified: –5.76 × 2 deg to 5.76 × 2 deg
The command resolution will be two times.
In the case of 20bit position data
Data: 1 for one pulse that can be specified up to the following positions:
Maximum position: |
0xFFFF = 524287 pulses |
0-pulse position: |
0x8000 = 0 |
Minimum position: |
0x0000 = –524287 pulses |
Maximum movable range is set with Parameter ID = 0, 1 (CW limit, CCW limit). The position data of high-speed serial communication can not exceeded this range.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
23
Status STS
The status of controller is sent by status line (STS) of high-speed serial communication. The contents of status sending from a controller can be changed by the following parameter.
Parameter ID |
Data |
1 Controller Condition
2 Current position (Axis 1)
3 Current position(Axis 2)
4 Current position(Axis1 , Axis2)
Each status contents are as follows.
Status Table
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Mode-1 |
Mode-2 |
Mode-3 |
Mode-4 |
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S19 |
0 |
X Position Data Bit_19 |
Y Position Data Bit_19 |
Axis Flag |
S18 |
0 |
X Position Data Bit_18 |
Y Position Data Bit_18 |
X(Y) Position Data Bit_18 |
S17 |
0 |
X Position Data Bit_17 |
Y Position Data Bit_17 |
X(Y) Position Data Bit_17 |
S16 |
0 |
X Position Data Bit_16 |
Y Position Data Bit_16 |
X(Y) Position Data Bit_16 |
S15 |
0 |
X Position Data Bit_15 |
Y Position Data Bit_15 |
X(Y) Position Data Bit_15 |
S14 |
0 |
X Position Data Bit_14 |
Y Position Data Bit_14 |
X(Y) Position Data Bit_14 |
S13 |
Y_READY |
X Position Data Bit_13 |
Y Position Data Bit_13 |
X(Y) Position Data Bit_13 |
S12 |
Y_ALARM2 |
X Position Data Bit_12 |
Y Position Data Bit_12 |
X(Y) Position Data Bit_12 |
S11 |
Y_ALARM1 |
X Position Data Bit_11 |
Y Position Data Bit_11 |
X(Y) Position Data Bit_11 |
S10 |
Y_INPOS |
X Position Data Bit_10 |
Y Position Data Bit_10 |
X(Y) Position Data Bit_10 |
S9 |
0 |
X Position Data Bit_9 |
Y Position Data Bit_9 |
X(Y) Position Data Bit_9 |
S8 |
0 |
X Position Data Bit_8 |
Y Position Data Bit_8 |
X(Y) Position Data Bit_8 |
S7 |
0 |
X Position Data Bit_7 |
Y Position Data Bit_7 |
X(Y) Position Data Bit_7 |
S6 |
0 |
X Position Data Bit_6 |
Y Position Data Bit_6 |
X(Y) Position Data Bit_6 |
S5 |
0 |
X Position Data Bit_5 |
Y Position Data Bit_5 |
X(Y) Position Data Bit_5 |
S4 |
0 |
X Position Data Bit_4 |
Y Position Data Bit_4 |
X(Y) Position Data Bit_4 |
S3 |
X_READY |
X Position Data Bit_3 |
Y Position Data Bit_3 |
X(Y) Position Data Bit_3 |
S2 |
X_ALARM2 |
X Position Data Bit_2 |
Y Position Data Bit_2 |
X(Y) Position Data Bit_2 |
S1 |
X_ALARM1 |
X Position Data Bit_1 |
Y Position Data Bit_1 |
X(Y) Position Data Bit_1 |
S0 |
X_INPOS |
X Position Data Bit_0 |
Y Position Data Bit_0 |
X(Y) Position Data Bit_0 |
Axis Flag =0
Axis Flag =1
1:Controller Condition
Output the status of the controller.
READY |
Servo ON and ready to control by high-speed serial communication. |
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ALARM1 |
: |
Alarm output (priority high) |
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(See 5-3 Digital Input-Output Function. Same meaning as ‘Axis 1 Error 1 |
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(priority high)’ , ‘ Axis 2 Error 1(priority high)’ ) |
ALARM2 |
: |
Alarm output (priority low) |
(See 5-3 Digital Input-Output Function. Same meaning as ‘Axis 1 Error 2 (priority low)’ , ‘ Axis 2 Error 2(priority low)’ )
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
24
INPOS |
In-position signal |
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(When current position moves into the in-position width, this signal will |
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be output.) |
2:Current position (Axis 1)
Output the Axis 1 encoder position.
Position Data length: 20bit.
3:Current position (Axis 2)
Output the Axis 2 encoder position.
Position Data length: 20bit.
4:Current position (Axis1, Axis2)
The encoder position of the Axis 1 and the Axis 2 is alternately output.
Position Data length: 21bit.
The first 1bit shows the axis (Axis Flag).
Axis Flag = 0 |
Axis 1 |
Axis Flag = 1 |
Axis 2 |
Note: After the position of the encoder is actually detected, the encoder position status is output after a delay of 2 servo sampling. (1 servo sampling = 10μsec)
Note: Only when controlling by high-speed serial communications, the status output is output. It is not output when operating with the internal clock (raster scan and movement in the step).
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
25
2.8.Heat Radiation and Installation
Since the controller and motor generate heat, their heat radiation should be considered carefully. Generated heat depends on the operating conditions. Determine a heat radiation method according to the operating conditions.
The controller and motor have a temperature detection sensor (thermistor) at the heat generating section. As a safety function, the thermistor stops control if the detector temperature reaches:
Controller |
About 70ºC |
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Motor |
About 70ºC |
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(For details, see 9, “Safety Functions.”)
The controller and motor require heat radiation so that their temperatures will not exceed the above values.
Controller installation methods
The controller can be installed by either Method A or B below.
At installation, put the controller frame in contact with a heat-radiating structure (heat sink or cabinet). Method A has higher heat radiation efficiency. However, select either method by considering the operating conditions and cable routing. When installing the controller frame, apply thermal grease or attach a thermal conductive sheet to the contact surface.
Under some operating conditions, forced air cooling by a fan is necessary. Cool the heat-radiating structure (heat sink or cabinet) and the controller.
A |
B |
Output amplifier
Control circuit
In addition to the output amplifier, which is the main source of heat, the control circuit section (DSP) generates heat.
Allow as much space as possible around the equipment.
Caution
The controller becomes hot during operation.
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
26
3. Software
The controller (GC-201, 101) comes with dedicated control software “GALILEO (Galvano Integrated Leading Operator (GALILEO).”
GALILEO makes the following controller operations easy:Parameter setting
Servo tuning (Frequency characteristic measurement)Status check
Operation setting (Step movement and raster scan)
Most of the functions that can be performed by GALILEO can also be executed by external command input through RS-232C connection without using GALILEO. This manual describes operations both by GALILEO and by external command input.
Note: The following function can be executed by GALILEO only, and not by external command input:Frequency characteristic measurement
3.1.Supported PC Environment
Supported OS |
MS-Windows 2000, XP, Vista |
Connection port |
RS-232C port (with USB-RS-232C conversion cable) |
3.2.Installation
Insert the accessory application CD into the CD drive.
Execute Setup.exe in the GALILEO folder.
D \
CANON Digital Galvano Scanner System KP-1SM Series + GC-251
Users Manual 1.00
27