Canon GC-251 User Manual

0 (0)

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

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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

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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

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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: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

KP-1SM30

 

 

Beam diameter: φ10 to φ20 mm

KP-1SM100

 

 

Beam diameter: φ20 to φ30 mm

Controller:

Digital servo-controller

GC-251

 

 

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-EC

 

 

Encoder extension cable

GM-MC

 

 

Motor extension cable

 

 

 

 

 

 

 

Controller

 

IF Board

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Galvano Motor

 

Encoder Signal

Board

Motor

Extension Cable

Encoder

Extension Cable

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

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2. Specifications

2.1.Galvano Motor (KP-1SM30, KP-1SM100)

Performance and shape

 

KP-1SM30

KP-1SM100

Conforming

Φ10 to φ20

Φ20 to φ30

beam diameter

 

 

Scan angle

±20 deg

±20 deg

 

 

 

Number of encoder

83328 pulses/rotation

83328 pulses/rotation

pulses

 

 

Command resolution

0.036 μrad

0.036 μrad

 

 

 

Torque constant

0.041 Nm/A

0.093 Nm/A

 

 

 

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)

 

 

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.

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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2.2.Controller (GC-251)

Performance and shape

 

 

 

 

 

GC-251

 

 

 

 

 

 

 

 

 

Number of control axes

 

 

2

 

 

 

 

 

 

 

 

 

 

Control sampling

 

 

100 kHz

 

 

 

 

 

 

 

 

 

Maximum drive current

 

 

10 A (each axis)

 

 

 

 

 

 

 

 

Interface

High-speed serial communication for position input (XY2-100)

 

 

Control RS-232C

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Digital notch filter

×2

 

 

 

Notch filter

Digital low-pass filter ×1

 

 

 

Analog notch filter

×3

 

 

 

 

 

 

 

 

 

 

Weight

 

 

500 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

 

 

 

 

 

 

 

 

 

Digital board (upper)

 

Analog board (lower)

 

 

 

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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2.3. Outline Drawing

KP-1SM30

 

 

126.2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

37

11.5

7.5

0

0.01-

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

φ6.35

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

φ36h7

φ56

 

 

 

 

 

 

 

 

 

 

φ34

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

 

 

7

118

4-M3

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

33

38

88

80

5

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

5

120

 

 

4-φ3.5

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

125

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

High Speed serial

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Communication

Digital

 

 

 

 

 

 

 

 

 

 

 

Input/Output

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

RS-232C

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

+24V power

+5V power

Axis2

Axis1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Encoder Signal

 

Galvano motor

Board

 

 

 

 

 

 

 

 

 

 

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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Canon GC-251 User Manual

2.6. Connector Pin Arrangement

(Connector types)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

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(Pin arrangement)

+5 V power supply

Connector model number

 

 

Connector

 

Model No.

 

Manufacturer

 

 

Board side

S2P-VH

 

JST

 

 

Cable side

VHR-2N

 

JST

Connector pin arrangement

 

 

 

 

 

 

 

 

 

 

 

 

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 arrangement

 

 

 

 

 

 

 

 

 

 

 

 

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 arrangement

 

 

 

 

 

 

 

 

 

 

 

Pin No.

 

 

 

Signal Description

 

1

 

Send data (Signal level complying with RS-232C)

 

2

 

Receive data (Signal level complying with RS-232C)

 

3

 

GND

 

 

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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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 arrangement

 

 

 

 

 

 

 

 

 

 

Pin No.

 

Signal

 

Signal Description

 

 

Name

 

 

 

 

 

 

 

 

 

 

1

 

CLK-

Clock (-)

 

 

 

2

 

CLK+

Clock (+)

 

 

 

3

 

FS-

Frame sync (-)

 

 

 

4

 

FS+

Frame sync (+)

 

5

 

XD-

Axis 1 data (-)

 

 

 

6

 

XD+

Axis 1 data (+)

 

 

 

7

 

YD-

Axis 2 data (-)

 

 

 

8

 

YD+

Axis 2 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 Arrangement”

Analog Monitor

See 5-1 , “Connector Pin Arrangement”

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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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

 

 

2

Fan Rotation Error (Open collector Input)

 

 

3

(No connection)

 

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.

 

Internal Clock

External Clock

 

 

(High-speed serial communication)

 

 

Clock input

Clock pulses generated by the

High-speed serial

communication

controller internal circuit

clock pulses

 

 

 

 

 

 

RS-232C command

High-speed serial communication

 

 

command

 

 

Target position

 

(When RS-232C

command

input

command

 

mode is set, a high-speed serial

 

 

 

 

communication

command

is

 

 

ignored.)

 

 

 

 

 

 

 

Operation setting

RS-232C command

RS-232C command

 

 

parameter setting

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

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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

 

 

Communication rate

38400 bps

 

 

Data length

8 bits

 

 

Stop bit

1

 

 

Parity

None

 

 

Data format

ASCII code

 

 

Delimiter code

LF (0x0a) or CR (0x0d)

 

 

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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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 7-2, “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

 

0 or 1

 

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)

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

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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

 

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 Command 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)

 

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

 

(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 Command 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

 

 

 

 

 

E1P006 / 4500 (LF)

 

 

 

 

 

 

 

 

(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)

 

 

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)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2MHz

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

 

2

 

3

 

4

 

5

 

6

 

7

 

8

 

9

 

10

 

11

 

12

13

14

15

 

16

 

17

18

19

20

 

 

 

 

 

 

CLK

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

FS

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

XDAT

XData-1

 

XData

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

XData +1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

YDAT

YData -1 YData

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

YData +1

 

 

STS

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Status -1 Status

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Status +1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(Bit)

1

 

2

 

3

 

4

 

5

 

6

 

7

 

8

 

9

 

10

 

11

 

12

 

13

 

14

 

15

 

16

 

17

 

18

 

19

 

20

 

 

 

 

 

 

16bit

XDAT

C2

C1

C0

 

D15

D14

D13

D12

D11

D10

D9

D8

D7

 

D6

 

D5

 

D4

D3

D2

 

D1

 

D0

 

P

 

 

 

 

 

Data

YDAT

C2

C1

C0

 

D15

D14

D13

D12

D11

D10

D9

D8

D7

 

D6

 

D5

 

D4

D3

D2

 

D1

 

D0

 

P

 

 

 

 

STS

S19

S18

S17

S16

S15

S14

S13

S12

S11

S10

S9

S8

 

S7

 

S6

 

S5

S4

S3

 

S2

 

S1

 

S0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

20bit

(Bit)

1

 

2

 

3

 

4

 

5

 

6

 

7

 

8

 

9

 

10

 

11

 

12

 

13

 

14

 

15

 

16

 

17

 

18

 

19

 

20

 

 

 

 

 

 

XDAT

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

 

D7

 

D6

 

D5

D4

D3

 

D2

 

D1

 

D0

 

 

 

 

 

Data

YDAT

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

 

D7

 

D6

 

D5

D4

D3

 

D2

 

D1

 

D0

 

 

 

 

 

 

STS

S19

S18

S17

S16

S15

S14

S13

S12

S11

S10

S9

S8

 

S7

 

S6

 

S5

S4

S3

 

S2

 

S1

 

S0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

CLK

Frequency

:

2MHz

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

XDAT, YDA

(16bit Data)

 

C2 .. C0

:

Header ( un-used )

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

D15 .. D0

:

Position Data ( Signed Integer data )

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

P

 

 

:

Parity ( un-used )

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(20bit Data)

 

D19 .. D0

:

Position Data ( Signed Integer data )

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

STS

S19 .. S0

:

( Status Table )

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Input signal from PC

: CLK, FS, XDAT, YDAT

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Output signal from DRIV :

STS

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

 

DATA

 

 

 

 

16 16bit

Data

 

17 17bit

Data

 

18 18bit

Data

 

19 19bit

Data

 

20 20bit

Data

 

 

 

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

 

DATA

 

 

 

 

0 0bit

position

 

1 1bit position

 

2 2bit

position

 

3 3bit

position

 

4 4bit

position

 

 

 

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

Data

YDAT

C2

C1

C0

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

P

 

Parameter ID = 67

16

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Parameter ID = 68

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

18bit

(Bit)

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

XDAT

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

C1

C0

Data

YDAT

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

C1

C0

 

Parameter ID = 67

18

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Parameter ID = 68

2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

XDAT

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

Data

YDAT

D19

D18

D17

D16

D15

D14

D13

D12

D11

D10

D9

D8

D7

D6

D5

D4

D3

D2

D1

D0

 

 

Parameter ID = 67

20

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Parameter ID = 68

0

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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

 

Mode-1

Mode-2

Mode-3

Mode-4

 

 

 

 

 

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.

ALARM1

:

Alarm output (priority high)

 

 

(See 5-3 Digital Input-Output Function. Same meaning as ‘Axis 1 Error 1

 

 

(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)’ )

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INPOS

In-position signal

 

(When current position moves into the in-position width, this signal will

 

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

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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

 

 

Motor

About 70ºC

 

 

(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.

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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 \

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