1.1. Features ............................................................................................................................................ 5
2.4. Power Supply .................................................................................................................................. 11
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
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⑨ 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
① Power cable (+5 V)
② Power cable (+24 V)
③ RS-232C cable
④ High-speed serial communication cable
① Power Cable +5 V
② Power Cable +24 V
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③ RS-232C Cable
PC side (D-sub 9 pin)
Pin Signal
2 RX
3 TX
5 GND
④ 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
Features
RS-232C
communication command input
- Raster scan and step movement etc.
can be performed easily.
- In order to obtain synchronization
with external equipment, operation
can be started with an external
trigger signal. (Fluctuating delays
may occur within the internal control
sampling time.)
High-speed serial communication
- Vector scans with control over the
desired locations of two axes are
possible. This is used in laser
marking etc.
- Complete synchronization with
external equipment can be obtained
in order to use high-speed serial
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
command
Operation
setting
parameter
setting
Control clock
- 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”)
RS-232C communication command High-speed serial communication
RS-232C communication command RS-232C communication command
Uses the controller GC-201 internal
circuit clock pulses
Uses high-speed serial
communication clock pulses
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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
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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)
Maximum
position
0 pulse
position
Minimum
position
(GM-1015, GM-1020)
Maximum
position
High-speed communication
Target position data value
0xFFFF -32767 pulses -1.44 deg
0x8000 0 0
0x0000 +32768 pulses +1.44 deg
High-speed communication
Target position data value
0xFFFF -32767 pulses -0.96 deg
16bit
16bit
Motor
Number of plusesMotor rotating angle
Motor
Number of plusesMotor rotating angle
0 pulse
position
Minimum
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.
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0x8000 0 0
0x0000 +32768 pulses +0.96 deg
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Parameter ID Data
13
(High-speed serial communication
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
Magnification ×1000
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•In the case of 20 bit data
Usually data 1 = 1 pulse.
(GM-1010)
Maximum
position
0 pulse position 0x80000 0 0
Minimum position 0x00000 +524288 pulses +23.04 deg
(GM-1015, GM-1020)
Maximum
position
0 pulse position 0x80000 0 0
High-speed communication
Target position data value
20bit
0xFFFFF -524287 pulses -23.04 deg
High-speed communication
Target position data value
20bit
0xFFFFF -524287 pulses -15.36 deg
Number of plusesMotor rotating angle
Number of plusesMotor rotating angle
Motor
Motor
Minimum position 0x00000 +524288 pulses +15.36 deg
However, the maximum rotating angle specification is ±20°.
Maximum movable range of the motor is set with Parameter ID = 0, 1 (CW limit, CCW limit).
The position data of high-speed serial communication can not exceed this range.
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2.8.3.1. Origin Offset
It is possible to change the origin position of high-speed serial communications.
Parameter ID Data
15
High-speed serial communication
offset
Unit is pulse.
High-speed serial communication offset is not influenced by the parameter ID = 13 high-speed serial
communication conversion gain setting.
E.g.
When parameter ID = 15 setting 2276 pulse (=0.1°) is set, regardless of the parameter ID = 13 setting, it
will always operate with a 0.1° (CW direction) offset.
Note) Current position output data of Next heading 2.8.4. is actual motor encoder position data.
Current position output data
Unit: pulse
= High speed serial communication command position + High speed serial communication offset
So, Current position data is not equal to High speed serial communication command position that
you specify.
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2.8.3.2. High-speed serial communication motor drive timing
The following diagram indicates actual motor drive signal output timing when the high-speed serial
communication position command is received.
COMMAND
COMMAND
10us
10us
XY-2 COMMAND
XY-2 COMMAND
FRAME SYNC
FRAME SYNC
Target
Target
Position1
Position1
Target
Target
Position2
Position2
Target
Target
Position3
Position3
Target
DSP Sampling Clock
DSP Sampling Clock
5us
5us
5us
5us
10us
10us
Target
Position1
Position1
CONTROL
CONTROL
5us
20us
20us
5us
Output to MOTOR
Output to MOTOR
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A
A
A
A
A
A
A
A
A
A
A
A
2.8.4. Status (High-speed Serial Communication STS)
The controller status is sent by the high-speed serial communication STS line.
The contents of status sent from a controller can be changed by the following parameter.
Note: Status output will only be output when controlled by the high-speed serial communication mode.
During operation in a RS-232C communication input mode (internal clock), there will be no status
output (raster scan, status transfer etc.).
Parameter ID Data
0: Controller condition 1
1: Controller condition 2
66
2: Current position (Axis 1)
3: Current position (Axis 2)
4: Current position (Axis1, Axis2)
Each of the status contents are as follows.
S19 (reserve)0Axis1data bit19
S18 (reserve)0Axis1data bit18
S17 (reserve)0Axis1data bit17
S16 POW OK0Axis1data bit16
S15 TEMP OK0Axis1data bit15
S14 (reserve)0Axis1data bit14
S13 Axis2 INPOSAxis1 READY Axis1data bit13
S12 Axis1 INPOS
S11 (reserve)
S100 Axis1 INPOSAxis1data bit10
S091 0Axis1data bit9Axis2 data bit9 Axis1(2) data bit9
S08 POW OK0Axis1data bit8Axis2 data bit8 Axis1(2) data bit8
S07 TEMP OK0Axis1data bit7Axis2 data bit7 Axis1(2) data bit7
S06 (reserve)0Axis1data bit6Axis2 data bit6 Axis1(2) data bit6
S05 Axis2 INPOS0Axis1data bit5Axis2 data bit5 Axis1(2) data bit5
S04 Axis1 INPOS0Axis1data bit4Axis2 data bit4 Axis1(2) data bit4
S03 (reserve)Axis2 READY Axis1data bit3Axis2 data bit3 Axis1(2) data bit3
S020
S011
S00 (reserve)Axis2 INPOSAxis1data bit0Axis2 data bit0 Axis1(2) data bit0
Mode-0Mode-1Mode-2Mode-3Mode-4
xis1 ALARM 1Axis1data bit12Axis2 data bit12Axis1(2) data bit12
xis1 ALARM 2Axis1data bit11Axis2 data bit11 Axis1(2) data bit11
xis2 ALARM 1Axis1data bit2Axis2 data bit2 Axis1(2) data bit2
xis2 ALARM 2Axis1data bit1Axis2 data bit1 Axis1(2) data bit1
xis2 data bit19Axis flag
xis2 data bit18Axis1(2) data bit18
xis2 data bit17Axis1(2) data bit17
xis2 data bit16Axis1(2) data bit16
xis2 data bit15Axis1(2) data bit15
xis2 data bit14Axis1(2) data bit14
xis2 data bit13Axis1(2) data bit13
xis2 data bit10Axis1(2) data bit10
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•Mode-0 : Controller condition 1
Outputs the status of the controller.
POW OK : No problem with the power supply
TEMP OK : No problem with the internal temperature
Axis2 INPOS : Axis 2 in-position signal
Axis1 INPOS : Axis 1 in-position signal
(When current position moves into the in-position range, this signal will be
output.)
•Mode-1: Controller condition 2
Outputs the status of the controller.
READY : Servo ON and ready to control by high-speed serial communication.
ALARM 1 : Alarm output (priority high)
(See 5.3. “Digital Input-Output Function”. Same as Axis 1 Error 1, Axis 2
Error 1)
ALARM 2 : Alarm output (priority low)
(See 5.3. “Digital Input-Output Function”. Same as Axis 1 Error 2, Axis 2
Error 2)
INPOS : In-position signal
(When it moves into the parameter ID = 3 in-position range, this signal will
be output.)
•Mode-2: Current position data (Axis 1)
Outputs the axis 1 encoder position.
Data length: 20 bits.
High-speed communication
Position data value
20 bits
Maximum
position
0 pulse
position
Minimum
position
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0xFFFFF
0x80000
0x0000F
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•Mode-3: Current position data (Axis 2)
Outputs the Axis 2 encoder position.
Data length: 20 bits.
•Mode-4: Current position data (Axis 1, Axis 2)
The encoder position of Axis 1 and Axis 2 is output alternately.
Data length: 19 bits.
The first 1 bit indicates the axis (Axis Flag).
Axis Flag = 0 Axis 1
Axis Flag = 1 Axis 2
Data information for the current position data of Mode-2, 3, and 4 is output with the timing as follows.
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2.8.5. RS-232C Communication Command Input and High-Speed Communication
Switching
A position command input can be switched with a RS-232C communication command.
Command ID Data
23
0: RS-232C command communication
7: High-speed serial communication
Command ID = 23 Data 7
A1C023/7
*Command also sent to Axis 2
A2C023/7
RS-232C command
communication
Command ID = 23 Data 0
A1C023/0
A2C023/0
*Command also sent to Axis 2
High-speed serial
communication
Note: In the case of two axis control, it is necessary to execute this command for each axis.
It is possible to receive input of RS-232C communication commands even when switching to
high-speed serial communication. However, as position commands give priority to the input of
high-speed serial communication, operation commands such as RS-232C communication command
step movement, and raster scans will be ignored.
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2.9. 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) in 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 10.1. “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, 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) bundles the dedicated control software.
Using the control software makes the following controller operations easy:
z Parameter setting
z Operation setting (Step movement and raster scan)
z Status check
z Servo tuning (Frequency characteristic measurement)
Most of the functions that can be performed by the control software can also be executed by external
commands input through RS-232C connection without using the control software. This manual
describes operations both by the control software and by RS-232C command input.
Note: The following function can be executed by the control software only, and not by RS-232C
command input:
z Frequency characteristic (FFT) measurement
z Auto tuning
z XY matching
z Step response measurement function
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 CD
Installation folder structure of the bundled control software
Control Software (Control software installer)
Manual (GC-201, GC-251 manual)
The necessary software is not included in 11.1. “Firmware Update”. Please contact your sales
representative.
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3.3. Control Software Installation
・ Insert the bundled control software installation CD into the CD drive.
・ Execute Setup.exe in the Control Software folder.
D:¥
・ Press the Next button.
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・ Specify an installation folder and press the Next button.
(Recommendation: Usually this is not changed.)
・ Press the Next button.
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・ Press the Close button. This completes installation.
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3.4. Software Start Up
・ Connect the controller and the PC with the optional RS-232C cable.
Select the connected RS-232C port and press the OK button.
・ The control screen is displayed.
While communication with the controller has not started yet, the screen displays “DISCONNECT”
in gray at the upper left as the connection status.
Connection
status
Note: The value of each item on the above screen differs depending on the controller status.
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・ When the power to the controller is turned on, communication automatically starts.
When communication starts, the connection status at the upper left changes to “CONNECT” in
green.
Connection
status
The control software can be started up after power to the controller has been turned on.
Communication then starts automatically. (“CONNECT” is displayed.)
Note: The value of each item on the above screen differs depending on the controller status.
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3.5. Control Screen
This section explains the buttons and other items on the control screen.
①
⑦
⑧
⑨
② ③④⑤⑥
⑫
⑬
⑩⑪
The status of RS-232 connection to the controller is displayed.
①
Connection display
②
③
④
Position display
Axis selection
Origin control
(Homing to origin)
Connected: CONNECT (green)
Not connected: DISCONNECT (gray)
The encoder position (Mechanical angle) of each axis is displayed.
(Unit: pulse)
Note: Since the number of encoder pulses per rotation depends on
the galvano motor, the relationship between the number of pulses
and the angle also differs with the motor type.
Select an axis for control and information display.
(#1 = Axis 1, #2 = Axis 2)
The screen can display the information of only one axis selected
here, although the position displayed at ② and the status
displayed at ⑨ always show the information of both axes.
Press this button to go to origin or detect the origin.
The operation depends on the controller status.
(During ordinary servo control)
Moving to the origin (where the position display is 0)
Invalid during high-speed serial communication
(After servo OFF and soft reset) Starting origin detection
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⑤
⑥
⑦
⑧
⑨
⑩ Alarm clear Clears the alarm. The alarm lamp turns off.
⑪
⑫
Servo ON/OFF Start or stop servo control.
Select the high-speed serial communication command or RS232C
High-speed serial
communication
selection
Tab selection
Control display
Status display
Soft reset button Press this button for soft reset.
Command input
screen
command input for position specification.
(For details, see 4.4. Position Command Input by High-speed
Serial Communication)
(Start = High-speed serial communication, OFF = RS-232C
command)
The screen of each function can be displayed by tab selection.
(A detailed explanation of the screen is shown when each function
is displayed.)
This area displays the screen of each function selected by a tab at
⑦.
The controller status of two axes is displayed.
If press the alarm button during alarm light on, windows content the
alarm details will come up.
Allows direct command input.
⑬
DSP version
display
The version of the controller software is displayed.
During troubleshooting, the support staff may ask for the version
number.
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4. Operating Procedure
This chapter explains how to use the system.
Operations by [Control Software] and by [RS-232C command] are explained together.
4.1. Controller Start Up
When the power (+5 V, +24 V) is turned on, the controller execute the following automatically:
・Read saved parameters from ROM
・Home to the origin
・Correct the encoder (high-speed oscillation of a fixed angle)
It takes about 15 seconds until the controller is started up.
With the default settings at shipping, the controller is started up with RS-232C communication
command input (internal clock) mode.
The completion of start up can be confirmed as follows:
Control Software
Changes to
‘CONNECT’
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RS-232C command
Sends RS-232C command ID=14 “Status read”
SRVON, SYNC, INPOS = High
ORGN = Low
(For details, see 8.2. “Command Details”)
and checks the following status:
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4.2. Step Movement
Execute step movement for a fixed angle.
Control Software
④
②
①
③
・Select the Step Move tab. ①
・Select an axis for step movement. ②
・Specify the displacement (angle or pulse count) for relative position (STEP) and absolute position.
③
・Press the STEP button (either positive or negative position direction can be specified) or GO
button. ③
Note: Uncheck the ④ checkbox when moving continuously. If it is checked, the stabilization time
measurement function on the next page operates, and as it takes time to display the results, moving
continuously is not possible.
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RS-232C command
・ Target value setting mode (Command ID = 10)
・ Target position setting (Command ID = 20)
・ Movement start (Command ID = 8)
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4.2.1. Step Movement Responce Time Measurement
Control Software has a function that measures the step movement response time. This function is can
only be executed by the control software. It cannot be executed by a RS-232C command.
• Put a check in the Enable Scope checkbox ①
②
③ ①
• Select the time range for step movement response to be measured ②
(As the response time depends on the displacement, change when necessary.)
• Specify the displacement (angle and pulse count) for relative position (STEP) and absolute position.
③
• Press the STEP button (either positive or negative position direction can be specified) or GO button.
③
• The Scope and Measurement window appears automatically
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① ②
④
⑤
⑥ ⑦
(Scope and Measurement window explanation)
Scope and Measurement window
③
①
②
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Step response
waveform
Cursor location
(Step response
waveform)
Displays the step response waveform by the deviation from the
target position.
0 usec (left edge) position is the movement start time.
① Displays the cursor location in the step response waveform
graph.
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Measured step response waveforms can be saved temporary as
Reference data
reference data. The next measured data can be overwritten and
③
(Save, display, hide)
compared.
(See 4.2.1.2 “the Reference Data Comparison Method.”)
Displays the
④
difference of MAIN
This displays the difference between measurement data and
reference data.
and reference data
⑤ Motor drive current Displays the motor drive current.
Use the zoom button to zoom in and display detailed data.
⑥ Zoom button
(See 4.2.1.1 “the Measurement Data Display Zoom Method.”)
⑦ Saving dataThis saves measurement data as a text file.
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4.2.1.1. Measurement Data Display Zoom Method
A zoomed display is possible in order to confirm measurement data details.
(Specify horizontal (time) zoom)
• Drag the step response display cursor (red) to the width you want to display enlarged ①
(Adjust while looking at the X Cursors display below)
• Press the Horizontal ZOOM button ②
①
②
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(Specify vertical (angle) zoom)
• Drag the step response display cursor (green) to the width you want to display enlarged ①
(Adjust while looking at the Y Cursors display below)
• Press the Vertical ZOOM button ②
①
②
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4.2.1.2. Reference Data Comparison Method
This displays step response waveforms with two different measurement conditions, and makes a
comparison possible.
• Display the step response waveform with the first measurement condition, and press the “Save
MAIN to REF” button. ①
Measured waveform data (MAIN) is copied to the reference data (REF).
There is no change to the screen display at this time.
(The above display is the measurement results for 0.1 deg (Mechanical) step movement.)
• Returns to the control software window without closing the Scope and Measurement window.
①
• Measuring the step response with different measurement conditions.
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• The step response waveform displays (blue).
(The above display is the measurement results for 0.12 deg (Mechanical) step movement.)
• Press the REF button. ②
• The response waveform (gray) saved in reference data is overwritten.
REF
MAIN
②
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• Press the following button when you want to delete the waveform display for each of MAIN (blue)
and REF (gray).
MAIN button ③ -> Wfm OFF button ⑤
REF button ④ -> Wfm OFF button ⑤
To display again, press the MAIN, or OFF buttons.
③ ④
⑤
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4.3. Raster Scan
Execute oscillation of a fixed angle at a fixed frequency.
Control Software
②
①
③
④
⑤
・Select the Raster Scan tab. ①
・Select an axis for raster scan. ②
・Specify the operation parameters (Scan Time, Scan Angle, Duty, and Interval). ③
・Press the Scan Start button to start operation. ④
・Press the Scan Stop button to stop operation. ⑤
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RS-232C command
・ Raster scan interval setting (Parameter ID = 26)
・ Raster scan duty ratio setting (Parameter ID = 27)
・ Raster scan oscillation angle setting (Parameter ID = 28)
・ Scan start (Command ID = 23 Data = 3)
・ Scan stop (Command ID = 23 Data = 0)
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Users Manual 1.20
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4.4. Position Command Input by High-speed Serial Communication
In order to carry out a vector scan, target position data is given to the controller by high-speed serial
communication, and the data is updated as required.
It is possible to change the mode of the controller to the mode of receiving target position data by
high-speed serial communication. For changing the mode, it is necessary to enter high-speed serial
communication signals into the controller in advance.
Control Software
①
・ Switch HiSpeed Serial to Start. ①
This switching makes the controller follow target position data by high-speed serial communication.
・ Switch HiSpeed Serial to OFF. ②
Input of the MOVE command is awaited.
RS-232C commands
・ Switch to high-speed serial communication (Command ID = 23 Data = 7)
・ Return to internal clock operation (Command ID = 23 Data = 0)
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5. Monitor Output and Digital Input Functions
The controller has an analog monitor output connector for monitoring the operation status and a digital
I/O connector for external signal input.
5.1. Connector Pin Assignment
The controller is equipped with the following:
Analog monitor output connector ×1
Digital I/O connector ×1
Digital I/O
connector
Analog monitor output
connector
In order to evaluate this galvano scanner, the above output connectors are connected, and a monitor
board for evaluation that can confirm analog output signals and the I/O of a digital signal is prepared
as an optional product. Please contact the Sales Department for details.
The signal name is displayed on the evaluation monitor board. Please check the signal after referring
to the table of the following pin arrangement.
CANON Digital Galvano Scanner System GM-1000 Series
Users Manual 1.20
Monitor Board for
evaluation
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Evaluation Monitor Board Pin Assignment
Pin Assignment of the optional monitor board for evaluation is as follows.
D15
D16
D1
D18
D9
D10
D12
GND GND
Digital I/O
D4
D5
D1
D2
D3 D6 D11
A7
A8
A5
A6
Analog Monitor
A3
A4
A1
A2
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Analog monitor output connector
Connector model number
Connector Model No. Manufacturer
Board side XG4C-1034 OMRON
Cable side XG4M-1030-T OMRON
Connector pin assignment
Monitor Board for
Pin No.
1 A1 Axis 1 current command value
2 A2 Axis 1 analog monitor 1 (Monitor item switching)
3 A3 Axis 1 analog monitor 2 (Monitor item switching)
4 A4 Axis 1 analog monitor 3 (Monitor item switching)
5 A5 Axis 2 current command value
6 A6 Axis 2 analog monitor 1 (Monitor item switching)
7 A7 Axis 2 analog monitor 2 (Monitor item switching)
8 A8 Axis 2 analog monitor 3 (Monitor item switching)
9 A9 Analog GND
10 A10 Analog GND
The controller has three monitor terminals for each of the two axes to check the operation status.
The output signal contents can be changed and the output magnification can also be changed.
(For details, see 5.2. “Analog Monitor Output Selecting”)
Evaluation
Signal Name
Signal Description
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Digital I/O connectors
Connector model number
Connector Model No. Manufacturer
Board side 8931E-020-178L KEL
Cable side 8925E-020-179 KEL
Connector pin assignment
Monitor
Pin
No.
A1 D1 Output Axis 1 error 1 (Priority high) High : Error See Circuit 1 below.
B1 D2 Output Axis 1 error 2 (Priority low) High : Error See Circuit 1 below.
A2 D3 Output Axis 1 servo interrupt period Edge See Circuit 1 below.
B2 D4 Output Axis 2 error 1 (Priority high) High : Error See Circuit 1 below.
A3 D5 Output Axis 2 error 2 (Priority low) High : Error See Circuit 1 below.
B3 D6 Output Axis 2 servo interrupt period Edge See Circuit 1 below.
A4 DG1 - GND
B4 DG2 - GND
A5 D9 Input External Sampling Signal ↑: INT generation See Circuit 2 below.
B5 D10 Input External Trigger Signal High : ON See Circuit 2 below.
A6 D11 Input Start up mode switching See Circuit 2 below.
B6 D12 No connection
A7 DG3 - GND
B7 DG4 - GND
A8 D15 No connection
B8 D16 No connection
A9 D17 No connection
B9 D18 No connection
A10 No connection
B10 No connection
board for
evaluation
Signal
Name
I/O Signal Description Logic Remarks
Connection specifications
(Circuit 1)
(Circuit 2)
CANON Digital Galvano Scanner System GM-1000 Series
Users Manual 1.20
FPGA
3.3V-TTL, max. 3 mA
FPGA
3.3V-TTL
R: 100Ω Connector
R: 100Ω Connector
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5.2. Analog Monitor Output Selecting
The analog monitor output can be switched to monitor various operation and signal statuses.
This switching can be executed from [Control Software] or [RS-232C command send].
Output contents
Terminal
2 (Axis 1)
6 (Axis 2)
3 (Axis 1)
7 (Axis 2)
4 (Axis 1)
8 (Axis 2)
The signal level differs between signals. The output magnification can be switched individually.
Monitor Board
Signal Name
A2 (Axis 1)
A6 (Axis 2)
A3 (Axis 1)
A7 (Axis 2)
A4 (Axis 1)
A8 (Axis 2)
Power-on
Selection
Phase A of Encoder Head 1
Phase A of Encoder Head 2
Phase A of encoder after synthesis
* Positional deviation signal 1.5 mV / pulse
Position 0.091 mV / pulse
* Velocity 0.091 mV / pulse / 10
Coarse angle
Fine angle
Phase B of Encoder Head 1
Phase B of Encoder Head 2
Phase B of encoder after synthesis
* Target position 0.091 mV / pulse
Signal Description Signal Level (At
Power-on)
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Control Software
②
③ ④
・Select the Monitor tab. ①
・Select the Monitor tab. ①
①
⑤
・Select an axis for monitor output switching. ②
・Select the monitor item of each output terminal. ③
・Select an output signal magnification. ④
・Press the SET button. ⑤
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Note:
・The analog monitor output is from the D/A converter of the controller.
Since the output range of the D/A converter is from -3 to +3 V, output is repeated by the
magnification setting if it exceeds this range.
・The relationship between encoder pulse and angle differs depending on the galvano motor.
This command resets the system to the initial status after start up.
However, the parameter values are retained.
If a high-priority error requiring soft reset occurs (see 10.2. , “Errors” for details), execute
this command after resolving the cause.
Command ID = 2: Homing Start
If only reset is executed, homing is necessary for a return.
If a low-priority error occurs (see 10.2. , “Errors” for details), execute this command for a
return. If this command is not executed, other commands cannot be accepted. The
parameters and other set values are retained.
This command starts or stops servo control.
Turning servo control off makes the motor axis free.
When the controller is operating on the internal clock, servo control starts at the servo
ON position. When the controller is operating on high-speed serial communication and a
target position is entered, the scanner moves to the target position after the start of
servo control.
Command
Name
Command
Name
Command
Name
Command
Name
Soft Reset
Error Clear
Homing Start
Servo ON
CANON Digital Galvano Scanner System GM-1000 Series
Users Manual 1.20
Usual movement: After a target position is set, this command is executed to start step
movement.
Movement to the raster scan’s start position: After setting the raster scan condition
settings, this command is executed to move to the start position.
Step movement procedure
Command ID = 10: Target Value Setting Mode
Command ID = 20: Target Position Setting
Command ID = 8: Data = 0: Step Movement Start
Raster scan movement procedure
Parameter ID = 26: Raster Scan Interval Setting
Parameter ID = 27: Raster Scan Duty Ratio Setting
Parameter ID = 28: Raster Scan Oscillation Angle Setting
Command ID = 8 Data = 6: Movement to the raster scan initial position
Command ID = 23 Data = 3: Raster Scan Start (Continuous) Command ID = 23 Data = 0: Raster Scan Stop
This command is used to specify a position coordinate system for setting by “Command
ID = 20: Target Position Setting.”
Before setting a target position, this command should be executed.
Explanation
Absolute position: Position with the origin as 0
Relative position: Distance from the current position
This command should be executed each time a target position is set because its setting
is not retained after the start of movement.
Step movement procedure
Related
Command
Command ID = 10: Target Value Setting Mode
Command ID = 20: Target Position Setting
Command ID = 8 Data = 0: Movement Start
Command ID 11
Data
Return
0: Controller temperature
1: Motor temperature
Thermistor voltage A/D converted value
Value
A/D converted value
Explanation
A/D converted value
Command
Name
Command
Name
Motor Thermistor A/D converted value
4000
3500
3000
2500
2000
1500
1000
500
0
2030405060708090100110
Temperature(℃)
Controller Thermistor A/D converted value
4000
3500
3000
2500
2000
1500
1000
500
0
2030405060708090100110
Temperature(℃)
Target Value Setting Mode
Thermistor Temperature Read
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Command ID 12
0: Current position
Data
Return
Value
Explanation Command ID = 30: Program Coordinate System
Command ID 13
Data
Return
Value
Explanation
Command ID 14
Data -
Return
Value
Explanation
1: Current target value (Program origin)
2: Current target value (Absolute position)
Position (Pulse)
0: Main DSP
1: Sub DSP
Ver. No.
Status (16 bits)
Each status can be checked by each bit after conversion into 16-bit display.
Bit Abbreviation Meaning Hex Format
0 SRVON Servo ON 0x0001
1 SYNC Counter 0-position confirmed 0x0002
2 INPOS Settlement in in-position range 0x0004
3 ALARM Error 0x0008
4 ORGN Homing to origin 0x0010
5 PROG Program coordinate setting 0x0020
6
7
8 MOVE Moving (including scan) 0x0100
9 CMODE Control mode 0 : PI
10 WARN Encoder signal warning 0x0400
11
12 TARGET Target position 0: Absolute position
1: Relative position
13 ACC Acceleration control 0 : OFF
1 : ON
14 SETPOS Target position set 0x4000
15
Note: Return value of the command is a decimal number.
Command
Name
Command
Name
Command
Name
1 : LQ
Current Position Read
Version Read
Status Read
0x0200
0x1000
0x2000
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