Canon GC-201, GM-1000 User Manual

CANON Digital Galvano Scanner System

GM-1000 Series
GC-201

Users Manual

Rev. 1.20

Be sure to read this guide before using the product.
Keep this guide carefully for future use.

For Safe and Correct Use

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

use of this product.

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

Markings

This guide uses the following markings:

Warning

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

Caution

This indicates the possibility of injury or damage to property.

Warning

・Do not use the product in an atmosphere of inflammable or explosive gas or vapor.

・Use the product at the specified voltage.

・Connect the power supply line correctly.

・Do not install, operate, maintain, or inspect the product with wet hands.

・Do not disassemble or alter this product.

・Do not drop or cause impact to the product.

Caution

・Before installation, operation, maintenance, or inspection, thoroughly check that the device is safe.

・When connecting a connector, check the pin numbers with the power off.

・When connecting oscilloscope probes to the test pins, be careful not to apply tension to them.

・Since this product is a precision device, use it under the specified environmental conditions.

・Do not store or transport this product in a place exposed to direct sunlight, moisture, dust, or temperature

of 60ºC or higher.

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Contents

1. Product Outline ............................................................................................................................. 5

1.1. Features ............................................................................................................................................ 5

1.2. Configuration ..................................................................................................................................... 5

2.

Specifications ................................................................................................................................ 6

2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020) ........................................................................ 6

2.2. Controller (GC-201) ........................................................................................................................... 7

2.3. Dimensions ....................................................................................................................................... 8

2.4. Power Supply .................................................................................................................................. 11

2.5. Connections .................................................................................................................................... 11

2.6. Connector and Pin Assignment ....................................................................................................... 13

2.7. Optional Cables ............................................................................................................................... 17

2.8. Control Specifications ...................................................................................................................... 19

2.8.1. Number of Encoder Pulses .................................................................................................... 21

2.8.2. RS-232C command input .................................................................................................. 22

2.8.3. High-speed serial communication .................................................................................... 26

2.8.3.1. Origin Offset ....................................................................................................................... 32

2.8.3.2. High-speed serial communication motor drive timing ......................................................... 33

2.8.4. Status (High-speed Serial Communication STS) .......................................................... 34

2.8.5. RS-232C Communication Command Input and High-Speed Communication

Switching .......................................................................................................................................... 37

2.9. Heat Radiation and Installation........................................................................................................ 38

3. Software .......................................................................................................................................... 39

3.1. Supported PC Environment ............................................................................................................. 39

3.2. Installation CD ................................................................................................................................. 39

3.3. Control Software Installation ........................................................................................................... 40

3.4. Software Start Up ............................................................................................................................ 43

3.5. Control Screen ................................................................................................................................ 45

4.

Operating Procedure ............................................................................................................... 47

4.1. Controller Start Up ........................................................................................................................... 47

4.2. Step Movement ............................................................................................................................... 49

4.2.1. Step Movement Responce Time Measurement ............................................................ 51

4.2.1.1. Measurement Data Display Zoom Method ......................................................................... 54

4.2.1.2. Reference Data Comparison Method ................................................................................. 56

4.3. Raster Scan .................................................................................................................................... 59

4.4. Position Command Input by High-speed Serial Communication ..................................................... 61

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5. Monitor Output and Digital Input Functions ............................................................. 62

5.1. Connector Pin Assignment .............................................................................................................. 62

5.2. Analog Monitor Output Selecting ..................................................................................................... 66

5.3. Digital Input-Output Function ........................................................................................................... 69

6.

Other - Operation Setting ..................................................................................................... 70

6.1. Setting Controller Start Up Mode..................................................................................................... 70

6.2. Controller LED Display .................................................................................................................... 72

6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan) ............................... 74

7.

Tuning .............................................................................................................................................. 76

7.1. Tuning ............................................................................................................................................. 76

7.2. Frequency Characteristic (FFT) Measurement ................................................................................ 77

7.3. Easy Auto Tuning ............................................................................................................................ 81

7.4. X and Y Axis Matching ..................................................................................................................... 87

8.

Commands .................................................................................................................................... 95

8.1. List of Commands ........................................................................................................................... 95

8.2. Command Details ............................................................................................................................ 97

9.

Parameters .................................................................................................................................. 108

9.1. List of Parameters ......................................................................................................................... 108

9.2. Parameter Details .......................................................................................................................... 110

9.3. Modifying Parameters ................................................................................................................... 126

9.4. Writing Parameters into ROM ....................................................................................................... 127

9.5. Saving a Parameter File ................................................................................................................ 128

10.

Safety Functions .................................................................................................................... 129

10.1. Safety Functions .......................................................................................................................... 129

10.2. Errors .......................................................................................................................................... 130

11.

Appendix ..................................................................................................................................... 132

11.1. Firmware Update ......................................................................................................................... 132

11.1.1. Writing Procedure ................................................................................................................ 133

11.2. Parameter Changes from the Number of Encoder Divisions ....................................................... 137

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1. Product Outline

1.1. Features

The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision

optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the

controller.

This system has the following features:

z High positioning precision

z Low temperature drift

z Fast and stable operation by a unique control system

z Easy tuning with parameter settings

1.2. Configuration

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

Galvano motor: Encoder-mounted galvano motor

GM-1010

GM-1015

GM-1020

Controller: Digital servo-controller

GC-201

IF board: IF board for high-speed serial communication

GC-422

GC-LVDS

Extension cable: Extension cable for galvano motor and controller connection

GM-EC10, 20, 30

GM-MC10, 20, 30

････ Encoder extension cable (1, 2, 3 m)

････ Motor extension cable (1, 2, 3 m)

････ Beam diameter: φ8 to φ10 mm

････ Beam diameter: φ10 to φ15 mm

････ Beam diameter: φ15 to φ30 mm

････ Controller for two-axis control

････ IF board for 5V-TTL (RS-422)

････ IF board for LVDS level

Controller

IF board

Motor extension
cable

Galvano motor

Encoder
extension cable

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2. Specifications

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

Performance and shape

Conforming

beam diameter

Scan angle

Encoder cycle

number

Number of encoder

pulses

Command

resolution

Torque constant

Weight

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

Environmental conditions

GM-1010 GM-1015

Φ8 to φ10 φ10 to φ15

±20 deg ±20 deg

1000 pulses/rotation 1500 pulses/rotation

8,192,000 pulses 12,288,000 pulses 12,288,000 pulses

0.77 μrad 0.51 μrad

0.0127 Nm/A 0.0226 Nm/A

200 g 300 g

GM-1020

φ15 to φ30

±20 deg

1500 pulses/rotation

0.51 μrad

0.0415Nm/A

600g

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.

Part names

Stopper

Motor cable

Encoder

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Users Manual 1.20

Encoder cable

6

2.2. Controller (GC-201)

Performance and Dimensions

GC-201

Number of control axes 2

Control sampling 100 kHz

Maximum drive current Peak 10 A (each axis)

Interface RS-232C , High-speed serial communication(XY2-100)

Digital notch filter ×2

Notch filter

Weight 350 g

Environmental conditions

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

Storage temperature and humidity -20 to 60ºC, 90% RH or less (No condensation)

Digital low-pass filter ×1

Analog notch filter ×2

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

radiation conditions.

Section names

Mounting screw

hole (M3 × 4)

Mounting screw

hole (φ3.5 × 4)

Heat radiation

frame

IF board

Digital board (upper)

Analog board (lower)

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φ

φ

2.3. Dimensions

GM-1010

36 36 6

-0.005

φ5 -0.015

0

φ22 -0.03

GM-1015

33

32 (Clamp area)

Motor cable Encoder cable

36

46

6

-0.005

φ6 -0.015

-0

φ28 -003

33

42 (Clamp area)

Encoder cable

Motor cable

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φ

GM-1020

Encoder Cable

43

42.7

56

Motor Cable

7.5

-0.005

51.4 (Clamp Area)

-0

φ7 -0.015

φ36 -003

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GC-201

118

7

10

4-M3

33

38

80

88

5

5

120

125

4-φ3.5

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2.4. Power Supply

Power supply specifications

+24 V ± 10% (For motor drive) Peak 10 A × 2 axes

RMS 2.5 A × 2 axes

(RMS value differs according to operating conditions, the above conditions GM-1010, Ymirror、

±5°, 200Hz)

+5 V ± 5% (For control circuit) 2.8 A

2.5. Connections

Digital

input/output

IF board

High-speed serial

communication

RS-232C

+24 V power

+5 V power

Axis 2

Axis 1

Galvano motor

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Note:

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

caution when connecting.

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

caution when connecting.

+5V

+

－

+24V

－－＋＋

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2.6. Connector and Pin Assignment

(Connector types)

⑦

⑥

⑧

③

⑤

④

⑨

①

②

①

②

③

④

⑤

⑥

Axis 1 motor encoder connector

Axis 2 motor encoder connector

+5 V power supply

+24 V power supply

RS-232C

High-speed serial communication

⑦

⑧

⑨

Digital input/output

Analog monitor

Fan power supply (+24 V)

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(Connector model number & pin assignment)

③ +5 V power supply

(Connector model number)

Connector Model No. Manufacturer

Board side S2P-VH JST

Cable side VHR-2N JST

(Connector pin assignment)

Pin No. Signal Description

1 +5 V

2 GND

④ +24 V power supply

(Connector model number)

Connector Model No. Manufacturer

Board side S4P-VH JST

Cable side VHR-4N JST

(Connector pin assignment)

Pin No. Signal Description

1 +24 V input for Axis 1

2 +24 V input for Axis 2

3,4 GND

⑤ RS-232C

(Connector model number)

Connector Model No. Manufacturer

Board side S03B-PASK-2 JST

Cable side PAP-03V-S JST

(Connector pin assignment)

Pin No. Signal Description

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

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

3 GND

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⑥ High-speed Serial Communication

(Connector model number)

Connector Model No. Manufacturer

Board side SM12B-PASS-1-TB JST

Cable side PAP-12V-S JST

(Connector pin assignment )

Pin No. Signal Name Signal Description

1 CLK- Clock (-)

2 CLK+ Clock (+)

3 FS- Frame sync (-)

4 FS+ Frame sync (+)

5 DAT(AXIS 1) - Axis 1 Target position data (-)

6

7 DAT(AXIS 2) - Axis 2 Target position data (-)

8

9 STS- Status (-)

10 STS+ Status (+)

11 GND System GND

12 FG Frame GND

DAT(AXIS 1)＋

DAT(AXIS 2)＋

Axis 1 Target position data (+)

Axis 2 Target position data (+)

The signal levels depend on the IF board.

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

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

⑦ Digital I/O

See 5.1. “Connector Pin Assignment”

⑧ Analog Monitor

See 5.1. “Connector Pin Assignment”

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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

for operations.

In the case of the GM-1010 for example

1 rotation (360°) = 1,000 cycles = 1,000 × 8,192 = 8,192,000 pulses

1° (angle of equipment) = 8,192,000 pulses × 1 / 360 = 22,756 pulses

Resolution = 360° ÷ 8,192,000 pulses = 0.0000429° = 0.77 urad

Each motor is as follows.

Motor type GM-1010 GM-1015, GM-1020

Included encoder cycles / 1

rotation

Number of pulses 8,192,000 pulses 12,288,000 pulses

Command resolution (1 pulse) 0.77 urad 0.51 urad

360°

1,000 cycles 1,500 cycles

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2.8.2. RS-232C command input

RS-232C command input allows the following:

• Operation setting

• Parameter setting

• Error processing

• Status check

(For details, see 8. “Commands”)

In case not using high-speed serial communication, RS-232C communication command input is enough

for the following function:

• Step movement

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

(Communication specifications)

Wiring Cross wiring

Communication rate 38400 bps

Data length 8 bits

Stop bit 1

Parity None

Data format ASCII code

Delimiter code LF (0x0a) or CR (0x0d)

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(Command specifications)

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

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

Command send

A Axis No. C Command ID / Data Delimiter

Axis No.

1 or 2

Command

Command ID

Decimal, 3-digit
(See 7.1 for details)

Data

Added to command as

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.

1 or 2

Command

Command ID

Decimal, 3-digit

(See 7.1 for details)

Return value

Delimiter

LF or CR

Delimiter

LF or CR

E.g. Servo ON ID = 4 Data = 1

A1C004 / 1 (LF)

(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a)

A 1 C 0 0 4 / 1 (LF)

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Parameters of the GC-201 can be changed by the following sending method to the controller.

Also in response to parameters sent, the controller always returns a reply with data.

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

When a parameter is changed, in order to start up with the same setting the next time power is turned

on, it is necessary to write the changed parameter to the ROM.

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

(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on

the changed values, the controller may not start normally.)

Parameter send

A Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Command ID

Decimal, 3-digit
(See 7.1 for details)

Parameter setting

Decimal

E.g. LQ gain parameter ID = 6 Data = 4500

A1P006 / 4500 (LF)

(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)

A 1 P 0 0 6 / 4 5 0 0 (LF)

Parameter reply

A Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Command ID

Decimal, 3-digit
(See 7.1 for details)

Parameter setting

successful / unsuccessful

0 or 1

Delimiter

LF or CR

Delimiter

LF or CR

E.g. LQ gain parameter ID = 6 Data = 4500

A1P006 / 4500 (LF)

(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)

A 1 P 0 0 6 / 0 (LF)

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

When writing parameters to ROM, a reply that definitely contains data will be sent by a controller.

The content of data is different by a parameter. (For details, see 9.2. “Parameter Details”)

(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on

the changed values, the controller may not start normally.)

Parameter ROM Write send

E Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Parameter ID

Decimal, 3-digit
(See 7.1 for details)

Parameter setting

Decimal

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)

Delimiter

LF or CR

Parameter ROM Write reply

E Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Parameter ID

Decimal, 3-digit
(See 7.1 for details)

Parameter setting

successful / unsuccessful

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)

Delimiter

LF or CR

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A

1

A

1

2.8.3. High-speed serial communication

To control the mirror to an arbitrary position by marking or any other application, target position data

updated as required can be given to the controller by using high-speed serial communication.

By setting, the controller can be started up in the mode of tracking a target position specified by

high-speed serial communication. (For details, see 6.1. “Setting Controller Start Up Mode”)

(Communication specifications)

Base clock (CLK) 2 MHz

Frame sync (FS) 100 kHz

Data (DAT) 20 bits (Position data: 16 bits)

Status (STS) 20 bits

Transmission system Differential signal

Signal level

(Selectable by the optional IF board)

(Timing Diagram)

5V-TTL, LVDS

Timing Diagram

CLK

2MHz

1234567891011121314151617181920

FS

DAT (AXIS 1)

DAT (AXIS 2)

STS

AXIS 1 DATA -1 AXIS 1 DATA

AXIS 2 DATA -1 AXIS 2 DATA

Status -1 Status Status +1

Input Signal to GC-201 : CLK , FS , DAT
Ounput Signal from GC-201 : STS

As indicated in the above timing diagram, it is necessary to always continuously input the CLK, FS,

XIS 1 DATA +

XIS 2 DATA +

and DAT signals to the GC-201. In the event that the signal is disconnected, or the signal’s timing is

incorrect, the GC-201 will output an error signal (Clock Lack). (For details, See 10.2. “Errors”.)

When switching to high-speed serial communication mode, or starting up in high-speed serial

communication mode when turning on the controller’s power supply, input of the high-speed serial

communication signal (all of CLK, FS, and DAT) beforehand is necessary.

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

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

It is possible to switch the length of data used as target position data from the DAT (AXIS1), DAT (AXIS

2) 20 bit (every 100 kHz) signals. Please set appropriately to match the signal specifications of the

scanner controller that outputs a high-speed serial communication signal, and other output equipment.

Note: The length of data input in the GC-201 is always 20 bit (every 100 kHz). The bits of the target

position data that get used and sent are switched from within 20 bit data.

When there is a big difference in the target position specified in the high-speed serial communication,

and the actual operation position, it is possible this parameter setting is incorrect. Please verify.

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

two following parameters.

(Target position data length)

Can be changed by 16 bit – 20 bit.

Parameter ID DATA

16: 16bit Data *

17: 17bit Data

67

(Data position)

The least significant bit position of the target position data of high-speed serial communication 20bit

data can be set by following parameter. The specified number of bits is shifted right, making the target

position data.

Parameter ID DATA

68

18: 18bit Data

19: 19bit Data

20: 20bit Data

0: 0bit position

1: 1bit position *

2: 2bit position

3: 3bit position

4: 4bit position

With the default settings at shipping, the setting is * (16 bit position data length, data least significant bit 1

bit position). This communication specification is compatible with XY2-100. When using the scanner

controller of XY2-100 specifications, please use this setting.

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(Paramete

Examples of the settings are as follows.

(Example 1) Parameter ID = 67 16

Parameter ID = 68 1

XY2-100 specification compatible

Bit

DATA (AXIS 1)

DATA (AXIS 2)

1234567891011121314151617181920

N N ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N

N N ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N

(Parameter

16bit

パラメータ

(

ID = 67) (

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

(Example 2) Parameter ID = 67 16

Parameter ID = 68 3

1bit

(Parameter

パラメータ

ID = 68)

Bit

DATA (AXIS 1)

DATA (AXIS 2)

1234567891011121314151617181920

ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N N N

ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N N N

(Example 3) Parameter ID = 67 18

Parameter ID = 68 2

Bit
DATA (AXIS 1)
DATA (AXIS 2)

1234567891011121314151617181920

D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 N N
D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 N N

(Example 4) Parameter ID = 67 20

Parameter ID = 68 0

Bit
DATA (AXIS 1)
DATA (AXIS 2)

1234567891011121314151617181920

D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0

16bit

パラメータ

(Parameter

(

18bit

パラメータ

(

(Parameter

ID = 67) (

ID = 67) (

(Parameter

(Parameter

3bit

パラメータ

2bit

パラメータ

ID = 68)

ID = 68)

20bit

パラメータ

(

ID = 67) (

r

(Parameter

0bit

パラメータ

ID = 68)

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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 pluses Motor rotating angle

Motor

Number of pluses Motor 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.

CANON Digital Galvano Scanner System GM-1000 Series
Users Manual 1.20

0x8000 0 0

0x0000 ＋32768 pulses ＋0.96 deg

29

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 pluses Motor rotating angle

Number of pluses Motor 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) 0 Axis1data bit19
S18 (reserve) 0 Axis1data bit18
S17 (reserve) 0 Axis1data bit17
S16 POW OK 0 Axis1data bit16
S15 TEMP OK 0 Axis1data bit15
S14 (reserve) 0 Axis1data bit14
S13 Axis2 INPOS Axis1 READY Axis1data bit13
S12 Axis1 INPOS
S11 (reserve)
S10 0 Axis1 INPOS Axis1data bit10
S09 1 0 Axis1data bit9 Axis2 data bit9 Axis1(2) data bit9
S08 POW OK 0 Axis1data bit8 Axis2 data bit8 Axis1(2) data bit8
S07 TEMP OK 0 Axis1data bit7 Axis2 data bit7 Axis1(2) data bit7
S06 (reserve) 0 Axis1data bit6 Axis2 data bit6 Axis1(2) data bit6
S05 Axis2 INPOS 0 Axis1data bit5 Axis2 data bit5 Axis1(2) data bit5
S04 Axis1 INPOS 0 Axis1data bit4 Axis2 data bit4 Axis1(2) data bit4
S03 (reserve) Axis2 READY Axis1data bit3 Axis2 data bit3 Axis1(2) data bit3
S02 0
S01 1
S00 (reserve) Axis2 INPOS Axis1data bit0 Axis2 data bit0 Axis1(2) data bit0

Mode-0 Mode-1 Mode-2 Mode-3 Mode-4

xis1 ALARM 1Axis1data bit12Axis2 data bit12Axis1(2) data bit12
xis1 ALARM 2Axis1data bit11Axis2 data bit11 Axis1(2) data bit11

xis2 ALARM 1Axis1data bit2 Axis2 data bit2 Axis1(2) data bit2
xis2 ALARM 2Axis1data bit1 Axis2 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

35

• 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 Windows “START” - “Programs” - “Canon Scanner” - “Control Software”.

・ Setting the COM port

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 ③ ④ ⑤ ⑥

⑫
⑬

⑩ ⑪

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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47

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

CANON Digital Galvano Scanner System GM-1000 Series
Users Manual 1.20

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.

52

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 data This 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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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.

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Monitor Board for

evaluation

62

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)

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3.3V-TTL, max. 3 mA

FPGA

3.3V-TTL

R: 100Ω Connector

R: 100Ω Connector

65

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.

E.g. GM-1010

360° = 1000 pulses × 8,192 divisions = 8,192,000 pulses

1° = 8,192,000 pulses / 360° = 22,756 pulses

At the monitor output position (0.091 V/pulse), the analog monitor output changes:

1° = 22,756 × 0.091 = 2.071 V

When the magnification is 1x, and there is a position change of 0° → 1°, analog output will

change from 0V → 2.071V.

E.g. GM-1015 , GM-1020

360° = 1500 pulses × 8,192 divisions = 12,288,000 pulses

1° = 12,288,000 pulses / 360 = 34,133 pulses

At the monitor output position (0.091 V/pulse), the analog monitor output changes:

1° = 34,133×0.091 = 777 mV

When the magnification is 1x, and there is a position change of 0° → 1°, analog output will

change from 0V → 777 mV.

RS-232C Commands

・ Monitor Output Selection (A2, A8) Command ID = 40

・ Monitor Output Selection (A3, A9) Command ID = 41

・ Monitor Output Selection (A4, A10) Command ID = 42

・ Monitor Magnification Setting (A2, A8) Command ID = 44

・ Monitor Magnification Setting (A3, A9) Command ID = 45

・ Monitor Magnification Setting (A4, A10) Command ID = 46

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5.3. Digital Input-Output Function

The controller has a digital input-output function for checking the status of the controller.

Pin

No.

A1

B1

B2

A3

A2

B3

In addition, the following digital I/O is prepared as an operation setting of the controller.

Pin

No.

A5 Input External Sampling Signal

I/O Signal Description Logic Explanation

Output Axis 1 Error 1 (Priority high) High: Error If an error occurs, the

Output Axis 1 Error 2 (Priority low) High: Error

Output Axis 2 Error 1 (Priority high) High: Error

Output Axis 2 Error 2 (Priority low) High: Error

Output Axis 1 servo interrupt period Edge Output is timed according to

Output Axis 2 servo interrupt period Edge

I/O Signal Description Logic Explanation

↑: INT

generation

corresponding error signal is
output.

According to the priority of the

error, Error 1 or 2 is output.

See 9-2, “Errors.”

an internal controller servo
interrupt..

Input when an external signal is

used for servo sampling clock.

(Do not use it usually.)

See 6-2, “Operation that

B5 Input External Trigger Signal High: FG_ON

A6 Input Start up mode switching

synchronizes with external

trigger signal input (raster scan)

See 6-1, “Setting Controller Start

Up Mode”

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6. Other - Operation Setting

6.1. Setting Controller Start Up Mode

Clock selection

With the default settings at shipping, a parameter is set to start up the controller in RS-232C

communication command input mode (internal clock). When assembling the device, however, the

mode can be switched for start up with an external clock (high-speed serial communication). For this

switching, the following parameter is set:

Parameter ID Data

64

P64 = 1: Start up with internal clock

Bit 1 0: RS-232C communication command input
1: High-speed serial communication

P64 = 3: Start up by high-speed serial communication

(Bit 0 of P64 is used to enable or disable encoder correction when homing to the origin; it is usually set

to 1. For details, see 9.2. , “Parameter Details”)

Start up mode

Power-on usually executes the following automatically:

・Reading parameters from EEPROM

・Starting homing and servo control

If there is a problem with the parameters read from EEPROM or if oscillation occurs when homing and

servo control are executed automatically, the start up mode can be changed.

For this switching, the switches (SW1 and SW2) on the controller board and the logic of the digital I/O

terminal (A6) are combined.

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Axis 1

SW2

SW1

1

2

SW1

OFF

SW2

ON

SW1-2 Terminal A6

Auto EEPROM

Read

12

OFF

ON

Auto Homing

OFF 0 Disabled Disabled

OFF 1 or open Enabled Disabled

ON 0 Enabled Disabled

ON 1 or open Enabled Enabled

Axis 2

SW2-2 Terminal A6

OFF 0 Disabled Disabled

OFF 1 or open Enabled Disabled

ON 0 Enabled Disabled

ON 1 or open Enabled Enabled

: Setting at shipping

Auto EEPROM

Read

Auto Homing

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6.2. Controller LED Display

The controller (GC-201) is equipped with an LED that indicates the controller status.

After turning on the power, when the controller starts up normally, the display will be as follows.

LED1

(Blinks in approx 2 sec. intervals)

LED2

(Blinks in approx 2 sec.intervals)

LED3

(Blinks in approx 1 sec. intervals)

LED4 (Red)

(Not turns on)

LED5 (Red)

(Not turns on)

LED7

(Turns on)

LED6

(Turns on)

Meaning of each LED

LED No. Meaning Remarks

Always blinks in approximately 2 sec. intervals if

LED1 DSP1 operation (for Axis 1)

DSP1 start up correctly.

Always blinks in approximately 2 sec. intervals if

LED2 DSP1 operation (for Axis 2)

DSP1 start up correctly.

Always lit if FPGA start up correctly.

LED3 FPGA Start up

This LED (red) is lit when a malfunction occurs with

LED4 ALARM display (for Axis 1)

the controller.

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A response is necessary after confirming the error

details with the control software, or RS-232C

command ID = 15 error read.

This LED (red) is lit when a malfunction occurs with

the controller.

LED5 ALARM display (for Axis 2)

LED6 DSP2 operation (for Axis 1)

LED7 DSP2 operation (for Axis 2)

Note: When connecting only one axis of the motor and operating the controller (GC-201), an error will

always occur for the axis that is not connected. As a result, either LED4 or LED5 will light up, however,

as there is no problem with the operation of the connected axis, use it as is.

A response is necessary after confirming the error

details with the control software, or RS-232C

command ID = 15 error read.

Always lights in approximately 1 sec. intervals if

DSP2 start up correctly.

Always lights in approximately 1 sec. intervals if

DSP2 start up correctly.

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6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan)

“4.3. Raster Scan” can be operated in synchronization with an external trigger signal.

The Movement Pattern

There are two kinds of movement patterns.

① (The raster scan of one coming and going operates whenever the external trigger signal is input.)

Raster Scan position

(Current Angle Position)

Angle

External Trigger Signal

Voltage

② (The raster scan of one way operates whenever the external trigger signal is input.)

Raster Scan position

(Current Angle Position)

External Trigger Signal

Angle

Voltage

① and ② operation pattern can be selected by RS-232C command (Command ID = 23 ‘Operation

Mode setting‘)

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Input the external trigger signal

The external trigger signal is input from the digital I/O connector.

(See 5-1 ‘Connector Pin Arrangement)

Connector pin arrangement

Pin

No.

B5 Ｄ10 Input External Trigger Signal High: ON See Circuit below.

Connection Specifications

3.3V TTL Input

Operation procedure

(Raster Scan Parameter Settings)

･Set Parameter ID =26 Raster Scan Time Setting

･Set Parameter ID =27 Raster Scan Duty Ratio Setting

･Set Parameter ID =28 Raster Scan Angle Setting

(Raster Scan Operation)

Monitor Board

Signal Name

FPGA

3.3V-TTL

I/O Signal Description Logic Remarks

R : 100Ω Connector

･Send Command ID=8 Data=6 Movement Start (Movement to the initial position

of a raster scan)

･Send Command ID=23 Data=8 (One way scan)

Data=9 (One coming and going)

(Reference: Data = 3 in case of continuous operation)

･Input the external trigger Signal

･Send Command ID=23 Data=0 Scan Stop

Notes

・ The external trigger input during raster scan move is ignored.

・ From the external trigger signal input, until the time actual operation starts, there can be a

fluctuation of up to a maximum of 10 usec.

Select either

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7. Tuning

7.1. Tuning

At the time of shipping, with the combination of the galvano motor and controller (GC-201), appropriate

servo tuning has been completed.

The following tools have been prepared to check malfunctions during use, and handling trouble such

as mirror damage.

• Control software

It is possible to check servo tuning related parameters and make changes from the control

software’s Servo Setting tab.

Note: Changes are not usually made to the parameters. Settings with inappropriate parameter

values can cause abnormal operations such as oscillations.

• Frequency characteristic (FFT) measurement

It is possible to check the servo tuning status.

(See 7.2 Frequency Characteristic (FFT) Measurement for details)

• Auto tuning

When adjusting servo tuning, in order to exchange a damaged mirror, an easy auto tuning

program is required.

However, use of this function is limited to the mirror shape provided by the setting file (definition

file).

(See 7.3 Easy Auto Tuning for details)

• X and Y axis matching

This function automatically matches the step movement response waveform of Axis 1, and Axis 2.

(See 7.4 X, Y Matching for details)

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7.2. Frequency response (FFT) Measurement

The control software includes a function to measure the frequency response of the galvano scanner

motor.

Frequency response measurement is used in the following situations.

Initial frequency responses are saved, and these are compared to confirm changes with frequency

response when malfunctions occur. You can determine whether the cause of the malfunction is with

the motor or servo settings.

Operations

②

①

③

• Confirm the Servo ON status of the axis being measured.

The status of SYNC, INPOS, and SRVON are all ON (green).

• Select the Servo Setting tab ①

• Select the axis no. to measure (Axis #1 or #2) ②

• Press the Frequency Response button ③

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②

• The frequency characteristic measurement window appears

• Set the frequency range and number of points to measure ①

(The above is with defaults of 1 kHz ~ 50 kHz and 150 points input)

• Press the BODE button ②

(Press the Abort button to stop while measuring)

①

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①

Drag and move

④

③

②

• The frequency characteristic measurement results display.

• By dragging the cursor (point where red lines intersect), specified frequency detailed information

(measured frequency points, gain, and phase) will display ②

• Press the File Save button to save measurement results (saves in CSV file format) ③

• It is possible to read and display measurement results that were saved in the past. Press the File

Open button to specify the saved CSV saved file ④

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Saved data can be compared with the current measurement results in the window.

④

①

• Read and display saved data by pressing the File Open button (blue) ①

• Register reference data with the Save MAIN to REF button ②

• Measure with the BODE button ③

• Data (blue) measured with ③ displays overwriting reference data (gray). ④

③

②

Note:

When comparing with past measurement data, even when there are no problems, it may not

match exactly due to the influence of measurement error.

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7.3. Auto Tuning

Servo tuning of galvano scanner motors and controllers are set appropriately by Canon at the time of

shipping, however, an auto tuning function is included in the controller software in the following

situations for tuning again.

- When you want to replace a damaged mirror

- When oscillation occurs to change of the motor status or load status and you want to carry out

appropriate servo tuning

This auto tuning function can only be used when the following conditions have been met.

- The load to exchange (mirror, mirror holder) is the same design as the previous one

- The load is servo tuned once at Canon, and an auto tuning dedicated setting file is provided

(please contact your sales representative)

- Load attachment conditions for the motor are the same as the previous one

(The torque tightness of the mirror holder is the same, and torque tightness is listed on the

Inspection Sheet at the time of shipping)

Note:

In order to use this auto tuning function in this case, a dedicated setting file for the load is necessary.

This function is not for fully automatic tuning of an arbitrary (unknown) load.

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Operations

①

②

③

• Need to change the mechanical setting so that can operate in a range ±15°(Mechanical Angle) ,

when excute the auto tuning. Because that auto tuning program operate the motor in a range ±

15°(Mechanical Angle) .

• Turn OFF high-speed serial ①

• Select the Servo Setting tab ②

• Press Auto Tuning ③

• Input the password (canon)

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• Display of the Auto Tuning screen

④

⑤

⑥

⑧

⑦

• Select the setting file (Definition File). ④

Setting files will be provided by Canon.

• When necessary, select parameter files to load in the controller prior to tuning. ⑤

Check the “Load Parameter File before start” checkbox and specify the parameter file. Use in

situations when you want to load a parameter file and then carry out tuning.

Parameter files to be loaded will be prepared by the user. Refer to 9.5 for the file creation method.

• Select the folder for results (Result Folder). ⑥

Tuning results will be saved.

• Select the axis. ⑦

⑨

Select the axis connected to the motor and mirror that corresponds to the Definition File.

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• Input the serial number. ⑧

A folder with the same name as the number input here is generated in the saved results folder, and

tuning results are saved. Usually the controller’s serial number is input, however, any number that

is easy for the user to manage may be input.

• Pressing the Start button. Then starts the tuning. ⑨

⑩

⑪

⑫

⑬

⑭

• The name of the motor and mirror to be tuned will display in Target Galvano. ⑩

• Details of the current tuning being carried out display in Command. ⑪

• Detailed tuning operation conditions display in Execution Log. This log is saved as a text file of

tuning results in the saved results folder. ⑫

• Press the Stop button to stop while tuning. ⑬

• Press the End button to close the tuning menu. ⑭

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• When tuning is completed the following message displays, and tuning results are saved to

EEPROM.

Saved Results Folder

The saved results folder is composed as follows.

Folder specified as

the result save folder

Results Folder

Results File

The following files are saved in the axis number folders after tuning.

• LOWGAIN.CSV

Frequency response characteristics with no filter and low gain

• TORQUE.CSV

Torque correction data

Serial number

00000001 #1

00000002

Axis number

#2

#1

#2

• STEP.CSV

Step waveform after tuning

• HIGHGAIN.CSV

Frequency response characteristics after tuning

• Param.TXT

Parameter file after tuning

• Report.txt

Log messages currently being executed

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Parameters Changed During Auto Tuning

The following parameters are adjusted or changed by the auto tuning.

ID Meaning

2 Max Velocity

6 LQ Control Gain

7 Torque Constant

8 Total Inertia

9 Current Limit

10 Encoder Periodicity

11 Origin Clear Timing (Head 1)

12 Sampling Time

14 Origin Clear Timing (Head 2)

16 #1 Notch Filter Frequency

17 #1 Notch Filter Q (x 100)

18 #1 Notch Filter Depth

19 #2 Notch Filter Frequency

20 #2 Notch Filter Q (x 100)

21 #2 Notch Filter Depth

22 Low-pass Filter Cutoff Frequency

23 #1 Analog Notch Filter Frequency

24 #2 Analog Notch Filter Frequency

25 #3 Analog Notch Filter Frequency

32 Torque Peak Offset

40 Feed Forward Gain

42 Over-shoot Control

44 PES Limit

45 Loop Gain Fine Adjustment

48 VR Head 1 A/B Offset

49 VR Head 1 A gain

50 VR Head 1 B gain

51 VR Head 2 A/B Offset

52 VR Head 2 A gain

53 VR Head 2 B gain

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7.4. X and Y Axis Matching

It is possible to match the step response waveforms of the X axis (Axis #1) and Y axis (Axis #2).

(Summary of Operations)

• Matching the frequency response

This operation matches the frequency response of both axes at 1 kHz. Gain is adjusted with “loop

gain fine adjustment” (parameter ID = 45). Phase is adjusted with “Notch filter Q value” (parameter

ID = 17 and 20) of each axis.

• Matching the step response overshoot

This operation matches the overshoot of the step response waveforms for each axis. It is carried

out after matching the frequency response. Overshoot is adjusted with “Over-shoot

Control“(Parameter ID = 42).

(Operating Conditions)

• Both axis motors are connected to controller.

• Both axis use digital notch filter for tuning.

The X and Y match may not function in some situations other than the above conditions. In this case

an error will occur during tuning, and it will stop.

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Operations

②

①

③

• Turn OFF high-speed serial ①

• Select the Servo Setting tab ②

• Press XY Matching ③

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• Display of the X and Y Matching screen

• Select the axis side with no margin for tuning (phase margin, gain margin) as the Reference.

Usually a large mirror load is attached to the Axis #2 (Y axis) side, Axis #2 will be the Reference.

With X and Y matching, the frequency response of another Axis will be adjusted to the frequency

response of the Reference side.

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• By pressing the SETUP button, operating conditions during FULL AUTO can be set. Usually default

parameter settings will operate correctly.

• Frequency Frequency when measuring the frequency response

• GAIN

Max Change Permissible change rate from the original gain setting value.

If this value is exceeded, the operation will be stopped with an error.

Target Range Adjustment takes place so the margin of error between both axis is

lower than this value.

• Q

Fine Step Amount of step adjustment for Q

Max Change Permissible change rate from the original Q setting value.

If this value is exceeded, the operation will be stopped with an error.

Target Range Adjustment takes place so the margin of error between both axis is

lower than this value.

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• Press the FULL AUTO and tuning starts.

• Operation details display in the log messages while operating.

• The gray waveform is the Reference waveform.

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• Adjusting the frequency response.

• Adjusting the amount of overshoot.

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• When the overshoot amount adjustment is completed, the waveforms match.

• Save the tuning results to EEPROM. Refer to 9.4. Writing Parameters into ROM.

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Individual parameters can be adjusted by the user.

• Press the MANUAL button. ①

• It will display like the diagram to the right.

• Press INITIALIZE first. ②

③

• Pressing MEASURE BODE carries out the frequency

response measurement, and displays the waveforms.

• By changing the GAIN [dB] value and measuring the

frequency response, the Gain waveform will move up

and down according to the GAIN value.

• By changing the Q value and measuring the

frequency response, the Phase waveform will move

up and down according to the Q value.

• Adjust so that the gray waveform and black waveform

overlap.

④

• Pressing MEASURE STEP carries out the step

response measurement, and displays the step

waveforms.

• Change the FFGain and Overshoot values, measure

the step response, and adjust so that the gray

waveform and black waveform overlap.

⑤

①

②

③

④

⑤

• Starting with HiSpeed Serial makes it possible to

adjust individual parameters while operating

high-speed serial communications.

• Save the tuning results to EEPROM. Refer to 9.4. Writing Parameters into ROM.

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8. Commands

The controller has a monitor output (analog output) terminal for monitoring the RS-232C command

operation status and an external signal input terminal for controller operation.

8.1. List of Commands

ID Command Name Data Data Return Value

Soft Reset Yes 0: Auto homing

0

1 Error Clear

2 Homing Start

Servo ON Yes 0: OFF

4

Control Mode Specification Yes 0: PI

7

Movement Start Yes 0: Step movement start

8

9 Forced Stop

Target Position Setting Yes 0: Absolute

10

Thermistor Temperature Read Yes 0: Controller temperature

11

Current Position Read Yes 0: Current position

12

1: Reset only

1: ON

1: LQ

6: Initial position of raster scan

1: Relative

1: Motor temperature

1: Current target value
(Program origin)
2: Current target value
(Absolute position)

A/D converted
value of thermistor
voltage

Position (Pulse)

Version Read Yes 0: Main DSP Ver

13

14 Status Read Status(16bit)

15 Error Read Error (16bit)

Acceleration Control Yes 0: OFF

18

20 Target Position Setting Yes Target position (pulse)

22 Target Velocity Setting Yes Target velocity (pulse/second)

23 Operation Mode Selection Yes See “Command Details.”

26 Parameter Value Check Yes Parameter ID Parameter value

Program Coordinate System Yes 0: Z phase

30

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1: ON

1: Program origin

Ver. No

95

ID Command Name Data Data Return Value

Monitor Output Selection A2
(A8)

40

Yes 0: Head1 A phase signal

1: Head2 A phase signal
2: Corrected A phase signal
3: Deviation signal

Monitor Output Selection A3
(A9)

41

Yes 0: Current position signal

1: Velocity signal
2: Corrected encoder count
3: Encoder interpolation data

Monitor Output Selection A4
(A10)

42

Yes 0: Head1 B phase signal

1: Head2 B phase signal
2: Corrected B phase signal
3: Target position signal

Monitor Output Select Check Yes 0: A2 (A8) Monitor

43

1: A3 (A9) Monitor
2: A4 (A10) Monitor

Monitor Magnification Setting

44

A2 (A8)

Monitor Magnification Setting

45

A3 (A9)

Monitor Magnification Setting

46

A4 (A10)

Yes N: Magnification (x 2

Yes N: Magnification (x 2

Yes N: Magnification (x 2

N

)

N

)

N

)

47

161

Monitor Magnification Check Yes 0: A2 (A8) Monitor Magnification

1: A3 (A9) Monitor Magnification
2: A4 (A10) Monitor Magnification

Counter Clear Timing Yes 0: Axis 1

1: Axis 2

0 or 1

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8.2. Command Details

Command ID 0

Data

Return

Value

Explanation

Related

Command

Command ID 1

Data -

Return

Value

Explanation

Command ID 2

Data -

Return

Value

Explanation

Related

Command

Command ID 4

Data

Return

Value

Explanation

0: Reset + Automatic homing
1: Reset only

0: Command execution successful
1: Command execution unsuccessful

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.

0: Command execution successful
1: Command execution unsuccessful

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.

0: Command execution successful
1: Command execution unsuccessful

This command detects the origin.
If the status is already SYNC after origin detection, this command executes homing to
the origin only.

Command ID = 0: Soft Reset

If only soft reset is executed, origin detection is necessary.

0: OFF
1: ON

0: Command execution successful
1: Command execution unsuccessful

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

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Command ID 7

Data

Return

Value

Explanation LQ control is usually used.

Command ID 8

Data

Return

Value

Explanation

Related

Command

Command ID 9

Data -

Return

Value

Explanation

Related

Command

0: PI control
1: LQ control

0: Command execution successful
1: Command execution unsuccessful

0: Step movement start
6: Movement to the initial position of raster scan

0: Command execution successful
1: Command execution unsuccessful

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

0: Command execution successful
1: Command execution unsuccessful

This command is used for a stop before the target position during movement by
Command ID = 8.

Command ID = 8 Data = 0: Movement Start

Command

Name

Command

Name

Command

Name

Control Mode Specification

Movement Start

Forced Stop

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Command ID 10

Data

Return

Value

0: Absolute position
1: Relative position

0: Command execution successful
1: Command execution unsuccessful

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

20 30 40 50 60 70 80 90 100 110

Temperature（℃）

Controller Thermistor A/D converted value

4000
3500
3000
2500
2000
1500
1000

500

0

20 30 40 50 60 70 80 90 100 110

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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