Canon GC-251 User Manual

CANON Digital Galvano Scanner System

GC-251
KP-1SM30

、

SM100

Users Manual

Rev. 1.00

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

For Safe and Correct Use

To prevent injury to the user or damage to property, this guide gives information for the safe and correct use of this
product.
Before installation, operation, maintenance, or inspection, be sure to read this guide.

Markings

This guide uses the following markings:

Warning

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

Caution

This indicates the possibility of injury or damage to property.

Warning

・Do not use the product in an atmosphere of inflammable or explosive gas or vapor.
・Use the product at the specified voltage.
・Connect the power supply line correctly.
・Do not install, operate, maintain, or inspect the product with wet hands.
・Do not disassemble or alter this product.
・Do not drop or cause impact to the product.



Caution

・Before installation, operation, maintenance, or inspection, thoroughly check that the device is safe.
・When connecting a connector, check the pin numbers with the power off.
・When connecting oscilloscope probes to the test pins, be careful not to apply tension to them.
・Since this product is a precision device, use it under the specified environmental con dit io ns.
・Do not store or transport this product in a place exposed to direct sunlight, moisture, dust, or temperature of 60ºC

or higher.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

2

Contents

1. Product Outline

1.1 ··· Features ··········································································································· 5

1.2 ··· Configuration ·································································································· 5

2. Specifications

2.1 Galvano Motor (KP-1SM30, SM100) ······························································ 6

2.2 Controller (GC-251) ························································································ 7

2.3 Outline Drawing ······························································································ 8

2.4 Power Supply ································································································ 10

2.5 Connections ·································································································· 10

2.6 Connector Pin Arrangement ········································································ 11

2.7 Control Specifications ·················································································· 15

2.7.1 RS-232C command ·············································································· 16

2.7.2 High Speed Serial Communication ······················································ 20

2.8 Heat Radiation and Installation ···································································· 26

3. Software (GALILEO)

3.1 Supported PC Environment ········································································· 27

3.2 Installation ····································································································· 27

3.3 Activation ······································································································· 30

3.4 Control Screen ······························································································ 32

4. Operating Procedure (Quick Start)

4.1 Controller Activation ···················································································· 34

4.2 Step Movement ····························································································· 36

4.3 Raster Scan ··································································································· 37

4.4 Position Command Input by High-speed Serial Communication ············· 38

5. Monitor Output and Digital Input Functions

5.1 Connector Pin Arrangement ········································································ 39

5.2 Analog Monitor Output Switching ······························································· 42

5.3 Digital Input-Output Function ······································································ 45

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

3

6. Other - Operation Setting

6.1 Setting Controller Activation Mode ····························································· 46

6.2 Operation that synchronizes with external trigger Signal input ··············· 48

7. Commands

7.1 List of Commands ························································································· 50

7.2 Details of Commands ··················································································· 52

8. Parameters

8.1 List of Parameters ························································································· 64

8.2 Details of Parameters ··················································································· 67

8.3 Modifying Parameters··················································································· 82

8.4 Writing Parameters into ROM ······································································ 83

8.5 Saving a Parameter File ················································································ 84

9. Safety Functions

9.1 Safety Functions ··························································································· 85

9.2 Errors ············································································································· 86

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

4

r

1. Product Outline

1.1. Features

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

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

controller.

This system has the following features:

・High positioning precision
・Low temperature drift
・Fast and stable operation by a unique control system
・Easy tuning by parameter setting

1.2. Configuration

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

Galvano motor: Encoder-mounted galvano motor
KP-1SM30 ････ Beam diameter: φ10 to φ20 mm
KP-1SM100 ････ Beam diameter: φ20 to φ30 mm
Controller: Digital servo-controller
GC-251 ････ Controller for two-axis control
IF board: IF board for high-speed serial communication
GC-422 ････ IF board for 5V-TTL (RS-422)
GC-LVDS ････ IF board for LVDS level

Extension cable: Extension cable for galvano motor and controller connection

GM-EC ････ Encoder extension cable
GM-MC ････ Motor extension cable

Controller

IF Board

Galvano Motor

Encoder Signal
Board

Moto
Extension Cable

Encoder
Extension Cable

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

5

2. Specifications

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

Performance and shape

KP-1SM30 KP-1SM100

Conforming

beam diameter

Scan angle ±20 deg ±20 deg

Number of encoder

pulses

Command resolution 0.036 μrad 0.036 μrad

Torque constant 0.041 Nm/A 0.093 Nm/A

Weight 0.95kg 1.65kg

(Reference) Command resolution
The controller of this system divides one encoder cycle into 2048.
KP-1SM30,SM100 is controlled by the following command resolution:
83328 pulses × 2048 divisions = 170655744 pulses/rotation (360°)

360°/ 170655744 = 0.000002109° = 0.036urad

Environmental conditions

Operating temperature and humidity

Storage temperature and humidity

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

radiation conditions.

Φ10 to φ20 Φ20 to φ30

83328 pulses/rotation 83328 pulses/rotation

23℃±10℃, 80% RH or less (No condensation)
–20 to 60ºC, 90% RH or less (No condensation)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

6

2.2. Controller (GC-251)

Performance and shape

GC-251

Number of control axes 2

Control sampling 100 kHz

Maximum drive current 10 A (each axis)

Interface

Notch filter

Weight 500 g

Environmental conditions

Operating temperature and humidity

Storage temperature and humidity

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

radiation conditions.

Section names

High-speed serial communication for position input (XY2-100)
Control RS-232C

Digital notch filter ×2
Digital low-pass filter ×1
Analog notch filter ×3

0 to 50ºC, 90% RH or less (No condensation)

-20 to 60ºC, 90% RH or less (No condensation)

Mounting screw

Heat radiation

hole (M3 × 4)

frame

Mounting screw

hole (φ3.5 × 4)

IF board

Digital board (upper) Analog board (lower)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

7

2.3. Outline Drawing
KP-1SM30

φ56

（126.2）

37

11. 5

7.5

3-M4 Depth 8

Φ

48

 0

φ6.35 -0.01

φ34

φ36h7

KP-1SM100

TBD

Thermistor Cable

Motor CableEncorder Cable

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

8

GC-251

118

7

10

4-M3

33

38

80

88

5

5

120

125

4-φ3.5

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

9

2.4. Power Supply

Power supply specifications

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

+5 V ± 5% 2.8 A (For control circuit)

2.5. Connections

Digital
Input/Output

IF board

High Speed serial
Communication

RS-232C

+24V power

+5V power

Axis2

Axis1

Encoder Signal
Board

Galvano motor

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

10

2.6. Connector Pin Arrangement

(Connector types)

⑦

⑥

⑧

③

⑤

④

⑨

①

②

①
②
③
④
⑤
⑥

Axis 1 motor encoder

Axis 2 motor encoder

+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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

11

(Pin arrangement)

③+5 V power supply

Connector model number

Connector Model No. Manufacturer

Board side S2P-VH JST

Cable side VHR-2N JST

Connector pin arrangement

Pin No. Signal Description

1 +5 V

2 GND

④+24 V power supply

Connector model number

Connector Model No. Manufacturer

Board side S4P-VH JST

Cable side VHR-4N JST

Connector pin arrangement

Pin No. Signal Description

1 +24 V input for Axis 1

2 +24 V input for Axis 2

3,4 GND

⑤RS-232C

Connector model number

Connector Model No. Manufacturer

Board side S03B-PASK-2 JST

Cable side PAP-03V-S JST

Connector pin arrangement

Pin No. Signal Description

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

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

3 GND

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

12

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 arrangement

Pin No.

1 CLK- Clock (-)

2 CLK+ Clock (+)

3 FS- Frame sync (-)

4 FS+ Frame sync (+)

5 XD- Axis 1 data (-)

6 XD+ Axis 1 data (+)

7 YD- Axis 2 data (-)

8 YD+ Axis 2 data (+)

9 STS- Status (-)

10 STS+ Status (+)

11 GND System GND

12 FG Frame GND

The signal levels depend on the IF board.

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

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

Signal
Name

Signal Description

⑦Digital I/O



See 5-1 , “Connector Pin Arrangement”

⑧Analog Monitor



See 5-1 , “Connector Pin Arrangement”

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

13

⑨Fan Power Supply

Connector model number

Connector Model No. Manufacturer

Board side S04B-PASK-2 JST

Cable side PAP-04V-S JST

Connector pin arrangement

Pin No. Signal Description

1 +24 V Output

2 GND

2 Fan Rotation Error (Open collector Input)

3 (No connection)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

14

2.7. Control Specifications

The controller (GC-201, GC-101) is operated by:

• RS-232C command input

• High-speed serial communication

In addition, either the internal clock or external clock (high-speed serial communication) can be

selected for operation.

Internal Clock

Clock input

Target position

command

Operation setting

parameter setting

With the default settings at shipping, power-on activates the controller with the internal clock.

The parameter can be set so that the controller starts with the external clock after power-on.

For activation with the external clock, however, signal input by high-speed serial communication is

Clock pulses generated by the
controller internal circuit

RS-232C command High-speed serial communication

RS-232C command RS-232C command

(High-speed serial communication)

High-speed serial communication
clock pulses

command

(When RS-232C command input

mode is set, a high-speed serial

communication command is

ignored.)

External Clock

necessary at power-on.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

15

2.7.1 RS-232C command input

RS-232C command input allows the following:

• Operation setting

• Parameter setting

• Error processing

• Status check

(For details, see 7, “Commands.”)

If position data send by high-speed serial communication is disabled, RS-232C command input is

enough for the following:

• Step movement

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

(Communication specifications)

Wiring Cross wiring

Communication rate 38400 bps

Data length 8 bits

Stop bit 1

Parity None

Data format ASCII code

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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

16

(Command specifications)

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

The data contents depend on the command. (For details, see 7-2, “Command Details.”)

Command send

A Axis No. C Command ID / Data Delimiter

Axis No.

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
0 or 1

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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

17

Parameter of controller can be changed by the following sending method to controller.

Also in response to parameter send, the controller always returns a reply with data.

The data contents depend on the command. (For details, see 7-2, “Command Details.”)

When changed a parameter of it, to start it by the same setting in power supply on at the next
time; the parameter that changed, it is necessary to write in it at ROM.

Parameter send

A Axis No. P Command ID / Data Delimiter

Axis No.

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 Command 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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

18

For the ROM Write of the parameter, a reply with data has been sent by all means by a controller.
The content of data is different by a parameter. (For details, see 7-3, “Parameter Details.”)

（Note） Please make the ROM write of the parameter after enough confirmation. Depending on
value for change, the controller may not start normally.

Parameter ROM Write send

E Axis No. P Command ID / Data Delimiter

Axis No.

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

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 Command 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

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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

19

T

E

2.7.2 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 activated in the mode of tracking a target position specified by

high-speed serial communication. (For details, see 6-1, “Setting Activation Mode.”)

(Communication specifications)

Base clock (CLK) 2 MHz

Frame sync (FS) 100 kHz

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

Status (STS) 20 bits

Transmission system Differential signal

Signal level

(Selectable by the optional IF board)

5V-TTL, LVDS

TimingDiagram

CLK

FS

2MHz

1234567891011121314151617181920

XDAT XData-1 XData XData+1
YDAT YData-1 YData YData+1
STS Status-1 Status Status+1

(Bit)
XDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P

16bit

YDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P

Data

STS S19S18S17S16S15S14S13S12S11S10S9S8S7S6S5S4S3S2S1S0
(Bit)

20bit

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

Data

STS S19S18S17S16S15S14S13S12S11S10S9S8S7S6S5S4S3S2S1S0

CLK Frequency : 2MHz
XDAT,YDA

STS S19..S0 : (StatusTable)
InputsignalfromPC : CLK,FS,XDAT,YDAT

OutputsignalfromDRIV

1234567891011121314151617181920

1234567891011121314151617181920

(16bitData) C2..C0 : Header(un-used)

(20bitData) D19..D0 : PositionData(SignedIntegerdata)

D15..D0 : PositionData(SignedIntegerdata)
P : Parity(un-used)

:STS

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

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

20

Note: For setting high-speed serial communication mode or controller activation in high-speed serial

communication mode at power-on, high-speed serial communication signals are necessary. Enter the

CLK, FS, and DAT signals in advance.

For how to set the activation mode, see 6-1, “Setting Activation Mode.”

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

21

(Target Position Data) XDAT、YDAT

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

The target position data length can be changed in 16bit – 20bit.

Parameter ID DATA

16： 16bit Data※
17： 17bit Data

６７

18： 18bit Data
19： 19bit Data
20： 20bit Data

The least significant bit position of the target position data of high-speed serial communication
20bit data can be set by following parameter.
The right shifts this number of bit make the target position data.

Parameter ID DATA

0： 0bit position
1： 1bit position※

６８

2： 2bit position
3： 3bit position
4： 4bit position

An example of the setting as follows.

(Bit) 1234567891011121314151617181920

16bit

XDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P

Data

YDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P

Parameter ID = 67 16

Parameter ID = 68 1

(Bit) 1234567891011121314151617181920

18bit

XDAT D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 C1 C0

Data

YDAT D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 C1 C0

Parameter ID = 67 18

Parameter ID = 68 2

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

22

(Bit) 1234567891011121314151617181920

20bit

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

Data

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

Parameter ID = 67 20

Parameter ID = 68 0

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

Motor rotating angle for the high-speed serial communication data

・ In the case of 16bit position data

Data: 1 for one pulse that can be specified up to the following positions:

Maximum position: 0xFFFF = 32767 pulses = About 5.76 deg (GM-1010)

0-pulse position: 0x8000 = 0

Minimum position: 0x0000 = –32768 pulses = About –5.76 deg (GM-1010)

If a greater angle is specified, set a magnification by using the High-speed Serial Communication

Conversion Gain parameter (Parameter ID = 13)

E.g.  For x2 (Setting: 2000), the following angle can be specified:
–5.76 × 2 deg to 5.76 × 2 deg
 The command resolution will be two times.

・ In the case of 20bit position data

Data: 1 for one pulse that can be specified up to the following positions:

Maximum position: 0xFFFF = 524287 pulses

0-pulse position: 0x8000 = 0

Minimum position: 0x0000 = –524287 pulses

Maximum movable range is set with Parameter ID = 0, 1 (CW limit, CCW limit).
The position data of high-speed serial communication can not exceeded this range.

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

23

（Status） STS

The status of controller is sent by status line (STS) of high-speed serial communication.
The contents of status sending from a controller can be changed by the following parameter.

Parameter ID Data

1： Controller Condition

６６

Each status contents are as follows.

StatusTable

S19 0 XPositionDataBit19 YPositionDataBit19 AxisFlag
S18 0 XPositionDataBit18 YPositionDataBit18 X(Y)PositionDataBit18
S17 0 XPositionDataBit17 YPositionDataBit17 X(Y)PositionDataBit17
S16 0 XPositionDataBit16 YPositionDataBit16 X(Y)PositionDataBit16
S15 0 XPositionDataBit15 YPositionDataBit15 X(Y)PositionDataBit15
S14 0 XPositionDataBit14 YPositionDataBit14 X(Y)PositionDataBit14
S13 YREADY XPositionDataBit13 YPositionDataBit13 X(Y)PositionDataBit13
S12 YALARM2 XPositionDataBit12 YPositionDataBit12 X(Y)PositionDataBit1 2
S11 YALARM1 XPositionDataBit11 YPositionDataBit11 X(Y)PositionDataBit1 1
S10 YINPOS XPositionDataBit10 YPositionDataBit10 X(Y)PositionDataBit10
S9 0 XPositionDataBit9 YPositionDataBit9 X(Y)PositionDataBit9
S8 0 XPositionDataBit8 YPositionDataBit8 X(Y)PositionDataBit8
S7 0 XPositionDataBit7 YPositionDataBit7 X(Y)PositionDataBit7
S6 0 XPositionDataBit6 YPositionDataBit6 X(Y)PositionDataBit6
S5 0 XPositionDataBit5 YPositionDataBit5 X(Y)PositionDataBit5
S4 0 XPositionDataBit4 YPositionDataBit4 X(Y)PositionDataBit4
S3 XREADY XPositionDataBit3 YPositionDataBit3 X(Y)PositionDataBit3
S2 XALARM 2 XPositionDataBit2 YPositionDataBit2 X(Y)PositionDataBit2
S1 XALARM 1 XPositionDataBit1 YPositionDataBit1 X(Y)PositionDataBit1
S0 XINPOS XPositionDataBit0 YPositionDataBit0 X(Y)PositionDataBit0

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

2： Current position (Axis 1)
3： Current position(Axis 2)
4： Current position(Axis1 , Axis2)

AxisFlag=0第１軸
AxisFlag=1 第２軸

1: Controller Condition

Output the status of the controller.

READY ： Servo ON and ready to control by high-speed serial communication.
ALARM1 : Alarm output (priority high)

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

(priority high)’ , ‘ Axis 2 Error 1(priority high)’ )

ALARM2 : Alarm output (priority low)

(See 5-3 Digital Input-Output Function. Same meaning as ‘Axis 1 Error 2

(priority low)’ , ‘ Axis 2 Error 2(priority low)’ )

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

24

INPOS ： In-position signal

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



2: Current position (Axis 1)

Output the Axis 1 encoder position.

Position Data length: 20bit. 。

3: Current position (Axis 2)

Output the Axis 2 encoder position.

Position Data length: 20bit. 。

4: Current position (Axis1, Axis2)

The encoder position of the Axis 1 and the Axis 2 is alternately output.

be output.)

Position Data length: 21bit. 。

The first 1bit shows the axis (Axis Flag).

Axis Flag = 0 Axis 1

 Axis Flag = 1  Axis 2

Note: After the position of the encoder is actually detected, the encoder position status is

output after a delay of 2 servo sampling. (1 servo sampling = 10μsec)

Note: Only when controlling by high-speed serial communications, the status output is output.

It is not output when operating with the internal clock (raster scan and movement in the step).

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

25

2.8. Heat Radiation and Installation

Since the controller and motor generate heat, their heat radiation should be considered carefully.

Generated heat depends on the operating conditions. Determine a heat radiation method according to

the operating conditions.

The controller and motor have a temperature detection sensor (thermistor) at the heat generating

section. As a safety function, the thermistor stops control if the detector temperature reaches:

Controller About 70ºC

Motor About 70ºC

(For details, see 9, “Safety Functions.”)

The controller and motor require heat radiation so that their temperatures will not exceed the above values.

Controller installation methods

The controller can be installed by either Method A or B below.

At installation, put the controller frame in contact with a heat-radiating structure (heat sink or cabinet).

Method A has higher heat radiation efficiency. However, select either method by considering the

operating conditions and cable routing. When installing the controller frame, apply thermal grease or

attach a thermal conductive sheet to the contact surface.

Under some operating conditions, forced air cooling by a fan is necessary. Cool the heat-radiating

structure (heat sink or cabinet) and the controller.

A B

Output amplifier

Control circuit

In addition to the output amplifier, which is the main source of heat, the control circuit section (DSP)

generates heat.

Allow as much space as possible around the equipment.

Caution

The controller becomes hot during operation.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

26

3. Software

The controller (GC-201, 101) comes with dedicated control software “GALILEO (Galvano Integrated

Leading Operator (GALILEO).”

GALILEO makes the following controller operations easy:

・Parameter setting
・Servo tuning (Frequency characteristic measurement)
・Status check
・Operation setting (Step movement and raster scan)

Most of the functions that can be performed by GALILEO can also be executed by external command

input through RS-232C connection without using GALILEO. This manual describes operations both by

GALILEO and by external command input.

Note: The following function can be executed by GALILEO only, and not by external command input:

・Frequency characteristic measurement

3.1. Supported PC Environment

Supported OS MS-Windows 2000, XP, Vista

Connection port RS-232C port (with USB-RS-232C conversion cable)

3.2. Installation

・ Insert the accessory application CD into the CD drive.

・ Execute Setup.exe in the GALILEO folder.

D：\

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

27

・ Press the Next button.

・ Specify an installation folder and press the Next button.

(Recommendation: Do not change usually.)

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

28

・ Press the Next button.

・ Press the Close button. This completes installation.

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

29

3.3. Activation

・ Connect the controller and the PC with the optional RS-232C cable.

・ Click “START” - “Programs” - “Canon Scanner” - “GALILEO”.

・ 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 depends on the controller status.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

30

・ 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

GALILEO can be activated after power to the controller has been turned on. Then communication

starts automatically. (“CONNECT” is displayed.)

Note: The value of each item on the above screen depends on the controller status.

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

31

3.4. Control Screen

This section explains the buttons and other items on the control screen.

② ③ ④ ⑤ ⑥

①
⑦

⑧

⑨

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 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 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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

32

Starting origin detection

⑤

⑥

⑦

⑧

⑨
⑩

⑪

⑫

Servo ON/OFF Start or stop servo control.

High-speed serial

communication

selection

Tab selection

Control display

Status display The controller status of two axes is displayed.

Soft reset Press this button for soft reset.

Command input

screen

DSP version

Select the high-speed serial communication command or internal
command for position specification. (For details, see Chapter 4.)
(Start = High-speed serial communication, OFF = Internal
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.

Allows direct command input.

The version of the controller software is displayed.
During troubleshooting, the support staff may ask for the version
number.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

33

4. Operating Procedure

This chapter explains how to use the system.

Operations by [GALILEO] and by [RS-232C command] are explained together.

4.1. Controller Activation

When the power (+5 V, +24 V) is turned on, the controller first does the following automatically:

・Reads saved parameters from ROM
・Homes to the origin
・Corrects the encoder (high-speed oscillation of a fixed angle)

It takes about 15 seconds until the controller is activated.

With the default settings at shipping, the controller is activated with the internal clock.

The completion of activation can be confirmed as follows:

GALILEO

Changes to

‘CONNECT’

Note: At activation, the status temporarily changes to “DISCONNECT” and the ALARM lamp lights

(about 5 s). This is not an error. Wait for a while.

CANON Digital Galvano Scanner System
Users Manual 1.00

Lit



KP-1SM Series + GC-251

34

RS-232C command

Send Command ID14 “Status read”

SRVON, SYNC, INPOS = High

ORGN = Low

(For details, see 7-2, “Command Details.”)

and check the following:

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

35

4.2. Step Movement

Execute step movement for a fixed angle.

GALILEO

②

①

③

・Select the Step Move tab. ①
・Select an axis for step movement. ②
・Specify the displacement (angle and pulse count) for relative position (STEP) and absolute
position. ③
・Press the MOVE button (either positive or negative position direction can be specified). ③

RS-232C command

・ Target value setting mode (Command ID = 10)
・ Target position setting (Command ID = 20)
・ Movement start (Command ID = 8)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

36

4.3. Raster Scan

Execute oscillation of a fixed angle at a fixed frequency.

GALILEO

①

②

③

④ ⑤

・Select the Raster Scan tab. ①
・Select an axis for raster scan. ②
・Specify the operation parameters (Scan Time, Scan Angle, and Duty). ③
・Press the Scan Start button to start operation. ④
・Press the Scan Stop button to stop operation. ⑤

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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

37

4.4. Position Command Input by High-speed Serial Communication

For a vector scan, give target position data to the controller by high-speed serial communication, The

data is updated as required.

Switch the controller to the status of receiving target position data by high-speed serial communication.

For switching, it is necessary to enter high-speed serial communication signals into the controller in

advance.

GALILEO

①

・Select an axis for high-speed serial communication. ①
・Switch HiSpeed Serial to Start. ②

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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

38

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 Arrangement

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

The monitor board for the evaluation that can do the analog output signal confirmation and the I/O of

a digital signal is prepared as an optional product. Please contact the Sales Department.

CANON Digital Galvano Scanner System
Users Manual 1.00

Monitor Board for

evaluation



KP-1SM Series + GC-251

39

The signal name is displayed on the evaluation monitor board. Please check the signal after referring

to the table of the following pin arrangement.

Analog monitor output connector

Connector model number

Connector Model No. Manufacturer

Board side XG4C-1034 OMRON

Cable side XG4M-1030-T OMRON

Connector pin arrangement

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 Switching.”)

Monitor Board

Signal Name

Signal Description

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

40

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 arrangement

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 Activation 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
Signal
Name

I/O Signal Description Logic Remarks

Connection specifications

(Circuit 1)

(Circuit 2)

CANON Digital Galvano Scanner System
Users Manual 1.00

FPGA

3.3V-TTL, max. 3 mA

FPGA

3.3V-TTL

R: 100Ω Connect

R: 100Ω Connect



KP-1SM Series + GC-251

41

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 [GALILEO] or [RS-232C command send].

Output contents

Terminal

A2 (Axis 1)
A6 (Axis 2)

A3 (Axis 1)
A7 (Axis 2)

A4 (Axis 1)
A8 (Axis 2)

The signal level differs between signals. The output magnification can be switched individually.

Power-on

Selection

Phase A of Encoder Head 1

Phase A of Encoder Head 2

Phase A of encoder after synthesis

* Positional deviation signal 1.46 mV / pulse

Position 0.091 mV / pulse

* Velocity 0.091 mV / pulse / 10 usec

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)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

42

GALILEO

③ ④

②

①

⑤

・Select the Monitor tab.①
・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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

43

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 looped by magnification

setting if it exceeds this range.

・The relationship between encoder pulse and angle depends on the galvano motor.

KP-1SM30

360° = 83328 pulses × 2048 divisions = 170655744 pulses

0.01° = 170655744 pulses / 360° ×0.01 = 4740 pulses

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

0.01° = 4740 × 0.091 = 431 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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

44

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) 1: Error If an error occurs, the

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

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

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

Output Axis 1 servo interrupt period Edge These are output at a servo

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.”

interrupt timing in the
controller.

When external signal is used for

servo sampling clock.

(Do not use it usually.)

See 6-2, “Operation that

B5 Input External Trigger Signal High：ON

A6 Input Activation mode switching

synchronizes with external

trigger Signal input(raster scan)

See 6-1, “Setting Controller

Activation Mode”

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

45

6. Other - Operation Setting

6.1. Setting Controller Activation Mode

Clock selection

With the default settings at shipping, a parameter is set to activate the controller with the internal clock.

When assembling the device, however, the mode can be switched for activation with an external clock

(high-speed serial communication). For this switching, the following parameter is set:

Parameter ID Data

64

P64 = 1: Activation with internal clock

P64 = 3: Activation by high-speed serial communication

Bit 1 0: Internal clock
1: 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 8-2, “Parameter Details.”)

Activation 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 power-on activation 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.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

46

Axis 1

SW2

SW1

1

2

SW1

SW1-2 Terminal A6

OFF 0 Disabled Disabled

OFF 1 or open Enabled Disabled

ON 0 Enabled Disabled

ON 1 or open Enabled Enabled

OFF
ON

SW2

Auto EEPROM

Read

12

OFF

ON

Auto Homing

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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

47

6.2. Operation that synchronizes with external trigger Signal input(Raster Scan)

“4-3. raster scan operation”, It can be operated synchronizing with 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 ‘)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

48

【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

・Set Parameter ID =27 Raster Scan Duty Ratio
 ・Set Parameter ID =28 Raster Scan Angle

(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 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.
・ 10usec or less is uneven from the external trigger signal input at time until beginning to
・ actually operate.

Select either

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

49

7. 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.

7.1. 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 move start

8

9 Forced Stop

Target position Setting Mode 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 Setting Yes See “Command Details.”

26 Parameter Value Check Yes Parameter ID Parameter value

Program Coordinate System Yes 0: Z phase

30

Monitor Output Selection

40

(A2 , A8)

CANON Digital Galvano Scanner System
Users Manual 1.00

Yes 0: Head1 A phase

1: Sub DSP Ver

1: ON

1: Program origin

1: Head2 A phase
2:Corrected A phase



KP-1SM Series + GC-251

Ver. No

50

3:Position error

Monitor Output Selection
(A3 , A9)

41

Yes 0: Position

1: Velocity
2:Course Angle
3:Fine Angle

Monitor Output Selection
(A4 , A10)

42

Yes 0: Head1 A phase

1: Head2 A phase
2:Corrected A phase
3:Internal Target

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

(A2, A8)

Monitor magnification Setting

46

(A2, A8)

Monitor Magnification Setting
Check

47

Yes N: Magnification (x 2

Yes N: Magnification (x 2

Yes N: Magnification (x 2

Yes 0:A2 (A8) Monitor Magnification

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

N

)

N

)

N

)

101

Counter Clear Timing Yes 0: Axis 1

1: Axis 2

0 or 1

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

51

7.2. 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

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 activation.
However, the parameter values are retained.
If a high-priority error requiring soft reset occurs (see 9-2, “Errors” for details), execute
this command after solving 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 9-2, “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.

Command

Name

Command

Name

Command

Name

Soft Reset

Error Clear

Homing Start

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

52

Command ID 4

Data

Return

Value

Explanation

Command ID 7

Data

Return

Value

Explanation LQ control is usually used.

Related

Command

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.

0: PI control
1: LQ control

0: Command execution successful
1: Command execution unsuccessful

Command

Name

Command

Name

Servo ON

Control Mode Specification

Command ID 8

Data

Return

Value

Explanation

Related

Command

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

0: Command execution successful
1: Command execution unsuccessful

After a target position is set, this command is executed to start step movement.
Raster scan 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

Parameter ID = 27: Raster Scan Duty Ratio

Parameter ID = 28: Raster Scan Oscillation Angle
Command ID = 8 Data = 6: Movement to the raster scan initial position
Command ID = 23 Data = 3: Raster Scan Start
Command ID = 23 Data = 0: Raster Scan Stop

Command

Name

Movement Start

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

53

Command ID 9

Data -

Return

Value

Explanation

Related

Command

Command ID 10

Data

Return

Value

Explanation

Related

Command

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

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.
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

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting
Command ID = 8 Data = 0: Movement Start

Command

Name

Command

Name

Forced Stop

Target Value Setting Mode

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

54

Command ID 11

Data

Return

Value

Explanation

0: Controller temperature
1: Motor temperature

Thermistor voltage A/D converted value

ControllerThermistorA/Dconvertedvalue

4000
3500
3000
2500
2000
1500
1000

A/Dconvertedvalue

500

0

20 30 40 50 60 70 80 90 100 110

MotorThermistorA/Dconvertedvalue
4000
3500
3000
2500
2000
1500
1000

A/Dconvertedvalue

500

0

20 30 40 50 60 70 80 90 100 110

Command

Name

Temperature（℃）

Temperature（℃）

Thermistor Temperature Read

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

55

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

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

56

Command ID 15

Data -

Return

Value

Explanation

Error (16 bits)

Each status can be checked by each bit after conversion into 16-bit display.
For details about errors, see 9-2, “Errors.”

Bit Abbreviation Meaning Hex Format

0 STRK Stroke over 0x0001
1 CNT Counter over 0x0002
2 INP In-position overtime 0x0004
3 SRV No clock 0x0008
4 CUR Driver overheat 0x0010
5 HOT Motor overheat 0x0020
6 FOM Format error 0x0040
7 COM Command data error 0x0080
8 PAR Parameter error 0x0100

9 STA Status error 0x0200
10 TRN Communication error 0x0400
11 ORG Homing error 0x0800
12 ENC Encoder signal error 0x1000
13 OTP Out-position error 0x2000
14 CMPER Servo OFF by hardware 0x4000
15 ETC Current saturation 0x8000

Command

Name

Error Read

Command ID 18

Data

Return

Value

Explanation This command cannot be used now.

Command ID 20

Data Target position (Pulse)
Return

Value
Explanation This command is used to set a target position by step movement.
Related

Command

0: OFF
1: ON

0: Command execution successful
1: Command execution unsuccessful

0: Command execution successful
1: Command execution unsuccessful

Step movement procedure

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting
Command ID = 8 Data = 0: Step Movement Start

Command

Name

Command

Name

Acceleration Control

Target Position Setting

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

57

Command ID 22

Data Target velocity (Unit: pulse/s)
Return

Value
Explanation This command is used to set the maximum velocity of step movement.

Related
Command

0: Command execution successful
1: Command execution unsuccessful

The velocity cannot be higher than “Parameter ID = 2: Maximum velocity.”
If this command is not set, the velocity specified by “Parameter ID = 2: Maximum
velocity” is used.

Step movement procedure
Command ID = 22 Target Velocity Setting

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting
Command ID = 8 Data = 0: Movement Start

Command

Name

Target Velocity Setting

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

58

Command ID 23

0: Raster scan stop or Internal Clock mode
3: Raster scan start

Data

Return

Value

Explanation

7: High-speed serial communication mode
8: Raster scan start by the external trigger signal input (one way scan)
9: Raster scan start by the external trigger signal input (Coming and going scan)

0: Command execution successful
1: Command execution unsuccessful

0: Raster scan stop or Internal clock mode

If this command is sent during a raster scan, the scanner stops after moving to the
scan start position.

This command is also used for a return from high-speed serial communication

mode to internal clock mode. In the case of two axis control, it is necessary to
execute this command for each axis.

3: Raster scan start (Continuous scan)
Raster scan starts after step movement to the scan initial position.

7: High-speed serial communication mode

This command switches the mode to high-speed serial communication from
internal clock mode. However, high-speed serial communication signals should be
input in advance. In the case of two axis control, it is necessary to execute this
command for each axis.

8: Raster scan start by the external trigger signal input (one way scan)

(For details, see 6.2, “ Operation that synchronizes with external trigger Signal
input”)

Command

Name

Operation Mode Selection

9: Raster scan start by the external trigger signal input (Coming and going scan)

(For details, see 6.2, “Operation that synchronizes with external trigger Signal

input”)

Raster scan movement procedure
Parameter ID = 26: Raster Scan Time

Related

Command

CANON Digital Galvano Scanner System
Users Manual 1.00

Parameter ID = 27: Raster Scan Duty Ratio

Parameter ID = 28: Raster Scan Angle
Command ID = 8: Data = 6: Step Movement of the raster scan initial position
Command ID = 23: Data = 3: Raster Scan Start
Command ID = 23: Data = 0: Raster Scan Stop



KP-1SM Series + GC-251

59

Command ID 26

Data Parameter ID
Return

Value
Explanation This command returns the parameter setting of Parameter ID.

Command ID 30

Data 0: Z phase

Return
Value

Explanation For a raster scan, the center of the oscillation angle can be changed.

Command ID 40

Data 0: Encoder Head1 A phase

Return
Value

Explanation The output signal of analog monitor output A2 (the Axis1) and A8 (the Axis2) can be

Related
Command

0: Command execution successful
1: Command execution unsuccessful

1: Program Origin

0: Command execution successful
1: Command execution unsuccessful

0: Z phase

Set the Z-phase position as the center. This setting is in the default after activation.

1: Program Origin

Set the current position as the center.
When setting the program origin, move once to the desired center and then specify the
position by this command.

1: Encoder Head2 A phase
2: Corrected A phase
3: Position error

0: Command execution successful
1: Command execution unsuccessful

selected.
When the controller starts, the 3: Position error has been selected.
(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

Command

Name

Command

Name

Command

Name

Parameter Value Check

Program Coordinate System

Monitor Output Selection (A2, A8)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

60

Command ID 41

Data 0: Position

1: Velocity
2: Course Angle
3: Fine Angle

Return
Value

Explanation The output signal of analog monitor output A3 (the Axis1) and A9 (the Axis2) can be

Related
Command

Command ID 42

Data 0: Encoder Head1 B phase

Return
Value

Explanation The output signal of analog monitor output A4 (the Axis1) and A10 (the Axis2) can be

Related
Command

Command ID 43

Data 0: A2, A8 monitor

Return
Value

Explanation The number of the monitor signal that has been selected by command ID=40, 41, and 4

Related
Command

0: Command execution successful
1: Command execution unsuccessful

selected.
When the controller starts, the 1: Velocity has been selected.
(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

1: Encoder Head2 B phase
2: Corrected B phase
3: Internal Target

0: Command execution successful
1: Command execution unsuccessful

selected.
When the controller starts, the 3: Internal Target has been selected.
(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

1: A3, A9 monitor
2: A4, A10 monitor

0: Command execution successful
1: Command execution unsuccessful

2 can be confirmed.

E.g. A1C040/0Return Value = 3 (Axis1 monitor A2 = Position error)

Command

Name

Command

Name

Command

Name

Monitor Output Selection (A3, A9)

Monitor Output Selection (A4, A10)

Monitor Output Select Check

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

61

Command ID 44

Command

Name

Monitor Magnification Setting
(A2, A8 )

Data Magnification : N （×2N）
Return

Value

0: Command execution successful
1: Command execution unsuccessful

Explanation Magnification is specified by exponent of power-of-two.

E.g.

Data = -2 2
Data = -1 2
Data = 0 2
Data = 1 2 1 = 2 times
Data = 2 2

-2

= 0.25 times

-1

= 0.5 times

0

= 1 times

2

= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Related
Command

Command ID 45

Command

Name

Monitor Magnification Setting
(A2, A8 )

Data Magnification : N （×2N）
Return

Value

0: Command execution successful
1: Command execution unsuccessful

Explanation Magnification is specified by exponent of power-of-two.

E.g.

Data = -2 2
Data = -1 2
Data = 0 2
Data = 1 2 1 = 2 times
Data = 2 2

-2

= 0.25 times

-1

= 0.5 times

0

= 1 times

2

= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Related
Command

Command ID 46

Command

Name

Monitor Magnification Setting
(A2, A8 )

Data Magnification : N （×2N）
Return

Value

0: Command execution successful
1: Command execution unsuccessful

Explanation Magnification is specified by exponent of power-of-two.

E.g.

Data = -2 2
Data = -1 2
Data = 0 2
Data = 1 2 1 = 2 times
Data = 2 2

-2

= 0.25 times

-1

= 0.5 times

0

= 1 times

2

= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Related
Command

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

62

Command ID 47

Data 0: A2, A8 monitor magnification

1: A3, A9 monitor magnification
2: A4, A10 monitor magnification

Return
Value

Explanation The exponent of power-of-two.
Related

Command

Command ID 101

Data 0: Head 1

Return
Value

Explanation

Magnification : N （×2N）

1: Head 2

Timing 0 or 1

Command

Name

Command

Name

Counter Clear Timing

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

63

8. Parameters

8.1. List of Parameters

ID Parameter Name

0 CW Limit

1 CCW Limit

2 Max Velocity

3 In-position Width

4 Settling Check Time

5 In-position Overtime

6 LQ Control Gain

7 Torque Constant

8 Total Inertia

9 Current Limit

10 Encoder Periodicity

11 Sampling Time

12 Origin Clearance Timing (Head 1)

13 High-speed Serial Communication Conversion Gain

14 Origin Clearance Timing (Head 2)

15 High-speed Serial Communication Offset

16 First Digital Notch Filter Central Frequency

17 Q Value of First Digital Notch Filter

18 First Digital Notch Filter Depth

19 Second Digital Notch Filter Central Frequency

20 Second Digital Notch Filter Q Value

21 Second Digital Notch Filter Depth

22 Digital Low-pass Filter Cutoff Frequency

23 First Analog Notch Filter Central Frequency

24 Second Analog Notch Filter Central Frequency

25 Third Analog Notch Filter Central Frequency

26 Raster Scan Time

27 Raster Scan Duty Ratio

28 Raster Scan Angle

29 Internal Generation Acceleration Percentage

30 Raster Scan Interval Time

31 Raster Scan Start Position

32 Z-phase Offset

33 Acceleration Time

34 Deceleration Time

36 Out-position Width

40 Feed-forward Gain

42 Overshoot Control

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

64

44 Deviation Limit

48 Encoder VR adjustment Head 1 A/B-phase Offset

49 Encoder VR adjustment Head 1 A-phase Amplitude

50 Encoder VR adjustment Head 1 B-phase Amplitude

51 Encoder VR adjustment Head 2 A/B-phase Offset

52 Encoder VR adjustment Head 2 A-phase Amplitude

53 Encoder VR adjustment Head 2 B-phase Amplitude

64 DSP Operation Setting

66 High Speed Serial Status Format

67 High Speed Serial Data Length

68 High Speed Serial Data LSB Position

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

65

8.2. Parameter Details

Parameter ID 0

Data Movable range (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation Specify the limit of the clockwise movable range viewed from the axial direction of the

motor.
In case of input or movement beyond the movable range of angle, an error is output.

Note: The relationship between the number of pulses and the angle depends on the motor.

Related
Command
/Parameter

Parameter ID 1

Data Movable range (Unit: pulse)
Return Value 0: Parameter setting successful

Explanation Specify the limit of the counterclockwise movable range viewed from the axial direction

Related
Command
/Parameter

Parameter ID 2

Data Maximum velocity (Unit: pulse/s)
Return Value 0: Parameter setting successful

Explanation This parameter is used to specify step movement by command execution.

Related
Command
/Parameter

1: Parameter setting unsuccessful

of the motor.
In case of input or movement beyond the movable range of angle, an error is output.

Note: The relationship between the number of pulses and the angle depends on the motor.

1: Parameter setting unsuccessful

This maximum velocity applies if “Command ID = 22: Target Velocity Setting” is not set.

Note: The relationship between the number of pulses and the angle depends on the motor.

Parameter

Name

Parameter

Name

Parameter

Name

CW Limit

CCW Limit

Max Velocity

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

66

Parameter ID 3

Data In-position width (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation The end of movement is judged when a difference from the target value (number of

pulses) enters this range.

Note: The relationship between the number of pulses and the angle depends on the motor.

Related
Command
/Parameter

Bit 2 “Settlement in In-position Width” becomes 1 in status read (Command ID = 14).

Parameter

Name

In-position Width

Parameter ID 4

Data Settling check time (Unit: 10 μs)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation The completion of movement is judged if the position remains within the In-position

Width (Parameter ID = 3) for the set time after movement.

Note: The unit is 10 us. For 1 ms, set 100.

Related
Command
/Parameter

Parameter ID 5

Data In-position overtime (Unit: sec)
Return Value 0: Parameter setting successful

Explanation If the position remains beyond the number of pulses set by “Parameter ID = 3:

Related
Command
/Parameter

Parameter ID 6

Data LQ control gain (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the LQ control gain.
Related

Command
/Parameter

Bit 8 “Moving” becomes 0 in status read (Command ID = 14).

1: Parameter setting unsuccessful

In-position Width” from the target position for a time longer than this setting, an alarm is
issued and the servo is turned OFF.
When this parameter is set to 0, judgment is disabled.

Bit 2 “Moving” becomes 0 in error read (Command ID = 15).

1: Parameter setting unsuccessful

LQ control related parameters:
Total Inertia (Parameter ID = 8)
Torque Constant (Parameter ID = 7)

Parameter

Name

Parameter

Name

Parameter

Name

Settling Check Time

In-position Overtime

LQ Control Gain

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

67

Parameter ID 7

Parameter

Name

Torque Constant

Data Torque constant (Unit: gf・cm / A)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the torque constant of the motor.

Note: Do not change this parameter. A unique value is available depending on the
motor model. This is set at shipping.

Related
Command
/Parameter

LQ control related parameters
LQ Control Gain (Parameter ID = 6)
Total Inertia (Parameter ID = 8)

Parameter ID 8

Data Total inertia (Unit: 0.01 gf・cm
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the inertia due to the motor rotation shaft and the mirror.

Note: Be careful about the unit. Set a value of gf・cm

Related
Command
/Parameter

LQ control related parameters:
LQ Control Gain (Parameter ID = 6)
Torque Constant (Parameter ID = 8)

Parameter ID 9

Data Current limit (Unit: %)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the upper limit of a current command value. (Setting for

each axis as a ratio to 10A)
E.g.: 90% (10A × 0.9 = 9A)
If the current remains over the upper limit for a specified time, a current saturation error
occurs.

Related

Bit 5 “Current Saturation” becomes 1 in error read (Command ID = 15).

Command
/Parameter

Parameter

Name

2

)

Parameter

Name

Total Inertia

2

multiplied by 100.

Current Limit

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

68

Parameter ID 10

Data Encoder periodicity (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the number of pulses per rotation of the motor encoder.

KP-1SM30,KP-1SM100: 83328 pulses
Whenever the motor model is changed, the setting of this parameter should be
changed.

Related
Command
/Parameter

Parameter ID 11

Data Sampling period (Unit: ns)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the sampling interval of the controller.

Related
Command
/Parameter

1: Parameter setting unsuccessful

The usual value is 10000 for 10 μs.

Note: This parameter usually requires no change.

Parameter

Name

Parameter

Name

Encoder Periodicity

Sampling Time

Parameter ID 12

Data Origin clearance timing (0 or 1)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is related to origin detection.

The value checked by “Command ID = 101: Counter Clear Timing” is set.
Each motor has a unique value.

Note: An appropriate value is set at shipping. When only the motor is replaced, the
value should be checked and set by a command.
The Origin Clearance Timing (Head 2) parameter should be set at the same time.

Related
Command
/Parameter

Counter Clear Timing (Command ID = 101)
A1C101/ 0 (Axis 1 Head 1)
Set the value checked above.

Parameter

Name

Origin Clearance Timing (Head 1)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

69

Parameter ID 13

Data High-speed serial communication conversion gain (Unit: Multiple × 1000)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation High-speed serial communication data is specified by 16 bits.

Ordinary data is 1 for one pulse and can be specified up to the following positions:

Maximum position: 0xFFFF = 32767 pulses = About 5.76 deg (GM-1010)
0-pulse position: 0x8000 = 0
Minimum position: 0x0000 = –32768 pulses = About –5.76 deg (GM-1010)

If a greater angle is specified, set a magnification by using the high-speed serial
communication conversion gain (Parameter ID = 13).
E.g. For x2 (Setting: 2000), the following angle can be specified:
–5.76×2 deg to –5.76×2 deg
The command resolution will be two times.

Related
Command
/Parameter

Parameter

Name

High-speed Serial Communication
Conversion Gain

Parameter ID 14

Data Origin clearance timing (0 or 1)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is related to origin detection.

The value checked by “Command ID = 101: Counter Clear Timing” is set.
Each motor has a unique value (0 or 1).

Note: An appropriate value is set at shipping. When only the motor is replaced, the
value should be checked and set by a command.
The Origin Clearance Timing (Head 1) parameter should be set at the same time.

Related
Command
/Parameter

Counter Clear Timing (Command ID = 101)
A1C101/ 1 (Axis 1 Head 2)
Set the value checked above.

Parameter

Name

Origin Clearance Timing (Head 2)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

70

Parameter ID 15

Data High-speed Serial Communication Offset (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation Set this parameter, when a center position of the high-speed serial communications

data is offset.
This is effective, when operating by high-speed serial communications.
0 is set usually.
E.g. Data = 100
High-speed serial communication data(16bit) 0x8000 = 100 encoder pulse position.

Related
Command
/Parameter

Parameter ID 16

Data Central frequency of the first digital notch filter (Unit: Hz)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the central frequency of the first digital notch filter.

Related
Command
/Parameter

Parameter ID 17

Data Q value of the first digital notch filter (Unit: ×100)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the Q value of the first digital notch filter.

Related
Command
/Parameter

1: Parameter setting unsuccessful

First Digital Notch Filter Q Value (Parameter ID = 17)
First Digital Notch Filter Depth (Parameter ID = 18)

1: Parameter setting unsuccessful

Set a value multiplied by 100.

First Digital Notch Filter Central Frequency (Parameter ID = 16)
First Digital Notch Filter Depth (Parameter ID = 18)

Parameter

Name

Parameter

Name

Parameter

Name

High-speed Serial Communication
Offset

First Digital Notch Filter Central
Frequency

First Digital Notch Filter Q Value

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

71

Parameter ID 18

Data Depth of the first digital notch filter (Unit: dB)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the depth of the first digital notch filter.

Related
Command
/Parameter

Parameter ID 19

Data Central frequency of the second digital notch filter (Unit: Hz)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the central frequency of the second digital notch filter.

Related
Command
/Parameter

Parameter ID 20

Data Second digital notch filter Q value (Unit: ×100)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the Q value of the second digital notch filter.

Related
Command
/Parameter

Parameter ID 21

Data Depth of the second digital notch filter (Unit: dB)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the depth of the second digital notch filter.

Related
Command
/Parameter

First Digital Notch Filter Central Frequency (Parameter ID = 16)
First Digital Notch Filter Q Value (Parameter ID = 17)

1: Parameter setting unsuccessful

Second Digital Notch Filter Q Value (Parameter ID = 17)
Second Digital Notch Filter Depth (Parameter ID = 18)

1: Parameter setting unsuccessful

Set a value multiplied by 100.

Second Digital Notch Filter Central Frequency (Parameter ID = 16)
Second Digital Notch Filter Depth (Parameter ID = 18)

1: Parameter setting unsuccessful

Second Digital Notch Filter Central Frequency (Parameter ID = 16)
Second Digital Notch Filter Q Value (Parameter ID = 17)

Parameter

Name

Parameter

Name

Parameter

Name

Parameter

Name

First Digital Notch Filter Depth

Second Digital Notch Filter Central
Frequency

Second Digital Notch Filter
Q Value

Second Digital Notch Filter Depth

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

72

Parameter ID 22

Data Cutoff frequency of the digital low-pass filter (Unit: Hz)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the cutoff frequency of the digital low-pass filter.

Related
Command
/Parameter

Parameter ID 23

Data Central frequency of the first analog notch filter (Unit: Hz)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the central frequency of the first analog notch filter.

Related
Command
/Parameter

Parameter ID 24

Data Central frequency of the second analog notch filter (Unit: Hz)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the central frequency of the second analog notch filter.

Related
Command
/Parameter

Parameter ID 25

Data Central frequency of the third analog notch filter (Unit: Hz)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the central frequency of the third analog notch filter.

Related
Command
/Parameter

1: Parameter setting unsuccessful

The setting range is from 9750 to 42820 Hz.

1: Parameter setting unsuccessful

The setting range is from 9750 to 42820 Hz.

1: Parameter setting unsuccessful

The setting range is from 9750 to 42820 Hz.

Parameter

Name

Parameter

Name

Parameter

Name

Parameter

Name

Digital Low-pass Filter Cutoff
Frequency

First Analog Notch Filter Central
Frequency

Second Analog Notch Filter Central
Frequency

Third Analog Notch Filter Central
Frequency

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

73

Parameter ID 26

Parameter

Name

Raster Scan Time

Data Scan Time (Unit: See Explanation.)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This command is used to set the raster scan time (operation by command).

The scan time is the set value × 10 μs.
E.g. For the interval of 100 ms, set 10000 (10000 × 10 μs = 100 ms).

CW

CW

Scan Angle 

Scan Angle 

（＋）

（＋）

0

0

Scan Angle 

Scan Angle 

（−）

（−）

Raster Scan Time

Raster Scan Time

CCW

CCW

Related
Command
/Parameter

Raster Scan Duty Ratio (Parameter ID = 27)
Raster Scan Angle (Parameter ID = 28)
Raster Scan Interval Time (Parameter ID = 30)
Raster Scan Start Position (Parameter ID = 31)

Parameter ID 27

Parameter

Name

Raster Scan Duty Ratio

Data Raster scan duty ratio (Unit: %)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the duty ratio of raster scan (operation by command).

(See Explanation of Parameter ID = 26.)

Related
Command
/Parameter

Raster Scan Time (Parameter ID = 26)
Raster Scan Angle (Parameter ID = 28)
Raster Scan Interval Time (Parameter ID = 30)
Raster Scan Start Position (Parameter ID = 31)

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

74

Parameter ID 28

Parameter

Name

Raster Scan Angle

Data Raster scan angle (Unit: degree × 10000)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the angle of raster scan (operation by command).

(See Explanation of Parameter ID = 26.)
Set the scan angle × 10000.
For ±5°, set 50000 (5 × 10000).

Related
Command
/Parameter

Raster Scan Time (Parameter ID = 26)
Raster Scan Duty Ratio (Parameter ID = 27)
Raster Scan Interval Time (Parameter ID = 30)
Raster Scan Start Position (Parameter ID = 31)

Parameter ID 30

Parameter

Name

Raster Scan Interval Time

Data Raster scan Interval time (Unit: second × 100)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the Interval time of raster scan (operation by command).

(See Explanation of Parameter ID = 26.)
Set the wait time (sec) × 100.
For 0.1 sec, set 10 (0.1 × 100).

CW

CW

Raster Scan Interval Time

Raster Scan Interval Time

Scan Angle 

Scan Angle 

（＋）

（＋）

0

0

Scan Angle 

Scan Angle 

（−）

（−）

Raster Scan Interval Time

CCW

CCW

Raster Scan Interval Time

Related
Command
/Parameter

Raster Scan Time (Parameter ID = 26)
Raster Scan Duty Ratio (Parameter ID = 27)
Raster Scan Angle (Parameter ID = 28)
Raster Scan Start Position (Parameter ID = 31)

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

75

Parameter ID 31

Data Raster scan start position (Unit: 0 or 1)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the start of raster scan (operation by command) from the

negative or positive side.
0: Scan start from the negative side
1: Scan start from the positive side

Related
Command
/Parameter

Raster Scan Time (Parameter ID = 26)
Raster Scan Duty Ratio (Parameter ID = 27)
Raster Scan Angle (Parameter ID = 28)
Raster Scan Interval Time (Parameter ID = 30)

Parameter

Name

Raster Scan Start Position

Parameter ID 32

Data Z-phase (0-point position) offset value (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set an offset from the actual Z-phase position for determining

the 0-pulse position.

Related
Command
/Parameter

Parameter ID 33

Data Acceleration time (Unit: ms)
Return Value 0: Parameter setting successful

Explanation This parameter is valid when “Command ID = 18: Acceleration Control” is ON.

Related
Command
/Parameter

1: Parameter setting unsuccessful

Set the time until the velocity reaches the value set by “Parameter ID = 2: Max Velocity”
in step movement (movement by command).
If 0 is set, the target command of the maximum velocity is followed from the start of
movement.

Acceleration control (Command ID = 18)
Maximum velocity (Parameter ID = 2)
Movement start (Command ID = 8)

Parameter

Name

Parameter

Name

Z-phase Offset

Acceleration Time

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

76

Parameter ID 34

Data Deceleration time (Unit: ms)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the deceleration time for a stop by “Command ID = 9:

Forced Stop.”

Related
Command
/Parameter

Parameter ID 36

Data Out-position (Unit: pulse)
Return Value 0: Parameter setting successful

Explanation An error is output if a difference from the target value exceeds the setting of this

Related
Command
/Parameter

Parameter ID 40

Data Feed-forward gain (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set the feed-forward gain. This is usually set at shipping.

Related
Command
/Parameter

Parameter ID 42

Data Overshoot Control (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to set pole rearrangement. This is usually set at shipping.

Related
Command
/Parameter

Forced Stop (Command ID = 9)

1: Parameter setting unsuccessful

parameter becoming static.
Setting 0 is invalid.

Bit 13 “Current Saturation” becomes 1 in error read (Command ID = 15).

1: Parameter setting unsuccessful

Setting 0 disables feed-forward.

1: Parameter setting unsuccessful

Setting 100 disables pole rearrangement.

Parameter

Name

Parameter

Name

Parameter

Name

Parameter

Name

Deceleration Time

Out-position width

Feed-forward Gain

Overshoot Control

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

77

Parameter ID 44

Data Deviation limit (Unit: pulse)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation If a deviation from the target value is great, an excess current usually flows, causing a

current saturation error.
Make adjustments so that the controller will not deviate beyond this setting.

Note: This is usually set appropriately at shipping.

Related
Command
/Parameter

Parameter ID 48

Data A/B-phase offset of encoder VR adjustment head 1 (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to adjust the offset of encoder signal.

Related
Command
/Parameter

1: Parameter setting unsuccessful

Note: This is usually set appropriately at shipping.

Parameter

Name

Parameter

Name

Deviation Limit

Encoder VR Adjustment
Head 1 A/B-phase Offset

Parameter ID 49

Data A-phase amplitude of encoder VR adjustment head 1 (Unit: none)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to adjust the A-phase amplitude of the encoder signal.

Note: This is usually set appropriately at shipping.

Related
Command
/Parameter

Parameter ID 50

Data B-phase amplitude of encoder VR adjustment head 1 (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to adjust the B-phase amplitude of the encoder signal.

Related
Command
/Parameter

1: Parameter setting unsuccessful

Note: This is usually set appropriately at shipping.

Parameter

Name

Parameter

Name

Encoder VR Adjustment
Head 1 A-phase Amplitude

Encoder VR Adjustment
Head 1 B-phase Amplitude

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

78

Parameter ID 51

Data A/B-phase offset of encoder VR adjustment head 2 (Unit: none)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to adjust the offset of encoder signal.

Note: This is usually set appropriately at shipping.

Related
Command
/Parameter

Parameter ID 52

Data A-phase amplitude of encoder VR adjustment head 2 (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to adjust the A-phase amplitude of the encoder signal.

Related
Command
/Parameter

Parameter ID 53

Data B-phase amplitude of encoder VR adjustment head 2 (Unit: none)
Return Value 0: Parameter setting successful

Explanation This parameter is used to adjust the B-phase amplitude of the encoder signal.

Related
Command
/Parameter

1: Parameter setting unsuccessful

Note: This is usually set appropriately at shipping.

1: Parameter setting unsuccessful

Note: This is usually set appropriately at shipping.

Parameter

Name

Parameter

Name

Parameter

Name

Encoder VR Adjustment
Head 2 A/B-phase Offset

Encoder VR Adjustment
Head 2 A-phase Amplitude

Encoder VR Adjustment
Head 2 B-phase Amplitude

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

79

Parameter ID 64

Data DSP operation setting (Unit: none)
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the activation mode. Each bit has a meaning.

Bit 0 0: No automatic encoder correction at homing to the origin
1: Automatic encoder correction at homing to the origin

Bit 1 0: Activation in internal clock mode
1: Activation in high-speed serial communication (external clock) mode

Bit 2 0: High-speed serial communication specification (XY2-100) (Usually 0)

Note: The setting is decimal.

Related
Command
/Parameter

Parameter ID 66

Data High Speed Serial Status Format (Unit: none)
Return Value 0: Parameter setting successful

Explanation The content of status output to the status line of high-speed serial communications can

Related
Command
/Parameter

1: Parameter setting unsuccessful

be selected.

1： Controller Condition
2： Current position (Axis 1)
3： Current position(Axis 2)
4： Current position(Axis1 , Axis2)

(For details, see 2.7.2, “High Speed Serial Communications”)

Parameter

Name

Parameter

Name

DSP Operation Setting

High Speed Serial Status Format

Parameter ID 67

Data High Speed Serial Data Length (Unit: bit) Range = 16〜20
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation Position Data length of High speed serial communication can be specified.

Range = 16bit 〜 20bit

(For details, see 2.7.2, “High Speed Serial Communications”)

Related
Command
/Parameter

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

Parameter

Name

High Speed Serial Data Length

80

Parameter ID 68

Data High Speed Serial Data LSB Position (Unit: bit) Range = 0 〜 4
Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

Related
Command
/Parameter

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

communication 20bit data can be specified.

Range = 0bit 〜 4bit

(For details, see 2.7.2, “High-speed Serial Communications”)

Parameter

Name

High Speed Serial Data LSB Position

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

81

8.3. Modifying Parameters

This section explains how to modify parameters.

GALILEO

②

④⑥

③

①

⑤

・ Select the All Parameter tab. ①
・ Select an axis for parameter settings. ②
・ The current parameter values are displayed. ③
・ Modify the parameter values as required. When a parameter value is modified, its cell turns red. ③
・ Turn the servo OFF (necessary for modifying parameters). ④
・ Press the SET button to reflect modified parameters in the controller settings. ⑤
・ Turn the servo ON. ⑥

Note: Pressing the SET button reflects modified parameters in the controller settings but does not write

them into the controller ROM. When the power is turned off and on again, the controller starts with the old

parameters read from ROM. See 8-4 for writing modified parameters into ROM.

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

82

8.4. Writing Parameters into ROM

All parameters are written in the controller ROM. At activation, the parameters are automatically read

and set in the controller.

If parameters are modified, they should be written into ROM for activation with the same settings at the

next power-on.

Write modified parameters into ROM as follows:

GALILEO



②







①

⑤







③





④









・ Select the All Parameter tab. ①
・ Select an axis for parameter settings.②
・ The current parameter values are displayed. ③
・ Press the Save to EEPROM button.④
・ “Saving to EEPROM” is displayed. ⑤

Note: Some parameter settings may disable normal activation next time.

If this problem occurs, change the activation mode for no automatic homing to the origin and check the

set values. (See 6-1, “Setting Controller Activation Mode.”)

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

83

8.5. Saving a Parameter File

All parameters can be saved into a PC file.

Save a parameter file as follows:

③

②

①

④

・ Select the All Parameter tab. ①
・ Select an axis for parameter settings. ②
・ The current parameter values are displayed. ③
・ Press the Save to File button. Specify a location and save the file. ④

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

84

9. Safety Functions

This system has various safety functions to ensure safe use.

9.1. Safety Functions

The safety functions can be classified into hardware monitoring and software monitoring.

Hardware monitoring

・Power supply fuse +24 V line (each axis)

+5 V line

・Output amplifier overheat Temperature monitoring by thermistor (abut 80ºC)
・Motor overheat Temperature monitoring by thermistor (abut 75ºC)

(If output amplifier or motor overheat is detected, the amplifier output is shut down.)

・Output amplifier IC Shutdown function

Software monitoring

The controller status is always monitored by software and error notification is made if an abnormality

occurs.

Depending on the error type (priority), digital monitor I/O (2 bits) is used for this notification.

The details of an error can be checked by an RS-232C command.

See 9-2 for the error contents.

Note: The post-error system status and recovery method depend on the priority of the error.

See 9-2, “Errors.”

CANON Digital Galvano Scanner System
Users Manual 1.00



KP-1SM Series + GC-251

85

9.2. Errors

Priority: High

Error Hex Monitor Item Error Condition

Setting

Change

Possible

/Impossible
(Parameter)

System

status after

error

Digital

Output

Recovery Method

Stroke over

0x0001

Counter over

In-position overtime

No clock

Driver overheat

Motor overheat

Homing error 0x0800 Homing to the origin Homing is not completed normally. Impossible

Encoder signal error

Hardware servo OFF

Current saturation

0x0002

0x0004

0x0008

0x0010

0x0020

0x1000

0x4000

0x8000

Encoder pulse count The encoder count is outside the range set

by parameters P00 (CW Limit) and P01
(CCW Limit).

Velocity (calculated from encoder
pulses)

Encoder pulse count The accumulated time based on the setting

Clock Clock pulses are not input.

A/D value of thermistor at controller
output amplifier

A/D value of thermistor at motor
coil

Encoder signal level at homing to
origin

Output amplifier shutdown function
Thermistor (controller and motor)

Output current command Current saturation (10A×P09 (Current

The velocity exceeds the setting by P02
(Maximum Velocity).

of P03 (In-position Width) exceeds the
setting of P05 (In-position Overtime).

The driver temperature exceeds the A/D
value corresponding to 70ºC. (Software
monitoring)

The motor temperature exceeds the A/D
value corresponding to 70ºC. (Software
monitoring)

An encoder signal is abnormal.

The output amplifier is shut down.
The thermistor-detected temperature
exceeds the setting. (Hardware
monitoring). Error notification by software is
usually made first.

limit)) continues for a specified time or
longer.

Possible

(P00, P01)

Possible

(P02)

Possible

(P03, P05)

Impossible

Impossible

Impossible

Impossible

Impossible

Possible

(P09)

Error output
Servo OFF

(Axis1)

Connector

A1

Monitor

Board

D1

(Axis2)

Connector

B2

Monitor

Board

D4

Soft reset

(C00)

+

Homing

(C02)

or

Power-off/on

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

86

Priority: Low

Error Hex Monitor Item Error Condition

Setting

Change

Possible

/Impossible
(Parameter)

System

status after

error

Digital

Output

Recovery Method

Format error

Command data error

Parameter error

Status error

Communication error

Out-position error

0x0040

0x0080

0x0100

0x0200

0x0400

0x2000

Command format An undefined command or parameter is

sent.

Command data

Parameter value A parameter value is beyond the setting

Command description A command not valid for the current status

Communication flag Communication flag time-out occurs.

Encoder pulse count The setting of P24 (Out-position Width) is

Command data is illegal.
No data is given to a command requiring
data.
Data is given to a command requiring no
data.
Data outside the setting range is set.

range.

is sent.

exceeded.

Impossible

Impossible

Impossible

Impossible

Impossible

Possible

(P24)

Error output

only

(Axis1)

Connector

B1

Monitor

Board

D2

(Axis2)

Connector

A3

Monitor

Board

D5

Error clearance

(C01)

CANON Digital Galvano Scanner System



KP-1SM Series + GC-251

Users Manual 1.00

87








Canon Inc.
Canon Marketing Japan Inc.

2-16-2, Konan, Minato-ku, Tokyo 108-8011

CB Sales Department Tel. [phone]





･The contents of this document are subject to change without notice.
･If you find any question, error, or omission in this document, please contact Canon.


CUD-L007-E01 © CANON INC. 2008 PRINTED IN JAPAN