Canon GC-201, GM-1000 User Manual

CANON Digital Galvano Scanner System

GM-1000 Series GC-201

Users Manual

Rev. 1.20

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

For Safe and Correct Use

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

use of this product.

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

Markings

This guide uses the following markings:

Warning

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

Caution

This indicates the possibility of injury or damage to property.

Warning

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

・Use the product at the specified voltage.

・Connect the power supply line correctly.

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

・Do not disassemble or alter this product.

・Do not drop or cause impact to the product.

Caution

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

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

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

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

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

of 60ºC or higher.

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

Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

10.

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

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

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

11.

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

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

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

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

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

1. Product Outline

1.1. Features

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

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

controller.

This system has the following features:

z High positioning precision

z Low temperature drift

z Fast and stable operation by a unique control system

z Easy tuning with parameter settings

1.2. Configuration

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

Galvano motor: Encoder-mounted galvano motor

GM-1010

GM-1015

GM-1020

Controller: Digital servo-controller

GC-201

IF board: IF board for high-speed serial communication

GC-422

GC-LVDS

Extension cable: Extension cable for galvano motor and controller connection

GM-EC10, 20, 30

GM-MC10, 20, 30

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

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

････ Beam diameter: φ8 to φ10 mm

････ Beam diameter: φ10 to φ15 mm

････ Beam diameter: φ15 to φ30 mm

････ Controller for two-axis control

････ IF board for 5V-TTL (RS-422)

････ IF board for LVDS level

Controller

IF board

Motor extension cable

Galvano motor

Encoder extension cable

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

2. Specifications

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

Performance and shape

Conforming

beam diameter

Scan angle

Encoder cycle

number

Number of encoder

pulses

Command

resolution

Torque constant

Weight

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

Environmental conditions

GM-1010 GM-1015

Φ8 to φ10 φ10 to φ15

±20 deg ±20 deg

1000 pulses/rotation 1500 pulses/rotation

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

0.77 μrad 0.51 μrad

0.0127 Nm/A 0.0226 Nm/A

200 g 300 g

GM-1020

φ15 to φ30

±20 deg

1500 pulses/rotation

0.51 μrad

0.0415Nm/A

600g

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

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

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

radiation conditions.

Part names

Stopper

Motor cable

Encoder

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

Encoder cable

2.2. Controller (GC-201)

Performance and Dimensions

GC-201

Number of control axes 2

Control sampling 100 kHz

Maximum drive current Peak 10 A (each axis)

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

Digital notch filter ×2

Notch filter

Weight 350 g

Environmental conditions

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

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

Digital low-pass filter ×1

Analog notch filter ×2

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

radiation conditions.

Section names

Mounting screw

hole (M3 × 4)

Mounting screw

hole (φ3.5 × 4)

Heat radiation

frame

IF board

Digital board (upper)

Analog board (lower)

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

2.3. Dimensions

GM-1010

36 36 6

-0.005

φ5 -0.015

φ22 -0.03

GM-1015

32 (Clamp area)

Motor cable Encoder cable

-0.005

φ6 -0.015

-0

φ28 -003

42 (Clamp area)

Encoder cable

Motor cable

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

GM-1020

Encoder Cable

42.7

Motor Cable

7.5

-0.005

51.4 (Clamp Area)

-0

φ7 -0.015

φ36 -003

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

GC-201

118

4-M3

120

125

4-φ3.5

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

2.4. Power Supply

Power supply specifications

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

RMS 2.5 A × 2 axes

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

±5°, 200Hz)

+5 V ± 5% (For control circuit) 2.8 A

2.5. Connections

Digital

input/output

IF board

High-speed serial

communication

RS-232C

+24 V power

+5 V power

Axis 2

Axis 1

Galvano motor

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

Note:

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

caution when connecting.

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

caution when connecting.

+5V

－

+24V

－－＋＋

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

2.6. Connector and Pin Assignment

(Connector types)

⑦

⑥

⑧

③

⑤

④

⑨

①

②

①

②

③

④

⑤

⑥

Axis 1 motor encoder connector

Axis 2 motor encoder connector

+5 V power supply

+24 V power supply

RS-232C

High-speed serial communication

⑦

⑧

⑨

Digital input/output

Analog monitor

Fan power supply (+24 V)

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

(Connector model number & pin assignment)

③ +5 V power supply

(Connector model number)

Connector Model No. Manufacturer

Board side S2P-VH JST

Cable side VHR-2N JST

(Connector pin assignment)

Pin No. Signal Description

1 +5 V

2 GND

④ +24 V power supply

(Connector model number)

Connector Model No. Manufacturer

Board side S4P-VH JST

Cable side VHR-4N JST

(Connector pin assignment)

Pin No. Signal Description

1 +24 V input for Axis 1

2 +24 V input for Axis 2

3,4 GND

⑤ RS-232C

(Connector model number)

Connector Model No. Manufacturer

Board side S03B-PASK-2 JST

Cable side PAP-03V-S JST

(Connector pin assignment)

Pin No. Signal Description

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

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

3 GND

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

⑥ High-speed Serial Communication

(Connector model number)

Connector Model No. Manufacturer

Board side SM12B-PASS-1-TB JST

Cable side PAP-12V-S JST

(Connector pin assignment )

Pin No. Signal Name Signal Description

1 CLK- Clock (-)

2 CLK+ Clock (+)

3 FS- Frame sync (-)

4 FS+ Frame sync (+)

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

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

9 STS- Status (-)

10 STS+ Status (+)

11 GND System GND

12 FG Frame GND

DAT(AXIS 1)＋

DAT(AXIS 2)＋

Axis 1 Target position data (+)

Axis 2 Target position data (+)

The signal levels depend on the IF board.

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

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

⑦ Digital I/O

See 5.1. “Connector Pin Assignment”

⑧ Analog Monitor

See 5.1. “Connector Pin Assignment”

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

⑨ Cooling Fan Power Supply

(Connector model number)

Connector Model No. Manufacturer

Board side S04B-PASK-2 JST

Cable side PAP-04V-S JST

(Connector pin arrangement)

Pin No. Signal Description

1 +24 V Output

2 GND

3 (No connection)

4 (No connection)

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

2.7. Optional Cables

Optional cables are prepared for power and communications cables.

Connector pin assignment for each cable as follows.

Verify details with your sales representative.

Option cables

① Power cable (+5 V)

② Power cable (+24 V)

③ RS-232C cable

④ High-speed serial communication cable

① Power Cable +5 V

② Power Cable +24 V

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

③ RS-232C Cable

PC side (D-sub 9 pin)

Pin Signal

2 RX

3 TX

5 GND

④ High-Speed Serial Communication Cable

PC side (D-sub 25pin)

Pin Signal Pin Signal

1 Clock - 14 Clock + 2 FS - 15 FS + 3 Data (Axis 1) - 16 Data (Axis 1) + 4 Data (Axis 2) - 17 Data (Axis 2) + 5 Do not connect 18 Do not connect 6 Status - 19 Status + 7 Do not connect 20 Do not connect 8 Do not connect 21 Do not connect

9 Do not connect 22 Do not connect 10 Do not connect 23 GND 11 GND 24 GND 12 Do not connect 25 Do not connect 13 Do not connect

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

2.8. Control Specifications

The controller (GC-201) is operated by:

• RS-232C command input

• High-speed serial communication

Features

RS-232C

communication command input

- Raster scan and step movement etc.

can be performed easily.

- In order to obtain synchronization

with external equipment, operation

can be started with an external

trigger signal. (Fluctuating delays

may occur within the internal control

sampling time.)

High-speed serial communication

- Vector scans with control over the

desired locations of two axes are

possible. This is used in laser

marking etc.

- Complete synchronization with

external equipment can be obtained

in order to use high-speed serial

communication clock pulses by

controlling the controller.

- As it can be operated with XY2-100

communication specifications, a

controller compliant with XY2-100

can be connected.

Target position

command

Operation

setting

parameter

setting

Control clock

- A target position command input by an RS-232C communication command, or a target position

command from a high-speed serial communication can be mutually switched with a command. (See

2.8.5. “RS-232C Communication Command Input and High-Speed Communication Switching”)

RS-232C communication command High-speed serial communication

RS-232C communication command RS-232C communication command

Uses the controller GC-201 internal

circuit clock pulses

Uses high-speed serial

communication clock pulses

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

- With the default settings at shipping, power-on starts up the controller with in RS-232 Communication

Command Input mode.

- The parameter can be set to determine which mode the controller starts after power-on. (See 6.1.

“Setting Controller Start Up Mode”)

Note:

For start up when set to the High-Speed Serial Communication mode, in order to use high-speed

serial communication clock pulses internally, signal input by high-speed serial communication is

necessary at power-on. When there is no signal input, a Clock Lack error occurs. (See 10.2. “Errors”)

After an error occurs, and input of a high-speed serial communication signal begins correctly,

operation begins automatically from the high-speed serial communication signal.

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

2.8.1. Number of Encoder Pulses

This section explains the relationship between the galvano scanner motor rotating angle and the

number of encoder pulses.

Control commands and some of the parameter angle settings use the number of encoder pulses.

The controller divides one encoder cycle into 8,192, and this is the number of encoder pulses.

Depending on the type of encoder included on the motor, caution is necessary as the number of

pulses for the same specified angle can differ.

Many commands use pulses as a unit in the RS-232C communication command parameter data used

for operations.

In the case of the GM-1010 for example

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

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

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

Each motor is as follows.

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

Included encoder cycles / 1

rotation

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

Command resolution (1 pulse) 0.77 urad 0.51 urad

360°

1,000 cycles 1,500 cycles

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

2.8.2. RS-232C command input

RS-232C command input allows the following:

• Operation setting

• Parameter setting

• Error processing

• Status check

(For details, see 8. “Commands”)

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

for the following function:

• Step movement

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

(Communication specifications)

Wiring Cross wiring

Communication rate 38400 bps

Data length 8 bits

Stop bit 1

Parity None

Data format ASCII code

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

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

(Command specifications)

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

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

Command send

A Axis No. C Command ID / Data Delimiter

Axis No.

1 or 2

Command

Command ID

Decimal, 3-digit (See 7.1 for details)

Data

Added to command as

required (decimal)

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

A1C004 / 1 (LF)

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

A 1 C 0 0 4 / 1 (LF)

Command reply

A Axis No. C Command ID / Data Delimiter

Axis No.

1 or 2

Command

Command ID

Decimal, 3-digit

(See 7.1 for details)

Return value

Delimiter

LF or CR

Delimiter

LF or CR

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

A1C004 / 1 (LF)

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

A 1 C 0 0 4 / 1 (LF)

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

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

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

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

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

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

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

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

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

Parameter send

A Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Command ID

Decimal, 3-digit (See 7.1 for details)

Parameter setting

Decimal

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

A1P006 / 4500 (LF)

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

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

Parameter reply

A Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Command ID

Decimal, 3-digit (See 7.1 for details)

Parameter setting

successful / unsuccessful

0 or 1

Delimiter

LF or CR

Delimiter

LF or CR

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

A1P006 / 4500 (LF)

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

A 1 P 0 0 6 / 0 (LF)

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

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

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

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

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

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

Parameter ROM Write send

E Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Parameter ID

Decimal, 3-digit (See 7.1 for details)

Parameter setting

Decimal

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

E1P006 / 4500 (LF)

(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)

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

Delimiter

LF or CR

Parameter ROM Write reply

E Axis No. P Parameter ID / Data Delimiter

Axis No.

1 or 2

Parameter

Parameter ID

Decimal, 3-digit (See 7.1 for details)

Parameter setting

successful / unsuccessful

0 or 1

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

E1P006 / 4500 (LF)

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

E 1 P 0 0 6 / 0 (LF)

Delimiter

LF or CR

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

2.8.3. High-speed serial communication

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

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

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

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

(Communication specifications)

Base clock (CLK) 2 MHz

Frame sync (FS) 100 kHz

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

Status (STS) 20 bits

Transmission system Differential signal

Signal level

(Selectable by the optional IF board)

(Timing Diagram)

5V-TTL, LVDS

Timing Diagram

CLK

2MHz

1234567891011121314151617181920

DAT (AXIS 1)

DAT (AXIS 2)

STS

AXIS 1 DATA -1 AXIS 1 DATA

AXIS 2 DATA -1 AXIS 2 DATA

Status -1 Status Status +1

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

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

XIS 1 DATA +

XIS 2 DATA +

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

two following parameters.

(Target position data length)

Can be changed by 16 bit – 20 bit.

Parameter ID DATA

16: 16bit Data *

17: 17bit Data

(Data position)

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

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

position data.

Parameter ID DATA

18: 18bit Data

19: 19bit Data

20: 20bit Data

0: 0bit position

1: 1bit position *

2: 2bit position

3: 3bit position

4: 4bit position

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

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

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

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

(Paramete

Examples of the settings are as follows.

(Example 1) Parameter ID = 67 16

Parameter ID = 68 1

XY2-100 specification compatible

Bit

DATA (AXIS 1)

DATA (AXIS 2)

1234567891011121314151617181920

N N ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N

(Parameter

16bit

パラメータ

(

ID = 67) (

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

(Example 2) Parameter ID = 67 16

Parameter ID = 68 3

1bit

(Parameter

パラメータ

ID = 68)

Bit

DATA (AXIS 1)

DATA (AXIS 2)

1234567891011121314151617181920

ND15D14D13D12D11D10D9D8D7D6D5D4D3D2D1D0 N N N

(Example 3) Parameter ID = 67 18

Parameter ID = 68 2

Bit DATA (AXIS 1) DATA (AXIS 2)

1234567891011121314151617181920

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

(Example 4) Parameter ID = 67 20

Parameter ID = 68 0

Bit DATA (AXIS 1) DATA (AXIS 2)

1234567891011121314151617181920

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

16bit

パラメータ

(Parameter

(

18bit

パラメータ

(

(Parameter

ID = 67) (

(Parameter

3bit

パラメータ

2bit

パラメータ

ID = 68)

20bit

パラメータ

(

ID = 67) (

(Parameter

0bit

パラメータ

ID = 68)

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

This section explains the motor rotating angle for the high-speed serial communication data.

Default settings have the following relationships.

Data 1 = 1 pulse (factory setting)

See 2.8.1. “Number of Encoder Pulses" for the relationship between the motor rotating angle and the

number of pulses.

・ In the case of 16 bit data

(GM-1010)

Maximum

position

0 pulse

position

Minimum

position

(GM-1015, GM-1020)

Maximum

position

High-speed communication

Target position data value

0xFFFF －32767 pulses －1.44 deg

0x8000 0 0

0x0000 ＋32768 pulses ＋1.44 deg

High-speed communication

Target position data value

0xFFFF －32767 pulses －0.96 deg

16bit

Motor

Number of pluses Motor rotating angle

Motor

Number of pluses Motor rotating angle

0 pulse

position

Minimum

position

Note: The motor rotating angle + direction when viewed from the rotation axis appear as clockwise.

When set to the factory default, rotation is only possible up to angles above.

If a greater angle is specified, set a magnification by using the following parameter.

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

0x8000 0 0

0x0000 ＋32768 pulses ＋0.96 deg

Parameter ID Data

(High-speed serial communication

conversion gain parameter)

E.g. For x2 (parameter ID = 13 setting: 2000), the following angle can be specified:

-1.44 × 2 deg ~ 1.44 × 2 deg (GM-1010)

-0.96 × 2 deg ~ 0.96 × 2 deg (GM-1015, 1020)

The command resolution will be two times

Magnification ×1000

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

+ 110 hidden pages