MISUMI DS102MS, MSCTL102, MCSTL102-MS, MSCTL102-IO-MS, DS102MS-IO Operation Manual

...

Stepping Motor Controller

MSCTL102 Series/MSCTL112 Series Operation Manual

Ver 1.01 (02.13.2015)

Remarks

 MSCTL102/112 Series(MISUMI products) are same as DS102/112 Series that are made by Suruga Seiki.  All of DS102/112 series that are mentioned in the operation manual indicate MSCTL102/112.

MISUMI CO., LTD.

SURUGA SEIKI CO., LTD.

２

Index

１．INTRODUCTION ................................................................................................................................................................................. ５

1.1 FOR YOUR SAFETY .............................................................................................................................................................................. ５

1.2 PRODUCT OUTLINE / FEATURES ................................................................................................................................................... ７

1.3 SYSTEM CONFIGURATION EXAMPLE .............................................................................................................................................. ９

1.3.1 CONTROL WITH PLC................................................................................................................................................................. ９

1.3.2 CONTROLLED BY PC ............................................................................................................................................................. １０

1.4 ACCESSORIES .................................................................................................................................................................................... １１

２．SET-UP AND EXAMPLE OF USE ................................................................................................................................ １１

2.1 SET UP BEFORE USE ....................................................................................................................................................................... １１

2.1.1 CONNECTING ............................................................................................................................................................................ １２

2.1.2 USB DRIVER INSTALL ......................................................................................................................................................... １５

2.1.3 INSTALLATION FOR CONTROL SOFTWARE DS102/112(DSCONTROL-WIN) ..................................... １９

2.1.4 ADJUSTMENT SYSTEM PARAMETER ............................................................................................................................... ２３

2.1.5 OPERATION CHECK ................................................................................................................................................................ ２５

2.2 SYSTEM ARCHITECTURE ............................................................................................................................................................... ２７

2.2.1 MOVEMENT BETWEEN EACH TEACHING POSITION..................................................................................................... ２７

2.2.2 EASY RETURN TO ORIGIN POSITION .................................................................................................................................. ３４

2.2.3 CONTROL BY EXTERNAL SIGNAL ...................................................................................................................................... ４３

2.2.4 EXTERNAL DEVICE CONTROL WITH GENERALＩ/Ｏ. ................................................................................................. ５４

2.2.5 MOVE TO ARBITRARY COORDINATE ................................................................................................................................ ５６

2.2.6 CONTROLLED OVER 3 AXES .............................................................................................................................................. ５８

３．SPEC AND FUNCTION........................................................................................................................................................... ５９

3.1 BASIC SPEC ...................................................................................................................................................................................... ５９

3.2 PART NAME AND FUNCTIONS ..................................................................................................................................................... ６０

3.3 SETTING .................................................................................................................................................................................................. 63

3.4 EXTERNAL INTERFACE ...................................................................................................................................................................... 64

3.4.1 LINK CONNECTION（LINK） ................................................................................................................................................... 64

3.4.2 CONTROL INPUT/OUTPUT（CNT-I/O） ........................................................................................................................ 65

3.4.3 GENERAL I/O（I/O）（ OPTION） ........................................................................................................................................ 68

3.4.4 EMERGENCY STOP INPUT（EMS） .................................................................................................................................... 70

3.4.5 STAGE INTERFACE ..................................................................................................................................................................... 70

3.5 DRIVER DIVISION NUMBER SETTING .............................................................................................................................................. 71

3.5.1 OPEN AND SHUT ........................................................................................................................................................................ 71

3.5.2 SETTING DIVISION NUMBER ..................................................................................................................................................... 71

3.6 SMOOTH DRIVE FUNCTION（ONLY MS TYPE） ...................................................................................................................... 72

3.7 UNITS SETTING FUNCTION ............................................................................................................................................................... 73

3.8 SPEED SETTING（SPEED TABLE） .............................................................................................................................................. 74

3.9 FUNCTION OF ORIGIN RETURN ........................................................................................................................................................ 77

3.10 LINEAR INTERPOLATING FUNCTION ........................................................................................................................................... 83

3.10.1 LINEAR INTERPOLATING（RELATIVE VALUE） ........................................................................................................... 83

3.10.2 LINEAR INTERPOLATING（ABSOLUTE VALUE） ........................................................................................................ 83

3.11 TEACHING FUNCTION ..................................................................................................................................................................... 84

3.12 PROGRAM FUNCTION ..................................................................................................................................................................... 84

３

４．OPERATION AND CONTROL METHOD .................................................................................................................. 85

4.1 OPERATION BY THE HANDY TERMINAL ...................................................................................................................................... 85

4.1.1 INITIAL SCREEN ............................................................................................................................................................................ 85

4.1.2 TRANSITION MODE ..................................................................................................................................................................... 86

4.1.3 DRIVING MODE SELECT（JOG KEY） ............................................................................................................................. 87

4.1.3.1 CONTINUOUS DRIVING MODE（CNT：CONTINUE MODE） ............................................................................ 87

4.1.3.2 UNIFORM PULSE DRIVING MODE（STP： STEP MODE） ................................................................................ 87

4.1.3.3 ABSOLUTE VALUE DRIVING MODE（ABS： ABSOLUTE MODE） ............................................................... 88

4.1.3.4 ORIGIN RETURN MODE（ORG： ORIGIN MODE） ............................................................................................... 88

4.1.3.5 HOME POSITION RETURN MODE（HOM：HOME） .......................................................................................... 88

4.1.4 MENU SELECT（MENU KEY） .............................................................................................................................................. 89

4.1.4.1 PARAMETER MODE（PRM） ....................................................................................................................................... 89

4.1.4.2 PROGRAM DRIVING MODE（PRG） ......................................................................................................................... 98

4.1.4.3 TEACHING MODE （TCH） ......................................................................................................................................... 99

4.1.4.4 GENERAL MONITOR（IN） ....................................................................................................................................... 102

4.1.4.5 GENERAL OUTPUT CONTROL（OUT） .............................................................................................................. 102

4.1.5 OTHER FUNCTION .................................................................................................................................................................. 103

4.1.5.1 CHANGE THE SPEED TABLE（SPD KEY）....................................................................................................... 103

4.1.5.2 CHANGE THE AXIS（LINK KEY） ............................................................................................................................ 103

4.1.5.3 CHANGES CURRENT POSITION（POS KEY） ................................................................................................... 103

4.1.5.4 VERSION CONFIRMATION, PARAMETER RESET .................................................................................................. 104

4.2 DS102/112 CONTROLLED SOFTWARE（DSCONTROL-WIN） ...................................................................... 105

4.2.1 DSCONTROL-WIN START-UP ................................................................................................................................... 105

4.2.2 PARAMETER SET-UP ............................................................................................................................................................ 105

4.2.3 JOG DRIVING ............................................................................................................................................................................. 107

4.2.4 TEACHING ................................................................................................................................................................................. 110

4.2.5 DRIVING PROGRAM ................................................................................................................................................................ 112

4.2.6 Ｉ／Ｏ MONITOR ..................................................................................................................................................................... 118

4.3 USER PROGRAM PROCESSING ................................................................................................................................................... 119

4.3.1 RS232C ................................................................................................................................................................................ 119

4.3.2 USB ........................................................................................................................................................................................... 120

4.3.3 DELIMITER .................................................................................................................................................................................. 122

4.3.4 TYPES OF COMMUNICATION COMMAND ........................................................................................................................ 123

4.3.5 DETAILS OF COMMUNICATION COMMAND .................................................................................................................. 135

4.3.5.1 AXIS SPECIFICATION COMMAND .............................................................................................................................. 135

4.3.5.2 PARAMETER SETTING COMMAND ........................................................................................................................... 135

4.3.5.3 MEMORY SW SETTING COMMAND........................................................................................................................ 139

4.3.5.4 SPEED TABLE SETTING COMMAND ...................................................................................................................... 140

4.3.5.5 WRITE COMMAND ......................................................................................................................................................... 141

4.3.5.6 DRIVING COMMAND ...................................................................................................................................................... 141

4.3.5.7 STOP COMMAND ........................................................................................................................................................... 142

4.3.5.8 PARAMETER SETTING REQUEST COMMAND .................................................................................................... 143

4.3.5.9 MEMORY SW SETTING REQUEST COMMAND .................................................................................................. 145

4.3.5.10 SPEED TABLE SETTING REQUEST COMMAND .............................................................................................. 147

4.3.5.11 STATUS REQUEST COMMAND............................................................................................................................. 147

4.3.5.12 GENERAL I/O COMMAND ....................................................................................................................................... 152

4.3.6 PROGRAM DRIVING DEDICATED COMMAND ............................................................................................................... 153

4.3.7 ERROR CODE ........................................................................................................................................................................... 156

４

５．CHECKOUT ..................................................................................................................................................................................... 157

６．FAULT DIAGNOSIS AND SOLUTION ...................................................................................................................... 157

７．WARRANTY & CUSTOMER SERVICE.................................................................................................................... 158

● APPENDIX ............................................................................................................................................................................................... 159

■ DIP SWITCH SET ............................................................................................................................................................................................. 159

■ DS102 EXTERNALS .................................................................................................................................................................................... 160

■ DS112 EXTERNALS .................................................................................................................................................................................... 161

■ CONTROL I/O CABLE（MODEL：DS100-CNT-2） ............................................................................................................... 162

■ GENERAL I/O CABLE（MODEL：DS100-IO-2） ................................................................................................................... 163

■ SELECTION OF A PROGRAM NUMBER BY CNT-IO ........................................................................................................................ 164

■ SELECTION OF A TEACHING NUMBER BY CNT-IO ........................................................................................................................ 164

５

Cautions

！

１．INTRODUCTION

Thank you for purchasing this series Stepping Motor Controller.

1.1 For Your Safety

For Proper use, please read this operation manual thoroughly prior to using this product. means the PROHIBITATION.

Please look after instructions shown here by all means. Failure to use controller, may be hurt or suffer material damage.

・Basic cautions

・ Connect a power cable to a power outlet which comes with protective earth terminal, In case of

using an extension cable without protective earth terminal, protective earth will be of no effect.

・Cable

・When you unplug a power cable, turn off a power switch. ・When it supplies DS112 Series with a power supply, please be careful not to make a mistake in

polarity.

・Operating Environment ・To avoid as follows.: －Areas that have much dust or metallic particles －Directly under sunlight －Near fire －Much vibration －Watery or oily place －Wonky place －Place with Corrosive Gas and Flammable Gas

・Storage Please unplug a power from the outlet when It doesn’t use for a long time, and you move this product.. A fire and the accident of the electric shock etc. are prevented.

６

Caution

！

・Power Source

・Please DO NOT connect the DS102 series besides the power supply outlet of interchange 100～

240V (AC100～２４０V 50/60Hz)

・Please supply direct 24V（DC24V±10%）power supply for DS112 series. In order to avoid damage to controller, DO NOT use any input voltage or frequency over

the specifications.

・Resolution of the product/Remodeling

・ Please DO NOT perform the resolution of the product, remodeling, the

unfair repair.

・ Please contact us for correct information if needed.

・Repair Service

・ In the case of the following, please disconnect the plug promptly and then

contact your supplier.

－When there are some strange sound, smelling and smoke. －When a power supply cable damaged. －When spilled water on the equipment and foreign materials entered inside. －When dropped the equipment and was damaged with a cabinet.

７

1.2 Product Outline / Features

Computer

PLC

DC24V

AC100V

DS112

Stepping Motor Controller

DS112

Stepping Motor Controller

DS102/DS112 series

AC100～240V

DC24V

Motorized stage

DS102/112

Controlled software：

DSCONTROL-WIN

DS102

Stepping Motor

Controller

DS102

Suruga Seiki

Standard

DT100

Handyterminal

DT100

I/O for

controlled

USB

RS232C

DS102/DS112 series is stepping motor controller with 2 axes for not only R&D but also units and

manufacturing you can use what you want.

 Product Outline

８

 Features

SURUGA Type

MISUMI Type

Input PS

Type of Drive

General I/O

DS102NR

MSCTL102

AC100～240V

±10%

50/60Hz

Normal (FULL/HALF)

DS102NR-IO

MSCTL102-IO

Input16, Output12

DS102MS

MCSTL102-MS

Microstep (16levels)

DS102MS-IO

MSCTL102-IO-MS

Input16, Output12

DS112NR

MSCTL112

DC24V ±10%

Normal (FULL/HALF)

DS112NR-IO

MSCTL112-IO

Input16, Output12

DS112MS

MCSTL112-MS

Microstep (16levels)

DS112MS-IO

MSCTL112-IO-MS

Input16, Output12

SURUGA Type

MISUMI Type

Cable length

Recital

DS100-LINK2-0.5

MSLINK2-0.5

0.5ｍ

For 2 links

DS100-LINK3-0.5

MSLINK3-0.5

0.5ｍ

For 3 links

DS100-CNT-2

MSCNT2

For control I/O(one end loose)

DS100-IO-2

MSGP2

For general I/O(one end loose)

D100-R9-2

MSRS232C

RS232C cable

DS100-USB-1.8

MSUSB1.8

1.8m

USB Cable

SURUGA Type

MISUMI Type

Article name

DT100

HDT100

Handy Terminal

DSCONTROL-WIN

MSSOFT

DS102/112 controlled software

1. Controlled

・ 5 phase stepping motor is controlled by 2 axes ・ Linear interpolation of 2 axes ・ 2 types motor driver with normal(FULL/HALF) and micro-step(16 levels)

As a microstep type, it is possible to highly positioning control and low vibration with Smooth drive function. ・ It is possible to control 6 axes with link function. Up to 24 axes can be controlled with USB Hub.

2. Drive

・ Teaching point movement ・ Program Drive ・ Jog Drive ・ It is possible to memorize teaching point 64 points and 8 of programs.

3. Interface

・ Connected USB、RS232C ・ DS102/112 controlled software：DSCONTROL-WIN ・ Handy terminal：DT100 ・ I/O for controlled ・ General I/O：Input16points、output12points (Option) ・ 2 types of PS/V AC100～240V、DC24V

【Line up products】

【Option Cable】

【Other Option】

９

1.3 System configuration example

X axis

Motor driver

X axis motor

Guide ball

screw

Limit

Switch

Y axis

Motor driver

Y axis motor

Guide ball

screw

Limit

Switch

Position Control

Unit

CPU Unit

I/O Unit Sensor

Actuator

PLC

Former System

CPU Unit

I/O Unit

X Axis Stage

Y Axis Stage

PLC

DS112

Stepping Motor Controller

DS112NR

Move the teaching point/Switch the program drive Teaching point number selected Program number selected Start/Stop

DS102/112

Controlled SoftWare：

DSCONTROL-WIN

・Move the teaching point/Switch the program drive. ・Teaching Point Number Selected. ・Program Number Selected ・Start ・Stop

・Set up the system parametor ・Memorized teaching points ・Programming and editing ・Operation check ・Back up data

DT100

Handy Terminal

DT100

・Set up the system parametor ・Memorized teaching points ・Operation check

USB or RS232C

1.3.1 Control with PLC

Stages can be controlled with I/O units of PLC. No need positioning units.

１０

1.3.2 Controlled by PC

Motion

Control

Board

X Axis

Motor driver

X Axis

Motor

Guide

ball screw

Limit

Switch

Y Axis

Motor Driver

Y Axies

Motor

Guide

ball screw

Limit

Switch

I/O

Board

Sensor

Actuator

Former set-up

Sensor Actuator

USB

RS-232C

X axis stage

Y axis stage

General Input：

16points

General Output：

12points

DS102

Stepping Motor

Controller

DS102NR-IO

Use virtual COM port　(Ex.:VB)

RS-232C communication application

MSComm1.Settings = "9600,N,8,1" ' Set up the port MSComm1.CommPort = 1 ' Set up the port add.

MSComm1.PortOpen = True 　　　 ' Open the port

' Move to 100 X axies MSComm1.Output = "Axis1:Selsp 0:Goabs 100"

Original software

・Set up the system

parametor

・Operation check

・Cotrolled stage ・ControlＩ I/Ｏ

DS102/112

Control Software：

DSCONTROL-WIN

Easily controlled external machine by software. No need motion control board and I/O board.

１１

1.4 Accessories

Operation check

・DS102 or DS112 ・X axis stage ・Y axis stage ・Motor cable ・RS232C cable：DS100-R9-2 ・USB cable：DS100-USB-1.8 ・Power cable ・PC ※You must have another power supply

and power cable if you use DS112.

・USB driver CD-R ・DSCONTROL-WIN CD-R (Option)

Conecting

Install USB driver

Set up the system parametor

DS102/112 Control soft ware：

Install DSCONTROL-WIN

This included following goods. Please check when you open. If some parts missing, please let us know.

・ DS102/DS112：1 PCS ・ Power cable（2m）：1 PCS（Only case of DS102）・ CD-R（data of this Manual , USB Device driver）：1PCS ・ Manual（this documents）：1PCS

The power cable of DS102 attachment is exclusively for this machine.

２．Set-up and example of use

2.1 Set up before use

Shows flow before use DS102/DS112.（MISUMI Type: MSCTL102/MSCTL112）

１２

2.1.1 Connecting

I/O connector for

control

RS232C

X axis stage connector

General I/O

Connector

X Y

I/O

CNT-I/O EMS SW1 LINK USB RS232C

USB Connector

AC Inlet

Y axis stage connector

I/O

CNT-I/O

USB

RS232C

TERMINAL

DS102

Stepping Motor Controller

Power

Connector for

Handy terminal

TERMINAL

Shows how to connect DS102/DS112

 DS102

１３

DS102

Stepping Motor

Controller

X axis stageY axis stage

AC100V

AC100

～240V

USB Cable：

DS100-USB-1.8

USBRS232C

RS232C Cable：

D100-R9-2

Motor Cable 16 pins series stages：

　D214-1-□E，D214-1-□R （MISUMI：SRCB□，SRCB□-R）

12 pins series stages：　D214-2-□E，D214-2-□R （MISUMI：MSCB□，MSCB□-R）　D214-2-□EA，D214-2-□RA （MISUMI：MS4CB□，MS4CB□-R）

Attached

Power Cable

① Connect X axis motor connector to X axis stage. ② Connect Y axis motor connector to Y axis stage. ③ Connect AC inlet and AC100～240V. ④ Connect USB connector to USB port of PC.

(Connect RS232C connector to PC if use RS232C)

１４

 Use DS112

TERMINAL

POWER

+24V

CNT-I/O EMS SW1 LINK USB RS232C

DS112

GNDFG

I/O

Y axis motor

connector

Terminal block for

power

General I/O

connector

Handy terminal

for connector

RS232C connector

USB connector

I/O connector for control

Stepping Motor Controller

I/O

CNT-I/O

USB

RS232C

TERMINAL

X axis motor

connector

X axis stage

Y axis stage

DS112

Stepping Motor Controller

USB cable：

DS100-USB-1.8

USB

RS232C

RS232C cable：

D100-R9-2

Motor cable

16pin series stage：

　D214-1-□E，D214-1-□R

12pin series stage：

　D214-2-□E，D214-2-□R

DC24V

① Connect X axis motor connector to X axis stage. ② Connect Y axis motor connector to Y axis stage. ③ Connect terminal for power of DC24V to power supply(DC24V)

※ Must have DC24V power supply and cable

④ Connect USB connector to PC USB port.

(Connect RS232C connector to PC if use RS232C )

１５

2.1.2 USB Driver Install

Shows how to install USB driver to PC(for XP).

① Switch on a computer and start Windows. ② Set up DS102/112 USB driver CD-ROM to computer drive. ③ Switch on DS102/112 and wait 5 seconds. ④ Connect computer USB port and DS102/112 USB connector.

When computer recognize to connect DS102/112, shows following messages.

⑤ At the detecting wizard of new hardware, choose [No, not this time]

and click [Next].

⑥ Select [Install from list or specific location (Advanced)] and click [Next].

１６

⑦ Check the [included this location in the search], push [Browse] and select [Win2KXP] then,

click [next]. Start the driver install.

⑧ Click the [Continue Anyway] when displays Hardware Installation.

１７

⑨ Click [finish]

Display the found new hardware wizard.

⑩ Select [No, not this time] and click [Next].

⑪ Select [Install from a list or specific location (advanced)] and click [Next].

１８

⑫ Check the [included this location in the search], push [Browse] and select [Win2KXP] then,

click [next]. Start the driver install.

⑬ Click the [Continue Anyway] when displays Hardware Installation.

１９

⑭ Click [finish]

Display the found new hardware wizard.

2.1.3 Installation for control software DS102/112(DSCONTROL-WIN)

Show how to install software (DS CONTROL-WIN) to control DS102/112 by PC.

① Insert CD-ROM of DSCONTROL-WIN inside PC drive. ② Double click on setup.exe in CD-ROM.

DSCONTROL-WIN installer start.s.

③ Click [next]

The screen below appears on PC.

２０

④ Select folder of installation then click {Next}

The screen shows folder selection ※On initial setting, installation folder is：\Program Files\SURUGA\DSControlWin. Click [Next] in case of no required folder

２１

⑤ To prepared Program Shortcut, you need to select folder from list on START MENU then click

[Next]

The drawing below appears on PC screen ※On initial setting, Startmenu folder is DSControlWin.

Click [Next] in case of no required folder

⑥ Click [Next] after you confim installed contents

The screes scomes to [Information]

２２

⑦ Click [YES]

※ No pop-up message appears if you already select folder

Installation begins

Installation complete.

⑧ Click [Finish]

Installing DSCONTROL-WIN completed.

２３

2.1.4 Adjustment system parameter

Shows how to set up system parameter by DSCONTROL-WIN

① Starts DSCONTROL-WIN

② Select [Parameter setting] in [Action]

Parameter setting appears on screen

③ Click on Tab you sellect

２４

④ Select stage model you use from [Stage Model]

Initial value appears when you select stage model.

※ input direct value if we want to change initial value.

⑤ Select axis parameter by repeating ③～④ again.

⑥ Click [Apply].

Screen shows folder storing parameter.

⑦ Select folder and input file name then click [Save].

Parameter values are saved PC then forward values toward DS102/112.

※ Spf is automatically added.

２５

2.1.5 Operation check

Shows how to check operation.

① Starts DSCONTROL-WIN.

② Click [JOG] in [Action] on main menu

JOG dialog appears on screen.

③ Click [Origin]

[Org],[Home] appears.

④ Click [Org] on X axis

X stage return origin position.

Make sure X stage moves origin position.

⑤ Repeat ③～④ again Y axis return to origin position.

２６

⑥ Click [Contiue]

[+],[-]appear on screen.

⑦ Keep clicking [+] on X axis

X stage moves toward CW direction. Stage stops when it reachs to CWLS then indicator leftside [+] becomes RED.

⑧ Keep clicking [-] on X axis

X stage moves toward CCW direction. Stage stops when it reachs to CCWLS then indicator rightside [-] becomes RED.

⑨ Repeat ⑦～⑧ on Y axis.

２７

2.2 System architecture

Waiting posi

(50，100)

Working posi

(1000，1500)

Exporting Posi

(2000，3000)

X axis stage

CPU unit

I/O unit

Y axis stage

PLC

DS112

Stepping Motor Controller

DS112

T_BIT0～5

P/T_START

STOP

PRG/TCH

CNT-I/O

I/O cable DS100-CNT-2

DT100

Handy Terminal

DT100

USB

TERMINAL

RS232C or

STEP1 ： Moving to waiting position (50，100) STEP2 ： Moving to working position (1000，1500) STEP3 ： Processing on target STEP4 ： Moving to exporting position (2000，3000) STEP5 ： Exporting processig

2.2.1 Movement between each teaching position

Show how to set up position inside memory of DS112 (MISUIMI Type: MSCTL112)and move its

position by PLC.

1) Configuration

※ CNT-I/O shows following signal. READY means Waiting condition of DS112 and X_DRIVE and

Y_DRIVE means both working condition. P/T_RUN means Teaching working and Program working.

２８

2) Movement summary Waiting, working and exporting position memorized inside DS112 as teaching points, 00, 01, 02, PLC appoints each points then make state move to each points.

① Set up 00 among T_BIT0～5, press P/T_START <STEP1> ② Set up 01 among T_BIT0～5, press P/T_START <STEP2> ③ Wait unitl woring on target is done <STEP3> ④ Set up 02 among T_BIT0～5, press P/T_START <STEP4> ⑤ Wait until exporting is done <STEP5>

3) Connect Connect to DS112 PC is used when setting or editing teaching point

① Connect USB to PC USB port

(Connect RS232C to PC when using RS232C)

② Connect handy terminal to DS112 ③ Connect X axis motor connector to X stage ④ Connect Y axia motor connector to Y stage ⑤ Connect control I/O connector to PLC I/O unit

On control I/O, T_BIT0～5：Appoint teaching point P/T_START：Signal to move to teaching point STOP：Stop signal for all axes PRG/TCH：program mode / teaching point mode

※ T_BIT0～2：combined use for program selection

２９

4) Memory of teaching point

Jog

Menu8Set

SPD

↑

POS

←1Link

→

Stop

/ESC

DT100

Handy Terminal

↓ ．-

Enter

X stage CCW direction

X stage CW direction

Y stage CCW direction

Y stage CW direction

Memorizing teaching point inside DS112

① Start DSCONTROL-WIN

② Select [Teaching] on main menu in DSCONTROL-WIN.

Screen below appears.

③ Push direction key on handy terminal unitl stage moves to specific positon.

３０

④ Click [00] CELL on the teacing screen

00 CELL gets to be Red.

⑤ Click [Set]

Current stage position as 00 is memorized to DS112.

⑥ Repeat ③～⑤ so memorize 01 as working position and 02 as exporting position to DS112.

３１

5) Save teaching file

Teaching points memorized are saved as teaching file in PC.

① Click [Save]

Save As appears on screen.

② Clcik [Save] after you determine [Save location] and [File name]

Teaching file is saved in PC.

※ tdf is added to your file name as extension.

３２

6) Operation check Checking movememt to the memorized position.

① No interference affects stage movement.

② Click [00] CELL on teaching screen.

00 CELL gets to be Red.

③ Click [Go to].

Stage moves to teaching point [00] (Waiting point).

④ Repeat ②～③ and check same operation at teaching point [01] working position as well as

[02] exporting position.

３３

7) Execution of movement

Timing chart

PRG/TCH

T_BIT5-0

P/T_START

Function

00 01 02

Move to wait posi Move to Target Working Move to expt posi Working

P/T_RUN

READY

X_DRIVE

Y_DRIVE

Execute movement to teaching position by PLC.

※ All stages stop when making signal [STOP] [ON]

３４

2.2.2 Easy return to origin position

CPU unit

I/O unit

X axis stage

Y axis stage

PLC

DS112

Stepping Motor Controller

DS112

P_BIT0～2

P/T_START

STOP

PRG/TCH

CNT-I/O

I/O cable DS100-CNT-2

USBRS232C or

Program #0

① Speed adjustment on X axis origin return movement ② [Origin] return on X axis ③ Speed adjustment on Y axis origin return movement ④ [Origin] return on Y axis ⑤ Speed adjustment on X axis movement ⑥ Speed adjustment on Y axis movement

Shows how to set [Origin] program in DS112 and execute [Origin return] by PLC.

1) Configuration

※ CNT-I/O continuously output READY is stand-by condition of DS112, X_DRIVE is X axis working condition, Y_DRIVE is Y axis working condition and P/T_RUN means teaching point and program are in action.

2) Movement summary Setting up [Origin] program at program #0 in DS112 and [Origin] program starts by using PLC.

① Set 0 among P_BIT0～2 and make P/T_START ON (Program #0 starts).

３５

3) Connection Connection of DS112 PC (DSCONTROL-WIN) is connected only when creating or editing program.

① Connect USB connector to USB port in PC

(Connect RS232C to PC when using RS232C)

② Connect X axis stage connector to X axis stage ③ Connect Y axis stage connector to Y axis stage ④ Connect control I/O connector to I/O unit in PLC

On control I/O, P_BIT0～2：Select program # P/T_START：Signal of movement to teaching point STOP：Stop signal for all axes PRG/TCH：Select mode (Start program / movement to teaching point)

※ P_BIT0～2: combined use for teaching point selection

4) Creating program Creating [Origin return] of two axes.

① Start DSCONTROL-WIN

② Click [Action]→[Program drive] on main menu.

３６

③ Click [Add]

The display below appears on display.

④ Click [Speed] on command menu

“Speed Setup” appears on display.

⑤ Check axis X and input speed value then click [OK].

Command appears on the program drive screen.

⑥ Click [Add] on Program drive

Drive menu appears on display.

３７

⑦ Click [Single Axis Drive]

Single Axis Drive appears on display.

⑧ Single Axis Drive display

[Mode] = “ORG” [Axis] = “X” [Wait until finish] = “Enable”

Click [OK]

[Origin] of X axis command appears on the first line.

⑨ Repeat ③～⑧ for Y axis

⑩ Click [Add]

Drive command menu appears on display.

３８

⑪ Click [Speed]

Speed Setup display appears display.

⑫ Check [Axis] X and input drive speed value then click [OK].

Speed command appears on the fourth line.

⑬ Repeat ⑩～⑫ to set up Y axis speed.

３９

5) Writing program Writing program to DS112

① Click [Write]

Write Program appears on display.

② Select [0] then click [Transfer]

Program is forwarded to Program#0.

４０

6) Save program Save program at PC program drive file.

① Click [Save] on program drive display

The display below appears on display.

② Select [location] and [file name] then click [Save].

Program is saved as Program drive file.

※ prg is automatically added as extension.

４１

7) Operation check Checking movement to origin return.

① No interference affects stage movement.

② Click [Start]

Start Program appears on display.

③ Select program [0] then click [Start].

４２

8) Practice of movement

Timing chart

PRG/TCH

P_BIT2-0

P/T_START

動作

X axis origin

return

Y axis origin

return

P/T_RUN

READY

X_DRIVE

Y_DRIVE

Function

Movement to [Origin] position by PLC.

※ All stages stop when [STOP] button

４３

2.2.3 Control by external signal

CPU unit

I/O unit

X guide

Y guide

PLC

DS112

Stepping Motor Controller

DS112

P_BIT0～2

P/T_START

STOP

PRG/TCH

CNT-I/O

CNT-I/O cable DS100-CNT-2

I/O

X sensor

Y sensor

In00

In01

General I/O cable DS100-IO-2

USBRS232C or

STEP1 ： Set both X and Y stages at starting position (50，100) STEP2 ： Move X stage by 10pulses then stop X stage when target reach X sensor STEP3 ： Move Y stage by 10pulses then stop Y stage when target reach Y sensor

X motor

Y motor

workwork

work

X sensor Y sensor X guide

Y guide

Shows how to stop stage by external signal that DS112 outputs.

1) Configuration

※CNT-I/O continuously output READY is stand-by condition of DS112, X_DRIVE is X axis working condition, Y_DRIVE is Y axis working condition and P/T_RUN means teaching point and program are in action.

４４

2) Operation summary

Program #1

① Setting up address speed on both X and Y axes ② Movement of X and Y axes to work starting point <STEP1> ③ Move X axis to CW direction by 10 pulse ④ Repeat ③～④ until target reaches X sensor <STEP2> ⑤ Move Y axis to CW direction by 10 pulse ⑥ Repeat ⑤～⑥ until target reaches Y sensor <STEP3>

Setting up [Detecting sensor program] at program #1 in DS112 then executing movement by PLC addressing program #1.

① Settting up 1 among P_BIT0～2 then press [ON] on P/T_START (Executing program #1).

3) Connection Connection of DS112. PC (DSCONTROL-WIN) is connected only when creating or editing program.

① Connect USB connector to USB port in PC

(Connect RS232C to PC when using RS232C)

② Connect X axis stage connector to X axis stage ③ Connect Y axis stage connector to Y axis stage ④ Connect control I/Oconnector to I/O unit in PLC

On control I/O, P_BIT0～2：Select program # P/T_START：Signal of movement to program STOP：Stop signal for all axes

PRG/TCH：Select mode (Start program / movement to teaching point)

⑤ Connect X sensor and Y sensor to general I/O.

Assign X axis sensor output to In00, and Y axis sensor output to In01.

４５

4) Creating program

Creating the program that stopping axis in response to external sensor.

① Starts DSCONTROL-WIN.

② Click [Action]→[Program drive] on main menu.

③ Click [Add]

Command menu appears on display.

４６

④ Click [Speed] on command menu.

⑤ Check Axis X and input speed value then click.

Drive speed value appears on the line [0] on program drive display.

⑥ Click [Add] on.

Command menu appears on display.

４７

⑦ Click [Single Axis]

Single Axis Drive appears on display..

⑧ Single-Axis Drive.

[Mode] = “POS” [Axis] = “X” [Destination] = “50” [Waiiting until finish] = “Enable”

Click [OK]

Movement command on X axis appears.

⑨ Repeat ③～⑧ then input speed drive and movement command on Y axis.

⑩ Click [Add] on Drive command menu.

Drive command menu appears.

４８

⑪ Click [Single Axis].

Single-Axis Drive appears on screen.

⑫ Single-Axis Drive

[Mode] = “STEP” [Axis] = “X” [Diistance] = “１0” [Direction] = “CW” [Wait until finish] = “Enable”

Click [OK].

Program command on X axis appears on fourth line.

⑬ Click [Add] on Program drive

Drive command menu appears.

⑭ Click [Conditional Jump] on Drive command menu

Conditional Jump appears.

４９

⑮ Input [0] at Input Port No, [OFF] at State and [4] at jump to Line then click [OK].

Repeat Command on fourth line while State of input0 is [OFF] .

Conditional Jump command appears on fifth line on Program Command display.

※ On Conditional jump is set up, Command on fourth line is repeated while State of input0 is

[OFF].

⑯ Repeat ⑩～⑮ to input movement command and conditional jump command to Y axis.

５０

5) Writing Program Writing program in DS112.

① Click [Write] on Program Drive.

Write Program appears on display.

② Select Program #1 then click [Transfer].

Program is forwarded to Program #1.

５１

6) Save Program Save Program in Program drive file.

① Click [Save] on Program drive display.

Saving display of Program drive appears.

② Confirm save location and its name then click [Save].

Program is saved in Program drive.

※ .prg is automatically added as extension.

５２

7) Operation check Checking stage movement by external signal.

① No interference affects stage movement.

② Click [Start].

Start Program appears on display.

③ Select 1 at Program No.: then click [Start].

５３

8) Operating

Timing chart

Move to the

start position

Move 10pulse

to X axis CW

X axis

sensor

Output

detector

Move 10pulse

to Y axis CW

Y axis

sensor

state

detection

PRG/TCH

P_BIT2-0

P/T_START

Operating

P/T_RUN

READY

X_DRIVE

Stop the axes due to input external signal.

※ All stages will be stopped when input the “STOP” signal.

５４

2.2.4 External device control with generalＩ/Ｏ.

Waiting

position

(50，100)

Action point

(1000，1500)

Actuator Input the signal to start pressure operating. Completed pressure operating, output the completed pressure operating signal .

Pressure operating

Out00In00

Press-in

operating

Start signal

Press-in

operating

Completed

signal

X axis stage

Y axis stage

I/O

Actuator

Out00

In00

General I/O cable DS100-IO-2

Computer

DS102

Stepping Motor

Controller

DS102 X

USB

RS232C

STEP1 ： Move to Action point(1000，1500) STEP2 ： Send to actuator the press-in start signal, then start the press-in. STEP3 ： Detect the completed press-in operating from actuator. STEP4 ： Move to waiting position(50，100)

Shows to make a program that means to control general I/O and to control the external device.

1) Configuration

５５

2) Operation outline

MSComm1.Output = “AXI1:SELSP 0:F0 1000” ’X stage set up speed MSComm1.Output = “AXI2:SELSP 1:F1 1000” ’Y stage set up speed MSComm1.Output = “AXI1:GOABS 1000” ’X stage move to operation point MSComm1.Output = “AXI2:GOABS 1500” ’Y stage move to operation point

MSComm1.Output = “Out00 1” ’Turn on the start operation signal to the actuator

MSComm1.Output = “In00?” ’Pick the operation completed signal to the

actuator

intSens = MSComm1.Input Ｌoop Until [intSens = 1]

MSComm1.Output = “AXI1:GOABS 100” ’X stage move to waiting point MSComm1.Output = “AXI2:GOABS 200” ’Y stage move to waiting point

MSComm1.Output = “Out00 0” ’Turn off the start operation signal to the actuator

Programming

① Set up driving speed of X, Y stages. ② Move X, Y stages to operation position. <STEP1> ③ Start actuator operation. <STEP2> ④ Pick up operation completed signal of actuator.

<STEP3> ⑤ Move X,Y stages to waiting position. <STEP4>

① Execute the computer program.

3) Connecting DS102 connection

① Plug the USB connector into the computer USB port.

(In case of using RS232C, plug the connector into the computer)

② Connect X axis stage connector to X axis stage. ③ Connect Y axis stage connector to Y axis stage. ④ Connect general I/O connector to actuator.

4) Make and execute the program

５６

2.2.5 Move to arbitrary coordinate

Waiting point

Shooting point

(2000，3000)

Camera Unit

X,Y direction

positioning correction

Xrv，Yrv

Xrv

Yrv

X axis stage

Y axis stage

DS102

Stepping Motor

Controller

DS102

Computer

Camera

USB

RS232C

STEP1 ： Shooting position move to(2000，3000) STEP2 ： Obtained positioning correction by camera unit STEP3 ： Move subject to the center based on positioning correction

Camera Unit

Output positioning correction of X,Y

direction from shooting center to subject

Shows how to move the stage base on data, which is downloaded, from external.

1) Configuration

５７

2) Operation Outline

MSComm1.Output = “AXI1:SELSP 0:F0 1000” ’X stage set up speed MSComm1.Output = “AXI2:SELSP 1:F1 1000” ’Y stage set up speed MSComm1.Output = “AXI1:GOABS 2000” ’X stage move to shooting point MSComm1.Output = “AXI2:GOABS 3000” ’Y stage move to shooting point

intXrv = Obtain X direction correction position ( ) intYrv = Obtain Y direction correction position ( )

MSComm1.Output = “AXI1:PULS intXrv：GO CW” ’X stage move to correction position MSComm1.Output = “AXI2:PULS intYrv：GO CW” ’Y stage move to correction position

Program contents

① Set up operation speed of X stage, Y stage. ② Move X stage, Y stage to shooting point. <STEP1> ③ Get positioning correction from camera units. <STEP2> ④ Move X stage, Y stage to correction point. <STEP3>

Program for stage is moved to arbitrary position to DS102 with the computer.

① Run the program from the computer.

3) Connection

Connect DS102

① Plug computer USB port into USB connector.

(In case of using RS232C, connect RS232C and computer)

② Connect X axis motor connector and X axis stage. ③ Connect Y axis motor connector and Y axis stage.

4) Programming

５８

Controlled max. 24 axes Using USB hub

Controlled max.6 axes Using link cable

DS102

Stepping Motor

Controller

DS102

1axis

2axis

Computer

PLC

DS102

Stepping Motor

Controller

DS102

1axis

2axis

DS102

Stepping Motor

Controller

DS102

3axis

4axis

DS102

Stepping Motor

Controller

DS102

5axis

6axis

Computer

PLC

USBハブ

Computer

1set

Can be connected

max. 4sets

1axis

2axis

DS102

3axis

4axis

DS102

5axis

6axis

DS102

USB hub

19axis

20axis

DS102

21axis

22axis

DS102

23axis

24axis

DS102

2.2.6 Controlled over 3 axes

Can be controlled max.6 axes using link cable, and max.24 axes using USB hub.

５９

Type

DS102□□

DS102□□-IO

DS112□□

DS112□□-IO

Dimension

(Projection such as connector no included)

140(W)×300(D)×90(H)mm

70(W)×165(D)×155(H)mm

Weight

2.2kg

1.2kg

Usage environment

0～40℃ 20～80%RH（No condensation）

Storage environment

-20～60℃ 20～80%RH（No condensation）

Power supply input

AC100-240V ±10% 50/60Hz

DC24V±10% （3.5A 以上）

Maximum power consumption

Below 70W

Below 2.5A

Driver type

DS102NR/DS112NR ：Normal (FULL/HALF)

DS102MS/DS112MS ：Microstep(1/1～1/250)

Driver current rating

0.75A

Drive system

Bipolar Galvan static chopper pentagon drive system

Excitation system

DS102NR/DS112NR ： 4-5 excitation（FULL/HALF）

DS102MS/DS112MS ： 4 excitation（1/1～1/250）

Number of controlled axis

2 axes

Coordinate setting range

±99,999,999pulse

Driving speed setting range

1～999,999pps

Rate of rise speed setting range

1～9,999pps

Addition-subtraction speed setting

Range

1～9,999ms

S additional-subtraction speed rate

Setting range

0～100%

Machine limit

2 places for each axis to CW,CCW（Possible logic change）

Detected proximity origin

1 place for each axis（Possible logic change）

Detected origin

1 place for each axis（Possible logic change）

How to detect origin

12style

Home position

1 place for each axis（Can be set up in effective area arbitrarily）

External COM Interface

RS232C:4,800～38,400bps（Dsub9pin male）

USB2.0:Full/Low Speed only（USB mini B terminal）

Controlled I/O(CNT-I/O):Input9points（24Vphoto coupler）、 Output11points（Open collector）

Link function

RS485（Can be connected link max. 3 controller 6 axes with DG chain ）

Program function

8Programs（100steps/1program）

Can be controlled program number choice, start, stop with controlled I/O

Teaching function

64 points（Can be controlled intended point, move, stop with controlled I/O）

Interpolation function

6 axes linear interpolation（Easy linear interpolation on the link）

Controlled I/O (CNT-I/O)

Input 9points（P/T START,STOP）（ 24V photo coupler）

Output 12points（X DRIVE,XCWLS）（ Open collector）

General I/O (I/O)

（Option）

－

Input16 points

（24Vphoto coupler）

Output12 points

（Open collector）

－

Input16 points

（24Vphoto coupler）

Output12 points

（Open collector）

Item

SPEC

Remarks

Display

16 figures×2 lines

No backlight

Input

DC24V

Supply from DS102／DS112

Number of key

12keys

Click emboss12 keys

Cable length

1.5m

Can be extended till Max10ｍ (Option)

Operation Mode

11mode

Continue/Step/Absolute/Origin/Home/ Parameter/Program/Teaching/Input/Output/Remote (Display time which receive a command from external controlled)

Outline

73(W)×130(D)×27(H)mm

Not included the screw and cable

Weight

280g

1.5m cable included

３．SPEC and FUNCTION

3.1 Basic SPEC

【Motor Controller DS102/DS112 (MISUMI Type: MSCTL102/MSCTL112)】

【Handy terminal DT100】

６０

3.2 Part name and functions

TERMINAL

DS102

Stepping Motor Controller

X Y

I/O

FUSE(250V 4A)

　Normal Blow

　5.2×20.0mm

Voltage

　AC100-240V

Wattage

　max 70W

Frequency

　50/60Hz

CNT-I/O EMS SW1 LINK USB RS232C

5 4

12 13

【DS102 (MISUMI Type: MSCTL102) Front panel】

【DS102 Rear panel】

① Power ：Power switch ② LED ：LED lights up when switch on ③ TERMINAL ：Connector for handy terminal(DT100) ④ RS232C Connector ：Connector for RS232C communication(Dsub9P male) ⑤ USB Connector ：Connector for USB communication(Mini Btype) ⑥ Link Connector ：Connector for connecting Link to DS102(Max 3 units) ⑦ Dip Switch(8bit) ：RS232C Baud rate(2bit)、Link Number(2bit)、USB ID(2bit)、

Command response (1bit) setting up ⑧ EMS Connector ：Connector for emergency stop input(Software interlock,B point) （Included connector for EMS cancel） ⑨ CNT-I/O Connector ：Check the each axis status, Select program operating number・Start・ Stop, Select teaching position number・Start・Stop I/O connector （Bellows 26pin half pitch）

⑩ I/O Connector ：General Ｉ/Ｏ（In 16points,Out12 points）connector

（Option）（Bellows 36pin half pitch）

⑪ Stage connector ：Connector for Motorized stage（X axis,Y axis）

⑫ Fuse holder ：Use 250Ｖ、4A Nomal blow glass fuse ⑬ AC inlet ：Input AC100～240V 50/60Hz

（Connector type：09-0054-00-14（Binder products））。

Incase of AC100～120V, use attached electric cable In case of AC200V, use with the proper cable

【DS112 (MISUMI Type: MSCTL112) Front panel】

TERMINAL

POWER

+24V

CNT-I/O EMS SW1 LINK USB RS232C

DS112

Stepping Motor Controller

GNDFG

I/O

① Terminal block for power ：For input(DC24V、M3 screw) ② POWER LED ：LED lights up when power on ③ TERMINAL ：Connector for handy terminal DT100 ④ RS232C Connector ：Connector for RS232C communications（Dsub9P male） ⑤ USB Connector ：Connector for USB communications（Mini B type）。 ⑥ Link Connector ：Connector for link connection DS112(Max 3 units) ⑦ Dip SW(8bit) ：Connector for RS232C baud rate(2bit),Link number(2bit),USB ID(2bit),

Command response (1bit) setting up ⑧ EMS Connector ：Connector for emergency stop(Normal close) （Included connector for EMS cancel） ⑨ CNT-I/O Connector ：Check status each axis, select program operating number・Start・Stop select the number of teaching position・Start・for stopＩ/Ｏ connector

（Bellows 26pin half pitch）

⑩ I/O connector ：General Ｉ/Ｏ（In 16points,Out 12points）connector

（Option）（Bellows 36pin half pitch）

⑪ Stage connector ：Motorized stage（Xaxis,Yaxis）for connecting

（Connector model：09-0054-00-14（Binder products））

【DT100 (MISUMI Type: HDT100)】

Key name

Function

Jog/7

Operation mode(CNT/STP/ABS/ORG/HOM)transit to selection screen/7-key

Menu/8

Menu(PRM/PRG/TCH/IN/OUT)transit to selection screen /8-key

Set/9

Jump to setting value switchable screen for each operation mode(STP/ABS/ORG/HOM)、

Use at the teaching position registration /9-key

←/1

X axis to Cooperation, Select setting item /1-key

→/3

X axis to Cw operation, Select setting item /3-key

↑/5

Y axis to CW operation, Select setting item/5-key

↓/. -

Y axis to CCW operation, Select setting item/key ．（ decimal）－（negative）

SPD/4

Select speed table number /4-key

POS/6

Set current position /6-key

Link/2

Controller（axes）switching（at the link connecting）/2-key

STOP/ESC/0

Stop operating axes, stop program operating、return to previous screen /0-key

Enter

Decision

DT100

Handy Terminal

Stop

/ESC

Enter

. -

Jog7Menu8Set

SPD

POS

Link

2 31

DS102/DS112

1.5m

LCD：16 digit X 2 lines

Click emboss 12 keys

3.3 Setting

TERMINAL

DS102

Stepping Motor Controller

TERMINAL

DS102

Stepping Motor Controller

TERMINAL

DS102

Stepping Motor Controller

Over 20mm

155

TERMINAL

POWER

+24V

CNT-I/O EMS SW1 LINK USB RS232C

DS112

Stepping Motor Controller

GNDFG

I/O

177.4

11.3

1.6

3.7

170

4.5 4.5

TERMINAL

POWER

+24V

CNT-I/O EMS SW1 LINK USB RS232C

DS112

Stepping Motor Controller

GNDFG

I/O

Over 20mm

TERMINAL

POWER

+24V

CNT-I/O EMS SW1 LINK USB RS232C

DS112

Stepping Motor Controller

GNDFG

I/O

Over 20mm

【DS102 (MISUMI Type: MSCTL102)series】

Please set DS102 on the level and vibration-free, and open the space over 20mm because of eradiation on top of this unit.

No need to open the space in between controllers when line up the few units in one row

sideways.

If cover the upper radiation space, it is to be a cause of a fire and damage because of heat

up inside.

【DS112 (MISUMI Type: MSCTL112)series】

Should set up DS112 on the level with 4 mounted holes. In case of set up on the level, radiation

hole should be comes to upper or left side of units, please open over 20mm spaces.

If cover the upper radiation space, it is to be a cause of a fire and damage because of heat up inside.

3.4 External Interface

Pin No.

Signal

I/O

Function

T (+)

I/O

Transmitted and received data (+)

T (-)

I/O

Transmitted and received data (-)

GND

Ground 4 NC

Non connected

T (+)

I/O

Transmitted and received data (+)

T (-)

I/O

Transmitted and received data (-)

GND

Ground 8 NC

Non connected

GND

Ground

Frame ground

Link number

OFF

0（Default）

OFF

ON 2 ON

１２３４５６

７

８

SW1

3.4.1 Link connection（Link）

In case of controlled over 3 axes, can be operated max.6 axes operations connected with original link cable (DS100-LINK2-0.5 (MISUMI Type: MSLINK2-0.5) or DS100-LINK3-0.5 (MISUMI Type: MSLINK3-0.5) between 2 units or 3 units of DS102/DS112. (MISUMI Type: MSCTL102/MSCTL112)

【Link connector】

Connector type ： S10B-PADSS-1(LF)(SN) （JST） Matched plug ： PADP-10V-1-S(LF)(SN) （JST） Conformance contact ： SPH-002T-P0.5L （JST）

※If use link function, need to set the ID number with DIP switch.

【Set the DIP switch】

Set third bit and forth bit of ＳＷ1

● Set link number

※Factory-setting is OFF.

※ Please power on in the order Link number 2,→1→0

In case of can’t be powered on in turn because of included system, please power on 3 units at the same time.

3.4.2 Control Input/Output（CNT-I/O）

number

Name of

signal

I/O

Function

X_DRIVE

X axis now driving

X_CWLS

X axis CWLS now detecting

X_CCWLS

X axis CCWLS now detecting

X_ORG

X axis ORG now detecting

Y_DRIVE

Y axis now operating

Y_CWLS

Y axis CWLS now detecting

Y_CCWLS

Y axis CCWLS now detecting

Y_ORG

Y axis ORG now detecting

READY

Ready output

Non-connected（System reserved）

EMS

EMS now detecting (OFF for EMS detecting ／ On for EMS non detecting)

P/T_RUN

Program now driving or teaching point now moving

-COM1

Common for output signal

P/T_BIT0

Select program numberBIT0 or teaching point specification BITO

P/T_BIT1

Select program numberBIT1 or teaching point specification BIT1

P/T_BIT2

Select program numberBIT2 or teaching point specification BIT2

T_BIT3

Teaching point specification BIT3

T_BIT4

Teaching point specification BIT4

T_BIT5

Teaching point specification BIT5

P/T_START

Program driving start signal ／ Teaching point moving start signal

STOP

Program stop (All axes will be stopped)

PRG/TCH

Program driving mode／Switching teaching point moving signal （When OFF、program driving mode／When ON、teaching point moving mode）

-COM0

Common for input signal

Non connected

DC+24V

Service power (DC24V，max 250mA)

Output the status of motorized stages that connected DS102/DS112. Also can operated

teaching point number, specify program number, move teaching point, program operation start and

stop.

By connecting I/O of PLC and CNT-I/O, can be controlled the motorized stages easily.

【CNT-I/O connector】

Connector type ： 10226-52A2PL （3M） Matched connector（ex.）： 10126-3000PE （3M）

【Option cable（2m）】

type ： DS100-CNT-2 (MISUMI Type: MSCNT2)

【CNT-I/O pin assign】

 Driving current of output circuit is 20mA/points, ON current of input circuit is

5mA/points.

 -COM0 and -COM1 are insulated.

CNT-I/O

X_DRIVE

Y_CCWLS

T_BIT3

P/T_BIT2

P/T_BIT1

P/T_BIT0

EMS

(Reserved)

READY

Y_ORG

Y_CWLS

Y_DRIVE

X_ORG

X_CCWLS

X_CWLS

T_BIT4

PRG/TCH

DC+24V

N.C.

-COM0

STOP

P/T_START

-COM1

P/T_RUN

T_BIT5

EMS

EMS-

EMS+

24V+

PS2801-4

4.7k

1.5k

4.7k

【CNT-I/O Circuit】

【Timing Chart】

PRG/TCH

P/T_START

P/T_RUN

P/T_BIT0

P/T_BIT1

P/T_BIT2

READY

T_BIT3

T_BIT4

T_BIT5

↑Start

Off

Operating

Stop

↑PowerON

>5s

>30ms

OUT

STOP

Off

>30ms

↑Start

①Normal operation ②Suspend

PRG/TCH

P/T_START

P/T_RUN

P/T_BIT0

P/T_BIT1

P/T_BIT2

READY

T_BIT3

T_BIT4

T_BIT5

Teachingposition moving

↑Start

Off

駆動中

停止

↑PowerON

>5s

>30ms

OUT

STOP

Off

>30ms

↑Start

①Nomal operation ②Suspend

①Program operated by CNT-I/O（Ex.：Program No.5）

※Documentation, transfer and delete of program (No.0～7) is started from computer.

②Teaching position moved by CNT-I/O(Ex.：Teaching No.21)

※ Registration of teaching position is started from computer or handy terminal DT100.

3.4.3 General I/O（I/O）（ Option）

Pin No.

Signal name

I/O

Function

In_00

General input00

In_01

General input01

In_02

General input02

In_03

General input03

In_04

General input04

In_05

General input05

In_06

General input06

In_07

General input07

In_08

General input08

In_09

General input09

In_10

General input10

In_11

General input11

In_12

General input12

In_13

General input13

In_14

General input14

In_15

General input15

+COM2

In_00～In_15 for insulation power on

+COM3

OUT_00～OUT_11 for insulation power on

Out_00

General output00

Out_01

General output01

Out_02

General output02

Out_03

General output03

Out_04

General output04

Out_05

General output05

Out_06

General output06

Out_07

General output07

Out_08

General output08

Out_09

General output09

Out_10

General output10

Out_11

General output11

-COM3

Out_00～Out_11 for insulation power ground

-COM3

Out_00～Out_11 for insulation power ground

DC+24V

Service power (DC24V，max 400mA)

Non-connected

There’s option for general I/O that is input 16 points and output 12 points due to control each sensors, switches, magnet valves and indicator lights.

【I/O connector】 General I/O（I/O）（ Option）

Connector type ： 10236-0200 （3M） Adaptive connector（Ex.）： 10136-3000PE （3M）

【Option cable（2m）】

Type ： DS100-IO-2 (MISUMI Type: MSGP2)

【I/O pin assign】

 Input ON current is 5mA/point、Output drive current is 60mA/point（Total

under 500mA）

 DC+24V power, COM2 and COM are each insulated.

【I/O Circuit】

I/O

IN_00

IN_06

+COM2

IN_15

IN_14

IN_13

IN_10

IN_09

IN_08

IN_07

IN_05

IN_04

IN_03

IN_02

IN_01

+COM3

OUT_03

OUT_06

OUT_05

OUT_04

OUT_02

OUT_01

IN_12

IN_11

OUT_00

OUT_07

24V+

TLP281-4

4.7k

1.5k

4.7k

OUT_10

OUT_09

OUT_08

OUT_11

N.C.

DC+24V

-COM3

N.C.

TLP281-4

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

TD62084AFG

3.4.4 Emergency stop input（EMS）

Pin No.

Signal name

I/O

Function

EMS (+)

Input emergency stop signal (Normal close) DC24V 5mA

EMS (-)

Common

Pin No.

I/O

Terminal function

Motor lead (Blue)

Motor lead (Red)

Motor lead (Orange)

Motor lead (Green)

Motor lead (Black)

CWLS input

CCWLS input

Near origin sensor input

Origin sensor input

Sensor power (DC5V(+))

Sensor power (DC5V(-))

N.C. T -

N.C. U -

Frame ground

Can be emergency stopped all axes operating to open 1 pin and 2 pin of EMS connector.

(At the link connected, 3～6 axes that connected to Link No.1,2 is emergency stopped to open EMS

signal of Link No.0)

※ In case of no use EMS signal, please attached release-connector always on.

【EMS connector】

Connector type ： S02B-PASK-2(LF)(SN) （JST） Mattched plug ： PAP-02V-S(LF)(SN) （JST） Mattched contact ： SPHD-001T-P0.5 （JST）

As software’s interlock function, please do not use as the last protect function of systems.

3.4.5 Stage interface

Connect the motorized stage connected cable to motor connector.

【Motorized stage connector】

Connector type : 09-0054-00-14 (Product of Binder: female) Matched plug : 09-0341-02-14 (Product of Binder)

3.5 Driver division number setting

Driver type

Division number setting

Normal driver

Can be switched FULL/Half from handy terminal(DT100),control software (DSCONTROL-WIN), communication command.

Micro step driver

Need to open the cover and set the rotary switch of micro-step driver.

Y axis

X axis

Ｘ axis

Ｙ axis

Division number changing-over switch

Different how to set the division number normal type and micro-step type.

3.5.1 Open and shut

①In case of DS102, take out 10 screws from side of cover, in case of DS112, take out 6 screws

from side of cover with cross screwdriver.

②See following picture, set the marked point with precision screwdriver.

・ Please power off during the open and shut, cause fire, injury and device breakage. ・ Please do not set up the driver with charged hands, cause breakage by static

electricity.

3.5.2 Setting division number

When set division number, please check driver’s division changing-over switch to [R1].

Default setting：R1

There are 2 division number setting switch ［DATA1］［DATA2］, use [DATA1]here.

DATA1

（DATA2）

Division number

Motor step angle

1/1

0.72°

1/2

0.36°

1/2.5

0.288°

1/4

0.18°

1/5

0.144°

1/8

0.09°

1/10

0.072°

1/20

0.036°

1/25

0.0288°

1/40

0.018°

1/50

0.0144°

1/80

0.009°

1/100

0.0072°

1/125

0.00576°

1/200

0.0036°

1/250

0.00288°

Can be used [DATA2] at the only use communication command. Please refer to 4, 3, 5, 2

paragraph.

In case of change the division number, change [DATA1].

Default setting： [DATA1 : 0]

[DATA2：0］

Following chart shows basic step angle 0.72°/STEP. Resolution = Basic step angle × Division number

 Please set “PULSE” as unit setting, in case of using both DATA1 and DATA2.  Division number are theoretical figure.  Please do not change the division number switch during operation, motor might be

stopped.

3.6 Smooth drive function（only MS type）

This function can get low vibration and low noise during slow operating without any change the

division number setting. It divides automatically into 1/16 pulse signal.

No need pulse changing(speed and pulse) of upper controller side. Smooth drive function must be operated case of division number [R1],［DATA：0］～［DATA：6］（［R2］cannot be set）

（［DATA］numeric shows ３．５．２ paragraph division number switch ［DATA1］）

Smooth drive changing-over switch

Default setting：[SD：Operate smooth drive]

• When operate smooth drive function、set ［SD］side.（Initialization）

• When no operate smooth drive function, set ［OFF］side.

・Smooth drive function will not work when set over 10 divide division number.

Might be ignored to set［SD］.（Same as［OFF］operation）

3.7 Units setting function

No need difficulty change from pulse to actual displacement. Units setting must be first for each setting parameter. Follow the below.

① Units setting（pulse, μm, mm, deg, mrad） ② Set 1 pulse displacement at the full step（Basic resolution）set. ③ Set the division number（1/1～1/250） ④ １pulse displacement（Automatically calculated from ①～③）

Example） In case of set the stage：KXC06020-G（1μm／pulse）to mm.

Units：mm 1 pulse displacement at the full step：０．００１（mm） Division number：１／２０１pulse displacement：０．００００５（mm）

※ After setting, can use operate the setting units for all position data (except speed table). ※ In case of Sine Motion Stage（KRB04017, KRB06011, KGB07）, can use only “PULSE ” as

unit setting.

3.8 Speed setting（Speed table）

F(pps)

L(pps)

R(msec) R(msec)

S=0% S=0%

F(pps)

L(pps)

R(msec) R(msec)

S/2

(%)

S/2

(%)

S/2

(%)

S/2

(%)

100-S

(%)

100-S

(%)

This equipment memorized 10 speed table from 0 to 9. Each 2 axes（Max6 axes at Link） speed

is selected from speed table 0 to 9.

How to set the speed as shown bellows.:

① Select speed table from 0 to 9 as needed. ② Fix the speed table and change the setting level.

Example）

Ｘ axis・・・Speed table No.０ Fixed Ｙ axis・・・Speed table No.１ Fixed Ｚ axis・・・Speed table No.２ Fixed Ｕ axis・・・Speed table No.３ Fixed Ｖ axis・・・Speed table No.４ Fixed Ｗ axis・・・Speed table No.５ Fixed

Set as above, and change the each speed table 0 to 5 setting level (L,F,R,S).

※ Control software (DSCONTROL-WIN) speed is set by ② ※ Can change speed in operation.

Start-up speed（Ｌ：ｐｐｓ）、Driving speed（Ｆ：ｐｐｓ）、Acceleration and deceleration rate （Ｒ：ｍｓｅｃ）and S acceleration and deceleration rate（Ｓ：％）are as follows.:

（Ｓ＝0％：trapezoid driving）

F(pps)

L(pps)

R(msec)

S=50% S=50%

R(msec)

25%

25% 25%

F(pps)

L(pps)

R(msec)

S=100% S=100%

R(msec)

（Ｓ＝50％）

（Ｓ＝100％）

In case of bellows, set S acceleration and deceleration rate over 0 which helps to lessen the impact

and vibration for stages.

 In case of under heavy load on the stages  In case of operating stages at the vertical (Z axis).  Become triangle driving at the trapezoid driving due to small distance（Avoid triangle driving）

Speed table each level 0～9 as bellows.:

Contents

Setting range

Default

Speed table Ｎｏ．０ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１０ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

１０ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．１ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

５０ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

５０ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．２ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

１００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．３ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

５００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．４ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

１０００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．５ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

２０００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．６ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

５０００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．７ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１０００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

１００００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．８ Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１０００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐｐｓ

２００００ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

Speed table Ｎｏ．９

Start-up speed（Ｌ）

１～９９９９ｐｐｓ

１０００ｐｐｓ

Driving speed（Ｆ）

１～９９９９９９ｐpｓ

５００００ｐpｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

１００msec

S Acceleration and deceleration rate（Ｓ）

0～１００％

0％

※ The value of speed table No.9 is max speed which can use at this equipment. Ex) If the value

of over 50000pps is setting on speed table No.1, actual speed is 50000pps. If needed, please change the value of speed table No.9.

3.9 Function of origin return

TYPE

OPERATION

APPLIED SENSOR

PAGE

Type０

Origin return is not implemented（default）。

－

Ｐ．78

Type１

Start to detect to the CCW Detect the CW side edge of NORG signal, then, Detect the CCW side edge of ORG signal

ＣＷＬＳ／ＮＯＲＧ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．78

Type2

Start to detect to the CW Detect the CCW side edge of NORG signal, then Detect the CW side edge of ORG signal

ＣＷＬＳ／ＮＯＲＧ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．79

Type３

Start to detect to the CCW Detect the CCW side edge of ORG signal

ＣＷＬＳ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．80

Type４

Start to detect to the CW Detect the CW side edge of ORG signal

ＣＷＬＳ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．80

Type５

Start to detect to the CCW Detect the CW side edge of CCWLS signal

ＣＷＬＳ／ＣＣＷＬＳ

Ｐ．81

Type６

Start to detect to the CW Detect the CCW side edge of CWLS signal

ＣＷＬＳ／ＣＣＷＬＳ

Ｐ．81

Type７

After operated type1, detect CCW side edge of TIMING signal

ＣＷＬＳ／ＮＯＲＧ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．82

Type８

After operated type2, detect CW side edge of TIMING signal

ＣＷＬＳ／ＮＯＲＧ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．82

Type９

After operated type3, detect CCW side edge of TIMING signal

ＣＷＬＳ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．82

Type１０

After operated type4, detect CW side edge of TIMING signal

ＣＷＬＳ／ＯＲＧ／ＣＣＷＬＳ

Ｐ．82

Type１１

After operated type 5, detect CCW side edge of TIMING signal

ＣＷＬＳ／ＣＣＷＬＳ

Ｐ．82

Type１２

After operated type 6, detect CW side edge of TIMING signal

ＣＷＬＳ／ＣＣＷＬＳ

Ｐ．82

Type of origin return

Stages

１、２、７、８

KS102、KS103、KS111、KS112、KS121、KS122、KXS

３、４、９、１０

PG、KX、KS101、KS161、KS162、KS332、KS401、KS402、 KS501-60、KG05、KG07、KGB07、KH06、KH07、KS421、KS451、 KGW、KＲW、ＫＸＣ、ＫＸＧ、ＫＸＬ(ORG option) 、KXB、 KXS(option Q,W) 、KXT、KHE、KRE

５、６、１１、１２

KS501-40、KRＢ04017、KRＢ06011、ＫＸＬ

This equipment has built-in 12 types origin return pattern. Please select origin returning type

according to the part number of stage you use.

＜List of origin return types＞

※ Please refer motorized stages catalog, select pattern type of origin return with checking the

usage sensor.

＜Recommended origin return method＞

Recommended origin return method with usage our stages as bellows.:

※PG series, KX series, KG05、KG07、KGB07、KH06、KH07 case of using standard cable.

The Origin return sequence is shown as below.:

ＣＷＬＳ

start

position２

Ｆspeed

Ｌspeed

Start position３

Start position４

ｂpoint

ＪＯＧ

ＮＯＲＧ

ＯＲＧ

(Sensor is

turned OFF when the point a is detected)

＜Near origin

detection process＞

＜Origin detection

process＞

ＣＣＷＬＳ

point a

Start

position１

Ｆspeed

Ｌspeed

Ｆspeed

Ｌspeed

Start position

５

Ｆspeed

Ｌspeed

JD ＪＯＧ

ＯＲＧ

(Sensor is turned ON when the point a is

detected)

ｂ点

Ｌspeed

Solid-line shows emergency stop setting. Dot-line shows slowdown stop setting.

※

【Type０】

No origin return（default）

【Type１】

CW side edge (a point) of NORG signal is detected in CCW direction, then CCW side edge (b point) of ORG signal.

【Type２】

ＣＷＬＳ

Start

position２

Ｆspeed

Ｌspeed

start position３

ＮＯＲＧ

ＯＲＧ

(Sensor is

turned OFF when the point a is detected)

＜Near origin

detection process＞

＜Origin detection

process＞

ＣＣＷＬＳ

point a

Start

position１

Ｆspeed

Ｌspeed

Ｆspeed

Ｌspeed

ＯＲＧ

(Sensor is turned

OFF when the

point a is

detected)

Ｌspeed

Start position4

Start

position５

Ｆspeed

Ｌspeed

point b

ＪＯＧ

Ｌspeed

JDＪＯＧ

point b

Ｌspeed

※

Solid-line shows emergency stop setting. Dot-line shows slowdown stop setting.

CCW side edge (a point) of NORG signal is detected in CW direction, then CW side edge (b point) of ORG signal is detected.

【Type３】

ＣＷＬＳ

Start

position２

Ｆspeed

Ｌspeed

Start position３

Start

position４

ＣＣＷＬＳ

ａpoint

Start position

１

Ｆspeed

Ｌspeed

Ｆspeed

Ｌspeed

Ｆspeed

Ｌspeed

ＪＯＧ

Ｌspeed

ＯＲＧ

＜Origin detection

process＞

ＪＯＧ

※

Solid-line shows emergency stop setting. Dot-line shows slowdown stop setting.

ＣＷＬＳＣＣＷＬＳ

ａpoint

ＯＲＧ

＜Origin detection

process＞

Start

position２

Ｆspeed

Ｌspeed

Start

position１

ＪＯＧ

Ｌspeed

Start position３

Ｆspeed

Ｌspeed

Ｆspeed

Ｌspeeed

Ｌspeed

ＪＯＧ

Start

position４

Ｆspeed

Ｌspeed

ＪＯＧ

※

※Solid-line shows

emergency stop setting. Dot-line shows slowdown stop setting.

CCW side edge (a point) of ORG signal is detected in CCW direction

【Type４】

CW side edge (a point) of ORG signal is detected in CW direction.

【Type５】

ＣＣＷＬＳ（ａ point）

ＣＣＷＬＳ

Start

position２

Ｆspeed

Ｌspeed

Start

position１

ＪＯＧ

Ｌspeed

ＣＷＬＳ

Start

position３

Ｆspeed

Ｌspeed

ＪＯＧ

※

※Solid-line shows

emergency stop setting. Dot-line shows slowdown stop setting.

※

ＣＣＷＬＳ

ＣＷＬＳ（ａ point）

Start

position２

Ｆspeed

Ｌspeed

Start

position１

ＪＯＧ

Ｌspeed

Start

position３

Ｆspeed

Ｌspeed

ＪＯＧ

※

※Solid-line shows

emergency stop setting. Dot-line shows slowdown stop setting.

※

CW side edge (a point) of CCWLS signal is detected in CCW direction.

【Type６】

CCW side edge (a point) of CWLS signal is detected in CW direction.

【Type７】

ＣＣＷＬＳ

＜Origin detection

process＞

ＪＯＧ

ＣＷＬＳ

ｂpoint

ｃpoint

ＪＯＧ

ＯＲＧ

＜Excitation timing detection process＞

ＴＩＭＩＮＧ

ＣＣＷＬＳ

＜Origin detection

process＞

ＪＯＧ

ＣＷＬＳ

ｂpoint

ｃ点

ＪＯＧ

ＯＲＧ

＜Excitation timing detection process＞

ＴＩＭＩＮＧ

○

Detection start position

●

Detection termination position

Ｆ Speed

Driving speed（Setting speed）

Ｌ Speed

Start-up speed (Setting speed）

ＪＤ（ＪＯＧ）

Detection JOG interval（ＪＤ＝Ｌspeed）

ＬＤ

Limit detection stop time ３００ｍｓｅｃ

ＳＤ

Sensor detection stop time ３００ｍｓｅｃ

After the Type1 is performed, CCW side edge (c point) of TIMING signal is detected.

【Type８】

After the Type2 is performed, CW side edge (c point) of TIMING signal is detected.

【Type９】

【Type１０】

【Type１１】

【Type１２】

After the Type3 is performed, CCW side edge of TIMING signal is detected.

After the Type4 is performed, CW side edge of TIMING signal is detected.

After the Type5 is performed, CCW side edge of TIMING signal is detected.

After the Type6 is performed, CW side edge of TIMING signal is detected.

3.10 Linear interpolating function

Current point A point(10, 20, 30, 40, 50, 60)

B point(110, 220, 330, 440, 550, 660)

6axes linear

interpolation 一 example

Use linear interpolating function when want to move from current point to specified point as the shortest distance. Linear interpolation of Max. 6 axes are available at the link connecting. Linear interpolation is available with control software（DSCONTROL-WIN）or communication command usage.

However function of linear interpolating is unavailable from handy-terminal.

※Between links interpolating is inaccurate.(2nd and 3rd or 1st and 6th , etc)

That is inferior than same unit axes.(1st and 2nd or 3rd and 4th , etc)

3.10.1 Linear interpolating（Relative value）

Operate from current point to constantly away for each axes.（Relative driving）

【Communication command】

GOLineI _X□Y□Z□U□V□W□ □：+ or - （+：CW specified direction、-：CCW specified direction） Distance：”PULSe” setted （Unit is as case of current time） ※No driving axis is avoided.（example：GOLineI _X+Z-）。

【Communication command when operate the above example work】

AXIX:PULS _100

AXIY:PULS_200

AXIZ:PULS_300

AXIU:PULS_400

AXIV:PULS_500

AXIW:PULS_600

GOLineI _X+Y+Z+U+V+W+

3.10.2 Linear interpolating（Absolute value）

Operate from current point to point that want to move directly.（Absolute value driving）

【Communication command】

GOLineA_X□_Y□_Z□_U□_V□_W□ □：Specified point（Unit depends on setting unit at the time） ※No driving axes are avoided.（example：GOLineA_X1000_Z-2000）。

【Communication command when operate the above example work】

GOLineA_X110_Y220_Z330_U440_V550_W660

3.11 Teaching function

Movement

Registered

Delete

Edit

Controlled I/O(CNT-I/O)

○ × ×

Handy terminal DT100

○

○（Each 1 axis）

○（All axes）

○（Each 1 axis）

Controlled software DSCONTROL-WIN

○

○（All axes）

△※1

Communication command

○ ○ ○

○

Program edit

Program start

Program stop

Controlled I/O(CNT-I/O)

× ○ ○

Handy terminal DT100

× ○ ○

Controlled software DSCONTROL-WIN

○

(Recommended)

○

Communication command

○ ○ ○

This equipment has built-in the teaching function for arbitrary coordinate registration of XY table,

point control simply. The number of points has 64points（00～63）, 6 axes are registered on each points. Movement , registration, delete and edit to teaching point is available to use optional handy terminal, control software or user program with communication command. Also, specified point and movement are available for only PLC, I/O control by using controlled I/O (CNT-I/O).

※1 Teaching data (tdf file) that is edited by text editor, display on DSCONTROL-WIN, then, transfer

(writing).

Refer details as shown bellows: Example teaching function ⇒2．2．1paragraph Operated by controlled I/O(CNT-I/O) ⇒３．４．２paragraph Operated by handy terminal ⇒４．１．４．３paragraph Operated by controlled software DSCONTROL-WIN ⇒４．２．４paragraph Operated by communication command ⇒４．３．５．２paragraph（１4）、４．３．５．６paragraph （３）

3.12 Program function

This equipment is stand-alone and has built-in the program function that the number of step is

each 100, total 8 for controlled general I/O and easy stage driving.

Refer details as bellows.: Example teaching function ⇒2．2．2paragraph, 2．2．3paragraph Operated by controlled I/O(CNT-I/O) ⇒３．４．２paragraph Operated by handy terminal ⇒４．１．４．２paragraph Operated by controlled software DSCONTROL-WIN ⇒４．２．５paragraph Operated by communication command ⇒４．３．6paragraph

４．Operation and Control method

C X 12345678p<0 Y-98765.432u>1

Operation mode Axis

Code

Current position

Status

Unit

Speed table number

4.1 Operation by the handy terminal

4.1.1 Initial screen

Connect handy terminal DT100(MISUMI Type: HDT100) and power on, display initial screen as below（Continue Mode）in 5 seconds.

※Current position of all axes might be 0 when power on.

＜Display operation mode＞ Display each operation mode

C (CNT): Continue Mode（Stage drives during press arrow key） S (STP): Step Mode（Stage drives constantly by pressing arrow key） A (ABS): Absolute Mode（Stage drives to specified point by pressing arrow key） O (ORG): Origin Mode（Start to origin return by pressing arrow key） H (HOM): Home Mode（Stage drives to home position by pressing arrow key） R: Remote Mode

※”R”(Remote Mode) displays only receive the command from external interface. Only accept

STOP key and JOG key.

＜Axis＞ Display axis that available controlled（No Link：XY、Link Connecting（2units）： XY,ZU、Link Connecting

（3units）： XY,ZU,VW）。＜Code＞ Display unit at the current point（No display ”＋”distance）＜Current point＞ Display the current point（ effective digit 8 digit, Except dot）＜Unit＞ Set up by parameter. Display（p:pulse, u:μm, m:mm, d:deg, r:mrad）＜Status＞ Display the axis condition

> : Machine limit ＋（CW）side is under detection

< : Machine limit －（CCW）side is under detection

■ : Machine limit both ＋（CW）and -(CCW)side are under detection（No connect to stage）

] : Software limit ＋（CW）side is under detection

[ : Software limit －（CCW）side is under detection

＊ : Machine origin point is under stop by origin return

H : Move to position and under stop by home position return

note）Machine limit display is came first when machine limit and soft limit are detected. ＜Speed table number＞ Display speed table No（0～9）

4.1.2 Transition mode

POWER ON

Jog

Initial screen

(CNT Mode)

Select driving

mode

Enter

CNT Mode

(Continuous

drive)

STP Mode

(Step driving)

ABS Mode

(Absolute driving)

ORG Mode

(Origin return)

HOME Mode

(Return t )

REMOTE Mode

(Remote handring)

Jog

Axis select

XY, ZU, VW

Link

Speed table

select

SPD

Enter

ESC

Change current

value

POS

Enter

Stop all axes

STOP

Menu select

Enter

PRG Mode

(Program driving)

TCH Mode

(Teaching mode

select)

Enter

PRG_RUN

(Program run)

PRG_STEP

(Program step

run)

Enter

TCH_MOV

(Move teaching

point)

TCH_SET

(Return teaching

point)

TCH_DEL

(Delete teaching

point)

TCH_EDT

(Edit teaching

point)

(General Input

monitor)

OUT

(General output

set-up)

PRM

(Parameter

set-up)

1.Pulse(STP)：Set up step distance

2.Pulse(ABS)：Set up absolute driving position

3.Speed Table：Set up speed table

4.Unit Set：Set up units and division number

5.Software Limit：Set up software limit

6.Home Position：Set up homeposition

7.Origin Type：Set up zero return type

8.Current Down：Set up current down

9.Limit Sensor：Set up limit sensor logic

10.Origin：Set up ORG sensor logic

11.Near Origin：Set up NORG sensor logic

12.Drive Direction：Set up motor direction

13.Stop Type：Set up motor stop

14.Zero Reset：Set up origin return reset

↓

↑

Handy terminal DT100 Transition mode as bellows.:

4.1.3 Driving mode select（JOG KEY）

C N T S T P O R G H OM A B S

Jog

C X 1 2 3 4 5 6 7 8 p<0 Y-98 7 6 5 . 4 3 2 u>1

Operation

mode

Axis

Code

Current position

Status

Unit

Speed table number

ＣＮＴ Mode

S X 1 2 3 4 5 6 7 8 p<0 Y-98 7 6 5 . 4 3 2 u>1

Operation mode

ＳＴＰ Mode

Select each driving mode when each axis operation stop. Press Jog key, it start to display driving mode select. Select the function by using the arrow key and press ENTER key, then move to each driving mode.

4.1.3.1 Continuous driving mode（CNT：Continue Mode）

Display as bellows by selected CNT.

←、→、↑、↓ during press any key, drive with setting each parameter.

← key： X(Z,V) axis drive to -(CCW) → key： X(Z,V) axis drive to +(CW) ↑ key： Y(U,W) axis drive to +(CW) ↓ key： Y(U,W) axis drive to -(CCW)

4.1.3.2 Uniform pulse driving mode（STP： Step Mode）

Select STP, display as bellows.:

←、→、↑、↓ press any key, start to drive uniform pulse in each parameter.

← key： X(Z,V)axis drive to -(CCW) → key： X(Z,V)axis drive to +(CW) ↑ key： Y(U,W)axis drive to +(CW) ↓ key： Y(U,W)axis drive to -(CCW) STOP key：Stop all axes

＊ Press shortcut key(Set key)at the step mode, display「Set up uniform pulse distance」.

（Return to step mode screen with Set key）

4.1.3.3 Absolute value driving mode（ABS： Absolute Mode）

A X 12345678p<0 Y-98765.432u>1

Operation mode

ＡＢＳ mode

O X 12345678p<0 Y-98765.432u>1

Operation mode

ＯＲＧ mode

H X 12345678p<0 Y-98765.432u>1

Operation mode

ＨＯＭ mode

Display as below when selects ABS.

←、→、↑、↓ press any key, start to drive in each parameter ←、→ key： X(Z,V)axis drive to setting position ↑、↓ key： Y(U,W)axis drive to setting position

STOP key : Stop all axes

＊ Press shortcut key（Set key）, display 「Set up absolute value driving position」

（Return to absolute driving mode screen with Set key）

4.1.3.4 Origin return mode（ORG： Origin Mode）

Display as below when selects ORG.

←、→、↑、↓ press any key, start origin return at “Origin Type” of parameter.

After origin return finished , display“*” at “status” of main screen.

←、→ key： X(Z,V)axis return to origin ↑、↓ key： Y(U,W)axis return to origin STOP key： Stop all axes

＊ Press shortcut key（Set key）, display「Set up origin return type」

（Return to origin return mode screen with Set key）

4.1.3.5 Home position return mode（HOM：HOME）

Display as below when selects HOM.

Move the position that set by “Home Position”of parameter when press any key←、→、↑、↓ After home position return finished, display “H”at “status” of main screen.

←、→ key： X(Z,V)axis return to home position ↑、↓ key： Y(U,W)axis return to home position STOP key ： Stop all axes

※ Press shortcut key,（Set key）, display「Set up home position」

（Return to return mode screen with Set key）

4.1.4 Menu select（Menu key）

8. Cu r ren t D own

9. Li m it S e n sor

10. Or i g in

11. Ne a r Or i g in

12. Dr i v e Di r ect i o n

13. S t o p Ty p e

14. Ze r o Re s e t

1. P uls e (ST P )

2. P uls e (AB S )

3. Sp e ed T a b le

4. U n i t Se t

5. So f t wa r e L imi t

6. Ho m e P os i t io n

7. Or i gin T y pe

P R M P R G T C H I N O U T

Select each menu at not <Remote Mode>. Press Menu key, display as bellows. Show each mode screen when press ENTER key after select mode with arrow key.

4.1.4.1 Parameter mode（PRM）

Allow parameter setting when select PRM.

① Pulse(STP) : Set up uniform pulse distance

② Pulse(ABS) : Set up absolute value driving position

③ Speed Table : Set up speed table

④ Unit Set : Unit(UT)、Pulse distance per 1 step(SD)、Set up division number of driver(DR)

(Distance(RE) per 1 pulse automatically calculated)

⑤ Software Limit : Set up software limit

⑥ Home Position : Set up home position

⑦ Origin Type : Set up origin return type

⑧ Current Down : Set up current down

⑨ Limit Sensor : Set up limit sensor logic

⑩ Origin : Set up origin sensor logic

⑪ Near Origin : Set up nearby origin sensor logic

⑫ Drive Direction : Set up driving direction

⑬ Stop Type : Set up stopping

⑭ Zero Reset : Set up 0 reset at return to origin

14 parameter setting screen might be changed in order by ↑,↓ key. Press Enter key, display each

parameter setting screen. Return to menu select screen with ESC key.

【List of Parameter selection】

①Pulse(STP) （Uniform pulse driving, Set up distance value）

P S X 1 0 0 . 0u Y 1000d

Parametor

Axis

Setting data unit

Cursor position at select axis

P S X 1 0 0 . 0 u Y 1000d

Parameter

Axis

Setting data unit

Cursor position at input data

P A X 2 0 0 . 0 u Y - 2000d

Parameter

Axis

Setting data

Unit

Cursor position at select axis

P A X 2 0 0 .0u Y - 2000d

Carsor position at input data

Set up distance at uniform pulse driving（Step Mode） Select“Pulse(STP)”, shows as below.: Press ↑,↓ key, select a setting axis. Return to parameter select screen with ESC key.

After axis selected, press Enter key, display the cursor on left lateral of setting data. Can be input the setting data with numeric keypad.

After setting finished, press Enter key, be moved the cursor on left lateral and input any other axis.

※During input the setting data, continue to press ESC key（1 sec.）, might be return to select the setting

axis without input setting data.

②Pulse(ABS) （Set up absolute position）

Select driving position at absolute position driving（ABS Mode） Display as below with “Pulse(ABS)”, Select setting axis with ↑,↓ key. Return to parameter

select screen with ESC key.

After axis selected, press Enter key, display the cursor on left lateral. Can be input the setting data with numeric keypad.

※ “+”no displayed

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, continue to press ESC key（1 sec.）, might be return to select the

setting axis without input setting data.

US X - a x i s Y - a x i s

Parametor Carsor

Setting axis

X UN m(mm) ST 0.001

Setting

axis

Cursor Setting dataItem

*L0 F0 R 0 1 0 1 0 1

Data Data

Cursor

Data

Item

Table Number

S0 1 0

Cursor

Data

Item Table Number

③Speed Table（Set up speed table） Set up starting speed(L), driving speed(F), acceleration and deceleration rate(R ) and S acceleration and deceleration rate(%). Display each (L)(R)(S) setting data and speed table number when select

“Speed Table” shown as below.: At this time, “*” shows on left-lateral of setting item. Be moved “*”with ←、→ key , then select（R）or (S). Select speed table number with ↑、↓ key. Return to

parameter select screen with ESC key

← key： Move the cursor(*)to the left. Case of cursor is in left-lateral S rate(S), change the screen

and display the acceleration and deceleration rate.(See the above)

→ key： Move the cursor(*)to the right. Case of cursor is in left-lateral (R), change the screen and

display the S acceleration and deceleration rate(S). (See the above)

↑キー： Speed Table Number change to order 9→8→…→1→0

↓キー： Speed Table Number change to order0→1→…→8→9

※ Return to parameter select screen if press ESC during select the Speed Table or

setting item

After moved by arrow key, press Enter key and then change to →. Possible to input with numeric keypad. (* Displayed in continuous pressing ESC key). After input, press Enter key, be confirmed setting value and change → to “*”.

④Unit Set（Set up units and division number）

Set up the unit, the distance per pulse at full step and division number of driver.

This set up shows distance per pulse, （Distance per pulse at the full step）÷（Division number of driver） automatically calculated.

Display cursor when select “Unit Set”, jump to setting screen that set units. Move the cursor to left-lateral of axis that set with ↑、↓key. Return to parameter select screen with ESC key.

After select the setting axis, press Enter key, “Unit(UN)”and “Distance per 1 pulse at the full step” (ST)of axis that selected as bellows.:

Move cursor to the side of setting item that want to be set with ↑、↓key.

X DR 1/2 RE 0.0005

Setting axis

Carsor Setting dataItem

S L X-a x i s Y-a x i s

Parametor

Selection axis

Cursor

Shows “distance per 1pulse (RE) and “Set up drivers division number (DR)” when press ↓key for 2 times.

* RE （Distance per 1 pulse at the full step）÷（Division number of driver）

Automatically calculated

Press Enterkey when move the cursor to setting item that want to be setting. Then, carsor move to left-lateral of setting data that selected, available to input the setting data.

※Press ESC key at the setting item select screen, return to axis selecting screen.

※Press ESC key at the setting data input screen, return to setting item select screen.

＜UN＞

Set the units Press ↑、↓ key, then select (p(pulse)/u(um)/m(mm)/d(deg)/r(mrad)) Press Enter key after finished input, return to setting item select screen. ＜SD＞ Set up the distance per 1 pulse at the full step of motorized stage. Input setting data with numeric keypad. After input finished, press Enter key, return to setting item select screen. ＜DR＞ Set up the division number of motorized driver with ↑、↓ key. Normal driver → FULL／HALF Micro step driver → １／１～１／２５０

※If press ESC key during input the setting data, return to selection screen of setting item without

setting data.(In case of ST entry screen, (Return to selection screen of setting item with ESC key continuation press（1 sec））

⑤Software Limit（Set up Software Limit）

Set up valid/invalid and set the coodinate of software limit.

When select the “Software Limit”, display the cursor on left-lateral at the selection screen that setted software limit. Press ↑,↓ key, select the setting axis. Return to parameter selection screen with ESC key.

Press Enter key after finished selection of axis. Move to Software Limit setting screen of +(CW) side of selection axis, then cursor shows on left-lateral

X +E OFF +L 10000p

Setting axis

Setting data

Cursor

Setting item

Setting data

X -E OFF

-L 10000p

Setting axis

Setting data

Cursor

Setting Item

Setting data

H P X 0.00 0 5 0 0 0 m Y - 5 . 0 0 0 u

Parametor

Axis

Setting data Unit

Cursol position f or selected axis

Cursol position for data input

Move cursor to the left-lateral of setting item that set with ↑,↓ key. Press ↓ key 2 times, display Software Limit setting screen of (CCW) side as bellows.:

Move cursor to the left-lateral of setting item that set with ↑,↓ key.

Press Enter key when move the cursor to setting item that want to be setting. Then, Cursor move to left-lateral of setting data that selected, available to input the setting data.

＜+E,-E＞ Set up Software Limit（CW,CCW distance）valid/invalid. Select Software Limit valid/invalid with ↑、↓key.

After selection, be fixed with Enter key and return to selection screen. Return to selection screen with ESC key.

＜+L,-L＞ Set up the coodinate（CW,CCW direction）. Can be changed with numeric keypad.

Press Enter key after finished input, return to setting item select screen. Return to selection screen of setting item with ESC key continuation press（1 sec）.

⑥Home Position（Set up Home position） Set up Home position for each axis. When select the “Home Position”, to be Home position setting screen. Display the cursor on left lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key .

After axis selected, press Enter key, display the cursor on left lateral of setting data. Can be input the

O T X 0 Y 1

Parameter

Axis

Setting data

Cursol position for selected axis Cursol position for data input

C D X O N Y O F F

Parametor

Axis

Setting data

Cursol position for selected axis

Cursol position for input data

setting data with numeric keypad. Please input –key first when input the code. ※ “+”no displayed

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, continue to press ESC key（1 sec.）, might be return to select the

setting axis without input setting data.

⑦Origin Type（Set up Origin return type） Set up each axis origin return type. When select the “Origin Type”, to be Origin Type setting screen. Display the cursor on left lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, press ESC key, might be return to select the setting axis without

input setting data.

⑧Current Down（Current Down Control Setting） Set up each axis Current Down Control Setting.

When select the “Current Down”, to be Current down setting screen. Display the cursor on left

lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, press ESC key, might be return to select the setting axis without

input setting data.

LS X B Y B

Parametor

Axis

Setting data

Cursol position for selected axis Cursol position for input data

OR X B Y B

Parametor Axis

Setting data

Cursol position for selected axis Cursol position for input data

⑨Limit Sensor（Limit Sensor Logic Setting） Set up each axis Limit Sensor Logic Setting. When select the “Limit Sensor”, to be Limit Sensor Logic setting screen. Display the cursor on left lateral of setting axis Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key

After axis selected, press Enter key, display the cursor on left-lateral, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, press ESC key）, might be return to select the setting axis without

input setting data.

⑩Origin（Origin Sensor Logic Setting） Set up each axis Origin Sensor Logic Setting. When select the “Origin”, to be Origin Sensor Logic setting screen. Display the cursor on left lateral of setting axis. Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any other axis.

※During input the setting data, press ESC key, might be return to select the setting axis without

input setting data.

⑪Near Origin（Near Origin Sensor Logic setting）

NO X B Y B

Parametor

Axis

Setting data

Cursol position for selected axis Cursol position for input data

D D X Po s i t i v e Y Ne g a t i v e

Parametor

Axis

Setting data

Cursol position selected axis Cursol position input data

Set up each axis Near Origin Sensor Logic Setting When select the “Near Origin”, to be Near Origin Sensor Logic setting screen. Display the cursor on left lateral of setting axis. Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any other axis.

※During input the setting data, press ESC key, might be return to select the setting axis without

input setting data.

⑫Drive Direction（Motor Driving Direction） Set up each axis Motor Driving Direction Setting. When select the “Driving Direction”, to be Motor Driving Direction setting screen. Display the cursor on left lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis

※During input the setting data, press ESC key, might be return to select the setting axis without

input setting data.

⑬Stop Type（Motor Stop Setting）

S T X Fa s t - S t o p Y Sl o w - S t o p

Parametor

Axis

Setting data

Cursol position for selected axis Cursol position for input data

Z R X Ye s Y No

Parametor

Axis

Setting data

Cursol position for selected axis Cursol potion for input data

Set up each axis Motor Stop Setting When select the “Stop Type”, to be Motor Stop setting screen. Display the cursor on left lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key.

※Return to parameter selection screen with ESC key。

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key

After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any other axis.

※During input the setting data, press ESC key, might be return to select the setting axis without

input setteing data.

⑭Zero Reset（Count Zero Reset Setting at Origin Return） Set up each axis Count Zero Reset Setting When select the “Zero Reset”, to be Count Zero Reset setting screen. Display the cursor on left lateral of setting axis.

Move cursor to the left-lateral of axis that set with ↑,↓ key

※Return to parameter selection screen with ESC key.

After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input the setting data with ↑、↓key.

After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any other axis.

※During input the setting data, press ESC key, might be return to select the setting axis without

input setteing data.

4.1.4.2 Program Driving Mode（PRG）

PRG R U N S T EP

P 0X 1 2 3 4 5 6 7 8 p<0 R Y-98 7 6 5 . 4 3 2 u>1

Driving Mode Program number

Program driving

P 0X 1 2 3 4 5 6 7 8 p<0 S Y-98 7 6 5 . 4 3 2 u>1

Driving mode Program number

Program (STEP) driving

Downloaded from computer program（8Programs(0～7)、100Steps/1Program）is driven and stopped. If select “PRG”, shows bellows screen and cursor is displayed on left-lateral. Return to Menu selection screen with ESC key.

Move cursor to the left-lateral that selected driving mode with ↑、↓key.

After select the program driving mode, press ENTER key jump to following each driving screen.

＜Select RUN mode（a series of operations）＞ Select “RUN”, display the program number. Change the program number with ↑、↓key (Only display registered program number in 8 programs)

After selected program, press ENTER key display “R”. If press STOP/ESCkey during the drive Program might be stop. Return to program driving mode selection screen during press STOP/ESCkey at off-line.

＜STEP mode selection＞ Select “STEP”, display the program number. Change the program number with ↑、↓key.

After selected program number, each press ENTER key drive the selection program each 1 line. Display “S” during drive. Return to program driving mode selection screen during press STOP/ESC key at off-line.

＜Registered, change and delete＞ Please enter to registered, change and delete in the controlled software（DSCONTROL-WIN） No work DT100.

4.1.4.3 Teaching mode （TCH）

M OV 00

Mode Teaching point number

M O V S E T D E L E DT

TM X 1000p 00 Y - 0.1234m

Mode

Axis

Setting data Unit

Teaching point number

T S CN T S T P 12

Mode

Teaching point number

If select “TCH”, shows bellows screen and cursor is displayed on left-lateral. Move cursor to the left-lateral that selected teaching mode with ←、→key.

After select the teaching mode, press ENTER key, jump to following each driving screen. Return to Menu selection screen with ESC key.

＜MOV: Teaching Point Moving＞ If select “MOV”, shows bellows screen （Return to teaching mode selection screen with ESC key.）

Change the program number with ↑ 、 ↓ key. Display the teaching point what you want , pressENTER key .

Press ENTER key at this screen, start to move to teaching point.（Return to teaching point number selection screen during press STOP/ESC key at off-line.）

＜SET: Teaching point setting＞ If select “SET”, shows bellows screen. Return to teaching mode selection screen with ESC key.

Move cursol to the left-lateral that selected driving mode with ←、→ key. Press ENTER key, jump to following teaching point number selection screen of each mode.

100

（1）CNT

C X 1 2 3 4 5 6 7 8 p<0 T Y-98 7 6 5 . 4 3 2 u>1

Driving mode

Cursol

Teachng Mode

CNT SET 12

Mode

Teaching Point Number

STP SET 12

Mode

Teaching point number

S X 1 2 3 4 5 6 7 8 p<0 T Y-98 7 6 5 . 4 3 2 u>1

Driving Mode

Cursol

Teaching Mode

Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressed over 1sec.) Press ENTER key with displaying teaching number, then jump to following screen.

It is possible to drive Jog with arrow key. Press SET key at the registered position, display cursor. Select registered axis with ↑、↓ key, press ENTER key, then coordinate registration. Press ESC key, return to teaching point selection screen.

※ Can be changed speed table during teaching mode.

（2）STP

Change the teaching point with ↑、↓ key,（Counted up and down continuously-pressed over 1sec.）. Press ENTER key with displaying teaching number, then jump to following screen.

It is possible to drive STEP with arrow key. Press SET key at the registered position, display cursor. Select registered axis with ↑、↓ key, press ENTER key, then coordinate registration. Press ESC key, return to teaching point selection screen. ※ Can be changed speed table during teaching mode.

MISUMI DS102MS, MSCTL102, MCSTL102-MS, MSCTL102-IO-MS, DS102MS-IO Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

１．INTRODUCTION

1.1 For Your Safety

1.2 Product Outline / Features

1.3 System configuration example

1.3.1 Control with PLC

1.3.2 Controlled by PC

1.4 Accessories

２．Set-up and example of use

2.1 Set up before use

2.1.1 Connecting

2.1.2 USB Driver Install

2.1.3 Installation for control software DS102/112(DSCONTROL-WIN)

2.1.4 Adjustment system parameter

2.1.5 Operation check

2.2 System architecture

2.2.1 Movement between each teaching position

2.2.2 Easy return to origin position

2.2.3 Control by external signal

2.2.4 External device control with generalＩ/Ｏ.

2.2.5 Move to arbitrary coordinate

2.2.6 Controlled over 3 axes

３．SPEC and FUNCTION

3.1 Basic SPEC

3.2 Part name and functions

3.3 Setting

3.4 External Interface

3.4.1 Link connection（Link）

3.4.2 Control Input/Output（CNT-I/O）

3.4.3 General I/O（I/O）（ Option）

3.4.4 Emergency stop input（EMS）

3.4.5 Stage interface

3.5 Driver division number setting

3.5.1 Open and shut

3.5.2 Setting division number

3.6 Smooth drive function（only MS type）

3.7 Units setting function

3.8 Speed setting（Speed table）

3.9 Function of origin return

3.10 Linear interpolating function

3.10.1 Linear interpolating（Relative value）

3.10.2 Linear interpolating（Absolute value）

3.11 Teaching function

3.12 Program function

４．Operation and Control method

4.1 Operation by the handy terminal

4.1.1 Initial screen

4.1.2 Transition mode

4.1.3 Driving mode select（JOG KEY）

4.1.3.1 Continuous driving mode（CNT：Continue Mode）

4.1.3.2 Uniform pulse driving mode（STP： Step Mode）

4.1.3.3 Absolute value driving mode（ABS： Absolute Mode）

4.1.3.4 Origin return mode（ORG： Origin Mode）

4.1.3.5 Home position return mode（HOM：HOME）

4.1.4 Menu select（Menu key）

4.1.4.1 Parameter mode（PRM）

①Pulse(STP) （Uniform pulse driving, Set up distance value）

②Pulse(ABS) （Set up absolute position）

④Unit Set（Set up units and division number）

⑤Software Limit（Set up Software Limit）

⑪Near Origin（Near Origin Sensor Logic setting）

⑬Stop Type（Motor Stop Setting）

4.1.4.2 Program Driving Mode（PRG）

4.1.4.3 Teaching mode （TCH）