Canon Indoor Furnishings GC 251 User Manual

CANON Digital Galvano Scanner System

GC-251

KP-1SM30、SM100

Users Manual

Rev. 1.00

Be sure to read this guide before using the product.

Keep this guide carefully for future use.

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Contents

1. Product Outline

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

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

2. Specifications

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

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

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

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

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

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

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

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

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

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

3. Software (GALILEO)

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

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

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

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

4. Operating Procedure (Quick Start)

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

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

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

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

5. Monitor Output and Digital Input Functions

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

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

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

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6. Other - Operation Setting

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

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

7. Commands

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

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

8. Parameters

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

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

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

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

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

9. Safety Functions

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

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

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1. Product Outline

1.1. Features

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

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

controller.

This system has the following features:

・High positioning precision

・Low temperature drift

・Fast and stable operation by a unique control system

・Easy tuning by parameter setting

1.2. Configuration

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

Galvano motor: Encoder-mounted galvano motor

KP-1SM30

KP-1SM100

Controller:

GC-251

IF board:

････

Beam diameter: φ10 to φ20 mm

Beam diameter: φ20 to φ30 mm

Digital servo-controller

････

Controller for two-axis control

IF board for high-speed serial communication

GC-422

GC-LVDS

････

IF board for 5V-TTL (RS-422)

IF board for LVDS level

Extension cable:

GM-EC

Extension cable for galvano motor and controller connection

････

Encoder extension cable

Motor extension cable

GM-MC

IF Board

Controller

Galvano Motor

Encoder Signal

Board

Motor

Extension Cable

Encoder

Extension Cable

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2. Specifications

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

Performance and shape

KP-1SM30

KP-1SM100

Conforming

Φ10 to φ20

Φ20 to φ30

beam diameter

Scan angle

±20 deg

Number of encoder

pulses

83328 pulses/rotation

Command resolution

Torque constant

0.036 μrad

0.041 Nm/A

0.95kg

0.036 μrad

0.093 Nm/A

1.65kg

Weight

(Reference) Command resolution

The controller of this system divides one encoder cycle into 2048.

KP-1SM30,SM100 is controlled by the following command resolution:

83328 pulses × 2048 divisions = 170655744 pulses/rotation (360°)

360°/ 170655744 = 0.000002109° = 0.036urad

Environmental conditions

Operating temperature and humidity

Storage temperature and humidity

23℃±10℃, 80% RH or less (No condensation)

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

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

radiation conditions.

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2.2. Controller (GC-251)

Performance and shape

GC-251

Number of control axes

Control sampling

100 kHz

Maximum drive current

10 A (each axis)

High-speed serial communication for position input (XY2-100)

Control RS-232C

Interface

Digital notch filter ×2

Digital low-pass filter ×1

Analog notch filter ×3

Notch filter

Weight

500 g

Environmental conditions

Operating temperature and humidity

Storage temperature and humidity

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

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

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

radiation conditions.

Section names

Mounting screw

hole (M3 × 4)

Heat radiation

frame

Mounting

screw

hole (φ3.5 × 4)

IF board

Digital board (upper)

Analog board (lower)

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2.3. Outline Drawing

KP-1SM30

（126.2）

3-M4 Depth 8

Φ48

11.5

7.5

Thermistor Cable

Encorder Cable

Motor Cable

KP-1SM100

TBD

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GC-251

118

4-M3

120

125

4-φ3.5

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2.4. Power Supply

Power supply specifications

+24 V ± 10%

+5 V ± 5%

10 A (max) × 2 axes

2.8 A

(For motor drive)

(For control circuit)

2.5. Connections

IF board

High Speed serial

Communication

Digital

Input/Output

RS-232C

+24V power

+5V power

Axis2

Axis1

Encoder Signal

Board

Galvano motor

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2.6. Connector Pin Arrangement

(Connector types)

⑦

⑥

⑤

⑧

③

④

⑨

①

②

Axis 1 motor encoder

①

②

③

④

⑤

⑥

⑦

⑧

⑨

Axis 2 motor encoder

+5 V power supply

+24 V power supply

RS-232C

High-speed serial communication

Digital input/output

Analog monitor

Fan power supply (+24 V)

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(Pin arrangement)

③ +5 V power supply

Connector model number

Connector

Model No.

Manufacturer

JST

Board side

Cable side

S2P-VH

VHR-2N

JST

Connector pin arrangement

Pin No.

Signal Description

+5 V

GND

④ +24 V power supply

Connector model number

Connector

Model No.

Manufacturer

JST

Board side

Cable side

S4P-VH

VHR-4N

JST

Connector pin arrangement

Pin No.

Signal Description

+24 V input for Axis 1

+24 V input for Axis 2

GND

3,4

⑤ RS-232C

Connector model number

Connector

Model No.

Manufacturer

JST

Board side

Cable side

S03B-PASK-2

PAP-03V-S

JST

Connector pin arrangement

Pin No.

Signal Description

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

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

GND

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⑥ High-speed Serial Communication

Connector model number

Connector

Board side

Cable side

Model No.

SM12B-PASS-1-TB

PAP-12V-S

Manufacturer

JST

Connector pin arrangement

Signal

Name

CLK-

Signal Description

Pin No.

Clock (-)

CLK+

FS-

Clock (+)

Frame sync (-)

Frame sync (+)

Axis 1 data (-)

Axis 1 data (+)

Axis 2 data (-)

Axis 2 data (+)

Status (-)

FS+

XD-

XD+

YD-

YD+

STS-

STS+

GND

Status (+)

System GND

Frame GND

The signal levels depend on the IF board.

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

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

⑦ Digital I/O

See 5-1 , “Connector Pin Arrangement”

⑧ Analog Monitor

See 5-1 , “Connector Pin Arrangement”

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⑨ Fan Power Supply

Connector model number

Connector

Model No.

Manufacturer

JST

Board side

Cable side

S04B-PASK-2

PAP-04V-S

JST

Connector pin arrangement

Pin No.

Signal Description

+24 V Output

GND

Fan Rotation Error (Open collector Input)

(No connection)

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2.7. Control Specifications

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

•

RS-232C command input

High-speed serial communication

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

selected for operation.

External Clock

Internal Clock

(High-speed serial communication)

Clock pulses generated by the High-speed serial communication

Clock input

controller internal circuit

RS-232C command

clock pulses

High-speed serial communication

command

Target position

command

(When RS-232C command input

mode is set, a high-speed serial

communication

ignored.)

command

Operation setting

parameter setting

RS-232C command

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

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

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

necessary at power-on.

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2.7.1

RS-232C command input

RS-232C command input allows the following:

•

Operation setting

Parameter setting

Error processing

Status check

(For details, see 7, “Commands.”)

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

enough for the following:

•

Step movement

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

(Communication specifications)

Wiring

Cross wiring

Communication rate

Data length

38400 bps

8 bits

Stop bit

None

Parity

Data format

ASCII code

Delimiter code

LF (0x0a) or CR (0x0d)

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(Command specifications)

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

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

Command send

Axis No.

Command ID

Data

Delimiter

Command

Command ID

Decimal, 3-digit

(See 7-1 for details)

Delimiter

Axis No.

1 or 2

Data

LF or CR

Added to command as

required (decimal )

E.g. Servo ON ID = 4

A1C004 / 1 (LF)

Data = 1

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

(LF)

Command reply

Axis No.

Command ID

Data

Delimiter

Command

Delimiter

Axis No.

1 or 2

Return value

0 or 1

Command ID

LF or CR

Decimal, 3-digit

(See 7.1 for details)

E.g. Servo ON ID = 4

A1C004 / 1 (LF)

Data = 1

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

(LF)

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

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

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

When changed a parameter of it, to start it by the same setting in power supply on at the next

time; the parameter that changed, it is necessary to write in it at ROM.

Parameter send

Axis No.

Command ID

Data

Delimiter

Parameter

Delimiter

Command ID

Decimal, 3-digit

(See 7-1 for details)

Axis No.

1 or 2

Parameter setting

LF or CR

Decimal

E.g. LQ gain parameter ID = 6

A1P006 / 4500 (LF)

Data = 4500

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

(LF)

Parameter reply

Axis No.

Command ID

Data

Delimiter

Parameter

Delimiter

Command ID

Decimal, 3-digit

(See 7-1 for details)

Axis No.

1 or 2

Parameter

setting

LF or CR

successful / unsuccessful

0 or 1

E.g. LQ gain parameter ID = 6

A1P006 / 4500 (LF)

Data = 4500

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

(LF)

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For the ROM Write of the parameter, a reply with data has been sent by all means by a controller.

The content of data is different by a parameter. (For details, see 7-3, “Parameter Details.”)

（Note） Please make the ROM write of the parameter after enough confirmation. Depending on

value for change, the controller may not start normally.

Parameter ROM Write send

Axis No.

Command ID

Data

Delimiter

Parameter

Delimiter

Command ID

Decimal, 3-digit

(See 7-1 for details)

Axis No.

1 or 2

Parameter setting

LF or CR

Decimal

E.g. LQ gain parameter ID = 6

E1P006 / 4500 (LF)

Data = 4500

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

(LF)

Parameter ROM Write reply

Axis No.

Command ID

Data

Delimiter

Parameter

Delimiter

Command ID

Decimal, 3-digit

(See 7-1 for details)

Axis No.

1 or 2

Parameter

setting

LF or CR

successful / unsuccessful

0 or 1

E.g. LQ gain parameter ID = 6

E1P006 / 4500 (LF)

Data = 4500

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

(LF)

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2.7.2

High-speed serial communication

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

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

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

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

(Communication specifications)

Base clock (CLK)

Frame sync (FS)

Data (DAT)

2 MHz

100 kHz

20 bits (Position data: 16 bits)

20 bits

Status (STS)

Transmission system

Differential signal

5V-TTL, LVDS

Signal level

(Selectable by the optional IF board)

Timing Diagram

2MHz

CLK

XDAT XData-1

XData

XData +1

YData +1

Status +1

YDAT YData -1 YData

STS

Status -1 Status

(Bit)

XDAT

YDAT

STS

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

S19 S18 S17 S16 S15 S14 S13 S12 S11 S10 S9

16bit

Data

(Bit)

10 11

20bit

Data

XDAT

YDAT

STS

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

S19 S18 S17 S16 S15 S14 S13 S12 S11 S10 S9

CLK

Frequency

2MHz

XDAT, YDAT(16bit Data)

C2 .. C0

D15 .. D0

Header ( un-used )

Position Data ( Signed Integer data )

Parity ( un-used )

(20bit Data)

D19 .. D0

Position Data ( Signed Integer data )

STS

S19 .. S0

( Status Table )

CLK, FS, XDAT, YDAT

Input signal from PC

Output signal from DRIVE: STS

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

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

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

CLK, FS, and DAT signals in advance.

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

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(Target Position Data) XDAT、YDAT

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

changed by two following parameters.

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

Parameter ID

DATA

16： 16bit Data ※

17： 17bit Data

18： 18bit Data

19： 19bit Data

20： 20bit Data

６７

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

20bit data can be set by following parameter.

The right shifts this number of bit make the target position data.

Parameter ID

DATA

0： 0bit position

1： 1bit position ※

2： 2bit position

3： 3bit position

4： 4bit position

６８

An example of the setting as follows.

(Bit)

XDAT

YDAT

16bit

Data

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

Parameter ID = 67

Parameter ID = 68

(Bit)

XDAT

YDAT

18bit

Data

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

Parameter ID = 67

Parameter ID = 68

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(Bit)

XDAT

YDAT

20bit

Data

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

Parameter ID = 67

Parameter ID = 68

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

significant bit 1bit position).

This communication specification has compatibility of XY2-100.

When using the scanner controller of XY2-100 specifications, please use this setting.

Motor rotating angle for the high-speed serial communication data

・ In the case of 16bit position data

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

Maximum position:

0-pulse position:

Minimum position:

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

0x8000 = 0

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

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

Conversion Gain parameter (Parameter ID = 13)

E.g.

For x2 (Setting: 2000), the following angle can be specified:

–5.76 × 2 deg to 5.76 × 2 deg

The command resolution will be two times.

・ In the case of 20bit position data

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

Maximum position:

0-pulse position:

Minimum position:

0xFFFF = 524287 pulses

0x8000 = 0

0x0000 = –524287 pulses

Maximum movable range is set with Parameter ID = 0, 1 (CW limit, CCW limit).

The position data of high-speed serial communication can not exceeded this range.

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（Status） STS

The status of controller is sent by status line (STS) of high-speed serial communication.

The contents of status sending from a controller can be changed by the following parameter.

Parameter ID

Data

1： Controller Condition

2： Current position (Axis 1)

3： Current position(Axis 2)

4： Current position(Axis1 , Axis2)

６６

Each status contents are as follows.

Status Table

Mode-1

Mode-2

X Position Data Bit_19

Mode-3

Mode-4

S19

S18

S17

S16

S15

S14

S13

S12

S11

S10

Y Position Data Bit_19

Y Position Data Bit_18

Y Position Data Bit_17

Y Position Data Bit_16

Y Position Data Bit_15

Y Position Data Bit_14

Y Position Data Bit_13

Y Position Data Bit_12

Y Position Data Bit_11

Y Position Data Bit_10

Y Position Data Bit_9

Y Position Data Bit_8

Y Position Data Bit_7

Y Position Data Bit_6

Y Position Data Bit_5

Y Position Data Bit_4

Y Position Data Bit_3

Y Position Data Bit_2

Y Position Data Bit_1

Y Position Data Bit_0

Axis Flag

X Position Data Bit_18

X Position Data Bit_17

X Position Data Bit_16

X Position Data Bit_15

X Position Data Bit_14

X Position Data Bit_13

X Position Data Bit_12

X Position Data Bit_11

X Position Data Bit_10

X Position Data Bit_9

X Position Data Bit_8

X Position Data Bit_7

X Position Data Bit_6

X Position Data Bit_5

X Position Data Bit_4

X Position Data Bit_3

X Position Data Bit_2

X Position Data Bit_1

X Position Data Bit_0

X(Y) Position Data Bit_18

X(Y) Position Data Bit_17

X(Y) Position Data Bit_16

X(Y) Position Data Bit_15

X(Y) Position Data Bit_14

X(Y) Position Data Bit_13

X(Y) Position Data Bit_12

X(Y) Position Data Bit_11

X(Y) Position Data Bit_10

X(Y) Position Data Bit_9

X(Y) Position Data Bit_8

X(Y) Position Data Bit_7

X(Y) Position Data Bit_6

X(Y) Position Data Bit_5

X(Y) Position Data Bit_4

X(Y) Position Data Bit_3

X(Y) Position Data Bit_2

X(Y) Position Data Bit_1

X(Y) Position Data Bit_0

Y_READY

Y_ALARM2

Y_ALARM1

Y_INPOS

X_READY

X_ALARM2

X_ALARM1

X_INPOS

Axis Flag =0 第１軸

Axis Flag =1　第２軸

1: Controller Condition

Output the status of the controller.

READY

：

Servo ON and ready to control by high-speed serial communication.

Alarm output (priority high)

ALARM1

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

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

ALARM2

Alarm output (priority low)

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

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

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INPOS

： In-position signal

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

be output.)

2: Current position (Axis 1)

Output the Axis 1 encoder position.

Position Data length: 20bit. 。

3: Current position (Axis 2)

Output the Axis 2 encoder position.

Position Data length: 20bit. 。

4: Current position (Axis1, Axis2)

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

Position Data length: 21bit. 。

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

Axis Flag = 0

Axis Flag = 1

Axis 1

Axis 2

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

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

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

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

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2.8. Heat Radiation and Installation

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

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

the operating conditions.

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

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

Controller

About 70ºC

Motor

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

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

Controller installation methods

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

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

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

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

attach a thermal conductive sheet to the contact surface.

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

structure (heat sink or cabinet) and the controller.

Output amplifier

Control circuit

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

generates heat.

Allow as much space as possible around the equipment.

Caution

The controller becomes hot during operation.

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3. Software

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

Leading Operator (GALILEO).”

GALILEO makes the following controller operations easy:

・Parameter setting

・Servo tuning (Frequency characteristic measurement)

・Status check

・Operation setting (Step movement and raster scan)

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

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

GALILEO and by external command input.

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

・Frequency characteristic measurement

3.1. Supported PC Environment

Supported OS

MS-Windows 2000, XP, Vista

Connection port

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

3.2. Installation

・ Insert the accessory application CD into the CD drive.

・ Execute Setup.exe in the GALILEO folder.

D：\

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・ Press the Next button.

・ Specify an installation folder and press the Next button.

(Recommendation: Do not change usually.)

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・ Press the Next button.

・ Press the Close button. This completes installation.

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3.3. Activation

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

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

・ Setting the COM port

Select the connected RS-232C port and press the OK button.

・ The control screen is displayed.

While communication with the controller has not started yet, the screen displays “DISCONNECT”

in gray at the upper left as the connection status.

Connection

Status

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

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・ When the power to the controller is turned on, communication automatically starts.

When communication starts, the connection status at the upper left changes to “CONNECT” in

green.

Connection

Status

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

starts automatically. (“CONNECT” is displayed.)

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

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3.4. Control Screen

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

② ③

④

⑤

⑥

⑫

⑬

①

⑦

⑧

⑩ ⑪

⑨

The status of RS-232 connection to the controller is displayed.

Connection display Connected: CONNECT (green)

①

Not connected: DISCONNECT (gray)

The encoder position of each axis is displayed.

(Unit: pulse)

②

③

Position display

Axis selection

Note: Since the number of encoder pulses per rotation depends on

the galvano motor, the relationship between the number of pulses

and the angle also differs with the motor type.

Select an axis for control and information display.

(#1 = Axis 1, #2 = Axis 2)

The screen can display the information of only one axis selected

here, although the position displayed at ②and the status displayed

at ⑨ always show the information of both axes.

Press this button to go to or detect the origin.

The operation depends on the controller status.

(During ordinary servo control)

Moving to the origin (where the position display is 0)

Invalid during high-speed serial communication

(After servo OFF and soft reset)

Origin control

(Homing to origin)

④

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Starting origin detection

⑤

⑥

Servo ON/OFF

Start or stop servo control.

Select the high-speed serial communication command or internal

command for position specification. (For details, see Chapter 4.)

(Start = High-speed serial communication, OFF = Internal

command)

High-speed serial

communication

selection

The screen of each function can be displayed by tab selection.

(A detailed explanation of the screen is shown when each function

is displayed.)

⑦

⑧

Tab selection

This area displays the screen of each function selected by a tab at

⑦.

Control display

⑨

⑩

Status display

Soft reset

The controller status of two axes is displayed.

Press this button for soft reset.

Command input

screen

Allows direct command input.

⑪

⑫

The version of the controller software is displayed.

During troubleshooting, the support staff may ask for the version

number.

DSP version

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4. Operating Procedure

This chapter explains how to use the system.

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

4.1. Controller Activation

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

・Reads saved parameters from ROM

・Homes to the origin

・Corrects the encoder (high-speed oscillation of a fixed angle)

It takes about 15 seconds until the controller is activated.

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

The completion of activation can be confirmed as follows:

GALILEO

Changes to

‘CONNECT’

Lit

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

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

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RS-232C command

Send Command ID14 “Status read” and check the following:

SRVON, SYNC, INPOS = High

ORGN = Low

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

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4.2. Step Movement

Execute step movement for a fixed angle.

GALILEO

②

①

③

・Select the Step Move tab. ①

・Select an axis for step movement. ②

・Specify the displacement (angle and pulse count) for relative position (STEP) and absolute

position. ③

・Press the MOVE button (either positive or negative position direction can be specified). ③

RS-232C command

・ Target value setting mode (Command ID = 10)

・ Target position setting (Command ID = 20)

・ Movement start (Command ID = 8)

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4.3. Raster Scan

Execute oscillation of a fixed angle at a fixed frequency.

GALILEO

②

①

④

⑤

③

・Select the Raster Scan tab. ①

・Select an axis for raster scan. ②

・Specify the operation parameters (Scan Time, Scan Angle, and Duty). ③

・Press the Scan Start button to start operation. ④

・Press the Scan Stop button to stop operation. ⑤

RS-232C command

・ Raster scan interval setting (Parameter ID = 26)

・ Raster scan duty ratio setting (Parameter ID = 27)

・ Raster scan oscillation angle setting (Parameter ID = 28)

・ Scan start (Command ID = 23 Data = 3)

・ Scan stop (Command ID = 23 Data = 0)

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4.4. Position Command Input by High-speed Serial Communication

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

data is updated as required.

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

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

advance.

GALILEO

①

・Select an axis for high-speed serial communication. ①

・Switch HiSpeed Serial to Start. ②

This switching makes the controller follow target position data by high-speed serial communication.

・Switch HiSpeed Serial to OFF. ②

Input of the MOVE command is awaited.

RS-232C commands

・ Switch to high-speed serial communication (Command ID = 23 Data = 7)

・ Return to internal clock operation (Command ID = 23 Data = 0)

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5. Monitor Output and Digital Input Functions

The controller has an analog monitor output connector for monitoring the operation status and a

digital I/O connector for external signal input.

5.1. Connector Pin Arrangement

The controller is equipped with the following:

Analog monitor output connector ×1

Digital I/O connector ×1

Digital

I/O

connector

Analog monitor output

connector

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

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

Monitor Board for

evaluation

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

to the table of the following pin arrangement.

Analog monitor output connector

Connector model number

Connector

Board side

Cable side

Model No.

Manufacturer

OMRON

XG4C-1034

XG4M-1030-T

OMRON

Connector pin arrangement

Monitor Board

Pin No.

Signal Description

Axis 1 current command value

Signal Name

A10

Axis 1 analog monitor 1 (Monitor item switching)

Axis 1 analog monitor 2 (Monitor item switching)

Axis 1 analog monitor 3 (Monitor item switching)

Axis 2 current command value

Axis 2 analog monitor 1 (Monitor item switching)

Axis 2 analog monitor 2 (Monitor item switching)

Axis 2 analog monitor 3 (Monitor item switching)

Analog GND

The controller has three monitor terminals for each of the two axes to check the operation status.

The output signal contents can be changed and the output magnification can also be changed.

(For details, see 5.2, “Analog Monitor Output Switching.”)

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Digital I/O connectors

Connector model number

Connector

Model No.

Manufacturer

KEL

Board side

Cable side

8931E-020-178L

8925E-020-179

KEL

Connector pin arrangement

Monitor

No.

board

Signal

Name

I/O

Signal Description

Logic

Remarks

A10

B10

Output Axis 1 error 1 (Priority high)

Output Axis 1 error 2 (Priority low)

Output Axis 1 servo interrupt period

Output Axis 2 error 1 (Priority high)

Output Axis 2 error 2 (Priority low)

Output Axis 2 servo interrupt period

High : Error

Edge

See Circuit 1 below.

High : Error

Edge

DG1

DG2

GND

Input External Sampling Signal

Input External Trigger Signal

Input Activation mode switching

No connection

↑: INT generation

See Circuit 2 below.

D10

D11

D12

DG3

DG4

D15

D16

D17

D18

High : ON

GND

No connection

Connection specifications

(Circuit 1)

FPGA

R: 100Ω

Connect

3.3V-TTL, max. 3 mA

(Circuit 2)

FPGA

Connect

3.3V-TTL

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5.2. Analog Monitor Output Selecting

The analog monitor output can be switched to monitor various operation and signal statuses.

This switching can be executed from [GALILEO] or [RS-232C command send].

Output contents

Power-on

Selection

Signal Description

Signal Level (At Power-on)

Terminal

Phase A of Encoder Head 1

Phase A of Encoder Head 2

Phase A of encoder after synthesis

A2 (Axis 1)

A6 (Axis 2)

Positional deviation signal

Position

1.46 mV / pulse

0.091 mV / pulse

Velocity

0.091 mV / pulse / 10 usec

A3 (Axis 1)

A7 (Axis 2)

Coarse angle

Fine angle

Phase B of Encoder Head 1

Phase B of Encoder Head 2

Phase B of encoder after synthesis

Target position

A4 (Axis 1)

A8 (Axis 2)

0.091 mV / pulse

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

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GALILEO

②

①

⑤

③

④

・Select the Monitor tab. ①

・Select an axis for monitor output switching. ②

・Select the monitor item of each output terminal. ③

・Select an output signal magnification. ④

・Press the SET button. ⑤

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Note:

・The analog monitor output is from the D/A converter of the controller.

Since the output range of the D/A converter is from –3 to +3 V, output is looped by magnification

setting if it exceeds this range.

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

KP-1SM30

360° = 83328 pulses × 2048 divisions = 170655744 pulses

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

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

0.01° = 4740 × 0.091 = 431 mV

【RS-232C Commands】

・ Monitor Output Selection (A2, A8)

・ Monitor Output Selection (A3, A9)

・ Monitor Output Selection (A4, A10)

・ Monitor Magnification Setting (A2, A8)

・ Monitor Magnification Setting (A3, A9)

・ Monitor Magnification Setting (A4, A10)

Command ID = 40

Command ID = 41

Command ID = 42

Command ID = 44

Command ID = 45

Command ID = 46

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5.3. Digital Input-Output Function

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

No.

I/O

Signal Description

Axis 1 Error 1 (Priority high)

Axis 1 Error 2 (Priority low)

Axis 2 Error 1 (Priority high)

Axis 2 Error 2 (Priority low)

Logic

1: Error

Explanation

Output

If an error occurs, the

corresponding error signal is

output.

1: Error

According to the priority of the

error, Error 1 or 2 is output.

See 9-2, “Errors.”

Output

Axis 1 servo interrupt period

Axis 2 servo interrupt period

Edge

These are output at a servo

interrupt

timing

the

controller.

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

I/O

Signal Description

Logic

Explanation

NO.

When external signal is used for

servo sampling clock.

↑：INT

Input External Sampling Signal

Input External Trigger Signal

Input Activation mode switching

generation

(Do not use it usually.)

See

6-2,

“Operation

that

synchronizes

with external

High：ON

trigger Signal input(raster scan)

See 6-1, “Setting Controller

Activation Mode”

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6. Other - Operation Setting

6.1. Setting Controller Activation Mode

Clock selection

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

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

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

Parameter ID

Data

Bit 1

0: Internal clock

1: High-speed serial communication

P64 = 1: Activation with internal clock

P64 = 3: Activation by high-speed serial communication

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

to 1. For details, see 8-2, “Parameter Details.”)

Activation mode

Power-on usually executes the following automatically:

・Reading parameters from EEPROM

・Starting homing and servo control

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

servo control are executed automatically, the power-on activation mode can be changed.

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

terminal (A6) are combined.

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SW2

SW1

2 1

OFF

SW2

SW1

Axis 1

Auto EEPROM

Read

SW1-2

Terminal A6

Auto Homing

OFF

Disabled

Enabled

Disabled

Enabled

1 or open

Axis 2

Auto EEPROM

Read

SW2-2

Terminal A6

Auto Homing

OFF

Disabled

Enabled

Disabled

Enabled

1 or open

: Setting at shipping

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

“4-3. raster scan operation”, It can be operated synchronizing with external trigger Signal.

【The Movement Pattern】

There are two kinds of movement patterns.

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

Angle

Raster Scan position

(Current Angle Position)

Voltage

External Trigger Signal

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

Angle

Raster Scan position

(Current Angle Position)

Voltage

External Trigger Signal

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

Mode setting ‘)

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【Input the external trigger signal】

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

（See 5-1 ‘Connector Pin Arrangement）

Connector pin arrangement

Monitor Board

Signal Name

I/O

Signal Description

Logic

Remarks

NO.

Ｄ10

Input External Trigger Signal

High：ON

See Circuit below.

Connection Specifications

3.3V TTL Input

FPGA

R ： 100Ω

Connector

3.3V-TTL

【Operation procedure】

(Raster Scan Parameter Settings)

・Set Parameter ID =26 Raster Scan Time

・Set Parameter ID =27 Raster Scan Duty Ratio

・Set Parameter ID =28 Raster Scan Angle

(Raster Scan Operation）

・Send Command ID=8

Data=6 Movement Start (Movement to the Initial position

of raster scan)

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

Select either

Data=9 (One coming and going)

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

・Input the external trigger Signal

・Send Command ID=23 Data=0 Scan Stop

【Notes】

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

・ 10usec or less is uneven from the external trigger signal input at time until beginning to

・ actually operate.

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7. Commands

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

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

7.1. List of Commands

Command Name

Soft Reset

Data

Return Value

Yes 0: Auto homing

1: Reset only

Error Clear

Homing Start

Servo On

Yes 0: OFF

1: ON

Control Mode Specification

Movement Start

Yes 0: PI

1: LQ

Yes 0: Step move start

6: Initial position of raster scan

Forced Stop

Target position Setting Mode

Yes 0: Absolute

1: Relative

Thermistor Temperature Read Yes 0: Controller temperature

1: Motor temperature

A/D converted value

of thermistor voltage

Current Position Read

Yes 0: Current position

1: Current target value

(Program origin)

Position (Pulse)

2: Current target value

(Absolute position)

Version Read

Yes 0: Main DSP Ver

1: Sub DSP Ver

Ver. No

Status Read

Status(16bit)

Error (16bit)

Error Read

Acceleration Control

Yes 0: OFF

1: ON

Target Position Setting

Target Velocity Setting

Operation Mode Setting

Parameter Value Check

Program Coordinate System

Yes Target position (pulse)

Yes Target velocity (pulse/second)

Yes See “Command Details.”

Yes Parameter ID

Parameter value

Yes 0: Z phase

1: Program origin

Monitor Output Selection

(A2 , A8)

Yes 0: Head1 A phase

1: Head2 A phase

2:Corrected A phase

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3:Position error

Yes 0: Position

Monitor Output Selection

(A3 , A9)

1: Velocity

2:Course Angle

3:Fine Angle

Monitor Output Selection

(A4 , A10)

Yes 0: Head1 A phase

1: Head2 A phase

2:Corrected A phase

3:Internal Target

Monitor Output Select Check

Yes 0:A2 (A8) Monitor

1:A3 (A9) Monitor

2:A4 (A10) Monitor

Monitor magnification Setting

(A2, A8)

Yes N: Magnification (x 2^N)

Monitor magnification Setting

(A2, A8)

Monitor magnification Setting

(A2, A8)

Monitor Magnification Setting

Check

Yes 0:A2 (A8) Monitor Magnification

1:A3 (A9) Monitor Magnification

2:A4 (A10) Monitor Magnification

Counter Clear Timing

Yes 0: Axis 1

1: Axis 2

0 or 1

101

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7.2. Command Details

Command

Name

Command ID

Soft Reset

0: Reset + Automatic homing

1: Reset only

Data

Return

Value

0: Command execution successful

1: Command execution unsuccessful

This command resets the system to the initial status after activation.

However, the parameter values are retained.

If a high-priority error requiring soft reset occurs (see 9-2, “Errors” for details), execute

this command after solving the cause.

Explanation

Command ID = 2: Homing Start

Command

If only reset is executed, homing is necessary for a return.

Command

Command ID

Error Clear

Name

Data

Return

Value

0: Command execution successful

1: Command execution unsuccessful

If a low-priority error occurs (see 9-2, “Errors” for details), execute this command for a

Explanation return. If this command is not executed, other commands cannot be accepted. The

parameters and other set values are retained.

Command

Command ID

Homing Start

Name

Data

Return

Value

0: Command execution successful

1: Command execution unsuccessful

This command detects the origin.

Explanation If the status is already SYNC after origin detection, this command executes homing to

the origin only.

Command ID = 0: Soft Reset

Command

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

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Command

Name

Command ID

Servo ON

0: OFF

1: ON

0: Command execution successful

Data

Return

Value

1: Command execution unsuccessful

This command starts or stops servo control.

Turning servo control off makes the motor axis free.

When the controller is operating on the internal clock, servo control starts at the servo

Explanation ON position.

When the controller is operating on high-speed serial communication and a target

position is entered, the scanner moves to the target position after the start of servo

control.

Command

Command ID

Data

Control Mode Specification

Name

0: PI control

1: LQ control

Return

Value

0: Command execution successful

1: Command execution unsuccessful

Explanation LQ control is usually used.

Command

Name

Command ID

Data

Movement Start

0: Step move start

6: Movement to the initial position of raster scan

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

Raster scan start position

Explanation

Step movement procedure

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting

Command ID = 8: Data = 0: Step Movement Start

Raster scan movement procedure

Command

Parameter ID = 26: Raster Scan Interval

Parameter ID = 27: Raster Scan Duty Ratio

Parameter ID = 28: Raster Scan Oscillation Angle

Command ID = 8 Data = 6: Movement to the raster scan initial position

Command ID = 23 Data = 3: Raster Scan Start

Command ID = 23 Data = 0: Raster Scan Stop

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Command

Name

Command ID

Forced Stop

Data

Return

Value

0: Command execution successful

1: Command execution unsuccessful

This command is used for a stop before the target position during movement by

Command ID = 8.

Explanation

Command ID = 8 Data = 0: Movement Start

Command

Command ID

Data

Target Value Setting Mode

Name

0: Absolute position

1: Relative position

Return

Value

0: Command execution successful

1: Command execution unsuccessful

This command is used to specify a position coordinate system for setting by “Command

ID = 20: Target Position Setting.”

Before setting a target position, this command should be executed.

Absolute position: Position with the origin as 0

Relative position: Distance from the current position

Explanation

This command should be executed each time a target position is set because its setting

is not retained after the start of movement.

Step movement procedure

Command

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting

Command ID = 8 Data = 0: Movement Start

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Command

Name

Command ID

Data

Thermistor Temperature Read

0: Controller temperature

1: Motor temperature

Return

Value

Thermistor voltage A/D converted value

Controller Thermistor A/D converted value

4000

3500

3000

2500

2000

1500

1000

500

100

110

Temperature（℃）

Explanation

Motor Thermistor A/D converted value

4000

3500

3000

2500

2000

1500

1000

500

100

110

Temperature（℃）

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Command

Name

Command ID

0: Current position

Current Position Read

Data

1: Current target value (Program origin)

2: Current target value (Absolute position)

Return

Value

Position (Pulse)

Explanation Command ID = 30: Program Coordinate System

Command

Command ID

Data

Version Read

Name

0: Main DSP

1: Sub DSP

Return

Value

Ver. No

Explanation

Command

Name

Command ID

Status Read

Data

Return

Value

Status (16 bits)

Each status can be checked by each bit after conversion into 16-bit display.

Bit Abbreviation Meaning

Hex Format

0x0001

0x0002

0x0004

0x0008

0x0010

0x0020

SRVON

SYNC

INPOS

ALARM

ORGN

PROG

Servo ON

Counter 0-position confirmed

Settlement in in-position range

Error

Homing to origin

Program coordinate setting

MOVE

CMODE

Moving (including scan)

Control mode 0 : PI

1 : LQ

0x0100

0x0200

0x0400

Explanation

10 WARN

Encoder signal warning

12 TARGET

Target position 0:Absolute position

1:Relative position

0x1000

13 ACC

Acceleration control

0 : OFF

1 : ON

0x2000

0x4000

14 SETPOS

Target position set

Note: Return value of the command is a decimal number.

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Command

Name

Command ID

Error Read

Data

Return

Value

Error (16 bits)

Each status can be checked by each bit after conversion into 16-bit display.

For details about errors, see 9-2, “Errors.”

Bit Abbreviation

Meaning

Hex Format

0x0001

0x0002

0x0004

0x0008

0x0010

0x0020

0x0040

0x0080

0x0100

0x0200

0x0400

0x0800

0x1000

0x2000

0x4000

0x8000

STRK

CNT

INP

SRV

CUR

HOT

FOM

COM

PAR

STA

Stroke over

Counter over

In-position overtime

No clock

Driver overheat

Motor overheat

Format error

Command data error

Parameter error

Status error

Communication error

Homing error

Explanation

10 TRN

11 ORG

12 ENC

13 OTP

14 CMPER

15 ETC

Encoder signal error

Out-position error

Servo OFF by hardware

Current saturation

Command

Name

Command ID

Data

Acceleration Control

0: OFF

1: ON

Return

Value

0: Command execution successful

1: Command execution unsuccessful

Explanation This command cannot be used now.

Command

Name

Command ID

Data

Target Position Setting

Target position (Pulse)

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

Step movement procedure

Command

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting

Command ID = 8 Data = 0: Step Movement Start

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Command

Name

Command ID

Data

Target Velocity Setting

Target velocity (Unit: pulse/s)

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

The velocity cannot be higher than “Parameter ID = 2: Maximum velocity.”

If this command is not set, the velocity specified by “Parameter ID = 2: Maximum

velocity” is used.

Step movement procedure

Command

Command ID = 22 Target Velocity Setting

Command ID = 10: Target Value Setting Mode

Command ID = 20: Target Position Setting

Command ID = 8 Data = 0: Movement Start

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Command

Name

Command ID

Data

Operation Mode Selection

0: Raster scan stop or Internal Clock mode

3: Raster scan start

7: High-speed serial communication mode

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

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

Return

Value

0: Command execution successful

1: Command execution unsuccessful

0: Raster scan stop or Internal clock mode

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

scan start position.

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

mode to internal clock mode. In the case of two axis control, it is necessary to

execute this command for each axis.

3: Raster scan start (Continuous scan)

Raster scan starts after step movement to the scan initial position.

7: High-speed serial communication mode

This command switches the mode to high-speed serial communication from

internal clock mode. However, high-speed serial communication signals should be

input in advance. In the case of two axis control, it is necessary to execute this

command for each axis.

Explanation

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

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

input”)

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

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

input”)

Raster scan movement procedure

Parameter ID = 26: Raster Scan Time

Parameter ID = 27: Raster Scan Duty Ratio

Parameter ID = 28: Raster Scan Angle

Command ID = 8: Data = 6: Step Movement of the raster scan initial position

Command ID = 23: Data = 3: Raster Scan Start

Command ID = 23: Data = 0: Raster Scan Stop

Command

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Command

Name

Command ID

Data

Parameter Value Check

Parameter ID

0: Command execution successful

1: Command execution unsuccessful

Return

Value

Explanation This command returns the parameter setting of Parameter ID.

Command

Command ID

Data 0: Z phase

Program Coordinate System

Name

1: Program Origin

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

0: Z phase

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

1: Program Origin

Set the current position as the center.

When setting the program origin, move once to the desired center and then specify the

position by this command.

Command

Command ID

Data

Monitor Output Selection (A2, A8)

Name

0: Encoder Head1 A phase

1: Encoder Head2 A phase

2: Corrected A phase

3: Position error

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

selected.

When the controller starts, the 3: Position error has been selected.

(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

Command

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Command

Name

Command ID

Monitor Output Selection (A3, A9)

Data

0: Position

1: Velocity

2: Course Angle

3: Fine Angle

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

selected.

When the controller starts, the 1: Velocity has been selected.

(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

Command

Command ID

Data

Monitor Output Selection (A4, A10)

Name

0: Encoder Head1 B phase

1: Encoder Head2 B phase

2: Corrected B phase

3: Internal Target

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

selected.

When the controller starts, the 3: Internal Target has been selected.

(For details, see 5.2, “Analog Monitor Output Selecting ”)

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

Command

Command ID

0: A2, A8 monitor

Monitor Output Select Check

Name

Data

1: A3, A9 monitor

2: A4, A10 monitor

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

2 can be confirmed.

E.g. A1C040/0

Return Value = 3

(Axis1 monitor A2 = Position error)

Command

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Command

Name

Monitor Magnification Setting

(A2, A8 )

Command ID

Data

Magnification : N （×2^N）

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

E.g.

Data = -2

Data = -1

Data = 0

Data = 1

Data = 2

^-2= 0.25 times

2 ^-1= 0.5 times

2 ⁰= 1 times

2 ¹= 2 times

2 ²= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Command

Monitor Magnification Setting

(A2, A8 )

Command ID

Data

Name

Magnification : N （×2^N）

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

E.g.

Data = -2

Data = -1

Data = 0

Data = 1

Data = 2

^-2= 0.25 times

2 ^-1= 0.5 times

2 ⁰= 1 times

2 ¹= 2 times

2 ²= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Command

Monitor Magnification Setting

(A2, A8 )

Command ID

Data

Name

Magnification : N （×2^N）

Return

Value

0: Command execution successful

1: Command execution unsuccessful

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

E.g.

Data = -2

Data = -1

Data = 0

Data = 1

Data = 2

^-2= 0.25 times

2 ^-1= 0.5 times

2 ⁰= 1 times

2 ¹= 2 times

2 ²= 4 times

(See 5.2, “Analog Monitor Output Selecting ”)

Command

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Command

Name

Command ID

Data

0: A2, A8 monitor magnification

1: A3, A9 monitor magnification

2: A4, A10 monitor magnification

Return

Value

Magnification : N （×2^N）

Explanation The exponent of power-of-two.

Command

Name

Command ID

101

Counter Clear Timing

Data

0: Head 1

1: Head 2

Return

Value

Timing 0 or 1

Explanation

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8. Parameters

8.1. List of Parameters

Parameter Name

CW Limit

CCW Limit

Max Velocity

In-position Width

Settling Check Time

In-position Overtime

LQ Control Gain

Torque Constant

Total Inertia

Current Limit

Encoder Periodicity

Sampling Time

Origin Clearance Timing (Head 1)

High-speed Serial Communication Conversion Gain

Origin Clearance Timing (Head 2)

High-speed Serial Communication Offset

First Digital Notch Filter Central Frequency

Q Value of First Digital Notch Filter

First Digital Notch Filter Depth

Second Digital Notch Filter Central Frequency

Second Digital Notch Filter Q Value

Second Digital Notch Filter Depth

Digital Low-pass Filter Cutoff Frequency

First Analog Notch Filter Central Frequency

Second Analog Notch Filter Central Frequency

Third Analog Notch Filter Central Frequency

Raster Scan Time

Raster Scan Duty Ratio

Raster Scan Angle

Internal Generation Acceleration Percentage

Raster Scan Interval Time

Raster Scan Start Position

Z-phase Offset

Acceleration Time

Deceleration Time

Out-position Width

Feed-forward Gain

Overshoot Control

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Deviation Limit

Encoder VR adjustment Head 1 A/B-phase Offset

Encoder VR adjustment Head 1 A-phase Amplitude

Encoder VR adjustment Head 1 B-phase Amplitude

Encoder VR adjustment Head 2 A/B-phase Offset

Encoder VR adjustment Head 2 A-phase Amplitude

Encoder VR adjustment Head 2 B-phase Amplitude

DSP Operation Setting

High Speed Serial Status Format

High Speed Serial Data Length

High Speed Serial Data LSB Position

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8.2. Parameter Details

Parameter

Name

Parameter ID

CW Limit

Data

Movable range (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

motor.

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

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

Command

/Parameter

Parameter

Parameter ID

Data

CCW Limit

Name

Movable range (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

of the motor.

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

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

Command

/Parameter

Parameter

Parameter ID

Data

Max Velocity

Name

Maximum velocity (Unit: pulse/s)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

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

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

Command

/Parameter

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Parameter

Name

Parameter ID

Data

In-position Width

In-position width (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

pulses) enters this range.

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

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

Command

/Parameter

Parameter

Parameter ID

Data

Settling Check Time

Name

Settling check time (Unit: 10 μs)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

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

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

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

Command

/Parameter

Parameter

Parameter ID

Data

In-position Overtime

Name

In-position overtime (Unit: sec)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

In-position Width” from the target position for a time longer than this setting, an alarm is

issued and the servo is turned OFF.

When this parameter is set to 0, judgment is disabled.

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

Command

/Parameter

Parameter

Parameter ID

Data

LQ Control Gain

Name

LQ control gain (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

This parameter is used to set the LQ control gain.

Command

/Parameter

LQ control related parameters:

Total Inertia (Parameter ID = 8)

Torque Constant (Parameter ID = 7)

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Parameter

Name

Parameter ID

Data

Torque Constant

Torque constant (Unit: gf・cm / A)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: Do not change this parameter. A unique value is available depending on the

motor model. This is set at shipping.

Command

/Parameter

LQ control related parameters

LQ Control Gain (Parameter ID = 6)

Total Inertia (Parameter ID = 8)

Parameter

Parameter ID

Data

Total Inertia

Name

Total inertia (Unit: 0.01 gf・cm²)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: Be careful about the unit. Set a value of gf・cm²multiplied by 100.

LQ control related parameters:

Command

/Parameter

LQ Control Gain (Parameter ID = 6)

Torque Constant (Parameter ID = 8)

Parameter

Parameter ID

Data

Current Limit

Name

Current limit (Unit: %)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

each axis as a ratio to 10A)

E.g.: 90% (10A × 0.9 = 9A)

If the current remains over the upper limit for a specified time, a current saturation error

occurs.

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

Command

/Parameter

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Parameter

Name

Parameter ID

Data

Encoder Periodicity

Encoder periodicity (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

KP-1SM30,KP-1SM100: 83328 pulses

Whenever the motor model is changed, the setting of this parameter should be

changed.

Command

/Parameter

Parameter

Parameter ID

Data

Sampling Time

Name

Sampling period (Unit: ns)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

The usual value is 10000 for 10 μs.

Note: This parameter usually requires no change.

Command

/Parameter

Parameter

Parameter ID

Data

Origin Clearance Timing (Head 1)

Name

Origin clearance timing (0 or 1)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

This parameter is related to origin detection.

The value checked by “Command ID = 101: Counter Clear Timing” is set.

Each motor has a unique value.

Note: An appropriate value is set at shipping. When only the motor is replaced, the

value should be checked and set by a command.

The Origin Clearance Timing (Head 2) parameter should be set at the same time.

Command

/Parameter

Counter Clear Timing (Command ID = 101)

A1C101/ 0 (Axis 1 Head 1)

Set the value checked above.

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Parameter

Name

High-speed Serial Communication

Conversion Gain

Parameter ID

Data

High-speed serial communication conversion gain (Unit: Multiple × 1000)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

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

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

0-pulse position: 0x8000 = 0

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

If a greater angle is specified, set a magnification by using the high-speed serial

communication conversion gain (Parameter ID = 13).

E.g. For x2 (Setting: 2000), the following angle can be specified:

–5.76×2 deg to –5.76×2 deg

The command resolution will be two times.

Command

/Parameter

Parameter

Parameter ID

Data

Origin Clearance Timing (Head 2)

Name

Origin clearance timing (0 or 1)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

This parameter is related to origin detection.

The value checked by “Command ID = 101: Counter Clear Timing” is set.

Each motor has a unique value (0 or 1).

Note: An appropriate value is set at shipping. When only the motor is replaced, the

value should be checked and set by a command.

The Origin Clearance Timing (Head 1) parameter should be set at the same time.

Command

/Parameter

Counter Clear Timing (Command ID = 101)

A1C101/ 1 (Axis 1 Head 2)

Set the value checked above.

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Parameter

Name

High-speed Serial Communication

Offset

Parameter ID

Data

High-speed Serial Communication Offset (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

data is offset.

This is effective, when operating by high-speed serial communications.

0 is set usually.

E.g. Data = 100

High-speed serial communication data(16bit) 0x8000 = 100 encoder pulse position.

Command

/Parameter

Parameter

Name

First Digital Notch Filter Central

Frequency

Parameter ID

Data

Central frequency of the first digital notch filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Command

/Parameter

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

First Digital Notch Filter Depth (Parameter ID = 18)

Parameter

Parameter ID

Data

First Digital Notch Filter Q Value

Name

Q value of the first digital notch filter (Unit: ×100)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Set a value multiplied by 100.

Command

/Parameter

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

First Digital Notch Filter Depth (Parameter ID = 18)

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Parameter

Name

Parameter ID

Data

First Digital Notch Filter Depth

Depth of the first digital notch filter (Unit: dB)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Command

/Parameter

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

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

Parameter

Name

Second Digital Notch Filter Central

Frequency

Parameter ID

Data

Central frequency of the second digital notch filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Command

/Parameter

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

Second Digital Notch Filter Depth (Parameter ID = 18)

Parameter

Name

Second Digital Notch Filter

Q Value

Parameter ID

Data

Second digital notch filter Q value (Unit: ×100)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Set a value multiplied by 100.

Command

/Parameter

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

Second Digital Notch Filter Depth (Parameter ID = 18)

Parameter

Parameter ID

Data

Second Digital Notch Filter Depth

Name

Depth of the second digital notch filter (Unit: dB)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Command

/Parameter

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

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

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Parameter

Name

Digital Low-pass Filter Cutoff

Frequency

Parameter ID

Data

Cutoff frequency of the digital low-pass filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Command

/Parameter

Parameter

Name

First Analog Notch Filter Central

Frequency

Parameter ID

Data

Central frequency of the first analog notch filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

The setting range is from 9750 to 42820 Hz.

Command

/Parameter

Parameter

Second Analog Notch Filter Central

Frequency

Parameter ID

Data

Name

Central frequency of the second analog notch filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

The setting range is from 9750 to 42820 Hz.

Command

/Parameter

Parameter

Third Analog Notch Filter Central

Frequency

Parameter ID

Data

Name

Central frequency of the third analog notch filter (Unit: Hz)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

The setting range is from 9750 to 42820 Hz.

Command

/Parameter

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Parameter

Name

Parameter ID

Data

Raster Scan Time

Scan Time (Unit: See Explanation.)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

The scan time is the set value × 10 μs.

E.g. For the interval of 100 ms, set 10000 (10000 × 10 μs = 100 ms).

Scan Angle　

（＋）

Scan Angle　

（－）

Raster Scan Time

CCW

Command

/Parameter

Raster Scan Duty Ratio (Parameter ID = 27)

Raster Scan Angle (Parameter ID = 28)

Raster Scan Interval Time (Parameter ID = 30)

Raster Scan Start Position (Parameter ID = 31)

Parameter

Parameter ID

Data

Raster Scan Duty Ratio

Name

Raster scan duty ratio (Unit: %)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

(See Explanation of Parameter ID = 26.)

Raster Scan Time (Parameter ID = 26)

Command

/Parameter

Raster Scan Angle (Parameter ID = 28)

Raster Scan Interval Time (Parameter ID = 30)

Raster Scan Start Position (Parameter ID = 31)

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Parameter

Name

Parameter ID

Data

Raster Scan Angle

Raster scan angle (Unit: degree × 10000)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

(See Explanation of Parameter ID = 26.)

Set the scan angle × 10000.

For ±5°, set 50000 (5 × 10000).

Raster Scan Time (Parameter ID = 26)

Command

/Parameter

Raster Scan Duty Ratio (Parameter ID = 27)

Raster Scan Interval Time (Parameter ID = 30)

Raster Scan Start Position (Parameter ID = 31)

Parameter

Parameter ID

Data

Raster Scan Interval Time

Name

Raster scan Interval time (Unit: second × 100)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

(See Explanation of Parameter ID = 26.)

Set the wait time (sec) × 100.

For 0.1 sec, set 10 (0.1 × 100).

Raster Scan Interval Time

Scan Angle　

（＋）

Scan Angle　

（－）

Raster Scan Interval Time

CCW

Command

/Parameter

Raster Scan Time (Parameter ID = 26)

Raster Scan Duty Ratio (Parameter ID = 27)

Raster Scan Angle (Parameter ID = 28)

Raster Scan Start Position (Parameter ID = 31)

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Parameter

Name

Parameter ID

Data

Raster Scan Start Position

Raster scan start position (Unit: 0 or 1)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

negative or positive side.

0: Scan start from the negative side

1: Scan start from the positive side

Command

/Parameter

Raster Scan Time (Parameter ID = 26)

Raster Scan Duty Ratio (Parameter ID = 27)

Raster Scan Angle (Parameter ID = 28)

Raster Scan Interval Time (Parameter ID = 30)

Parameter

Parameter ID

Data

Z-phase Offset

Name

Z-phase (0-point position) offset value (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

the 0-pulse position.

Command

/Parameter

Parameter

Name

Parameter ID

Data

Acceleration Time

Acceleration time (Unit: ms)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Set the time until the velocity reaches the value set by “Parameter ID = 2: Max Velocity”

in step movement (movement by command).

If 0 is set, the target command of the maximum velocity is followed from the start of

movement.

Command

/Parameter

Acceleration control (Command ID = 18)

Maximum velocity (Parameter ID = 2)

Movement start (Command ID = 8)

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Parameter

Name

Parameter ID

Data

Deceleration Time

Deceleration time (Unit: ms)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Forced Stop.”

Forced Stop (Command ID = 9)

Command

/Parameter

Parameter

Parameter ID

Data

Out-position width

Name

Out-position (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

parameter becoming static.

Setting 0 is invalid.

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

Command

/Parameter

Parameter

Parameter ID

Data

Feed-forward Gain

Name

Feed-forward gain (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Setting 0 disables feed-forward.

Command

/Parameter

Parameter

Parameter ID

Data

Overshoot Control

Name

Overshoot Control (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Setting 100 disables pole rearrangement.

Command

/Parameter

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Parameter

Name

Parameter ID

Data

Deviation Limit

Deviation limit (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

current saturation error.

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

Parameter

Name

Encoder VR Adjustment

Head 1 A/B-phase Offset

Parameter ID

Data

A/B-phase offset of encoder VR adjustment head 1 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

Parameter

Encoder VR Adjustment

Head 1 A-phase Amplitude

Parameter ID

Data

Name

A-phase amplitude of encoder VR adjustment head 1 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

Parameter

Encoder VR Adjustment

Head 1 B-phase Amplitude

Parameter ID

Data

Name

B-phase amplitude of encoder VR adjustment head 1 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

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Parameter

Name

Encoder VR Adjustment

Head 2 A/B-phase Offset

Parameter ID

Data

A/B-phase offset of encoder VR adjustment head 2 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

Parameter

Encoder VR Adjustment

Head 2 A-phase Amplitude

Parameter ID

Data

Name

A-phase amplitude of encoder VR adjustment head 2 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

Parameter

Encoder VR Adjustment

Head 2 B-phase Amplitude

Parameter ID

Data

Name

B-phase amplitude of encoder VR adjustment head 2 (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Note: This is usually set appropriately at shipping.

Command

/Parameter

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Parameter

Name

Parameter ID

Data

DSP Operation Setting

DSP operation setting (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

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

1: Automatic encoder correction at homing to the origin

Bit 1 0: Activation in internal clock mode

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

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

Note: The setting is decimal.

Command

/Parameter

Parameter

Parameter ID

Data

High Speed Serial Status Format

Name

High Speed Serial Status Format (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

be selected.

1： Controller Condition

2： Current position (Axis 1)

3： Current position(Axis 2)

4： Current position(Axis1 , Axis2)

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

Command

/Parameter

Parameter

Parameter ID

Data

High Speed Serial Data Length

Name

High Speed Serial Data Length (Unit: bit)

Range = 16～20

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

Range = 16bit ～ 20bit

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

Command

/Parameter

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Parameter

Name

Parameter ID

Data

High Speed Serial Data LSB Position

High Speed Serial Data LSB Position (Unit: bit) Range = 0 ～ 4

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation

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

communication 20bit data can be specified.

Range = 0bit ～ 4bit

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

Command

/Parameter

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8.3. Modifying Parameters

This section explains how to modify parameters.

GALILEO

⑥

④

②

①

⑤

③

・ Select the All Parameter tab. ①

・ Select an axis for parameter settings. ②

・ The current parameter values are displayed. ③

・ Modify the parameter values as required. When a parameter value is modified, its cell turns red. ③

・ Turn the servo OFF (necessary for modifying parameters). ④

・ Press the SET button to reflect modified parameters in the controller settings. ⑤

・ Turn the servo ON. ⑥

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

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

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

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8.4. Writing Parameters into ROM

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

and set in the controller.

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

next power-on.

Write modified parameters into ROM as follows:

GALILEO

②

①

⑤

③

④

・ Select the All Parameter tab. ①

・ Select an axis for parameter settings. ②

・ The current parameter values are displayed. ③

・ Press the Save to EEPROM button. ④

・ “Saving to EEPROM” is displayed. ⑤

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

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

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

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8.5. Saving a Parameter File

All parameters can be saved into a PC file.

Save a parameter file as follows:

②

①

③

④

・ Select the All Parameter tab. ①

・ Select an axis for parameter settings. ②

・ The current parameter values are displayed. ③

・ Press the Save to File button. Specify a location and save the file. ④

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9. Safety Functions

This system has various safety functions to ensure safe use.

9.1. Safety Functions

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

Hardware monitoring

・Power supply fuse

+24 V line (each axis)

+5 V line

・Output amplifier overheat

・Motor overheat

Temperature monitoring by thermistor (abut 80ºC)

Temperature monitoring by thermistor (abut 75ºC)

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

・Output amplifier IC

Shutdown function

Software monitoring

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

occurs.

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

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

See 9-2 for the error contents.

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

See 9-2, “Errors.”

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9.2. Errors

Priority: High

Setting

Change

Possible

/Impossible

System

status after

error

Digital

Output

Error

Hex

Monitor Item

Error Condition

Recovery Method

(Parameter)

Stroke over

Encoder pulse count

The encoder count is outside the range set

by parameters P00 (CW Limit) and P01

(CCW Limit).

Possible

0x0001

0x0002

(P00, P01)

Counter over

Velocity (calculated from encoder The velocity exceeds the setting by P02

pulses)

Possible

(P02)

(Maximum Velocity).

(Axis1)

In-position overtime

Encoder pulse count

The accumulated time based on the setting

of P03 (In-position Width) exceeds the

setting of P05 (In-position Overtime).

Soft reset

(C00)

Possible

0x0004

0x0008

0x0010

Connector

(P03, P05)

Homing

(C02)

No clock

Clock

Clock pulses are not input.

Impossible

Monitor

Board

Driver overheat

A/D value of thermistor at controller The driver temperature exceeds the A/D

output amplifier

value corresponding to 70ºC. (Software

monitoring)

Motor overheat

A/D value of thermistor at motor The motor temperature exceeds the A/D

Error output

Servo OFF

coil

value corresponding to 70ºC. (Software

monitoring)

0x0020

Impossible

(Axis2)

Connector

Homing error

0x0800

0x1000

Homing to the origin

Homing is not completed normally.

Impossible

Encoder signal error

Encoder signal level at homing to An encoder signal is abnormal.

origin

Monitor

Board

Hardware servo OFF

Output amplifier shutdown function

Thermistor (controller and motor)

The output amplifier is shut down.

The

exceeds

thermistor-detected

the setting.

temperature

(Hardware

Power-off/on

0x4000

0x8000

Impossible

monitoring). Error notification by software is

usually made first.

Current saturation

Output current command

Current saturation (10A×P09 (Current

limit)) continues for a specified time or

longer.

Possible

(P09)

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Priority: Low

Setting

Change

Possible

/Impossible

System

status after

error

Digital

Output

Error

Hex

Monitor Item

Error Condition

Recovery Method

(Parameter)

Format error

Command format

An undefined command or parameter is

sent.

0x0040

Impossible

(Axis1)

Connector

Command data error

Command data

Command data is illegal.

No data is given to a command requiring

data.

Data is given to a command requiring no

data.

Monitor

Board

0x0080

0x0100

Impossible

Data outside the setting range is set.

Error clearance

(C01)

Error output

only

(Axis2)

Connector

Parameter error

Status error

Parameter value

A parameter value is beyond the setting

range.

Impossible

Command description

A command not valid for the current status

is sent.

0x0200

0x0400

Impossible

Monitor

Board

Communication error

Out-position error

Communication flag

Encoder pulse count

Communication flag time-out occurs.

The setting of P24 (Out-position Width) is

exceeded.

Possible

(P24)

0x2000

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Canon Inc.

Canon Marketing Japan Inc.

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

CB Sales Department

Tel. 03-3740-3336

･The contents of this document are subject to change without notice.

･If you find any question, error, or omission in this document, please contact Canon.

CUD-L007-E01

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