CANON Digital Galvano Scanner System
GM-1000 Series
GC-201
Users Manual
Rev. 1.20
Be sure to read this guide before using the product.
Keep this guide carefully for future use.
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Contents
1. Product Outline.............................................................................................................................5
1.1. Features............................................................................................................................................5
1.2. Configuration.....................................................................................................................................5
2. Specifications................................................................................................................................6
2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020)........................................................................6
2.2. Controller (GC-201)...........................................................................................................................7
2.3. Dimensions .......................................................................................................................................8
2.4. Power Supply .................................................................................................................................. 11
2.5. Connections .................................................................................................................................... 11
2.6. Connector and Pin Assignment.......................................................................................................13
2.7. Optional Cables...............................................................................................................................17
2.8. Control Specifications......................................................................................................................19
2.8.1. Number of Encoder Pulses....................................................................................................21
2.8.2. RS-232C command input ..................................................................................................22
2.8.3. High-speed serial communication....................................................................................26
2.8.3.1. Origin Offset.......................................................................................................................32
2.8.3.2. High-speed serial communication motor drive timing.........................................................33
2.8.4. Status (High-speed Serial Communication STS)..........................................................34
2.8.5. RS-232C Communication Command Input and High-Speed Communication
Switching..........................................................................................................................................37
2.9. Heat Radiation and Installation........................................................................................................38
3. Software..........................................................................................................................................39
3.1. Supported PC Environment.............................................................................................................39
3.2. Installation CD.................................................................................................................................39
3.3. Control Software Installation ...........................................................................................................40
3.4. Software Start Up............................................................................................................................43
3.5. Control Screen ................................................................................................................................45
4. Operating Procedure...............................................................................................................47
4.1. Controller Start Up...........................................................................................................................47
4.2. Step Movement ...............................................................................................................................49
4.2.1. Step Movement Responce Time Measurement............................................................51
4.2.1.1. Measurement Data Display Zoom Method.........................................................................54
4.2.1.2. Reference Data Comparison Method.................................................................................56
4.3. Raster Scan ....................................................................................................................................59
4.4. Position Command Input by High-speed Serial Communication.....................................................61
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5. Monitor Output and Digital Input Functions.............................................................62
5.1. Connector Pin Assignment..............................................................................................................62
5.2. Analog Monitor Output Selecting.....................................................................................................66
5.3. Digital Input-Output Function...........................................................................................................69
6. Other - Operation Setting .....................................................................................................70
6.1. Setting Controller Start Up Mode.....................................................................................................70
6.2. Controller LED Display....................................................................................................................72
6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan)...............................74
7. Tuning ..............................................................................................................................................76
7.1. Tuning .............................................................................................................................................76
7.2. Frequency Characteristic (FFT) Measurement................................................................................77
7.3. Easy Auto Tuning ............................................................................................................................81
7.4. X and Y Axis Matching.....................................................................................................................87
8. Commands ....................................................................................................................................95
8.1. List of Commands ...........................................................................................................................95
8.2. Command Details............................................................................................................................97
9. Parameters ..................................................................................................................................108
9.1. List of Parameters .........................................................................................................................108
9.2. Parameter Details.......................................................................................................................... 110
9.3. Modifying Parameters ...................................................................................................................126
9.4. Writing Parameters into ROM .......................................................................................................127
9.5. Saving a Parameter File................................................................................................................128
10. Safety Functions....................................................................................................................129
10.1. Safety Functions..........................................................................................................................129
10.2. Errors ..........................................................................................................................................130
11. Appendix.....................................................................................................................................132
11.1. Firmware Update.........................................................................................................................132
11.1.1. Writing Procedure................................................................................................................133
11.2. Parameter Changes from the Number of Encoder Divisions .......................................................137
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1. Product Outline
1.1. Features
The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision
optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the
controller.
This system has the following features:
z
z
z
z
High positioning precision
Low temperature drift
Fast and stable operation by a unique control system
Easy tuning with parameter settings
1.2. Configuration
This system supports various applications by the combination of a galvano motor and a controller.
Galvano motor: Encoder-mounted galvano motor
GM-1010
GM-1015
GM-1020
････
････
････
Beam diameter: φ8 to φ10 mm
Beam diameter: φ10 to φ15 mm
Beam diameter: φ15 to φ30 mm
Controller:
GC-201
IF board:
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:
Extension cable for galvano motor and controller connection
GM-EC10, 20, 30 ････
GM-MC10, 20, 30････
Encoder extension cable (1, 2, 3 m)
Motor extension cable (1, 2, 3 m)
Controller
IF board
Motor extension
cable
Galvano motor
Encoder
extension cable
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2. Specifications
2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020)
Performance and shape
GM-1010
GM-1015
GM-1020
Conforming
beam diameter
Φ8 to φ10
φ10 to φ15
φ15 to φ30
±20 deg
±20 deg
Scan angle
±20 deg
Encoder cycle
number
1000 pulses/rotation
1500 pulses/rotation
1500 pulses/rotation
Number of encoder
pulses
8,192,000 pulses
12,288,000 pulses
12,288,000 pulses
Command
resolution
0.77 μrad
0.51 μrad
0.51 μrad
0.0127 Nm/A
200 g
0.0226 Nm/A
300 g
Torque constant
0.0415Nm/A
600g
Weight
(Reference)
For details about encoder cycle number, number of encoder pulses, and command resolution, see2.8.1. “Number
of Encoder Pulses”.
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.
Stopper
Part names
Motor cable
Encoder
Encoder cable
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2.2. Controller (GC-201)
Performance and Dimensions
GC-201
Number of control axes
Control sampling
Maximum drive current
Interface
2
100 kHz
Peak 10 A (each axis)
RS-232C , High-speed serial communication(XY2-100)
Digital notch filter
Digital low-pass filter ×1
Analog notch filter ×2
×2
Notch filter
Weight
350 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
Analog board (lower)
Digital board (upper)
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2.3. Dimensions
GM-1010
36
36
6
32 (Clamp area)
Encoder cable
Motor cable
GM-1015
46
36
6
42 (Clamp area)
Motor cable
Encoder cable
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GM-1020
7.5
42.7
56
51.4 (Clamp Area)
Encoder Cable
Motor Cable
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GC-201
118
4-M3
7
38
5
120
125
4-φ3.5
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2.4. Power Supply
Power supply specifications
+24 V ± 10%
(For motor drive)
Peak 10 A × 2 axes
RMS 2.5 A × 2 axes
(RMS value differs according to operating conditions, the above conditions GM-1010, Ymirror、
±5°, 200Hz)
+5 V ± 5%
(For control circuit)
2.8 A
2.5. Connections
IF board
High-speed serial
communication
Digital
input/output
RS-232C
+24 V power
+5 V power
Axis 2
Axis 1
Galvano motor
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Note:
Connecting the power +24 V, and GND in reverse will damage the GC-201 controller. Take
caution when connecting.
Connecting the power +5 V, and GND in reverse will damage the GC-201 controller. Take
caution when connecting.
+5V
+24V
－
+
＋ ＋ － －
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2.6. Connector and Pin Assignment
(Connector types)
⑦
⑥
⑤
⑧
③
④
⑨
①
②
Axis 1 motor encoder connector
Axis 2 motor encoder connector
+5 V power supply
①
②
③
④
⑤
⑥
⑦
⑧
⑨
+24 V power supply
RS-232C
High-speed serial communication
Digital input/output
Analog monitor
Fan power supply (+24 V)
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(Connector model number & pin assignment)
③ +5 V power supply
(Connector model number)
Connector
Board side
Cable side
Model No.
Manufacturer
JST
S2P-VH
VHR-2N
JST
(Connector pin assignment)
Pin No.
Signal Description
1
2
+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 assignment)
Pin No.
Signal Description
1
2
+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 assignment)
Pin No.
Signal Description
1
2
3
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
JST
(Connector pin assignment )
Pin No.
Signal Name
Signal Description
1
2
CLK-
Clock (-)
Clock (+)
CLK+
3
FS-
Frame sync (-)
4
FS+
Frame sync (+)
5
DAT(AXIS 1) -
DAT(AXIS 1)＋
DAT(AXIS 2) -
DAT(AXIS 2)＋
STS-
Axis 1 Target position data (-)
Axis 1 Target position data (+)
Axis 2 Target position data (-)
Axis 2 Target position data (+)
Status (-)
6
7
8
9
10
11
12
STS+
Status (+)
GND
System GND
FG
Frame GND
The signal levels depend on the IF board.
GC-422 - Receiver: AM26LV32C (TI), Driver: SN75179B (TI)
GC-LVDS - Receiver: SN65LVDS32 (TI), Driver: SN65LVDS179 (TI)
⑦ Digital I/O
See 5.1. “Connector Pin Assignment”
⑧ Analog Monitor
See 5.1. “Connector Pin Assignment”
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⑨ Cooling Fan Power Supply
(Connector model number)
Connector
Board side
Cable side
Model No.
Manufacturer
JST
S04B-PASK-2
PAP-04V-S
JST
(Connector pin arrangement)
Pin No.
Signal Description
1
2
3
4
+24 V Output
GND
(No connection)
(No connection)
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2.7. Optional Cables
Optional cables are prepared for power and communications cables.
Connector pin assignment for each cable as follows.
Verify details with your sales representative.
Option cables
①
②
③
④
Power cable (+5 V)
Power cable (+24 V)
RS-232C cable
High-speed serial communication cable
① Power Cable +5 V
② Power Cable +24 V
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③ RS-232C Cable
PC side (D-sub 9 pin)
Pin
2
Signal
RX
3
TX
5
GND
④ High-Speed Serial Communication Cable
PC side (D-sub 25pin)
Pin
1
2
3
4
5
6
7
8
Signal
Clock -
FS -
Pin
14
15
16
17
18
19
20
21
22
23
24
25
Signal
Clock +
FS +
Data (Axis 1) -
Data (Axis 2) -
Do not connect
Status -
Do not connect
Do not connect
Do not connect
Do not connect
GND
Data (Axis 1) +
Data (Axis 2) +
Do not connect
Status +
Do not connect
Do not connect
Do not connect
GND
9
10
11
12
13
GND
Do not connect
Do not connect
Do not connect
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2.8. Control Specifications
The controller (GC-201) is operated by:
•
•
RS-232C command input
High-speed serial communication
RS-232C
High-speed serial communication
communication command input
- Raster scan and step movement etc. - Vector scans with control over the
can be performed easily.
desired locations of two axes are
possible. This is used in laser
marking etc.
- In order to obtain synchronization
with external equipment, operation
can be started with an external
trigger signal. (Fluctuating delays
may occur within the internal control
sampling time.)
-
Complete synchronization with
external equipment can be obtained
in order to use high-speed serial
communication clock pulses by
controlling the controller.
Features
- As it can be operated with XY2-100
communication specifications,
a
controller compliant with XY2-100
can be connected.
RS-232C communication command
RS-232C communication command
High-speed serial communication
Target position
command
RS-232C communication command
Operation
setting
parameter
setting
Uses the controller GC-201 internal Uses
high-speed
serial
Control clock
circuit clock pulses communication clock pulses
- A target position command input by an RS-232C communication command, or a target position
command from a high-speed serial communication can be mutually switched with a command. (See
2.8.5. “RS-232C Communication Command Input and High-Speed Communication Switching”)
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- With the default settings at shipping, power-on starts up the controller with in RS-232 Communication
Command Input mode.
- The parameter can be set to determine which mode the controller starts after power-on. (See 6.1.
“Setting Controller Start Up Mode”)
Note:
For start up when set to the High-Speed Serial Communication mode, in order to use high-speed
serial communication clock pulses internally, signal input by high-speed serial communication is
necessary at power-on. When there is no signal input, a Clock Lack error occurs. (See 10.2. “Errors”)
After an error occurs, and input of a high-speed serial communication signal begins correctly,
operation begins automatically from the high-speed serial communication signal.
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2.8.1. Number of Encoder Pulses
This section explains the relationship between the galvano scanner motor rotating angle and the
number of encoder pulses.
Control commands and some of the parameter angle settings use the number of encoder pulses.
The controller divides one encoder cycle into 8,192, and this is the number of encoder pulses.
Depending on the type of encoder included on the motor, caution is necessary as the number of
pulses for the same specified angle can differ.
Many commands use pulses as a unit in the RS-232C communication command parameter data used
for operations.
In the case of the GM-1010 for example
1 rotation (360°) = 1,000 cycles = 1,000 × 8,192 = 8,192,000 pulses
1° (angle of equipment) = 8,192,000 pulses × 1 / 360 = 22,756 pulses
Resolution = 360° ÷ 8,192,000 pulses = 0.0000429° = 0.77 urad
Each motor is as follows.
Motor type
GM-1010
GM-1015, GM-1020
1,500 cycles
Included encoder cycles / 1
rotation 360°
1,000 cycles
Number of pulses
8,192,000 pulses
0.77 urad
12,288,000 pulses
0.51 urad
Command resolution (1 pulse)
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2.8.2. RS-232C command input
RS-232C command input allows the following:
•
•
•
•
Operation setting
Parameter setting
Error processing
Status check
(For details, see 8. “Commands”)
In case not using high-speed serial communication, RS-232C communication command input is enough
for the following function:
•
•
Step movement
Raster scan (Continuous oscillation of a certain angle at a fixed frequency)
(Communication specifications)
Wiring
Cross wiring
Communication rate
Data length
38400 bps
8 bits
Stop bit
1
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 8.2. “Command Details”)
Command send
A
Axis No.
C
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)
A
1
C
0
0
4
/
1
(LF)
Command reply
A
Axis No.
C
Command ID
/
Data
Delimiter
Command
Delimiter
Axis No.
1 or 2
Return value
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)
A
1
C
0
0
4
/
1
(LF)
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Parameters of the GC-201 can be changed by the following sending method to the controller.
Also in response to parameters sent, the controller always returns a reply with data.
The data contents depend on the command. (For details, see 9.2. “Parameter Details”)
When a parameter is changed, in order to start up with the same setting the next time power is turned
on, it is necessary to write the changed parameter to the ROM.
(See 9.4. “Writing Parameters into ROM” for methods of writing to ROM with control software)
(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on
the changed values, the controller may not start normally.)
Parameter send
A
Axis No.
P
Parameter ID
/
Data
Delimiter
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)
A
1
P
0
0
6
/
4
5
0
0
(LF)
Parameter reply
A
Axis No.
P
Parameter 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)
A
1
P
0
0
6
/
0
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Writing parameters to ROM is also possible with commands via RS-232C.
When writing parameters to ROM, a reply that definitely contains data will be sent by a controller.
The content of data is different by a parameter. (For details, see 9.2. “Parameter Details”)
(Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on
the changed values, the controller may not start normally.)
Parameter ROM Write send
E
Axis No.
P
Parameter ID
/
Data
Delimiter
Parameter
Delimiter
Parameter 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)
E
1
P
0
0
6
/
4
5
0
0
(LF)
Parameter ROM Write reply
E
Axis No.
P
Parameter ID
/
Data
Delimiter
Parameter
Delimiter
Parameter 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)
E
1
P
0
0
6
/
0
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2.8.3. High-speed serial communication
To control the mirror to an arbitrary position by marking or any other application, target position data
updated as required can be given to the controller by using high-speed serial communication.
By setting, the controller can be started up in the mode of tracking a target position specified by
high-speed serial communication. (For details, see 6.1. “Setting Controller Start Up Mode”)
(Communication specifications)
Base clock (CLK)
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)
Timing Diagram
2MHz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
CLK
FS
AXIS 1 DATA -1
AXIS 1 DATA
AXIS 2 DATA
Status
AXIS 1 DATA +1
AXIS 2 DATA +1
Status +1
DAT (AXIS 1)
DAT (AXIS 2)
STS
AXIS 2 DATA -1
Status -1
Input Signal to GC-201
Ounput Signal from GC-201
:
:
CLK , FS , DAT
STS
As indicated in the above timing diagram, it is necessary to always continuously input the CLK, FS,
and DAT signals to the GC-201. In the event that the signal is disconnected, or the signal’s timing is
incorrect, the GC-201 will output an error signal (Clock Lack). (For details, See 10.2. “Errors”.)
When switching to high-speed serial communication mode, or starting up in high-speed serial
communication mode when turning on the controller’s power supply, input of the high-speed serial
communication signal (all of CLK, FS, and DAT) beforehand is necessary.
For the support of other communication specifications, contact the Sales Department.
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(Target Position Data) DAT (AXIS1), DAT (AXIS 2)
It is possible to switch the length of data used as target position data from the DAT (AXIS1), DAT (AXIS
2) 20 bit (every 100 kHz) signals. Please set appropriately to match the signal specifications of the
scanner controller that outputs a high-speed serial communication signal, and other output equipment.
Note: The length of data input in the GC-201 is always 20 bit (every 100 kHz). The bits of the target
position data that get used and sent are switched from within 20 bit data.
When there is a big difference in the target position specified in the high-speed serial communication,
and the actual operation position, it is possible this parameter setting is incorrect. Please verify.
The data length of the target position data by the high-speed serial communication can be changed by
two following parameters.
(Target position data length)
Can be changed by 16 bit – 20 bit.
Parameter ID
DATA
16: 16bit Data *
17: 17bit Data
18: 18bit Data
19: 19bit Data
20: 20bit Data
67
(Data position)
The least significant bit position of the target position data of high-speed serial communication 20bit
data can be set by following parameter. The specified number of bits is shifted right, making the target
position data.
Parameter ID
DATA
0: 0bit position
1: 1bit position *
2: 2bit position
3: 3bit position
4: 4bit position
68
With the default settings at shipping, the setting is * (16 bit position data length, data least significant bit 1
bit position). This communication specification is compatible with XY2-100. When using the scanner
controller of XY2-100 specifications, please use this setting.
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Examples of the settings are as follows.
(Example 1) Parameter ID = 67
16
1
Parameter ID = 68
XY2-100 specification compatible
Bit
1
N
N
2
N
N
3
N
N
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
DATA (AXIS 1)
DATA (AXIS 2)
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
N
N
1bit
16bit
(Parameter
ID = 68)
(Parameter ID = 67)
Note: The above N bit data is not used. It does not matter if it is either 1 or 0.
(Example 2) Parameter ID = 67
16
3
Parameter ID = 68
Bit
1
N
N
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
DATA (AXIS 1)
DATA (AXIS 2)
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
N
N
N
N
N
N
3bit
16bit
(Parameter
ID = 68)
ID = 67)
(Parameter
(Example 3) Parameter ID = 67
18
2
Parameter ID = 68
Bit
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
DATA (AXIS 1) D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
N
N
DATA (AXIS 2) D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
N
N
2bit
(Parameter
18bit
ID = 67)
(Parameter
ID = 68)
(Example 4) Parameter ID = 67
20
0
Parameter ID = 68
Bit
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
DATA (AXIS 1) D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
DATA (AXIS 2) D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
0bit
20bit
ID = 67)
(Parameter
ID = 68)
(Parameter
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This section explains the motor rotating angle for the high-speed serial communication data.
Default settings have the following relationships.
Data 1 = 1 pulse (factory setting)
See 2.8.1. “Number of Encoder Pulses" for the relationship between the motor rotating angle and the
number of pulses.
・ In the case of 16 bit data
(GM-1010)
High-speed communication
Motor
Target position data value
Number of pluses Motor rotating angle
16bit
Maximum
0xFFFF
0x8000
0x0000
－32767 pulses
0
－1.44 deg
0
position
0 pulse
position
Minimum
position
＋32768 pulses
＋1.44 deg
(GM-1015, GM-1020)
High-speed communication
Motor
Number of pluses Motor rotating angle
Target position data value
16bit
Maximum
position
0 pulse
0xFFFF
0x8000
0x0000
－32767 pulses
0
－0.96 deg
0
position
Minimum
position
＋32768 pulses
＋0.96 deg
Note: The motor rotating angle + direction when viewed from the rotation axis appear as clockwise.
When set to the factory default, rotation is only possible up to angles above.
If a greater angle is specified, set a magnification by using the following parameter.
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Parameter ID
Data
13
(High-speed serial communication
conversion gain parameter)
Magnification ×1000
E.g.
For x2 (parameter ID = 13 setting: 2000), the following angle can be specified:
-1.44 × 2 deg ~ 1.44 × 2 deg (GM-1010)
-0.96 × 2 deg ~ 0.96 × 2 deg (GM-1015, 1020)
The command resolution will be two times
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• In the case of 20 bit data
Usually data 1 = 1 pulse.
(GM-1010)
High-speed communication
Motor
Target position data value
20bit
Number of pluses Motor rotating angle
Maximum
position
0xFFFFF
0x80000
－524287 pulses
－23.04 deg
0 pulse position
0
0
Minimum position 0x00000
＋524288 pulses
＋23.04 deg
(GM-1015, GM-1020)
High-speed communication
Motor
Number of pluses Motor rotating angle
Target position data value
20bit
Maximum
position
0xFFFFF
0x80000
－524287 pulses
－15.36 deg
0 pulse position
0
0
Minimum position 0x00000
＋524288 pulses
＋15.36 deg
However, the maximum rotating angle specification is ±20°.
Maximum movable range of the motor is set with Parameter ID = 0, 1 (CW limit, CCW limit).
The position data of high-speed serial communication can not exceed this range.
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2.8.3.1. Origin Offset
It is possible to change the origin position of high-speed serial communications.
Parameter ID
Data
15
High-speed serial communication
offset
Unit: pulse
Unit is pulse.
High-speed serial communication offset is not influenced by the parameter ID = 13 high-speed serial
communication conversion gain setting.
E.g.
When parameter ID = 15 setting 2276 pulse (=0.1°) is set, regardless of the parameter ID = 13 setting, it
will always operate with a 0.1° (CW direction) offset.
Note) Current position output data of Next heading 2.8.4. is actual motor encoder position data.
Current position output data
= High speed serial communication command position + High speed serial communication offset
So, Current position data is not equal to High speed serial communication command position that
you specify.
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2.8.3.2. High-speed serial communication motor drive timing
The following diagram indicates actual motor drive signal output timing when the high-speed serial
communication position command is received.
COMMAND
10us
Target
Position1
Target
Position2
Target
Position3
XY-2 COMMAND
FRAME SYNC
Target
Position1
10us
5us
5us
CONTROL
DSP Sampling Clock
5us
Output to MOTOR
20us
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2.8.4. Status (High-speed Serial Communication STS)
The controller status is sent by the high-speed serial communication STS line.
The contents of status sent from a controller can be changed by the following parameter.
Note: Status output will only be output when controlled by the high-speed serial communication mode.
During operation in a RS-232C communication input mode (internal clock), there will be no status
output (raster scan, status transfer etc.).
Parameter ID
Data
0: Controller condition 1
1: Controller condition 2
66
2: Current position (Axis 1)
3: Current position (Axis 2)
4: Current position (Axis1, Axis2)
Each of the status contents are as follows.
Mode-0
S19 (reserve)
S18 (reserve)
S17 (reserve)
S16 POW OK
S15 TEMP OK
S14 (reserve)
Mode-1
Mode-2
Mode-3
Mode-4
0
0
0
0
0
0
Axis1data bit19 Axis2 data bit19Axis flag
Axis1data bit18 Axis2 data bit18Axis1(2) data bit18
Axis1data bit17 Axis2 data bit17Axis1(2) data bit17
Axis1data bit16 Axis2 data bit16Axis1(2) data bit16
Axis1data bit15 Axis2 data bit15Axis1(2) data bit15
Axis1data bit14 Axis2 data bit14Axis1(2) data bit14
S13 Axis2 INPOS Axis1 READY Axis1data bit13 Axis2 data bit13Axis1(2) data bit13
S12 Axis1 INPOS Axis1 ALARM 1Axis1data bit12 Axis2 data bit12Axis1(2) data bit12
S11 (reserve)
S10
Axis1 ALARM 2Axis1data bit11 Axis2 data bit11Axis1(2) data bit11
0 Axis1 INPOS Axis1data bit10 Axis2 data bit10Axis1(2) data bit10
S09
1 0
0
0
Axis1data bit9 Axis2 data bit9 Axis1(2) data bit9
Axis1data bit8 Axis2 data bit8 Axis1(2) data bit8
Axis1data bit7 Axis2 data bit7 Axis1(2) data bit7
Axis1data bit6 Axis2 data bit6 Axis1(2) data bit6
Axis1data bit5 Axis2 data bit5 Axis1(2) data bit5
Axis1data bit4 Axis2 data bit4 Axis1(2) data bit4
S08 POW OK
S07 TEMP OK
S06 (reserve)
S05 Axis2 INPOS 0
S04 Axis1 INPOS 0
0
S03 (reserve)
S02
S01
Axis2 READY Axis1data bit3 Axis2 data bit3 Axis1(2) data bit3
0 Axis2 ALARM 1Axis1data bit2 Axis2 data bit2 Axis1(2) data bit2
1 Axis2 ALARM 2Axis1data bit1 Axis2 data bit1 Axis1(2) data bit1
Axis2 INPOS Axis1data bit0 Axis2 data bit0 Axis1(2) data bit0
S00 (reserve)
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• Mode-0 : Controller condition 1
Outputs the status of the controller.
POW OK
: No problem with the power supply
TEMP OK : No problem with the internal temperature
Axis2 INPOS: Axis 2 in-position signal
Axis1 INPOS: Axis 1 in-position signal
(When current position moves into the in-position range, this signal will be
output.)
• Mode-1: Controller condition 2
Outputs the status of the controller.
READY
: Servo ON and ready to control by high-speed serial communication.
ALARM 1
: Alarm output (priority high)
(See 5.3. “Digital Input-Output Function”. Same as Axis 1 Error 1, Axis 2
Error 1)
ALARM 2
INPOS
: Alarm output (priority low)
(See 5.3. “Digital Input-Output Function”. Same as Axis 1 Error 2, Axis 2
Error 2)
: In-position signal
(When it moves into the parameter ID = 3 in-position range, this signal will
be output.)
• Mode-2: Current position data (Axis 1)
Outputs the axis 1 encoder position.
Data length: 20 bits.
High-speed communication
Position data value
20 bits
Maximum
position
0 pulse
0xFFFFF
0x80000
0x0000F
position
Minimum
position
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• Mode-3: Current position data (Axis 2)
Outputs the Axis 2 encoder position.
Data length: 20 bits.
• Mode-4: Current position data (Axis 1, Axis 2)
The encoder position of Axis 1 and Axis 2 is output alternately.
Data length: 19 bits.
The first 1 bit indicates the axis (Axis Flag).
Axis Flag = 0
Axis Flag = 1
Axis 1
Axis 2
Data information for the current position data of Mode-2, 3, and 4 is output with the timing as follows.
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2.8.5. RS-232C Communication Command Input and High-Speed Communication
Switching
A position command input can be switched with a RS-232C communication command.
Command ID
23
Data
0: RS-232C command communication
7: High-speed serial communication
Command ID = 23
A1C023/7
Data 7
*Command also sent to Axis 2
A2C023/7
RS-232C command
communication
High-speed serial
communication
Command ID = 23
A1C023/0
Data 0
*Command also sent to Axis 2
A2C023/0
Note: In the case of two axis control, it is necessary to execute this command for each axis.
It is possible to receive input of RS-232C communication commands even when switching to
high-speed serial communication. However, as position commands give priority to the input of
high-speed serial communication, operation commands such as RS-232C communication command
step movement, and raster scans will be ignored.
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2.9. Heat Radiation and Installation
Since the controller and motor generate heat, their heat radiation should be considered carefully.
Generated heat depends on the operating conditions. Determine a heat radiation method according to
the operating conditions.
The controller and motor have a temperature detection sensor (thermistor) in the heat generating
section. As a safety function, the thermistor stops control if the detector temperature reaches:
Controller
About 70ºC
About 70ºC
Motor
(For details, see 10.1. “Safety Functions”)
The controller and motor require heat radiation so that their temperatures will not exceed the above values.
Controller installation methods
The controller can be installed by either method A or B below.
At installation, put the controller frame in contact with a heat-radiating structure (heat sink or cabinet).
Method A has higher heat radiation efficiency. However, select either method by considering the
operating conditions and cable routing. When installing the controller frame, apply thermal grease or
attach a thermal conductive sheet to the contact surface.
Under some operating conditions, forced air cooling by a fan is necessary. Cool the heat-radiating
structure (heat sink or cabinet) and the controller.
A
B
Output amplifier
Control circuit
In addition to the output amplifier, the control circuit section (DSP) generates heat.
Allow as much space as possible around the equipment.
Caution
The controller becomes hot during operation.
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3. Software
The controller (GC-201) bundles the dedicated control software.
Using the control software makes the following controller operations easy:
z
z
z
z
Parameter setting
Operation setting (Step movement and raster scan)
Status check
Servo tuning (Frequency characteristic measurement)
Most of the functions that can be performed by the control software can also be executed by external
commands input through RS-232C connection without using the control software. This manual
describes operations both by the control software and by RS-232C command input.
Note: The following function can be executed by the control software only, and not by RS-232C
command input:
z
z
z
z
Frequency characteristic (FFT) measurement
Auto tuning
XY matching
Step response measurement function
3.1. Supported PC Environment
Supported OS
MS-Windows 2000, XP, Vista
RS-232C port (with USB-RS-232C conversion cable)
Connection port
3.2. Installation CD
Installation folder structure of the bundled control software
Control Software
(Control software installer)
(GC-201, GC-251 manual)
Manual
The necessary software is not included in 11.1. “Firmware Update”. Please contact your sales
representative.
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3.3. Control Software Installation
・ Insert the bundled control software installation CD into the CD drive.
D：¥
・ Execute Setup.exe in the Control Software folder.
・ Press the Next button.
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・ Specify an installation folder and press the Next button.
(Recommendation: Usually this is not changed.)
・ Press the Next button.
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・ Press the Close button. This completes installation.
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3.4. Software Start Up
・ Connect the controller and the PC with the optional RS-232C cable.
・ Select Windows “START” - “Programs” - “Canon Scanner” - “Control Software”.
・ Setting the COM port
Select the connected RS-232C port and press the OK button.
・ The control screen is displayed.
While communication with the controller has not started yet, the screen displays “DISCONNECT”
in gray at the upper left as the connection status.
Connection
status
Note: The value of each item on the above screen differs depending on the controller status.
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・ When the power to the controller is turned on, communication automatically starts.
When communication starts, the connection status at the upper left changes to “CONNECT” in
green.
Connection
status
The control software can be started up after power to the controller has been turned on.
Communication then starts automatically. (“CONNECT” is displayed.)
Note: The value of each item on the above screen differs depending on the controller status.
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3.5. Control Screen
This section explains the buttons and other items on the control screen.
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)
Not connected: DISCONNECT (gray)
①
②
The encoder position (Mechanical angle) of each axis is displayed.
(Unit: pulse)
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 ② and the status
displayed at ⑨ always show the information of both axes.
③
④
Press this button to go to origin or detect the origin.
The operation depends on the controller status.
(During ordinary servo control)
Origin control
(Homing to origin)
Moving to the origin (where the position display is 0)
Invalid during high-speed serial communication
(After servo OFF and soft reset) Starting origin detection
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⑤
⑥
Servo ON/OFF
Start or stop servo control.
Select the high-speed serial communication command or RS232C
command input for position specification.
(For details, see 4.4. Position Command Input by High-speed
Serial Communication)
(Start = High-speed serial communication, OFF = RS-232C
command)
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
⑨
Tab selection
Control display
Status display
This area displays the screen of each function selected by a tab at
⑦.
The controller status of two axes is displayed.
If press the alarm button during alarm light on, windows content the
alarm details will come up.
⑩
⑪
Alarm clear
Clears the alarm. The alarm lamp turns off.
Soft reset button
Press this button for soft reset.
Allows direct command input.
Command input
screen
⑫
⑬
The version of the controller software is displayed.
During troubleshooting, the support staff may ask for the version
number.
DSP version
display
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4. Operating Procedure
This chapter explains how to use the system.
Operations by [Control Software] and by [RS-232C command] are explained together.
4.1. Controller Start Up
When the power (+5 V, +24 V) is turned on, the controller execute the following automatically:
・Read saved parameters from ROM
・Home to the origin
・Correct the encoder (high-speed oscillation of a fixed angle)
It takes about 15 seconds until the controller is started up.
With the default settings at shipping, the controller is started up with RS-232C communication
command input (internal clock) mode.
The completion of start up can be confirmed as follows:
Control Software
Changes to
‘CONNECT’
Light on
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RS-232C command
Sends RS-232C command ID=14 “Status read” and checks the following status:
SRVON, SYNC, INPOS = High
ORGN = Low
(For details, see 8.2. “Command Details”)
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4.2. Step Movement
Execute step movement for a fixed angle.
Control Software
②
①
④
③
・Select the Step Move tab. ①
・Select an axis for step movement. ②
・Specify the displacement (angle or pulse count) for relative position (STEP) and absolute position.
③
・Press the STEP button (either positive or negative position direction can be specified) or GO
button. ③
Note: Uncheck the ④ checkbox when moving continuously. If it is checked, the stabilization time
measurement function on the next page operates, and as it takes time to display the results, moving
continuously is not possible.
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RS-232C command
・ Target value setting mode (Command ID = 10)
・ Target position setting (Command ID = 20)
・ Movement start (Command ID = 8)
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4.2.1. Step Movement Responce Time Measurement
Control Software has a function that measures the step movement response time. This function is can
only be executed by the control software. It cannot be executed by a RS-232C command.
②
①
③
• Put a check in the Enable Scope checkbox ①
• Select the time range for step movement response to be measured ②
(As the response time depends on the displacement, change when necessary.)
• Specify the displacement (angle and pulse count) for relative position (STEP) and absolute position.
③
• Press the STEP button (either positive or negative position direction can be specified) or GO button.
③
• The Scope and Measurement window appears automatically
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①
②
③
④
⑤
⑥
⑦
Scope and Measurement window
(Scope and Measurement window explanation)
Displays the step response waveform by the deviation from the
target position.
①
②
0 usec (left edge) position is the movement start time.
Cursor location
(Step response
waveform)
① Displays the cursor location in the step response waveform
graph.
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Measured step response waveforms can be saved temporary as
reference data. The next measured data can be overwritten and
compared.
③
④
(See 4.2.1.2 “the Reference Data Comparison Method.”)
This displays the difference between measurement data and
reference data.
⑤
⑥
⑦
Motor drive current Displays the motor drive current.
Use the zoom button to zoom in and display detailed data.
Zoom button
Saving data
(See 4.2.1.1 “the Measurement Data Display Zoom Method.”)
This saves measurement data as a text file.
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4.2.1.1. Measurement Data Display Zoom Method
A zoomed display is possible in order to confirm measurement data details.
(Specify horizontal (time) zoom)
• Drag the step response display cursor (red) to the width you want to display enlarged ①
(Adjust while looking at the X Cursors display below)
• Press the Horizontal ZOOM button ②
①
②
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(Specify vertical (angle) zoom)
• Drag the step response display cursor (green) to the width you want to display enlarged ①
(Adjust while looking at the Y Cursors display below)
• Press the Vertical ZOOM button ②
①
②
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4.2.1.2. Reference Data Comparison Method
This displays step response waveforms with two different measurement conditions, and makes a
comparison possible.
①
• Display the step response waveform with the first measurement condition, and press the “Save
MAIN to REF” button. ①
Measured waveform data (MAIN) is copied to the reference data (REF).
There is no change to the screen display at this time.
(The above display is the measurement results for 0.1 deg (Mechanical) step movement.)
• Returns to the control software window without closing the Scope and Measurement window.
• Measuring the step response with different measurement conditions.
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• The step response waveform displays (blue).
(The above display is the measurement results for 0.12 deg (Mechanical) step movement.)
• Press the REF button. ②
• The response waveform (gray) saved in reference data is overwritten.
REF
MAIN
②
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• Press the following button when you want to delete the waveform display for each of MAIN (blue)
and REF (gray).
MAIN button ③ -> Wfm OFF button ⑤
REF button ④ -> Wfm OFF button ⑤
To display again, press the MAIN, or OFF buttons.
③
④
⑤
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4.3. Raster Scan
Execute oscillation of a fixed angle at a fixed frequency.
Control Software
②
①
③
④
⑤
・Select the Raster Scan tab. ①
・Select an axis for raster scan. ②
・Specify the operation parameters (Scan Time, Scan Angle, Duty, and Interval). ③
・Press the Scan Start button to start operation. ④
・Press the Scan Stop button to stop operation. ⑤
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RS-232C command
・ Raster scan interval setting (Parameter ID = 26)
・ Raster scan duty ratio setting (Parameter ID = 27)
・ Raster scan oscillation angle setting (Parameter ID = 28)
・ Scan start (Command ID = 23 Data = 3)
・ Scan stop (Command ID = 23 Data = 0)
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4.4. Position Command Input by High-speed Serial Communication
In order to carry out a vector scan, target position data is given to the controller by high-speed serial
communication, and the data is updated as required.
It is possible to change the mode of the controller to the mode of receiving target position data by
high-speed serial communication. For changing the mode, it is necessary to enter high-speed serial
communication signals into the controller in advance.
Control Software
①
・ Switch HiSpeed Serial to Start. ①
This switching makes the controller follow target position data by high-speed serial communication.
・ Switch HiSpeed Serial to OFF. ②
Input of the MOVE command is awaited.
RS-232C commands
・ Switch to high-speed serial communication (Command ID = 23 Data = 7)
・ Return to internal clock operation (Command ID = 23 Data = 0)
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5. Monitor Output and Digital Input Functions
The controller has an analog monitor output connector for monitoring the operation status and a digital
I/O connector for external signal input.
5.1. Connector Pin Assignment
The controller is equipped with the following:
Analog monitor output connector ×1
Digital I/O connector ×1
Digital I/O
connector
Analog monitor output
connector
In order to evaluate this galvano scanner, the above output connectors are connected, and a monitor
board for evaluation that can confirm analog output signals and the I/O of a digital signal is prepared
as an optional product. Please contact the Sales Department for details.
Monitor Board for
evaluation
The signal name is displayed on the evaluation monitor board. Please check the signal after referring
to the table of the following pin arrangement.
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Evaluation Monitor Board Pin Assignment
Pin Assignment of the optional monitor board for evaluation is as follows.
D15 D9 D4 D1
A7 A5 A3 A1
D16 D10 D5 D2
D1 D11 D6 D3
A8 A6 A4 A2
D18 D12
GND
GND
Digital I/O
Analog Monitor
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Analog monitor output connector
Connector model number
Connector
Model No.
Manufacturer
OMRON
Board side
Cable side
XG4C-1034
XG4M-1030-T
OMRON
Connector pin assignment
Monitor Board for
Signal Description
Pin No.
Evaluation
Signal Name
1
2
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
Axis 1 current command value
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
3
4
5
6
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
7
8
9
10
Analog GND
The controller has three monitor terminals for each of the two axes to check the operation status.
The output signal contents can be changed and the output magnification can also be changed.
(For details, see 5.2. “Analog Monitor Output Selecting”)
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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 assignment
Monitor
board for
evaluation
Signal
Pin
No.
I/O
Signal Description
Logic
Remarks
Name
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
D1
D2
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
High : Error
Edge
See Circuit 1 below.
See Circuit 1 below.
See Circuit 1 below.
See Circuit 1 below.
See Circuit 1 below.
See Circuit 1 below.
D3
D4
High : Error
High : Error
Edge
D5
D6
DG1
DG2
D9
-
-
GND
GND
Input External Sampling Signal
Input External Trigger Signal
Input Start up mode switching
No connection
↑: INT generation
See Circuit 2 below.
See Circuit 2 below.
See Circuit 2 below.
D10
D11
D12
DG3
DG4
D15
D16
D17
D18
High : ON
-
-
GND
GND
No connection
No connection
No connection
No connection
No connection
No connection
Connection specifications
(Circuit 1)
FPGA
R: 100Ω
R: 100Ω
Connector
3.3V-TTL, max. 3 mA
(Circuit 2)
FPGA
Connector
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 [Control Software] or [RS-232C command send].
Output contents
Monitor Board Power-on
Signal Description
Signal Level (At
Power-on)
Terminal
Signal Name
Selection
Phase A of Encoder Head 1
Phase A of Encoder Head 2
Phase A of encoder after synthesis
2 (Axis 1)
6 (Axis 2)
A2 (Axis 1)
A6 (Axis 2)
*
*
Positional deviation signal
Position
1.5 mV / pulse
0.091 mV / pulse
Velocity
0.091 mV / pulse / 10
3 (Axis 1)
7 (Axis 2)
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
4 (Axis 1)
8 (Axis 2)
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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Control Software
②
①
⑤
③
④
・Select the Monitor tab. ①
・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 repeated by the
magnification setting if it exceeds this range.
・The relationship between encoder pulse and angle differs depending on the galvano motor.
E.g. GM-1010
360° = 1000 pulses × 8,192 divisions = 8,192,000 pulses
1° = 8,192,000 pulses / 360° = 22,756 pulses
At the monitor output position (0.091 V/pulse), the analog monitor output changes:
1° = 22,756 × 0.091 = 2.071 V
When the magnification is 1x, and there is a position change of 0° → 1°, analog output will
change from 0V → 2.071V.
E.g. GM-1015 , GM-1020
360° = 1500 pulses × 8,192 divisions = 12,288,000 pulses
1° = 12,288,000 pulses / 360 = 34,133 pulses
At the monitor output position (0.091 V/pulse), the analog monitor output changes:
1° = 34,133×0.091 = 777 mV
When the magnification is 1x, and there is a position change of 0° → 1°, analog output will
change from 0V → 777 mV.
RS-232C Commands
・ Monitor Output Selection (A2, A8)
・ 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.
Pin
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
Explanation
Output
Output
Output
Output
High: Error
High: Error
High: Error
High: Error
If an error occurs, the
corresponding error signal is
output.
A1
B1
B2
According to the priority of the
error, Error 1 or 2 is output.
See 9-2, “Errors.”
A3
Output
Output
Axis 1 servo interrupt period
Axis 2 servo interrupt period
Edge
Edge
Output is timed according to
an internal controller servo
interrupt..
A2
B3
In addition, the following digital I/O is prepared as an operation setting of the controller.
Pin
I/O
Signal Description
Logic
Explanation
No.
A5
Input when an external signal is
used for servo sampling clock.
(Do not use it usually.)
↑: INT
Input External Sampling Signal
Input External Trigger Signal
Input Start up mode switching
generation
See
6-2,
“Operation
that
synchronizes
with external
B5
A6
High: FG_ON
trigger signal input (raster scan)
See 6-1, “Setting Controller Start
Up Mode”
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6. Other - Operation Setting
6.1. Setting Controller Start Up Mode
Clock selection
With the default settings at shipping, a parameter is set to start up the controller in RS-232C
communication command input mode (internal clock). When assembling the device, however, the
mode can be switched for start up with an external clock (high-speed serial communication). For this
switching, the following parameter is set:
Parameter ID
64
Data
Bit 1
0: RS-232C communication command input
1: High-speed serial communication
P64 = 1: Start up with internal clock
P64 = 3: Start up by high-speed serial communication
(Bit 0 of P64 is used to enable or disable encoder correction when homing to the origin; it is usually set
to 1. For details, see 9.2. , “Parameter Details”)
Start up mode
Power-on usually executes the following automatically:
・Reading parameters from EEPROM
・Starting homing and servo control
If there is a problem with the parameters read from EEPROM or if oscillation occurs when homing and
servo control are executed automatically, the start up mode can be changed.
For this switching, the switches (SW1 and SW2) on the controller board and the logic of the digital I/O
terminal (A6) are combined.
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SW2
SW1
1
2 1
2
OFF
ON
OFF
ON
SW2
SW1
Axis 1
Auto EEPROM
Read
SW1-2
Terminal A6
Auto Homing
OFF
OFF
ON
0
Disabled
Enabled
Enabled
Enabled
Disabled
Disabled
Disabled
Enabled
1 or open
0
ON
1 or open
Axis 2
Auto EEPROM
Read
SW2-2
Terminal A6
Auto Homing
OFF
OFF
ON
0
Disabled
Enabled
Enabled
Enabled
Disabled
Disabled
Disabled
Enabled
1 or open
0
ON
1 or open
: Setting at shipping
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6.2. Controller LED Display
The controller (GC-201) is equipped with an LED that indicates the controller status.
After turning on the power, when the controller starts up normally, the display will be as follows.
LED1
LED2
LED3
LED4 (Red)
(Blinks in approx 2 sec. intervals)
(Blinks in approx 2 sec.intervals)
(Blinks in approx 1 sec. intervals)
(Not turns on)
LED5 (Red)
(Not turns on)
LED7
LED6
(Turns on)
(Turns on)
Meaning of each LED
LED No.
Meaning
Remarks
Always blinks in approximately 2 sec. intervals if
LED1
LED2
DSP1 operation (for Axis 1) DSP1 start up correctly.
Always blinks in approximately 2 sec. intervals if
DSP1 operation (for Axis 2) DSP1 start up correctly.
Always lit if FPGA start up correctly.
LED3
LED4
FPGA Start up
This LED (red) is lit when a malfunction occurs with
the controller.
ALARM display (for Axis 1)
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A response is necessary after confirming the error
details with the control software, or RS-232C
command ID = 15 error read.
This LED (red) is lit when a malfunction occurs with
the controller.
A response is necessary after confirming the error
details with the control software, or RS-232C
command ID = 15 error read.
LED5
ALARM display (for Axis 2)
Always lights in approximately 1 sec. intervals if
LED6
LED7
DSP2 operation (for Axis 1) DSP2 start up correctly.
Always lights in approximately 1 sec. intervals if
DSP2 operation (for Axis 2) DSP2 start up correctly.
Note: When connecting only one axis of the motor and operating the controller (GC-201), an error will
always occur for the axis that is not connected. As a result, either LED4 or LED5 will light up, however,
as there is no problem with the operation of the connected axis, use it as is.
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6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan)
“4.3. Raster Scan” can be operated in synchronization with an external trigger signal.
The Movement Pattern
There are two kinds of movement patterns.
① (The raster scan of one coming and going operates whenever the external trigger signal is input.)
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
Pin
No.
Monitor Board
Signal Name
I/O
Signal Description
Logic
Remarks
B5
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
･Set Parameter ID =27
･Set Parameter ID =28
(Raster Scan Operation)
･Send Command ID=8
Raster Scan Time Setting
Raster Scan Duty Ratio Setting
Raster Scan Angle Setting
Data=6 Movement Start (Movement to the initial position
of a raster scan)
･Send Command ID=23 Data=8 (One way scan)
Data=9 (One coming and going)
(Reference: Data = 3 in case of continuous operation)
Select either
･Input the external trigger Signal
･Send Command ID=23
Data=0 Scan Stop
Notes
・ The external trigger input during raster scan move is ignored.
・ From the external trigger signal input, until the time actual operation starts, there can be a
fluctuation of up to a maximum of 10 usec.
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7. Tuning
7.1. Tuning
At the time of shipping, with the combination of the galvano motor and controller (GC-201), appropriate
servo tuning has been completed.
The following tools have been prepared to check malfunctions during use, and handling trouble such
as mirror damage.
• Control software
It is possible to check servo tuning related parameters and make changes from the control
software’s Servo Setting tab.
Note: Changes are not usually made to the parameters. Settings with inappropriate parameter
values can cause abnormal operations such as oscillations.
• Frequency characteristic (FFT) measurement
It is possible to check the servo tuning status.
(See 7.2 Frequency Characteristic (FFT) Measurement for details)
• Auto tuning
When adjusting servo tuning, in order to exchange a damaged mirror, an easy auto tuning
program is required.
However, use of this function is limited to the mirror shape provided by the setting file (definition
file).
(See 7.3 Easy Auto Tuning for details)
• X and Y axis matching
This function automatically matches the step movement response waveform of Axis 1, and Axis 2.
(See 7.4 X, Y Matching for details)
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7.2. Frequency response (FFT) Measurement
The control software includes a function to measure the frequency response of the galvano scanner
motor.
Frequency response measurement is used in the following situations.
Initial frequency responses are saved, and these are compared to confirm changes with frequency
response when malfunctions occur. You can determine whether the cause of the malfunction is with
the motor or servo settings.
Operations
②
①
③
• Confirm the Servo ON status of the axis being measured.
The status of SYNC, INPOS, and SRVON are all ON (green).
• Select the Servo Setting tab ①
• Select the axis no. to measure (Axis #1 or #2) ②
• Press the Frequency Response button ③
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②
①
• The frequency characteristic measurement window appears
• Set the frequency range and number of points to measure ①
(The above is with defaults of 1 kHz ~ 50 kHz and 150 points input)
• Press the BODE button ②
(Press the Abort button to stop while measuring)
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Drag and move
④
③
①
②
• The frequency characteristic measurement results display.
• By dragging the cursor (point where red lines intersect), specified frequency detailed information
(measured frequency points, gain, and phase) will display ②
• Press the File Save button to save measurement results (saves in CSV file format) ③
• It is possible to read and display measurement results that were saved in the past. Press the File
Open button to specify the saved CSV saved file ④
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Saved data can be compared with the current measurement results in the window.
①
④
②
③
• Read and display saved data by pressing the File Open button (blue) ①
• Register reference data with the Save MAIN to REF button ②
• Measure with the BODE button ③
• Data (blue) measured with ③ displays overwriting reference data (gray). ④
Note:
When comparing with past measurement data, even when there are no problems, it may not
match exactly due to the influence of measurement error.
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7.3. Auto Tuning
Servo tuning of galvano scanner motors and controllers are set appropriately by Canon at the time of
shipping, however, an auto tuning function is included in the controller software in the following
situations for tuning again.
- When you want to replace a damaged mirror
- When oscillation occurs to change of the motor status or load status and you want to carry out
appropriate servo tuning
This auto tuning function can only be used when the following conditions have been met.
- The load to exchange (mirror, mirror holder) is the same design as the previous one
- The load is servo tuned once at Canon, and an auto tuning dedicated setting file is provided
(please contact your sales representative)
- Load attachment conditions for the motor are the same as the previous one
(The torque tightness of the mirror holder is the same, and torque tightness is listed on the
Inspection Sheet at the time of shipping)
Note:
In order to use this auto tuning function in this case, a dedicated setting file for the load is necessary.
This function is not for fully automatic tuning of an arbitrary (unknown) load.
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Operations
①
②
③
• Need to change the mechanical setting so that can operate in a range ±15°(Mechanical Angle) ,
when excute the auto tuning. Because that auto tuning program operate the motor in a range ±
15°(Mechanical Angle) .
• Turn OFF high-speed serial ①
• Select the Servo Setting tab ②
• Press Auto Tuning ③
• Input the password (canon)
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• Display of the Auto Tuning screen
④
⑤
⑥
⑦
⑧
⑨
• Select the setting file (Definition File). ④
Setting files will be provided by Canon.
• When necessary, select parameter files to load in the controller prior to tuning. ⑤
Check the “Load Parameter File before start” checkbox and specify the parameter file. Use in
situations when you want to load a parameter file and then carry out tuning.
Parameter files to be loaded will be prepared by the user. Refer to 9.5 for the file creation method.
• Select the folder for results (Result Folder). ⑥
Tuning results will be saved.
• Select the axis. ⑦
Select the axis connected to the motor and mirror that corresponds to the Definition File.
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• Input the serial number. ⑧
A folder with the same name as the number input here is generated in the saved results folder, and
tuning results are saved. Usually the controller’s serial number is input, however, any number that
is easy for the user to manage may be input.
• Pressing the Start button. Then starts the tuning. ⑨
⑩
⑪
⑫
⑬
⑭
• The name of the motor and mirror to be tuned will display in Target Galvano. ⑩
• Details of the current tuning being carried out display in Command. ⑪
• Detailed tuning operation conditions display in Execution Log. This log is saved as a text file of
tuning results in the saved results folder. ⑫
• Press the Stop button to stop while tuning. ⑬
• Press the End button to close the tuning menu. ⑭
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• When tuning is completed the following message displays, and tuning results are saved to
EEPROM.
Saved Results Folder
The saved results folder is composed as follows.
Folder specified as
the result save folder
Serial number
00000001
Axis number
Results Folder
#1
#2
00000002
#1
#2
Results File
The following files are saved in the axis number folders after tuning.
• LOWGAIN.CSV
Frequency response characteristics with no filter and low gain
• TORQUE.CSV
Torque correction data
• STEP.CSV
Step waveform after tuning
• HIGHGAIN.CSV
Frequency response characteristics after tuning
• Param.TXT
Parameter file after tuning
• Report.txt
Log messages currently being executed
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Parameters Changed During Auto Tuning
The following parameters are adjusted or changed by the auto tuning.
ID
2
Meaning
Max Velocity
6
LQ Control Gain
7
Torque Constant
8
Total Inertia
9
Current Limit
10
11
12
14
16
17
18
19
20
21
22
23
24
25
32
40
42
44
45
48
49
50
51
52
53
Encoder Periodicity
Origin Clear Timing (Head 1)
Sampling Time
Origin Clear Timing (Head 2)
#1 Notch Filter Frequency
#1 Notch Filter Q (x 100)
#1 Notch Filter Depth
#2 Notch Filter Frequency
#2 Notch Filter Q (x 100)
#2 Notch Filter Depth
Low-pass Filter Cutoff Frequency
#1 Analog Notch Filter Frequency
#2 Analog Notch Filter Frequency
#3 Analog Notch Filter Frequency
Torque Peak Offset
Feed Forward Gain
Over-shoot Control
PES Limit
Loop Gain Fine Adjustment
VR Head 1 A/B Offset
VR Head 1 A gain
VR Head 1 B gain
VR Head 2 A/B Offset
VR Head 2 A gain
VR Head 2 B gain
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7.4. X and Y Axis Matching
It is possible to match the step response waveforms of the X axis (Axis #1) and Y axis (Axis #2).
(Summary of Operations)
• Matching the frequency response
This operation matches the frequency response of both axes at 1 kHz. Gain is adjusted with “loop
gain fine adjustment” (parameter ID = 45). Phase is adjusted with “Notch filter Q value” (parameter
ID = 17 and 20) of each axis.
• Matching the step response overshoot
This operation matches the overshoot of the step response waveforms for each axis. It is carried
out after matching the frequency response. Overshoot is adjusted with “Over-shoot
Control“(Parameter ID = 42).
(Operating Conditions)
• Both axis motors are connected to controller.
• Both axis use digital notch filter for tuning.
The X and Y match may not function in some situations other than the above conditions. In this case
an error will occur during tuning, and it will stop.
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Operations
①
②
③
• Turn OFF high-speed serial ①
• Select the Servo Setting tab ②
• Press XY Matching ③
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• Display of the X and Y Matching screen
• Select the axis side with no margin for tuning (phase margin, gain margin) as the Reference.
Usually a large mirror load is attached to the Axis #2 (Y axis) side, Axis #2 will be the Reference.
With X and Y matching, the frequency response of another Axis will be adjusted to the frequency
response of the Reference side.
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• By pressing the SETUP button, operating conditions during FULL AUTO can be set. Usually default
parameter settings will operate correctly.
• Frequency
• GAIN
Frequency when measuring the frequency response
Max Change
Permissible change rate from the original gain setting value.
If this value is exceeded, the operation will be stopped with an error.
Adjustment takes place so the margin of error between both axis is
lower than this value.
Target Range
• Q
Fine Step
Amount of step adjustment for Q
Max Change
Permissible change rate from the original Q setting value.
If this value is exceeded, the operation will be stopped with an error.
Adjustment takes place so the margin of error between both axis is
lower than this value.
Target Range
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• Press the FULL AUTO and tuning starts.
• Operation details display in the log messages while operating.
• The gray waveform is the Reference waveform.
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• Adjusting the frequency response.
• Adjusting the amount of overshoot.
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• When the overshoot amount adjustment is completed, the waveforms match.
• Save the tuning results to EEPROM. Refer to 9.4. Writing Parameters into ROM.
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Individual parameters can be adjusted by the user.
• Press the MANUAL button. ①
• It will display like the diagram to the right.
• Press INITIALIZE first. ②
③
• Pressing MEASURE BODE carries out the frequency
response measurement, and displays the waveforms.
• By changing the GAIN [dB] value and measuring the
frequency response, the Gain waveform will move up
and down according to the GAIN value.
①
②
⑤
• By changing the Q value and measuring the
frequency response, the Phase waveform will move
up and down according to the Q value.
• Adjust so that the gray waveform and black waveform
overlap.
③
④
④
• Pressing MEASURE STEP carries out the step
response measurement, and displays the step
waveforms.
• Change the FFGain and Overshoot values, measure
the step response, and adjust so that the gray
waveform and black waveform overlap.
⑤
• Starting with HiSpeed Serial makes it possible to
adjust individual parameters while operating
high-speed serial communications.
• Save the tuning results to EEPROM. Refer to 9.4. Writing Parameters into ROM.
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8. Commands
The controller has a monitor output (analog output) terminal for monitoring the RS-232C command
operation status and an external signal input terminal for controller operation.
8.1. List of Commands
ID
Command Name
Soft Reset
Data
Data
Return Value
Yes 0: Auto homing
1: Reset only
0
1
2
Error Clear
Homing Start
Servo ON
Yes 0: OFF
1: ON
4
7
Control Mode Specification
Movement Start
Yes 0: PI
1: LQ
Yes 0: Step movement start
6: Initial position of raster scan
8
9
Forced Stop
Target Position Setting
Yes 0: Absolute
1: Relative
10
Thermistor Temperature Read Yes 0: Controller temperature
1: Motor temperature
A/D
converted
11
value of thermistor
voltage
Current Position Read
Yes 0: Current position
1: Current target value
(Program origin)
Position (Pulse)
12
13
2: Current target value
(Absolute position)
Version Read
Yes 0: Main DSP Ver
1: Sub DSP Ver
Ver. No
14
15
Status Read
Status(16bit)
Error (16bit)
Error Read
Acceleration Control
Yes 0: OFF
1: ON
18
20
22
23
26
Target Position Setting
Target Velocity Setting
Operation Mode Selection
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
30
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ID
Command Name
Data
Data
Return Value
Monitor Output Selection A2 Yes 0: Head1 A phase signal
(A8)
1: Head2 A phase signal
2: Corrected A phase signal
3: Deviation signal
40
Monitor Output Selection A3 Yes 0: Current position signal
(A9)
1: Velocity signal
2: Corrected encoder count
3: Encoder interpolation data
41
Monitor Output Selection A4 Yes 0: Head1 B phase signal
(A10)
1: Head2 B phase signal
2: Corrected B phase signal
3: Target position signal
42
43
Monitor Output Select Check
Yes 0: A2 (A8) Monitor
1: A3 (A9) Monitor
2: A4 (A10) Monitor
Yes N: Magnification (x 2N)
Yes N: Magnification (x 2N)
Yes N: Magnification (x 2N)
Monitor Magnification Setting
A2 (A8)
44
45
46
Monitor Magnification Setting
A3 (A9)
Monitor Magnification Setting
A4 (A10)
Monitor Magnification Check
Yes 0: A2 (A8) Monitor Magnification
1: A3 (A9) Monitor Magnification
2: A4 (A10) Monitor Magnification
47
Counter Clear Timing
Yes 0: Axis 1
1: Axis 2
0 or 1
161
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8.2. Command Details
Command
Name
Command ID
0
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 start up.
However, the parameter values are retained.
If a high-priority error requiring soft reset occurs (see 10.2. , “Errors” for details), execute
this command after resolving the cause.
Explanation
Related
Command ID = 2: Homing Start
Command
If only reset is executed, homing is necessary for a return.
Command
Command ID
1
Error Clear
Name
Data
-
Return
Value
0: Command execution successful
1: Command execution unsuccessful
If a low-priority error occurs (see 10.2. , “Errors” for details), execute this command for a
Explanation return. If this command is not executed, other commands cannot be accepted. The
parameters and other set values are retained.
Command
Command ID
2
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.
Related
Command ID = 0: Soft Reset
Command
If only soft reset is executed, origin detection is necessary.
Command
Command ID
4
Servo ON
Name
0: OFF
1: ON
Data
Return
Value
0: Command execution successful
1: Command execution unsuccessful
This command starts or stops servo control.
Turning servo control off makes the motor axis free.
When the controller is operating on the internal clock, servo control starts at the servo
ON position. When the controller is operating on high-speed serial communication and a
target position is entered, the scanner moves to the target position after the start of
servo control.
Explanation
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Command
Name
Command ID
Data
7
Control Mode Specification
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
8
Movement Start
0: Step movement start
6: Movement to the initial position of raster scan
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Usual movement: After a target position is set, this command is executed to start step
movement.
Movement to the raster scan’s start position: After setting the raster scan condition
settings, this command is executed to move to the start position.
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
Related
Raster scan movement procedure
Command
Parameter ID = 26: Raster Scan Interval Setting
Parameter ID = 27: Raster Scan Duty Ratio Setting
Parameter ID = 28: Raster Scan Oscillation Angle Setting
Command ID = 8 Data = 6: Movement to the raster scan initial position
Command ID = 23 Data = 3: Raster Scan Start (Continuous)
Command ID = 23 Data = 0: Raster Scan Stop
Command
Command ID
9
Forced Stop
Name
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
Related
Command ID = 8 Data = 0: Movement Start
Command
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Command
Name
Command ID
Data
10
Target Value Setting Mode
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
Related
Command
Command ID = 10: Target Value Setting Mode
Command ID = 20: Target Position Setting
Command ID = 8 Data = 0: Movement Start
Command
Command ID
Data
11
Thermistor Temperature Read
Name
0: Controller temperature
1: Motor temperature
Return
Value
Thermistor voltage A/D converted value
Motor Thermistor A/D converted value
4000
3500
3000
2500
2000
1500
1000
500
0
20
30
40
50
60
70
80
90
100
110
Temperature（℃）
Explanation
Controller Thermistor A/D converted value
4000
3500
3000
2500
2000
1500
1000
500
0
20
30
40
50
60
70
80
90
100
110
Temperature（℃）
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Command
Name
Command ID
12
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
13
Version Read
Name
0: Main DSP
1: Sub DSP
Return
Value
Ver. No.
Explanation
Command
Name
Command ID
14
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
0
1
2
3
4
5
6
7
8
9
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
11
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
15
Target position set
Note: Return value of the command is a decimal number.
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Command
Name
Command ID
15
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
0
1
2
3
4
5
6
7
8
9
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
Note: Return value of the command is a decimal number.
Command
Command ID
18
Acceleration Control
Name
0: OFF
1: ON
Data
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation (This command cannot be used now.)
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Command
Name
Command ID
Data
20
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.
Related
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
Command
Command ID
Data
22
Target Velocity Setting
Name
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.
Related
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
23
Operation Mode Selection
0: Raster scan stop or Internal Clock mode
3: Raster scan start
7: High-speed serial communication mode
8: Raster scan started by the external trigger signal input (one way scan)
9: Raster scan started 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 6.3. , “Operation that Synchronizes with External Trigger Signal
input (Raster Scan)”)
9: Raster scan start by the external trigger signal input (Coming and going scan)
(For details, see 6.3. , “Operation that Synchronizes with External Trigger Signal
input (Raster Scan)”)
Raster scan movement procedure
Parameter ID = 26: Raster Scan Time Setting
Parameter ID = 27: Raster Scan Duty Ratio Setting
Parameter ID = 28: Raster Scan Angle Setting
Command ID = 8: Data = 6: Movement Start Step Movement of the raster scan initial
position
Related
Command
Command ID = 23: Data = 3: Raster Scan Start
Command ID = 23: Data = 0: Raster Scan Stop
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Command
Name
Command ID
Data
26
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
30
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 start up.
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
40
Monitor Output Selection A2 (A8)
Name
0: Head1 A phase signal
1: Head2 A phase signal
2: Corrected A phase signal
3: Deviation signal
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation The output signal of analog monitor output A2 (Axis 1) and A8 (Axis 2) can be selected.
When the controller starts, the 3: Position error has been selected.
(For details, see5.2. , “Analog Monitor Output Selecting ”)
Command
Command ID
Data
41
Monitor Output Selection A3 (A9)
Name
0: Current position signal
1: Velocity signal
2: Corrected encoder count
3: Encoder interpolation data
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation The output signal of analog monitor output A3 (Axis 1) and A9 (Axis 2) can be selected.
When the controller starts, the 1: Velocity has been selected.
(For details, see 5.2. , “Analog Monitor Output Selecting ”)
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Command
Name
Command ID
Data
42
Monitor Output Selection A4 (A10)
0: Head1 B phase signal
1: Head2 B phase signal
2: Corrected B phase signal
3: Target position signal
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, see5.2. , “Analog Monitor Output Selecting ”)
Command
Command ID
43
Monitor Output Select Check
Name
Data 0: A2 (A8) monitor
1: A3 (A9) monitor
2: A4 (A10) monitor
Return
Value
Selected monitor number
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 (Monitor A2 when the deviation signal is selected.)
Command
Name
Monitor Magnification Setting
A2 (A8)
Command ID
Data
44
Magnification : N (×2N)
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation Magnification is specified by an exponent of the power-of-two.
E.g.
Data = -2
Data = -1
Data = 0
Data = 1
Data = 2
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”)
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Command
Name
Monitor Magnification Setting
A3 (A9)
Command ID
Data
46
Magnification : N (×2N)
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation Magnification is specified by an exponent of the power-of-two.
E.g.
Data = -2
Data = -1
Data = 0
Data = 1
Data = 2
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”)
Related
Command
Command
Monitor Magnification Setting
A4 (A10)
Command ID
Data
47
Name
Magnification : N (×2N)
Return
Value
0: Command execution successful
1: Command execution unsuccessful
Explanation Magnification is specified by an exponent of the power-of-two.
E.g.
Data = -2
Data = -1
Data = 0
Data = 1
Data = 2
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”)
Related
Command
Command
Command ID
Data
48
Monitor Magnification Check
Name
0: A2, A8 monitor magnification
1: A3, A9 monitor magnification
2: A4, A10 monitor magnification
Return
Value
Magnification : N (×2N)
Explanation The exponent of power-of-two.
(See 5.2. , “Analog Monitor Output Selecting”)
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Command
Name
Command ID
161
Counter Clear Timing
Data
0: Head 1
1: Head 2
Return
Value
Timing 0 or 1
Explanation
It is necessary to set the return value as follows.
Head 1 Parameter ID = 11
Head 2 Parameter ID = 14
These values have the standalone motor unique values, and the controller motor set
with servo tuning at Canon has been explained.
When changing the motor or controller, after checking this command Head 1 and Head
2, it is necessary to make settings.
E.g.: A1C101/0 with a return value of 0, set with parameter A1P011/0.
A1C101/1 with a return value of 1, set with parameter A1P014/1.
A2C101/0 with a return value of 1, set with parameter A2P011/1.
A2C101/1 with a return value of 0, set with parameter A2P014/0.
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9. Parameters
9.1. List of Parameters
ID
Parameter Name
0
CW Limit
1
CCW Limit
2
Max Velocity
3
In-position Range
Settling Check Time
In-position Overtime
LQ Control Gain
Torque Constant
Total Inertia
4
5
6
7
8
9
Motor Current Limit
Encoder Wave per Rotation
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
30
31
32
33
34
40
42
44
45
Origin Clear Timing (Head 1)
Servo Sampling Time
High Speed Serial Data to angle gain
Origin Clear Timing (Head 2)
High Speed Serial Data Offset
#1 Digital Notch Filter Frequency
#1 Digital Notch Filter Q
#1 Digital Notch Filter Depth
#2 Digital Notch Filter Frequency
#2 Digital Notch Filter Q
#2 Digital Notch Filter Depth
Low-pass Filter Cutoff Frequency
#1 Analog Notch Filter Frequency
#2 Analog Notch Filter Frequency
#3 Analog Notch Filter Frequency
Cycle Time of Raster Scan
Duty of Raster Scan
Scan Angle of Raster Scan
Interval Time of Raster Scan
Start Position of Raster Scan
Torque Peak Offset
Acceleration Time
Deceleration Time
Feed-forward Gain
Overshoot Control
PES Limit
Loop Gain Fine Adjustment
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48
49
50
51
52
53
64
66
67
68
VR head1 AB offset
VR head1 A gain
VR head1 B gain
VR head2 A gain
VR head2 A gain
VR head2 B gain
DSP Operation Setting
High Speed Serial Status Format
High Speed Serial Data Length
High Speed Serial Data LSB Position
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9.2. Parameter Details
Parameter
Name
Parameter ID
0
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
1
CCW Limit
Name
Movable range (Unit: pulse) “-“ mark is necessary
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.
In the movement range parameter value, a “-“ mark is necessary.
Note: The relationship between the number of pulses and the angle depends on the motor.
Related
Command
/Parameter
Parameter
Parameter ID
Data
2
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.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
3
In-position Range
In-position range (Unit: pulse)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
The end of movement is judged when a difference from the target value (number of
pulses) enters this range.
Note: The relationship between the number of pulses and the angle depends on the motor.
Related
Bit 2 “Settlement in In-position Range” becomes 1 in status read (Command ID = 14).
Command
/Parameter
Parameter
Parameter ID
Data
4
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
Range (Parameter ID = 3) for the set time after movement.
Note: The unit is 10 us. For 1 ms, set 100.
Related
Bit 8 “Moving” becomes 0 in status read (Command ID = 14).
Command
/Parameter
Parameter
Parameter ID
Data
6
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.
Related
Command
/Parameter
LQ control related parameters:
Total Inertia (Parameter ID = 8)
Torque Constant (Parameter ID = 7)
Parameter
Parameter ID
Data
7
Torque Constant
Name
Torque constant (Unit: gf・cm / A)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the torque constant of the motor.
Note: Do not change this parameter. A unique value is available depending on the
motor model. This is set at shipping.
Related
Command
/Parameter
LQ control related parameters
LQ Control Gain (Parameter ID = 6)
Total Inertia (Parameter ID = 8)
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Parameter
Name
Parameter ID
Data
8
Total Inertia
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・cm2 multiplied by 100.
Related
LQ control related parameters:
Command
/Parameter
LQ Control Gain (Parameter ID = 6)
Torque Constant (Parameter ID = 8)
Parameter
Parameter ID
Data
9
Motor Current Limit
Name
Motor Current limit (Unit: %)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the upper limit of a current command value. (Setting for
each axis as a ratio to 10A)
E.g.: 90% (10A × 0.9 = 9A)
If the current remains over the upper limit for a specified time, a current saturation error
occurs.
Related
Bit 15 “Current Saturation” becomes 1 in error read (Command ID = 15).
Command
/Parameter
Parameter
Parameter ID
Data
10
Encoder Wave per Rotation
Name
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.
GM-1010: 1000 pulses
GM-1015: 1500 pulses
Whenever the motor model is changed, the setting of this parameter should be
changed.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
11
Origin Clear Timing (Head 1)
Origin clear 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 Clear Timing (Head 2) parameter should be set at the same time.
Related
Command
/Parameter
Counter Clear Timing (Command ID = 101)
A1C101/ 0 (Axis 1 Head 1)
Set the value checked above.
Parameter
Parameter ID
Data
12
Servo 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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
13
High Speed Serial Data to angle gain
Name
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 this parameter.
E.g. For x2 (Setting: 2000), the following angle can be specified:
–5.76×2 deg to –5.76×2 deg
The command resolution will be two times.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
14
Origin Clear Timing (Head 2)
Origin clear 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 Clear Timing (Head 1) parameter should be set at the same time.
Related
Command
/Parameter
Counter Clear Timing (Command ID = 101)
A1C101/ 1 (Axis 1 Head 2)
Set the value checked above.
Parameter
Parameter ID
Data
15
High Speed Serial Data Offset
Name
High-speed Serial Communication Offset (Unit: pulse)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
Set this parameter, when the 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 (16 bit) 0x8000 = 100 encoder pulse position.
Related
Command
/Parameter
Parameter
Parameter ID
Data
16
#1 Digital Notch Filter Frequency
Name
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.
Related
Command
/Parameter
#1 Notch Filter Q Value (Parameter ID = 17)
#1 Notch Filter Depth (Parameter ID = 18)
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Parameter
Name
Parameter ID
Data
17
#1 Digital Notch Filter Q
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.
Related
Command
/Parameter
#1 Notch Filter Frequency (Parameter ID = 16)
#1 Notch Filter Depth (Parameter ID = 18)
Parameter
Parameter ID
Data
18
#1 Digital Notch Filter Depth
Name
Depth of the first digital notch filter (Unit: dB)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the depth of the first digital notch filter.
Related
Command
/Parameter
#1 Notch Filter Frequency (Parameter ID = 16)
#1 Notch Filter Q (Parameter ID = 17)
Parameter
Parameter ID
Data
19
#2 Digital Notch Filter Frequency
Name
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.
Related
#2 Notch Filter Q (Parameter ID = 17)
Command
/Parameter
#2 Notch Filter Depth (Parameter ID = 18)
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Parameter
Name
Parameter ID
Data
20
#2 Digital Notch Filter Q
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.
Related
Command
/Parameter
#2 Notch Filter Frequency (Parameter ID = 16)
#2 Notch Filter Depth (Parameter ID = 18)
Parameter
Parameter ID
Data
21
#2 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.
Related
Command
/Parameter
#2 Notch Filter Frequency (Parameter ID = 16)
#2 Notch Filter Q Value (Parameter ID = 17)
Parameter
Parameter ID
Data
22
Low-pass Filter Cutoff Frequency
Name
Cutoff frequency of the digital low-pass filter (Unit: Hz)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the cutoff frequency of the digital low-pass filter.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
23
#1 Analog Notch Filter Frequency
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
24
#2 Analog Notch Filter Frequency
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
25
#3 Analog Notch Filter Frequency
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.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
26
Cycle Time of Raster Scan
Scan Time (Unit: See Explanation.)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This command is used to set the raster scan time (operation by command).
The scan time is the set value × 10 μs.
E.g. For the interval of 100 ms, set 10000 (10000 × 10 μs = 100 ms).
CW
Scan Angle
（＋）
0
Scan Angle
（－）
Raster Scan Time
CCW
Related
Duty of Raster Scan (Parameter ID = 27)
Command
/Parameter
Scan Angle of Raster Scan (Parameter ID = 28)
Interval Time of Raster Scan (Parameter ID = 30)
Start Position of Raster Scan (Parameter ID = 31)
Parameter
Parameter ID
Data
27
Duty of Raster Scan
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.)
Related
Command
/Parameter
Cycle Time of Raster Scan (Parameter ID = 26)
Scan Angle of Raster Scan (Parameter ID = 28)
Interval Time of Raster Scan (Parameter ID = 30)
Start Position of Raster Scan (Parameter ID = 31)
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Parameter
Name
Parameter ID
Data
28
Scan Angle of Raster Scan
Raster scan angle (Unit: degree × 10000)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the angle of raster scan (operation by command).
(See Explanation of Parameter ID = 26.)
Set the scan angle × 10000.
For ±5°, set 50000 (5 × 10000).
Related
Command
/Parameter
Cycle Time of Raster Scan (Parameter ID = 26)
Duty of Raster Scan (Parameter ID = 27)
Interval Time of Raster Scan (Parameter ID = 30)
Start Position of Raster Scan (Parameter ID = 31)
Parameter
Parameter ID
Data
30
Interval Time of Raster Scan
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).
CW
Raster Scan Interval Time
Scan Angle
（＋）
0
Scan Angle
（－）
Raster Scan Interval Time
CCW
Related
Command
/Parameter
Cycle Time of Raster Scan (Parameter ID = 26)
Duty of Raster Scan (Parameter ID = 27)
Scan Angle of Raster Scan (Parameter ID = 28)
Start Position of Raster Scan (Parameter ID = 31)
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Parameter
Name
Parameter ID
Data
31
Start Position of Raster Scan
Raster scan start position (Unit: 0 or 1)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the start of raster scan (operation by command) from the
negative or positive side.
0: Scan start from the negative side
1: Scan start from the positive side
Related
Command
/Parameter
Cycle Time of Raster Scan (Parameter ID = 26)
Duty of Raster Scan (Parameter ID = 27)
Scan Angle of Raster Scan (Parameter ID = 28)
Interval Time of Raster Scan (Parameter ID = 30)
Parameter
Parameter ID
Data
32
Torque Peak Offset
Name
Torque central position (Unit: pulse)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set the torque position.
Settings match the motor’s characteristics when shipped. There is usually no need for
changes. When changing the motor, setting again is necessary.
Note: An appropriate value is set at shipping.
Related
Command
/Parameter
Parameter
Parameter ID
Data
33
Acceleration Time
Name
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.
Related
Command
/Parameter
Acceleration control (Command ID = 18)
Max Velocity (Parameter ID = 2)
Movement start (Command ID = 8)
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Parameter
Name
Parameter ID
Data
34
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.”
Related
Forced Stop (Command ID = 9)
Command
/Parameter
Parameter
Parameter ID
Data
40
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
42
Overshoot Control
Name
Overshoot Control (Unit: none)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter is used to set overshoot control. This is usually set at shipping.
Setting 1000 disables overshoot control.
Related
Command
/Parameter
Parameter
Parameter ID
Data
44
PES Limit
Name
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.
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Parameter
Name
Parameter ID
Data
45
Loop Gain Fine Adjustment
Loop Gain Fine Adjustment (Unit: Multiple × 1000)
Return Value 0: Parameter setting successful
1: Parameter setting unsuccessful
Explanation
This parameter makes fine adjustments to the servo's loop gain (inertia of the motor
and mirror, and the torque constant of the motor are related).
Note: This is usually set appropriately at shipping.
Related
Command
/Parameter
Parameter
Parameter ID
Data
48
VR head1 AB offset
Name
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
49
VR head1 A gain
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
50
VR head1 B gain
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.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
51
VR head2 AB offset
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 the encoder signal.
Note: This is usually set appropriately at shipping.
Related
Command
/Parameter
Parameter
Parameter ID
Data
52
VR head2 A gain
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.
Related
Command
/Parameter
Parameter
Parameter ID
Data
53
VR head2 B gain
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.
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
64
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 start up 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: Start up in internal clock mode
1: Start up in high-speed serial communication (external clock) mode
Bit 2 0: High-speed serial communication specification (XY2-100) (Usually 0)
Note: The setting is decimal.
Related
Command
/Parameter
Parameter
Parameter ID
Data
66
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.
0： Controller Condition 1
1： Controller Condition 2
2： Current position (Axis 1)
3： Current position (Axis 2)
4： Current position (Axis 1 , Axis 2)
(For details, see 2.8.4. , “Status (High-speed Serial Communication STS)”)
Related
Command
/Parameter
Parameter
Parameter ID
Data
67
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 = 16 bit ~ 20 bit
(For details, see 2.8.3. , “High-speed serial communication”)
Related
Command
/Parameter
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Parameter
Name
Parameter ID
Data
68
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 20 bit data can be specified.
Range = 0 bit ~ 4 bit
(For details, see 2.8.3. , “High-speed serial communication”)
Related
Command
/Parameter
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9.3. Modifying Parameters
This section explains how to modify parameters.
Control Software
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 9.4 for writing modified parameters into ROM.
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9.4. Writing Parameters into ROM
All parameters are written in the controller ROM. At Start up, the parameters are automatically read
and set in the controller.
If parameters are modified, they should be written into ROM for start up with the same settings at the
next power-on. Write modified parameters into ROM as follows:
Control Software
②
①
④
③
・ 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
Input password “Canon”
・ “Saving to EEPROM” is displayed. ⑤
Note: Some parameter settings may disable normal start up next time.
If this problem occurs, change the start up mode for no automatic homing to the origin and
check the set values. (See 6.1, “Setting Controller Start Up Mode.”)
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9.5. Saving a Parameter File
All parameters can be saved into a PC file.
Save a parameter file as follows:
②
①
④
③
・ 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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10. Safety Functions
This system has various safety functions to ensure safe use.
10.1. 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 10.2, “Errors” for the error details.
Note:
Note:
The post-error system status and recovery method depend on the priority of the error.
See 10.2, “Errors.”
Temperature settings of the above hardware temperature monitoring and software
temperature monitoring differ. Usually, temperature monitoring of software operates first,
and it is set to carry out error input and servo off operations.
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10.2. 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
(Axis1)
Connector
A1
0x0001
(P00, P01)
Counter over
Velocity (calculated from encoder The velocity exceeds the setting by P02
pulses)
Possible
(P02)
0x0002
0x0004
(Maximum Velocity).
Soft reset
(C00)
In-position overtime
Encoder pulse count
The accumulated time based on the setting
of P03 (In-position Range) exceeds the
setting of P05 (In-position Overtime).
Possible
Monitor
Board
D1
(P03, P05)
Driver overheat
Motor overheat
A/D value of thermistor at controller The driver temperature exceeds the A/D
output amplifier
value corresponding to 70ºC. (Software
monitoring)
0x0010
0x0020
Impossible
Impossible
+
Error Output
Servo OFF
A/D value of thermistor at motor The motor temperature exceeds the A/D
coil
value corresponding to 70ºC. (Software
monitoring)
Homing
(C02)
(Axis2)
Connector
B2
Origin detection error
Encoder signal error
0x0800
0x1000
Homing to the origin
Homing is not completed normally.
Impossible
Impossible
Encoder signal level at homing to An encoder signal is abnormal.
origin
or
Power-off/on
Servo off by hardware
Current saturation
Output amplifier shutdown function
Thermistor (controller and motor)
The output amplifier is shut down.
0x4000
0x8000
Impossible
Monitor
Board
D4
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)
Input the clock
normally. If input
normally it will return.
High-speed serial communications
clock
Clock lack
0x0008
0x0040
The clock is no longer input
Impossible
Format error
Command format
An undefined command or parameter is
sent.
Impossible
Impossible
Impossible
(Axis1)
Connector
B1
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
D2
0x0080
Data outside the setting range is set.
Error clearance
(C01)
Error output
only
(Axis 2)
Connector
A3
Parameter error
Status error
Parameter value
A parameter value is beyond the setting
range.
0x0100
Command description
A command not valid for the current status
is sent.
0x0200
0x0400
Impossible
Impossible
Monitor
Board
D5
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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11. Appendix
11.1. Firmware Update
The GC-201 controller is equipped with two DSP’s (Digital Signal Processor) for Axis 1 and for Axis 2,
and the same firmware is written in each DSP.
When firmware is upgraded for the addition of functions and fixing problems, it is possible to connect a
RS-232C cable and update the firmware with dedicated write software.
A dedicated firmware update CD will be provided when there is a necessity to update the firmware.
Please contact your sales representative about the firmware update CD.
【Firmware Update CD】
The CD contains the following files.
GCFlash.exe
(Dedicated write software)
F2812SerialFlash.out
2812.m00
2812.m01
6727.hex
Note:
As part of the firmware update operation, it will be necessary to operate DIP switches and jumper
switches on the GC-201 controller. Please carry out static electricity counter-measures such as using
an earth band during operation to avoid electrostatic discharge failure.
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11.1.1. Writing Procedure
Carry out operations according to the following procedure.
It will be necessary to operate DIP switches and jumper switches on the controller.
Please follow this procedure.
1. Preparation
- Turn off power to the GC-201 controller
- Connect a RS-232C cable to the computer
SW2
JP1
SW1
JP2
DIP switch and jumper switch default state
SW1
SW2
JP1
: 1-OFF
: 1-OFF
: 1-2 short
: 1-2 short
JP2
1
1
2
2
OFF
ON
OFF
ON
SW2
SW1
According to the controller settings, the default state of "2" of SW1 or SW2 will differ.
This is regardless of a firmware update. Do not change from the default state.
JP2
JP1
3
2
1
3
2
1
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2. Updating the DSP of Axis 1
With the GC-201 controller’s power turned off, set the jumper switches and DIP switches as
follows.
SW1
JP1
JP2
: 1-ON
: 1-2 short
: 1-2 short
1
2
OFF
ON
JP2
JP1
SW1
3
2
1
3
2
1
According to the controller settings, the default state of "2" of SW1 will differ. This is
regardless of a firmware update. Do not change from the default state.
3. Turn on the power.
4. Start-up GCFlash.exe on the firmware update CD.
5. The GCFlash window will display.
Press the WRITE button. Writing will start.
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Usually, settings in the window do not need to be changed, however, need to change when
the connected COM port differs. When writing fails frequently, change the baud rate (default
value of 57600) to a smaller value and try again.
6. When Write Complete displays in the log display area, it is finished.
7. Shut down GCFlash. (It is necessary to completely shut down once.)
8. Turn off the GC-201 controller’s power.
9. Updating the DSP of Axis 2
With the GC-201 controller’s power turned off, set the jumper switches and DIP switches as
follows.
SW2
JP1
JP2
: 1-ON
: 2-3 Short
: 2-3 Short
1
2
OFF
ON
JP2
JP1
SW2
3
2
1
3
2
1
According to the controller settings, the default state of "2" of SW2 will differ. This is
regardless of a firmware update. Do not change from the default state.
10. Follow instructions 3 to 6.
11. Shut down GCFlash and turn off the GC-201 controller’s power.
12. With the GC-201 controller’s power turned off, return settings to the jumper switches and DIP
switches as follows.
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SW1
SW2
JP1
: 1-OFF
: 1-OFF
: 1-2 Short
: 1-2 Short
JP2
1
1
2
2
OFF
ON
OFF
ON
SW2
SW1
According to the controller settings, the default state of "2" of SW1 or SW2 will differ.
This is regardless of a firmware update. Do not change from the default state.
JP2
JP1
3
2
1
3
2
1
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11.2. Parameter Changes from the Number of Encoder Divisions
As explained in 2.8.1 Number of Encoder Pulses, the scanner motor encoder signal is divided into
8,192 divisions generating encoder pulses within the GC-201 controller.
Firmware versions prior to DSP Ver. XXXXXXXX were set with 2,048 divisions.
When currently using firmware with 2,048 divisions, with the following procedure, usage with 8,192
divisions is possible.
Procedure for changing the number of encoder divisions
• This will update the firmware to the latest version. See 11.1 Firmware Update for instructions on
updating the firmware.
Please contact your sales representative about the latest firmware update CD.
• Turn on the GC-201 controller.
• Open the All Parameter tab in the control software. ①
①
②
③
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Select the following values from the list box in the RESOLUTION area. ②
GM-1010
22,756 (pulse / degree)
34,133 (pulse / degree)
GM-1015,1020
Press the Change button. ③
Parameter changes necessary for using with 8,192 divisions will be carried out.
It is also possible to return to 2,048 divisions.
GM-1010
5,689 (pulse / degree)
8,533 (pulse / degree)
GM-1015,1020
It is possible to use with the latest firmware as is.
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NOTE
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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-L006-E02
© CANON INC. 2008
PRINTED IN JAPAN
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