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CANON Digital Galvano Scanner System

KP-1SM GC-251

Users Manual 1.00

2.6.

Connector Pin Arrangement

(Connector types)

①

Axis 1 motor encoder

②

Axis 2 motor encoder

③

+5 V power supply

④

+24 V power supply

⑤

RS-232C

⑥

High-speed serial communication

⑦

Digital input/output

⑧

Analog monitor

⑨

Fan power supply (+24 V)

④

③

⑤

⑥

⑦

⑧

⑨

①

②

Summary of Contents for GALVANO GC-251

Page 1: ...CANON Digital Galvano Scanner System GC 251 KP 1SM30 SM100 Users Manual Rev 1 00 Be sure to read this guide before using the product Keep this guide carefully for future use ...

Page 2: ...osphere of inflammable or explosive gas or vapor Use the product at the specified voltage Connect the power supply line correctly Do not install operate maintain or inspect the product with wet hands Do not disassemble or alter this product Do not drop or cause impact to the product Caution Before installation operation maintenance or inspection thoroughly check that the device is safe When connec...

Page 3: ...5 2 7 1 RS 232C command 16 2 7 2 High Speed Serial Communication 20 2 8 Heat Radiation and Installation 26 3 Software GALILEO 3 1 Supported PC Environment 27 3 2 Installation 27 3 3 Activation 30 3 4 Control Screen 32 4 Operating Procedure Quick Start 4 1 Controller Activation 34 4 2 Step Movement 36 4 3 Raster Scan 37 4 4 Position Command Input by High speed Serial Communication 38 5 Monitor Outp...

Page 4: ... 2 Operation that synchronizes with external trigger Signal input 48 7 Commands 7 1 List of Commands 50 7 2 Details of Commands 52 8 Parameters 8 1 List of Parameters 64 8 2 Details of Parameters 67 8 3 Modifying Parameters 82 8 4 Writing Parameters into ROM 83 8 5 Saving a Parameter File 84 9 Safety Functions 9 1 Safety Functions 85 9 2 Errors 86 ...

Page 5: ...setting 1 2 Configuration This system supports various applications by the combination of a galvano motor and a controller Galvano motor Encoder mounted galvano motor KP 1SM30 Beam diameter φ10 to φ20 mm KP 1SM100 Beam diameter φ20 to φ30 mm Controller Digital servo controller GC 251 Controller for two axis control IF board IF board for high speed serial communication GC 422 IF board for 5V TTL RS...

Page 6: ...1 Nm A 0 093 Nm A Weight 0 95kg 1 65kg Reference Command resolution The controller of this system divides one encoder cycle into 2048 KP 1SM30 SM100 is controlled by the following command resolution 83328 pulses 2048 divisions 170655744 pulses rotation 360 360 170655744 0 000002109 0 036urad Environmental conditions Operating temperature and humidity 23 10 80 RH or less No condensation Storage tem...

Page 7: ...ter Digital notch filter 2 Digital low pass filter 1 Analog notch filter 3 Weight 500 g Environmental conditions Operating temperature and humidity 0 to 50ºC 90 RH or less No condensation Storage temperature and humidity 20 to 60ºC 90 RH or less No condensation Note The above operating temperature and humidity conditions depend on the operating and heat radiation conditions Section names Heat radi...

Page 8: ...l Galvano Scanner System KP 1SM Series GC 251 Users Manual 1 00 8 2 3 Outline Drawing KP 1SM30 KP 1SM100 126 2 37 11 5 7 5 φ56 0 φ6 35 0 01 φ34 φ36h7 Motor Cable Encorder Cable Φ48 Thermistor Cable 3 M4 Depth 8 TBD ...

Page 9: ...CANON Digital Galvano Scanner System KP 1SM Series GC 251 Users Manual 1 00 9 GC 251 120 125 5 38 7 118 5 80 88 33 10 4 φ3 5 4 M3 ...

Page 10: ...00 10 2 4 Power Supply Power supply specifications 24 V 10 10 A max 2 axes For motor drive 5 V 5 2 8 A For control circuit 2 5 Connections IF board Encoder Signal Board Axis1 Axis2 24V power 5V power High Speed serial Communication RS 232C Digital Input Output Galvano motor ...

Page 11: ...s GC 251 Users Manual 1 00 11 2 6 Connector Pin Arrangement Connector types Axis 1 motor encoder Axis 2 motor encoder 5 V power supply 24 V power supply RS 232C High speed serial communication Digital input output Analog monitor Fan power supply 24 V ...

Page 12: ... supply Connector model number Connector Model No Manufacturer Board side S4P VH JST Cable side VHR 4N JST Connector pin arrangement Pin No Signal Description 1 24 V input for Axis 1 2 24 V input for Axis 2 3 4 GND RS 232C Connector model number Connector Model No Manufacturer Board side S03B PASK 2 JST Cable side PAP 03V S JST Connector pin arrangement Pin No Signal Description 1 Send data Signal...

Page 13: ...o Signal Name Signal Description 1 CLK Clock 2 CLK Clock 3 FS Frame sync 4 FS Frame sync 5 XD Axis 1 data 6 XD Axis 1 data 7 YD Axis 2 data 8 YD Axis 2 data 9 STS Status 10 STS Status 11 GND System GND 12 FG Frame GND The signal levels depend on the IF board GC 422 Receiver AM26LV32C TI Driver SN75179B TI GC LVDS Receiver SN65LVDS32 TI Driver SN65LVDS179 TI Digital I O See 5 1 Connector Pin Arrang...

Page 14: ...anual 1 00 14 Fan Power Supply Connector model number Connector Model No Manufacturer Board side S04B PASK 2 JST Cable side PAP 04V S JST Connector pin arrangement Pin No Signal Description 1 24 V Output 2 GND 2 Fan Rotation Error Open collector Input 3 No connection ...

Page 15: ...he controller internal circuit High speed serial communication clock pulses Target position command RS 232C command High speed serial communication command When RS 232C command input mode is set a high speed serial communication command is ignored Operation setting parameter setting RS 232C command RS 232C command With the default settings at shipping power on activates the controller with the int...

Page 16: ...ck For details see 7 Commands If position data send by high speed serial communication is disabled RS 232C command input is enough for the following Step movement Raster scan Continuous oscillation of a certain angle at a fixed frequency Communication specifications Wiring Cross wiring Communication rate 38400 bps Data length 8 bits Stop bit 1 Parity None Data format ASCII code Delimiter code LF 0...

Page 17: ...rvo ON ID 4 Data 1 A1C004 1 LF ASCII code 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a A 1 C 0 0 4 1 LF Command reply A Axis No C Command ID Data Delimiter E g Servo ON ID 4 Data 1 A1C004 1 LF ASCII code 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a A 1 C 0 0 4 1 LF Axis No 1 or 2 Command ID Decimal 3 digit See 7 1 for details Data Added to command as required decimal Command Delimiter LF or CR Axi...

Page 18: ...sary to write in it at ROM Parameter send A Axis No P Command ID Data Delimiter E g LQ gain parameter ID 6 Data 4500 A1P006 4500 LF ASCII code 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a A 1 P 0 0 6 4 5 0 0 LF Parameter reply A Axis No P Command ID Data Delimiter E g LQ gain parameter ID 6 Data 4500 A1P006 4500 LF ASCII code 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a A 1 P 0 0 6 ...

Page 19: ...E Axis No P Command ID Data Delimiter E g LQ gain parameter ID 6 Data 4500 E1P006 4500 LF ASCII code 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a E 1 P 0 0 6 4 5 0 0 LF Parameter ROM Write reply E Axis No P Command ID Data Delimiter E g LQ gain parameter ID 6 Data 4500 E1P006 4500 LF ASCII code 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a E 1 P 0 0 6 0 LF Axis No 1 or 2 Command ID D...

Page 20: ...ment Timing Diagram 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 CLK FS XDAT XData 1 XData XData 1 YDAT YData 1 YData YData 1 STS Status 1 Status Status 1 Bit 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 XDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P YDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P STS S19 S18 S17 S16 S15 S14 S13 S12 S11 S10 ...

Page 21: ...r setting high speed serial communication mode or controller activation in high speed serial communication mode at power on high speed serial communication signals are necessary Enter the CLK FS and DAT signals in advance For how to set the activation mode see 6 1 Setting Activation Mode ...

Page 22: ...ollowing parameter The right shifts this number of bit make the target position data Parameter ID DATA ６８ 0 0bit position 1 1bit position 2 2bit position 3 3bit position 4 4bit position An example of the setting as follows Parameter ID 67 16 Parameter ID 68 1 Parameter ID 67 18 Parameter ID 68 2 Bit 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 XDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D...

Page 23: ... pulses About 5 76 deg GM 1010 If a greater angle is specified set a magnification by using the High speed Serial Communication Conversion Gain parameter Parameter ID 13 E g For x2 Setting 2000 the following angle can be specified 5 76 2 deg to 5 76 2 deg The command resolution will be two times In the case of 20bit position data Data 1 for one pulse that can be specified up to the following posit...

Page 24: ...Bit 16 Y Position Data Bit 16 X Y Position Data Bit 16 S15 0 X Position Data Bit 15 Y Position Data Bit 15 X Y Position Data Bit 15 S14 0 X Position Data Bit 14 Y Position Data Bit 14 X Y Position Data Bit 14 S13 Y READY X Position Data Bit 13 Y Position Data Bit 13 X Y Position Data Bit 13 S12 Y ALARM2 X Position Data Bit 12 Y Position Data Bit 12 X Y Position Data Bit 12 S11 Y ALARM1 X Position ...

Page 25: ...h 20bit 4 Current position Axis1 Axis2 The encoder position of the Axis 1 and the Axis 2 is alternately output Position Data length 21bit The first 1bit shows the axis Axis Flag Axis Flag 0 Axis 1 Axis Flag 1 Axis 2 Note After the position of the encoder is actually detected the encoder position status is output after a delay of 2 servo sampling 1 servo sampling 10μsec Note Only when controlling b...

Page 26: ...ot 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 appl...

Page 27: ...f the functions that can be performed by GALILEO can also be executed by external command input through RS 232C connection without using GALILEO This manual describes operations both by GALILEO and by external command input Note The following function can be executed by GALILEO only and not by external command input Frequency characteristic measurement 3 1 Supported PC Environment Supported OS MS ...

Page 28: ...CANON Digital Galvano Scanner System KP 1SM Series GC 251 Users Manual 1 00 28 Press the Next button Specify an installation folder and press the Next button Recommendation Do not change usually ...

Page 29: ...CANON Digital Galvano Scanner System KP 1SM Series GC 251 Users Manual 1 00 29 Press the Next button Press the Close button This completes installation ...

Page 30: ...rams Canon Scanner GALILEO Setting the COM port Select the connected RS 232C port and press the OK button The control screen is displayed While communication with the controller has not started yet the screen displays DISCONNECT in gray at the upper left as the connection status Note The value of each item on the above screen depends on the controller status Connection Status ...

Page 31: ...matically starts When communication starts the connection status at the upper left changes to CONNECT in green GALILEO can be activated after power to the controller has been turned on Then communication starts automatically CONNECT is displayed Note The value of each item on the above screen depends on the controller status Connection Status ...

Page 32: ...alvano motor the relationship between the number of pulses and the angle also differs with the motor type Axis selection 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 and the status displayed at always show the information of both axes Origin control Homing to origin Pres...

Page 33: ... OFF Internal command Tab 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 Control display This area displays the screen of each function selected by a tab at Status display The controller status of two axes is displayed Soft reset Press this button for soft reset Command input screen Allows direct...

Page 34: ...llowing automatically Reads saved parameters from ROM Homes to the origin Corrects the encoder high speed oscillation of a fixed angle It takes about 15 seconds until the controller is activated With the default settings at shipping the controller is activated with the internal clock The completion of activation can be confirmed as follows GALILEO Note At activation the status temporarily changes ...

Page 35: ...igital Galvano Scanner System KP 1SM Series GC 251 Users Manual 1 00 35 RS 232C command Send Command ID14 Status read and check the following SRVON SYNC INPOS High ORGN Low For details see 7 2 Command Details ...

Page 36: ...the Step Move tab Select an axis for step movement Specify the displacement angle and pulse count for relative position STEP and absolute position Press the MOVE button either positive or negative position direction can be specified RS 232C command Target value setting mode Command ID 10 Target position setting Command ID 20 Movement start Command ID 8 ...

Page 37: ...axis for raster scan Specify the operation parameters Scan Time Scan Angle and Duty Press the Scan Start button to start operation Press the Scan Stop button to stop operation 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...

Page 38: ...ta by high speed serial communication For switching it is necessary to enter high speed serial communication signals into the controller in advance GALILEO Select an axis for high speed serial communication Switch HiSpeed Serial to Start This switching makes the controller follow target position data by high speed serial communication Switch HiSpeed Serial to OFF Input of the MOVE command is await...

Page 39: ...ector for external signal input 5 1 Connector Pin Arrangement The controller is equipped with the following Analog monitor output connector 1 Digital I O connector 1 The monitor board for the evaluation that can do the analog output signal confirmation and the I O of a digital signal is prepared as an optional product Please contact the Sales Department Analog monitor output connector Digital I O ...

Page 40: ...1 Axis 1 current command value 2 A2 Axis 1 analog monitor 1 Monitor item switching 3 A3 Axis 1 analog monitor 2 Monitor item switching 4 A4 Axis 1 analog monitor 3 Monitor item switching 5 A5 Axis 2 current command value 6 A6 Axis 2 analog monitor 1 Monitor item switching 7 A7 Axis 2 analog monitor 2 Monitor item switching 8 A8 Axis 2 analog monitor 3 Monitor item switching 9 A9 Analog GND 10 A10 ...

Page 41: ...t 1 below B2 D4 Output Axis 2 error 1 Priority high High Error See Circuit 1 below A3 D5 Output Axis 2 error 2 Priority low High Error See Circuit 1 below B3 D6 Output Axis 2 servo interrupt period Edge See Circuit 1 below A4 DG1 GND B4 DG2 GND A5 D9 Input External Sampling Signal INT generation See Circuit 2 below B5 D10 Input External Trigger Signal High ON See Circuit 2 below A6 D11 Input Activ...

Page 42: ...nal Description Signal Level At Power on A2 Axis 1 A6 Axis 2 Phase A of Encoder Head 1 Phase A of Encoder Head 2 Phase A of encoder after synthesis Positional deviation signal 1 46 mV pulse A3 Axis 1 A7 Axis 2 Position 0 091 mV pulse Velocity 0 091 mV pulse 10 usec Coarse angle Fine angle A4 Axis 1 A8 Axis 2 Phase B of Encoder Head 1 Phase B of Encoder Head 2 Phase B of encoder after synthesis Tar...

Page 43: ... System KP 1SM Series GC 251 Users Manual 1 00 43 GALILEO Select the Monitor tab Select an axis for monitor output switching Select the monitor item of each output terminal Select an output signal magnification Press the SET button ...

Page 44: ...epends on the galvano motor KP 1SM30 360 83328 pulses 2048 divisions 170655744 pulses 0 01 170655744 pulses 360 0 01 4740 pulses At the monitor output position 0 091 V pulse the analog monitor output changes 0 01 4740 0 091 431 mV RS 232C Commands Monitor Output Selection A2 A8 Command ID 40 Monitor Output Selection A3 A9 Command ID 41 Monitor Output Selection A4 A10 Command ID 42 Monitor Magnific...

Page 45: ...s 2 Error 1 Priority high 1 Error A3 Output Axis 2 Error 2 Priority low 1 Error A2 Output Axis 1 servo interrupt period Edge These are output at a servo interrupt timing in the controller B3 Output Axis 2 servo interrupt period Edge In addition the following digital I O is prepared as an operation setting of the controller Pin NO I O Signal Description Logic Explanation A5 Input External Sampling ...

Page 46: ...d serial communication P64 1 Activation with internal clock P64 3 Activation by high speed serial communication Bit 0 of P64 is used to enable or disable encoder correction when homing to the origin it is usually set to 1 For details see 8 2 Parameter Details Activation mode Power on usually executes the following automatically Reading parameters from EEPROM Starting homing and servo control If th...

Page 47: ...oming OFF 0 Disabled Disabled OFF 1 or open Enabled Disabled ON 0 Enabled Disabled ON 1 or open Enabled Enabled Axis 2 SW2 2 Terminal A6 Auto EEPROM Read Auto Homing OFF 0 Disabled Disabled OFF 1 or open Enabled Disabled ON 0 Enabled Disabled ON 1 or open Enabled Enabled Setting at shipping SW1 SW2 SW1 1 2 OFF ON SW2 1 2 OFF ON ...

Page 48: ...re are two kinds of movement patterns The raster scan of one coming and going operates whenever the external trigger signal is input The raster scan of one way operates whenever the external trigger signal is input and operation pattern can be selected by RS 232C command Command ID 23 Operation Mode setting External Trigger Signal Raster Scan position Current Angle Position Angle Voltage External ...

Page 49: ...rameter Settings Set Parameter ID 26 Raster Scan Time Set Parameter ID 27 Raster Scan Duty Ratio Set Parameter ID 28 Raster Scan Angle Raster Scan Operation Send Command ID 8 Data 6 Movement Start Movement to the Initial position of raster scan Send Command ID 23 Data 8 One way scan Data 9 One coming and going Reference Data 3 in case of continuous operation Input the external trigger Signal Send ...

Page 50: ...ute 1 Relative 11 Thermistor Temperature Read Yes 0 Controller temperature 1 Motor temperature A D converted value of thermistor voltage 12 Current Position Read Yes 0 Current position 1 Current target value Program origin 2 Current target value Absolute position Position Pulse 13 Version Read Yes 0 Main DSP Ver 1 Sub DSP Ver Ver No 14 Status Read Status 16bit 15 Error Read Error 16bit 18 Accelera...

Page 51: ...Internal Target 43 Monitor Output Select Check Yes 0 A2 A8 Monitor 1 A3 A9 Monitor 2 A4 A10 Monitor 44 Monitor magnification Setting A2 A8 Yes N Magnification x 2N 45 Monitor magnification Setting A2 A8 Yes N Magnification x 2N 46 Monitor magnification Setting A2 A8 Yes N Magnification x 2N 47 Monitor Magnification Setting Check Yes 0 A2 A8 Monitor Magnification 1 A3 A9 Monitor Magnification 2 A4 ...

Page 52: ...reset is executed homing is necessary for a return Command ID 1 Command Name Error Clear Data Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation If a low priority error occurs see 9 2 Errors for details execute this command for a return If this command is not executed other commands cannot be accepted The parameters and other set values are retained Command ID...

Page 53: ...lue 0 Command execution successful 1 Command execution unsuccessful Explanation LQ control is usually used Related Command Command ID 8 Command Name Movement Start Data 0 Step move start 6 Movement to the initial position of raster scan Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation After a target position is set this command is executed to start step move...

Page 54: ...Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation This command is used to specify a position coordinate system for setting by Command ID 20 Target Position Setting Before setting a target position this command should be executed Absolute position Position with the origin as 0 Relative position Distance from the current position This command should be executed...

Page 55: ...otor temperature Return Value Thermistor voltage A D converted value Explanation Controller Thermistor A D converted value 0 500 1000 1500 2000 2500 3000 3500 4000 20 30 40 50 60 70 80 90 100 110 Temperature A D converted value Motor Thermistor A D converted value 0 500 1000 1500 2000 2500 3000 3500 4000 20 30 40 50 60 70 80 90 100 110 Temperature A D converted value ...

Page 56: ...us 16 bits Explanation Each status can be checked by each bit after conversion into 16 bit display Bit Abbreviation Meaning Hex Format 0 SRVON Servo ON 0x0001 1 SYNC Counter 0 position confirmed 0x0002 2 INPOS Settlement in in position range 0x0004 3 ALARM Error 0x0008 4 ORGN Homing to origin 0x0010 5 PROG Program coordinate setting 0x0020 6 7 8 MOVE Moving including scan 0x0100 9 CMODE Control mo...

Page 57: ...or 0x0200 10 TRN Communication error 0x0400 11 ORG Homing error 0x0800 12 ENC Encoder signal error 0x1000 13 OTP Out position error 0x2000 14 CMPER Servo OFF by hardware 0x4000 15 ETC Current saturation 0x8000 Command ID 18 Command Name Acceleration Control Data 0 OFF 1 ON Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation This command cannot be used now Comma...

Page 58: ...essful 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 Command Step movement procedure Command ID 22 Target Velocity Setting Command ID 10 Target Value Setting Mode Command ID 20 Target Position Setting...

Page 59: ... 3 Raster scan start Continuous scan Raster scan starts after step movement to the scan initial position 7 High speed serial communication mode This command switches the mode to high speed serial communication from internal clock mode However high speed serial communication signals should be input in advance In the case of two axis control it is necessary to execute this command for each axis 8 Ra...

Page 60: ... Z phase position as the center This setting is in the default after activation 1 Program Origin Set the current position as the center When setting the program origin move once to the desired center and then specify the position by this command Command ID 40 Command Name Monitor Output Selection A2 A8 Data 0 Encoder Head1 A phase 1 Encoder Head2 A phase 2 Corrected A phase 3 Position error Return...

Page 61: ...der Head1 B phase 1 Encoder Head2 B phase 2 Corrected B phase 3 Internal Target Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation The output signal of analog monitor output A4 the Axis1 and A10 the Axis2 can be selected When the controller starts the 3 Internal Target has been selected For details see 5 2 Analog Monitor Output Selecting Related Command Comman...

Page 62: ...g A2 A8 Data Magnification N 2N Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation Magnification is specified by exponent of power of two E g Data 2 2 2 0 25 times Data 1 2 1 0 5 times Data 0 2 0 1 times Data 1 2 1 2 times Data 2 2 2 4 times See 5 2 Analog Monitor Output Selecting Related Command Command ID 46 Command Name Monitor Magnification Setting A2 A8 D...

Page 63: ... Name Data 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 Related Command Command ID 101 Command Name Counter Clear Timing Data 0 Head 1 1 Head 2 Return Value Timing 0 or 1 Explanation ...

Page 64: ...tal Notch Filter Central Frequency 17 Q Value of First Digital Notch Filter 18 First Digital Notch Filter Depth 19 Second Digital Notch Filter Central Frequency 20 Second Digital Notch Filter Q Value 21 Second Digital Notch Filter Depth 22 Digital Low pass Filter Cutoff Frequency 23 First Analog Notch Filter Central Frequency 24 Second Analog Notch Filter Central Frequency 25 Third Analog Notch Fi...

Page 65: ...justment Head 1 A phase Amplitude 50 Encoder VR adjustment Head 1 B phase Amplitude 51 Encoder VR adjustment Head 2 A B phase Offset 52 Encoder VR adjustment Head 2 A phase Amplitude 53 Encoder VR adjustment Head 2 B phase Amplitude 64 DSP Operation Setting 66 High Speed Serial Status Format 67 High Speed Serial Data Length 68 High Speed Serial Data LSB Position ...

Page 66: ...se Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation Specify the limit of the counterclockwise movable range viewed from the axial direction of the motor In case of input or movement beyond the movable range of angle an error is output Note The relationship between the number of pulses and the angle depends on the motor Related Command Parameter Parameter ID ...

Page 67: ...idth Parameter ID 3 for the set time after movement Note The unit is 10 us For 1 ms set 100 Related Command Parameter Bit 8 Moving becomes 0 in status read Command ID 14 Parameter ID 5 Parameter Name In position Overtime Data In position overtime Unit sec Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation If the position remains beyond the number of pulses set...

Page 68: ...lue 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 Command Parameter LQ control related parameters LQ Control Gain Parameter ID 6 Torque Constant Parameter ID 8 Parameter ID 9 Parameter Name Current Limi...

Page 69: ...l 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 ID 12 Parameter Name Origin Clearance Timing Head 1 Data Origin clearance timing 0 or 1 Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is rel...

Page 70: ...g the high speed serial communication conversion gain Parameter ID 13 E g For x2 Setting 2000 the following angle can be specified 5 76 2 deg to 5 76 2 deg The command resolution will be two times Related Command Parameter Parameter ID 14 Parameter Name Origin Clearance Timing Head 2 Data Origin clearance timing 0 or 1 Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Ex...

Page 71: ... Filter Central Frequency Data Central frequency of the first digital notch filter Unit Hz Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is used to set the central frequency of the first digital notch filter Related Command Parameter First Digital Notch Filter Q Value Parameter ID 17 First Digital Notch Filter Depth Parameter ID 18 Paramete...

Page 72: ... filter Related Command Parameter Second Digital Notch Filter Q Value Parameter ID 17 Second Digital Notch Filter Depth Parameter ID 18 Parameter ID 20 Parameter Name Second Digital Notch Filter Q Value Data Second digital notch filter Q value Unit 100 Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is used to set the Q value of the second di...

Page 73: ... frequency of the first analog notch filter The setting range is from 9750 to 42820 Hz Related Command Parameter Parameter ID 24 Parameter Name Second Analog Notch Filter Central Frequency Data 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 th...

Page 74: ... Raster Scan Angle Parameter ID 28 Raster Scan Interval Time Parameter ID 30 Raster Scan Start Position Parameter ID 31 Parameter ID 27 Parameter Name Raster Scan Duty Ratio Data Raster scan duty ratio Unit Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is used to set the duty ratio of raster scan operation by command See Explanation of Para...

Page 75: ...ID 30 Raster Scan Start Position Parameter ID 31 Parameter ID 30 Parameter Name Raster Scan Interval Time Data Raster scan Interval time Unit second 100 Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is used to set the Interval time of raster scan operation by command See Explanation of Parameter ID 26 Set the wait time sec 100 For 0 1 sec s...

Page 76: ...se Offset Data Z phase 0 point position offset value Unit pulse Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parameter is used to set an offset from the actual Z phase position for determining the 0 pulse position Related Command Parameter Parameter ID 33 Parameter Name Acceleration Time Data Acceleration time Unit ms Return Value 0 Parameter settin...

Page 77: ...rget value exceeds the setting of this parameter becoming static Setting 0 is invalid Related Command Parameter Bit 13 Current Saturation becomes 1 in error read Command ID 15 Parameter ID 40 Parameter Name Feed forward Gain Data 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 T...

Page 78: ...ssful Explanation This parameter is used to adjust the offset of encoder signal Note This is usually set appropriately at shipping Related Command Parameter Parameter ID 49 Parameter Name Encoder VR Adjustment Head 1 A phase Amplitude Data A phase amplitude of encoder VR adjustment head 1 Unit none Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation This parame...

Page 79: ... phase Amplitude Data 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 ID 53 Parameter Name Encoder VR Adjustment Head 2 B phase Amplitu...

Page 80: ...d Parameter Parameter ID 66 Parameter Name High Speed Serial Status Format Data High Speed Serial Status Format Unit none Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation The content of status output to the status line of high speed serial communications can be selected 1 Controller Condition 2 Current position Axis 1 3 Current position Axis 2 4 Current posi...

Page 81: ...eed Serial Data LSB Position Unit bit Range 0 4 Return Value 0 Parameter setting successful 1 Parameter setting unsuccessful Explanation The least significant bit position of the target position data of high speed serial communication 20bit data can be specified Range 0bit 4bit For details see 2 7 2 High speed Serial Communications Related Command Parameter ...

Page 82: ...s required When a parameter value is modified its cell turns red Turn the servo OFF necessary for modifying parameters Press the SET button to reflect modified parameters in the controller settings Turn the servo ON 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 contr...

Page 83: ...ctivation with the same settings at the next power on Write modified parameters into ROM as follows GALILEO Select the All Parameter tab Select an axis for parameter settings The current parameter values are displayed Press the Save to EEPROM button Saving to EEPROM is displayed Note Some parameter settings may disable normal activation next time If this problem occurs change the activation mode f...

Page 84: ...8 5 Saving a Parameter File All parameters can be saved into a PC file Save a parameter file as follows Select the All Parameter tab Select an axis for parameter settings The current parameter values are displayed Press the Save to File button Specify a location and save the file ...

Page 85: ...C Motor overheat Temperature monitoring by thermistor abut 75ºC If output amplifier or motor overheat is detected the amplifier output is shut down Output amplifier IC Shutdown function Software monitoring The controller status is always monitored by software and error notification is made if an abnormality occurs Depending on the error type priority digital monitor I O 2 bits is used for this not...

Page 86: ...me Possible P03 P05 No clock 0x0008 Clock Clock pulses are not input Impossible Driver overheat 0x0010 A D value of thermistor at controller output amplifier The driver temperature exceeds the A D value corresponding to 70ºC Software monitoring Impossible Motor overheat 0x0020 A D value of thermistor at motor coil The motor temperature exceeds the A D value corresponding to 70ºC Software monitorin...

Page 87: ...r clearance C01 Command data error 0x0080 Command data Command data is illegal No data is given to a command requiring data Data is given to a command requiring no data Data outside the setting range is set Impossible Parameter error 0x0100 Parameter value A parameter value is beyond the setting range Impossible Status error 0x0200 Command description A command not valid for the current status is ...

Page 88: ...nato ku Tokyo 108 8011 CB Sales Department Tel 03 3740 3336 The contents of this document are subject to change without notice If you find any question error or omission in this document please contact Canon CUD L007 E01 CANON INC 2008 PRINTED IN JAPAN ...

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