Canon GC-201 User Manual Download

Page: 1 / 140

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.

Summary of Contents for GC-201

Page 1: ...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 ...

Page 2: ...here 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 connectin...

Page 3: ...ffset 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...

Page 4: ...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 Functio...

Page 5: ...ration This system supports various applications by the combination of a galvano motor and a controller Galvano motor Encoder mounted galvano motor GM 1010 Beam diameter φ8 to φ10 mm GM 1015 Beam diameter φ10 to φ15 mm GM 1020 Beam diameter φ15 to φ30 mm Controller Digital servo controller GC 201 Controller for two axis control IF board IF board for high speed serial communication GC 422 IF board ...

Page 6: ... 12 288 000 pulses Command resolution 0 77 μrad 0 51 μrad 0 51 μrad Torque constant 0 0127 Nm A 0 0226 Nm A 0 0415Nm A Weight 200 g 300 g 600g 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 0 to 50ºC 90 RH or less No condensation Storage temperature and hu...

Page 7: ... notch filter 2 Digital low pass filter 1 Analog notch filter 2 Weight 350 g Environmental conditions Operating temperature and humidity 0 to 50ºC 90 RH or less No condensation Storage temperature and humidity 20 to 60ºC 90 RH or less No condensation Note The above operating temperature and humidity conditions depend on the operating and heat radiation conditions Section names Heat radiation frame...

Page 8: ...System GM 1000 Series Users Manual 1 20 8 2 3 Dimensions GM 1010 GM 1015 36 36 6 32 Clamp area 0 005 φ 5 0 015 φ 33 0 φ22 0 03 Motor cable Encoder cable 36 46 6 42 Clamp area 0 005 φ 6 0 015 φ 33 0 φ28 003 Encoder cable Motor cable ...

Page 9: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 9 42 7 56 7 5 51 4 Clamp Area 0 005 φ7 0 015 φ43 0 φ36 003 Encoder Cable Motor Cable GM 1020 ...

Page 10: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 10 GC 201 120 125 5 38 7 118 5 80 88 33 10 4 φ3 5 4 M3 ...

Page 11: ...4 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 Galvano motor Axis 1 Axis 2 24 V power 5 V power High speed serial communication RS 232C Digital input output ...

Page 12: ...es Users Manual 1 20 12 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 ...

Page 13: ... Manual 1 20 13 2 6 Connector and Pin Assignment Connector types Axis 1 motor encoder connector Axis 2 motor encoder connector 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 14: ...4 V power supply Connector model number Connector Model No Manufacturer Board side S4P VH JST Cable side VHR 4N JST Connector pin assignment Pin No Signal Description 1 24 V input for Axis 1 2 24 V input for Axis 2 3 4 GND RS 232C Connector model number Connector Model No Manufacturer Board side S03B PASK 2 JST Cable side PAP 03V S JST Connector pin assignment Pin No Signal Description 1 Send data...

Page 15: ... Clock 3 FS Frame sync 4 FS Frame sync 5 DAT AXIS 1 Axis 1 Target position data 6 DAT AXIS 1 Axis 1 Target position data 7 DAT AXIS 2 Axis 2 Target position data 8 DAT AXIS 2 Axis 2 Target position 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 SN65LVDS1...

Page 16: ...sers Manual 1 20 16 Cooling Fan Power Supply Connector model number Connector Model No Manufacturer Board side S04B PASK 2 JST Cable side PAP 04V S JST Connector pin arrangement Pin No Signal Description 1 24 V Output 2 GND 3 No connection 4 No connection ...

Page 17: ... 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 Power cable 5 V Power cable 24 V RS 232C cable High speed serial communication cable Power Cable 5 V Power Cable 24 V ...

Page 18: ...side D sub 25pin Pin Signal Pin Signal 1 Clock 14 Clock 2 FS 15 FS 3 Data Axis 1 16 Data Axis 1 4 Data Axis 2 17 Data Axis 2 5 Do not connect 18 Do not connect 6 Status 19 Status 7 Do not connect 20 Do not connect 8 Do not connect 21 Do not connect 9 Do not connect 22 Do not connect 10 Do not connect 23 GND 11 GND 24 GND 12 Do not connect 25 Do not connect 13 Do not connect ...

Page 19: ...ete synchronization with external equipment can be obtained in order to use high speed serial communication clock pulses by controlling the controller As it can be operated with XY2 100 communication specifications a controller compliant with XY2 100 can be connected Target position command RS 232C communication command High speed serial communication Operation setting parameter setting RS 232C co...

Page 20: ...tting 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 begin...

Page 21: ...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 ...

Page 22: ...r details see 8 Commands In case not using high speed serial communication RS 232C communication command input is enough for the following function Step movement Raster scan Continuous oscillation of a certain angle at a fixed frequency Communication specifications Wiring Cross wiring Communication rate 38400 bps Data length 8 bits Stop bit 1 Parity None Data format ASCII code Delimiter code LF 0x...

Page 23: ...ervo 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 Ax...

Page 24: ...ry 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 E g LQ gain parameter ID 6 Data 4500 A1P006 4500 LF ASCII code 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a A 1 P 0 0 6 4 5 0 0 LF Parameter reply A Axis No P Parameter ID Data Delimi...

Page 25: ... normally Parameter ROM Write send E Axis No P Parameter 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 Parameter 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...

Page 26: ... board Timing Diagram 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 c...

Page 27: ...ible 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 67 16 16bit Data 17 17bit Data 18 18bit Data 19 19bit Data 20 20bit Data Data position The least significant bit position of the target posit...

Page 28: ...メータID 67 パラメータ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 18bit 2bit パラメータID 67 パラメータ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...

Page 29: ...tor Number of pluses Motor rotating angle Maximum position 0xFFFF 32767 pulses 1 44 deg 0 pulse position 0x8000 0 0 Minimum position 0x0000 32768 pulses 1 44 deg GM 1015 GM 1020 High speed communication Target position data value 16bit Motor Number of pluses Motor rotating angle Maximum position 0xFFFF 32767 pulses 0 96 deg 0 pulse position 0x8000 0 0 Minimum position 0x0000 32768 pulses 0 96 deg ...

Page 30: ...ameter 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 ...

Page 31: ... Minimum position 0x00000 524288 pulses 23 04 deg GM 1015 GM 1020 High speed communication Target position data value 20bit Motor Number of pluses Motor rotating angle Maximum position 0xFFFFF 524287 pulses 15 36 deg 0 pulse position 0x80000 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 Par...

Page 32: ...er 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 s...

Page 33: ...en the high speed serial communication position command is received COMMAND XY 2 COMMAND FRAME SYNC DSP Sampling Clock Output to MOTOR 10us 10us CONTROL 5us 5us 20us Target Position1 Target Position2 Target Position3 Target Position1 5us COMMAND XY 2 COMMAND FRAME SYNC DSP Sampling Clock Output to MOTOR 10us 10us CONTROL 5us 5us 20us Target Position1 Target Position2 Target Position3 Target Positi...

Page 34: ...0 Axis1data bit16 Axis2 data bit16 Axis1 2 data bit16 S15 TEMP OK 0 Axis1data bit15 Axis2 data bit15 Axis1 2 data bit15 S14 reserve 0 Axis1data bit14 Axis2 data bit14 Axis1 2 data bit14 S13 Axis2 INPOS Axis1 READY Axis1data bit13 Axis2 data bit13 Axis1 2 data bit13 S12 Axis1 INPOS Axis1 ALARM 1Axis1data bit12 Axis2 data bit12 Axis1 2 data bit12 S11 reserve Axis1 ALARM 2Axis1data bit11 Axis2 data b...

Page 35: ...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 Alarm output priority low See 5 3 Digital Input Output Function Same as Axis 1 Error 2 Axis 2 Error 2 INPOS In position signal When it moves into the parameter ID 3 in position range this sign...

Page 36: ...osition 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 1 Axis Flag 1 Axis 2 Data information for the current position data of Mode 2 3 and 4 is output with the timing as follows ...

Page 37: ... 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 Command ID 23 Data 7 A1C023 7 A2C02...

Page 38: ...eratures 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 contro...

Page 39: ... 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 Frequency characteristic FFT measurement z Auto tuning z XY matching z Step response measurement function 3 1 Supported PC Environment Supported OS MS Windows 2000 XP Vista Connec...

Page 40: ...anner System GM 1000 Series Users Manual 1 20 40 3 3 Control Software Installation Insert the bundled control software installation CD into the CD drive Execute Setup exe in the Control Software folder Press the Next button D ...

Page 41: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 41 Specify an installation folder and press the Next button Recommendation Usually this is not changed Press the Next button ...

Page 42: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 42 Press the Close button This completes installation ...

Page 43: ...ws 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 Note The value of each item on the above screen differs depending on the controller status ...

Page 44: ...s When communication starts the connection status at the upper left changes to CONNECT in green 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 Connection status ...

Page 45: ...r 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 Press this butt...

Page 46: ... 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 If press the alarm button during alarm light on windows content the alarm details will come up Alarm clear Clears the alarm The alarm lamp turns off...

Page 47: ...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 c...

Page 48: ... Galvano Scanner System GM 1000 Series Users Manual 1 20 48 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 ...

Page 49: ...ecify the displacement angle or pulse count for relative position STEP and absolute position Press the STEP button either positive or negative position direction can be specified or GO button Note Uncheck the 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...

Page 50: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 50 RS 232C command Target value setting mode Command ID 10 Target position setting Command ID 20 Movement start Command ID 8 ...

Page 51: ...annot be executed by a RS 232C command Put a check in the Enable Scope checkbox Select the time range for step movement response to be measured 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 Press the STEP button either positive or negative position direction can be specified or ...

Page 52: ...ow explanation Step response waveform Displays the step response waveform by the deviation from the target position 0 usec left edge position is the movement start time Cursor location Step response waveform Displays the cursor location in the step response waveform graph Scope and Measurement window ...

Page 53: ...ten and compared See 4 2 1 2 the Reference Data Comparison Method Displays the difference of MAIN and reference data This displays the difference between measurement data and reference data Motor drive current Displays the motor drive current Zoom button Use the zoom button to zoom in and display detailed data See 4 2 1 1 the Measurement Data Display Zoom Method Saving data This saves measurement ...

Page 54: ...ata 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 Adjust while looking at the X Cursors display below Press the Horizontal ZOOM button ...

Page 55: ...em GM 1000 Series Users Manual 1 20 55 Specify vertical angle zoom Drag the step response display cursor green to the width you want to display enlarged Adjust while looking at the Y Cursors display below Press the Vertical ZOOM button ...

Page 56: ...esponse waveform with the first measurement condition and press the Save MAIN to REF button 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 r...

Page 57: ...Series Users Manual 1 20 57 The step response waveform displays blue The above display is the measurement results for 0 12 deg Mechanical step movement Press the REF button The response waveform gray saved in reference data is overwritten MAIN REF ...

Page 58: ... 1000 Series Users Manual 1 20 58 Press the following button when you want to delete the waveform display for each of MAIN blue and REF gray MAIN button Wfm OFF button REF button Wfm OFF button To display again press the MAIN or OFF buttons ...

Page 59: ...cute oscillation of a fixed angle at a fixed frequency Control Software Select the Raster Scan tab Select an axis for raster scan Specify the operation parameters Scan Time Scan Angle Duty and Interval Press the Scan Start button to start operation Press the Scan Stop button to stop operation ...

Page 60: ...ies Users Manual 1 20 60 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 61: ... 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 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 i...

Page 62: ...tor output connector 1 Digital I O connector 1 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 The signal name is displayed on the evaluation monitor board Please check the si...

Page 63: ...eries Users Manual 1 20 63 Evaluation Monitor Board Pin Assignment Pin Assignment of the optional monitor board for evaluation is as follows A1 A2 A3 A4 A5 A6 A7 A8 D1 D2 D4 D5 D9 D10 D15 D16 D3 D6 D11 D12 D1 D18 GND GND Digital I O Analog Monitor ...

Page 64: ...tem 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 Analog GND The controller has three monitor terminals for each of the...

Page 65: ...cuit 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 St...

Page 66: ...iption Signal Level At Power on 2 Axis 1 6 Axis 2 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 5 mV pulse 3 Axis 1 7 Axis 2 A3 Axis 1 A7 Axis 2 Position 0 091 mV pulse Velocity 0 091 mV pulse 10 Coarse angle Fine angle 4 Axis 1 8 Axis 2 A4 Axis 1 A8 Axis 2 Phase B of Encoder Head 1 Phase B of Encoder Head 2...

Page 67: ...00 Series Users Manual 1 20 67 Control Software Select the Monitor tab 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 68: ... 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 o...

Page 69: ...1 Priority high High Error A3 Output Axis 2 Error 2 Priority low High Error A2 Output Axis 1 servo interrupt period Edge Output is timed according to an internal controller servo interrupt 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 70: ...ation 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 homin...

Page 71: ...ng 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 72: ...eration for Axis 1 Always blinks in approximately 2 sec intervals if DSP1 start up correctly LED2 DSP1 operation for Axis 2 Always blinks in approximately 2 sec intervals if DSP1 start up correctly LED3 FPGA Start up Always lit if FPGA start up correctly LED4 ALARM display for Axis 1 This LED red is lit when a malfunction occurs with the controller LED1 Blinks in approx 2 sec intervals LED2 Blinks...

Page 73: ... with the control software or RS 232C command ID 15 error read LED6 DSP2 operation for Axis 1 Always lights in approximately 1 sec intervals if DSP2 start up correctly LED7 DSP2 operation for Axis 2 Always lights in approximately 1 sec intervals if 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 tha...

Page 74: ... 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 Trigge...

Page 75: ... ID 26 Raster Scan Time Setting Set Parameter ID 27 Raster Scan Duty Ratio Setting Set Parameter ID 28 Raster Scan Angle Setting Raster Scan Operation Send Command ID 8 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 Input the external trigger Signal Send Comm...

Page 76: ...re 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 require...

Page 77: ...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 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 Select the ax...

Page 78: ...Manual 1 20 78 The frequency characteristic measurement window appears Set the frequency range and number of points to measure The above is with defaults of 1 kHz 50 kHz and 150 points input Press the BODE button Press the Abort button to stop while measuring ...

Page 79: ...where red lines intersect specified frequency detailed information measured frequency points gain and phase will display Press the File Save button to save measurement results saves in CSV file format 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 Drag and move ...

Page 80: ...and display saved data by pressing the File Open button blue Register reference data with the Save MAIN to REF button Measure with the BODE button Data blue measured with displays overwriting reference data gray 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 ...

Page 81: ...o 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 mirro...

Page 82: ...o 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 Select the Servo Setting tab Press Auto Tuning Input the password canon ...

Page 83: ...r to tuning 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 Tuning results will be saved Select the axis Select the axis connected to the ...

Page 84: ...y number that is easy for the user to manage may be input Pressing the Start button Then starts the tuning The name of the motor and mirror to be tuned will display in Target Galvano Details of the current tuning being carried out display in Command Detailed tuning operation conditions display in Execution Log This log is saved as a text file of tuning results in the saved results folder Press the...

Page 85: ...ing 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 Results Folder 00000001 1 00000002 2 1 2 Folder...

Page 86: ...n Clear Timing Head 2 16 1 Notch Filter Frequency 17 1 Notch Filter Q x 100 18 1 Notch Filter Depth 19 2 Notch Filter Frequency 20 2 Notch Filter Q x 100 21 2 Notch Filter Depth 22 Low pass Filter Cutoff Frequency 23 1 Analog Notch Filter Frequency 24 2 Analog Notch Filter Frequency 25 3 Analog Notch Filter Frequency 32 Torque Peak Offset 40 Feed Forward Gain 42 Over shoot Control 44 PES Limit 45 ...

Page 87: ...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 dig...

Page 88: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 88 Operations Turn OFF high speed serial Select the Servo Setting tab Press XY Matching ...

Page 89: ...n 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 ...

Page 90: ...ge rate from the original gain setting value If this value is exceeded the operation will be stopped with an error Target Range Adjustment takes place so the margin of error between both axis is lower than this value 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 ...

Page 91: ...igital Galvano Scanner System GM 1000 Series Users Manual 1 20 91 Press the FULL AUTO and tuning starts Operation details display in the log messages while operating The gray waveform is the Reference waveform ...

Page 92: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 92 Adjusting the frequency response Adjusting the amount of overshoot ...

Page 93: ...gital Galvano Scanner System GM 1000 Series Users Manual 1 20 93 When the overshoot amount adjustment is completed the waveforms match Save the tuning results to EEPROM Refer to 9 4 Writing Parameters into ROM ...

Page 94: ...o the GAIN value 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 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 wavefor...

Page 95: ...p 10 Target Position Setting Yes 0 Absolute 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 16b...

Page 96: ...itor Output Selection A4 A10 Yes 0 Head1 B phase signal 1 Head2 B phase signal 2 Corrected B phase signal 3 Target position signal 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 A3 A9 Yes N Magnification x 2N 46 Monitor Magnification Setting A4 A10 Yes N Magnificati...

Page 97: ...mand for a return If this command is not executed other commands cannot be accepted The parameters and other set values are retained Command ID 2 Command Name Homing Start Data Return Value 0 Command execution successful 1 Command execution unsuccessful Explanation This command detects the origin If the status is already SYNC after origin detection this command executes homing to the origin only R...

Page 98: ...er scan condition settings this command is executed to move to the start position Related Command Step movement procedure Command ID 10 Target Value Setting Mode Command ID 20 Target Position Setting Command ID 8 Data 0 Step Movement Start Raster scan movement procedure Parameter ID 26 Raster Scan Interval Setting Parameter ID 27 Raster Scan Duty Ratio Setting Parameter ID 28 Raster Scan Oscillati...

Page 99: ...This command should be executed each time a target position is set because its setting is not retained after the start of movement Related Command Step movement procedure Command ID 10 Target Value Setting Mode Command ID 20 Target Position Setting Command ID 8 Data 0 Movement Start Command ID 11 Command Name Thermistor Temperature Read Data 0 Controller temperature 1 Motor temperature Return Valu...

Page 100: ...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 mode ...

Page 101: ...0008 4 CUR Driver overheat 0x0010 5 HOT Motor overheat 0x0020 6 FOM Format error 0x0040 7 COM Command data error 0x0080 8 PAR Parameter error 0x0100 9 STA Status error 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 Note Return value of the ...

Page 102: ...mand ID 8 Data 0 Step Movement Start Command ID 22 Command Name Target Velocity Setting Data 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 Par...

Page 103: ...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 Raster scan start by the external ...

Page 104: ...center and then specify the position by this command Command ID 40 Command Name Monitor Output Selection A2 A8 Data 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 ...

Page 105: ...electing Command ID 43 Command Name Monitor Output Select Check 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 ID 44 Command Name Monitor Magnification Settin...

Page 106: ...mmand Command ID 47 Command Name Monitor Magnification Setting A4 A10 Data 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 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 Com...

Page 107: ...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...

Page 108: ...15 High Speed Serial Data Offset 16 1 Digital Notch Filter Frequency 17 1 Digital Notch Filter Q 18 1 Digital Notch Filter Depth 19 2 Digital Notch Filter Frequency 20 2 Digital Notch Filter Q 21 2 Digital Notch Filter Depth 22 Low pass Filter Cutoff Frequency 23 1 Analog Notch Filter Frequency 24 2 Analog Notch Filter Frequency 25 3 Analog Notch Filter Frequency 26 Cycle Time of Raster Scan 27 Du...

Page 109: ...nual 1 20 109 48 VR head1 AB offset 49 VR head1 A gain 50 VR head1 B gain 51 VR head2 A gain 52 VR head2 A gain 53 VR head2 B gain 64 DSP Operation Setting 66 High Speed Serial Status Format 67 High Speed Serial Data Length 68 High Speed Serial Data LSB Position ...

Page 110: ...eter 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 Rela...

Page 111: ... 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 Command Parameter Bit 8 Moving becomes 0 in status read Command ID 14 Parameter ID 6 Parameter Name LQ Control Gain Data 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 g...

Page 112: ...e 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 Command Parameter Bit 15 Current Saturation becomes 1 in error read Command ID 15 Pa...

Page 113: ...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 ID 13 Parameter Name High Speed Serial Data to angle gain Data High speed serial communication conversion gain Unit Multiple 1000 Return V...

Page 114: ...Parameter ID 15 Parameter Name High Speed Serial Data Offset Data 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 1...

Page 115: ...h Filter Depth Data 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 ID 19 Parameter Name 2 Digital Notch Filter Frequency Data ...

Page 116: ... 21 Parameter Name 2 Digital Notch Filter Depth Data 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 ID 22 Parameter Na...

Page 117: ...lter 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 the second analog notch filter The setting range is from 9750 to 42820 Hz Related Command Parameter Parameter ID 25 Parameter Name 3 Analog Notch Filter Frequency Data Central ...

Page 118: ...ster Scan Parameter ID 28 Interval Time of Raster Scan Parameter ID 30 Start Position of Raster Scan Parameter ID 31 Parameter ID 27 Parameter Name Duty of Raster Scan 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 Parameter ...

Page 119: ...Start Position of Raster Scan Parameter ID 31 Parameter ID 30 Parameter Name Interval Time of Raster Scan 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 120: ...lse 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 ID 33 Parameter Name Acceleratio...

Page 121: ...This is usually set at shipping Setting 0 disables feed forward Related Command Parameter Parameter ID 42 Parameter Name Overshoot Control Data 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 Par...

Page 122: ...nsuccessful 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 VR head1 A gain Data 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...

Page 123: ...in 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 VR head2 B gain Data B phase amplitude of encoder VR adjus...

Page 124: ...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 0 Controller Condition 1 1 Controller Condition 2 2 Current position Axis 1 3 Current position Axis 2 4 Current po...

Page 125: ... 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 ...

Page 126: ... as 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 con...

Page 127: ...e same settings at the next power on Write modified parameters into ROM as follows Control Software Select the All Parameter tab Select an axis for parameter settings The current parameter values are displayed Press the Save to EEPROM button Input password Canon Saving to EEPROM is displayed Note Some parameter settings may disable normal start up next time If this problem occurs change the start ...

Page 128: ...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 129: ...fier 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 The post ...

Page 130: ... on the setting of P03 In position Range exceeds the setting of P05 In position Overtime Possible P03 P05 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 ...

Page 131: ...xis1 Connector B1 Monitor Board D2 Axis 2 Connector A3 Monitor Board D5 Error 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 err...

Page 132: ...icated 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 o...

Page 133: ...Please follow this procedure 1 Preparation Turn off power to the GC 201 controller Connect a RS 232C cable to the computer DIP switch and jumper switch default state SW1 1 OFF SW2 1 OFF JP1 1 2 short JP2 1 2 short SW1 SW2 JP1 JP2 JP1 1 2 3 JP2 1 2 3 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 d...

Page 134: ...hes as follows SW1 1 ON JP1 1 2 short JP2 1 2 short 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 JP1 1 2 3 JP2 1 2 3 SW1 1 2 OFF ON 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 ...

Page 135: ...hut 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 1 ON JP1 2 3 Short JP2 2 3 Short 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...

Page 136: ... 20 136 SW1 1 OFF SW2 1 OFF JP1 1 2 Short JP2 1 2 Short JP1 1 2 3 JP2 1 2 3 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 SW1 1 2 OFF ON SW2 1 2 OFF ON ...

Page 137: ...rsions 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 abo...

Page 138: ...TION area GM 1010 22 756 pulse degree GM 1015 1020 34 133 pulse degree Press the Change button 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 GM 1015 1020 8 533 pulse degree It is possible to use with the latest firmware as is ...

Page 139: ...CANON Digital Galvano Scanner System GM 1000 Series Users Manual 1 20 139 NOTE ...

Page 140: ...n 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 ...

Search results

Summary of Contents for GC-201

Reviews:

Related manuals for GC-201

Brands by name

Popular brands

Canon GC-201, User Manual

Search results

Summary of Contents for GC-201

Reviews:

Related manuals for GC-201

Brands by name

Popular brands