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.
For Safe and Correct Use To prevent injury to the user or damage to property, this guide gives information for the safe and correct use of this product. Before installation, operation, maintenance, or inspection, be sure to read this guide. Markings This guide uses the following markings: Warning This indicates the possibility of death or serious injury by a fire or electric shock. Caution This indicates the possibility of injury or damage to property.
Contents 1. Product Outline 1.1··· Features ··········································································································· 5 1.2··· Configuration ·································································································· 5 2. Specifications 2.1 Galvano Motor (KP-1SM30, SM100) ······························································ 6 2.2 Controller (GC-251) ························································································ 7 2.
6. Other - Operation Setting 6.1 Setting Controller Activation Mode ····························································· 46 6.2 Operation that synchronizes with external trigger Signal input ··············· 48 7. Commands 7.1 List of Commands ························································································· 50 7.2 Details of Commands ··················································································· 52 8. Parameters 8.
1. Product Outline 1.1. Features The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the controller. This system has the following features: ・High positioning precision ・Low temperature drift ・Fast and stable operation by a unique control system ・Easy tuning by parameter setting 1.2.
2. Specifications 2.1. Galvano Motor (KP-1SM30, KP-1SM100) Performance and shape KP-1SM30 KP-1SM100 Conforming beam diameter Φ10 to φ20 Φ20 to φ30 Scan angle ±20 deg ±20 deg Number of encoder pulses 83328 pulses/rotation 83328 pulses/rotation Command resolution 0.036 μrad 0.036 μrad Torque constant 0.041 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.
2.2.
2.3. Outline Drawing KP-1SM30 （126.2） 3-M4 Depth 8 φ56 φ36h7 Φ48 φ34 11.5 7.5 0 φ6.35 -0.01 37 Thermistor Cable Encorder Cable Motor Cable KP-1SM100 TBD CANON Digital Galvano Scanner System Users Manual 1.
GC-251 4-M3 7 33 10 118 5 80 88 38 5 120 4-φ3.5 125 CANON Digital Galvano Scanner System Users Manual 1.
2.4. Power Supply Power supply specifications 2.5. +24 V ± 10% 10 A (max) × 2 axes (For motor drive) +5 V ± 5% 2.8 A (For control circuit) Connections IF board High Speed serial Communication Digital Input/Output RS-232C +24V power +5V power Axis2 Axis1 Encoder Signal Board CANON Digital Galvano Scanner System Users Manual 1.
2.6. Connector Pin Arrangement (Connector types) ⑦ ⑥ ⑧ ③ ⑤ ④ ⑨ ① ② 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) CANON Digital Galvano Scanner System Users Manual 1.
(Pin arrangement) ③ +5 V power supply Connector model number Connector Board side Cable side Model No. Manufacturer S2P-VH VHR-2N JST JST Connector pin arrangement Pin No. 1 2 Signal Description +5 V GND ④ +24 V power supply Connector model number Connector Board side Cable side Model No. Manufacturer S4P-VH VHR-4N JST JST Connector pin arrangement Pin No.
⑥ High-speed Serial Communication Connector model number Connector Model No. Board side Cable side SM12B-PASS-1-TB PAP-12V-S Manufacturer JST JST Connector pin arrangement Signal Name Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 CLKCLK+ FSFS+ XDXD+ YDYD+ STSSTS+ GND FG Signal Description Clock (-) Clock (+) Frame sync (-) Frame sync (+) Axis 1 data (-) Axis 1 data (+) Axis 2 data (-) Axis 2 data (+) Status (-) Status (+) System GND Frame GND The signal levels depend on the IF board.
⑨ Fan Power Supply Connector model number Connector Board side Cable side Model No. Manufacturer S04B-PASK-2 PAP-04V-S JST JST Connector pin arrangement Pin No. 1 2 2 3 Signal Description +24 V Output GND Fan Rotation Error (Open collector Input) (No connection) CANON Digital Galvano Scanner System Users Manual 1.
2.7. Control Specifications The controller (GC-201, GC-101) is operated by: • RS-232C command input • High-speed serial communication In addition, either the internal clock or external clock (high-speed serial communication) can be selected for operation.
2.7.1 RS-232C command input RS-232C command input allows the following: • Operation setting • Parameter setting • Error processing • Status check (For details, see 7, “Commands.
(Command specifications) In response to command send, the controller returns a reply with data. The data contents depend on the command. (For details, see 7-2, “Command Details.”) Command send A Axis No. Axis No. C Command ID Decimal, 3-digit (See 7-1 for details) Command 1 or 2 E.g.
Parameter of controller can be changed by the following sending method to controller. Also in response to parameter send, the controller always returns a reply with data. The data contents depend on the command. (For details, see 7-2, “Command Details.”) When changed a parameter of it, to start it by the same setting in power supply on at the next time; the parameter that changed, it is necessary to write in it at ROM. Parameter send A Axis No. Axis No.
For the ROM Write of the parameter, a reply with data has been sent by all means by a controller. The content of data is different by a parameter. (For details, see 7-3, “Parameter Details.”) （Note） Please make the ROM write of the parameter after enough confirmation. Depending on value for change, the controller may not start normally. Parameter ROM Write send E Axis No. Axis No. P Command ID Command ID Decimal, 3-digit (See 7-1 for details) Parameter 1 or 2 E.g.
2.7.2 High-speed serial communication To control the mirror to an arbitrary position by Marking or any other application, target position data updated as required can be given to the controller by using high-speed serial communication. By setting, the controller can be activated in the mode of tracking a target position specified by high-speed serial communication. (For details, see 6-1, “Setting Activation Mode.
Note: For setting high-speed serial communication mode or controller activation in high-speed serial communication mode at power-on, high-speed serial communication signals are necessary. Enter the CLK, FS, and DAT signals in advance. For how to set the activation mode, see 6-1, “Setting Activation Mode.” CANON Digital Galvano Scanner System Users Manual 1.
(Target Position Data) XDAT、YDAT The data length of the target position data by the high-speed serial communication can be changed by two following parameters. The target position data length can be changed in 16bit – 20bit. Parameter ID DATA ６７ 16： 16bit Data ※ 17： 17bit Data 18： 18bit Data 19： 19bit Data 20： 20bit Data The least significant bit position of the target position data of high-speed serial communication 20bit data can be set by following parameter.
20bit (Bit) Data XDAT 1 YDAT 11 12 13 14 15 16 17 18 19 20 D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 2 3 4 5 6 D8 D8 D7 D7 D6 D6 D5 D5 D4 D4 D3 D3 D2 D2 D1 D1 D0 D0 Parameter ID = 67 20 Parameter ID = 68 0 7 8 9 10 With the default settings at shipping, the setting is ※ (16bit position data length, data least significant bit 1bit position). This communication specification has compatibility of XY2-100.
（Status） STS The status of controller is sent by status line (STS) of high-speed serial communication. The contents of status sending from a controller can be changed by the following parameter. Parameter ID Data ６６ 1： Controller Condition 2： Current position (Axis 1) 3： Current position(Axis 2) 4： Current position(Axis1 , Axis2) Each status contents are as follows.
INPOS ： In-position signal (When current position moves into the in-position width, this signal will be output.) 2: Current position (Axis 1) Output the Axis 1 encoder position. Position Data length: 20bit. 。 3: Current position (Axis 2) Output the Axis 2 encoder position. Position Data length: 20bit. 。 4: Current position (Axis1, Axis2) The encoder position of the Axis 1 and the Axis 2 is alternately output. Position Data length: 21bit. 。 The first 1bit shows the axis (Axis Flag).
2.8. Heat Radiation and Installation Since the controller and motor generate heat, their heat radiation should be considered carefully. Generated heat depends on the operating conditions. Determine a heat radiation method according to the operating conditions. The controller and motor have a temperature detection sensor (thermistor) at the heat generating section.
3. Software The controller (GC-201, 101) comes with dedicated control software “GALILEO (Galvano Integrated Leading Operator (GALILEO).” GALILEO makes the following controller operations easy: ・Parameter setting ・Servo tuning (Frequency characteristic measurement) ・Status check ・Operation setting (Step movement and raster scan) Most of the functions that can be performed by GALILEO can also be executed by external command input through RS-232C connection without using GALILEO.
・ Press the Next button. ・ Specify an installation folder and press the Next button. (Recommendation: Do not change usually.) CANON Digital Galvano Scanner System Users Manual 1.
・ Press the Next button. ・ Press the Close button. This completes installation. CANON Digital Galvano Scanner System Users Manual 1.
3.3. Activation ・ Connect the controller and the PC with the optional RS-232C cable. ・ Click “START” - “Programs” - “Canon Scanner” - “GALILEO”. ・ Setting the COM port Select the connected RS-232C port and press the OK button. ・ The control screen is displayed. While communication with the controller has not started yet, the screen displays “DISCONNECT” in gray at the upper left as the connection status.
・ When the power to the controller is turned on, communication automatically starts. When communication starts, the connection status at the upper left changes to “CONNECT” in green. Connection Status GALILEO can be activated after power to the controller has been turned on. Then communication starts automatically. (“CONNECT” is displayed.) Note: The value of each item on the above screen depends on the controller status. CANON Digital Galvano Scanner System Users Manual 1.
3.4. Control Screen This section explains the buttons and other items on the control screen. ② ③ ④ ⑤ ⑥ ⑫ ⑬ ① ⑦ ⑧ ⑩ ⑪ ⑨ ① ② ③ ④ The status of RS-232 connection to the controller is displayed. Connection display Connected: CONNECT (green) Not connected: DISCONNECT (gray) Position display The encoder position of each axis is displayed.
Starting origin detection ⑤ Servo ON/OFF ⑥ High-speed serial communication selection Select the high-speed serial communication command or internal command for position specification. (For details, see Chapter 4.) (Start = High-speed serial communication, OFF = Internal command) ⑦ 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.
4. Operating Procedure This chapter explains how to use the system. Operations by [GALILEO] and by [RS-232C command] are explained together. 4.1. Controller Activation When the power (+5 V, +24 V) is turned on, the controller first does the following automatically: ・Reads saved parameters from ROM ・Homes to the origin ・Corrects the encoder (high-speed oscillation of a fixed angle) It takes about 15 seconds until the controller is activated.
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.”) CANON Digital Galvano Scanner System Users Manual 1.
4.2. Step Movement Execute step movement for a fixed angle. GALILEO ② ① ③ ・Select the Step Move tab. ① ・Select an axis for step movement. ② ・Specify the displacement (angle and pulse count) for relative position (STEP) and absolute position. ③ ・Press the MOVE button (either positive or negative position direction can be specified).
4.3. Raster Scan Execute oscillation of a fixed angle at a fixed frequency. GALILEO ② ① ④ ③ ⑤ ・Select the Raster Scan tab. ① ・Select an axis for raster scan. ② ・Specify the operation parameters (Scan Time, Scan Angle, and Duty). ③ ・Press the Scan Start button to start operation. ④ ・Press the Scan Stop button to stop operation.
4.4. Position Command Input by High-speed Serial Communication For a vector scan, give target position data to the controller by high-speed serial communication, The data is updated as required. Switch the controller to the status of receiving target position data by high-speed serial communication. For switching, it is necessary to enter high-speed serial communication signals into the controller in advance. GALILEO ① ・Select an axis for high-speed serial communication.
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.
The signal name is displayed on the evaluation monitor board. Please check the signal after referring to the table of the following pin arrangement. Analog monitor output connector Connector model number Connector Board side Cable side Model No. Manufacturer XG4C-1034 XG4M-1030-T OMRON OMRON Connector pin arrangement Pin No.
Digital I/O connectors Connector model number Connector Model No. Board side Cable side Manufacturer 8931E-020-178L 8925E-020-179 KEL KEL Connector pin arrangement Pin No.
5.2. Analog Monitor Output Selecting The analog monitor output can be switched to monitor various operation and signal statuses. This switching can be executed from [GALILEO] or [RS-232C command send]. Output contents Terminal Power-on Selection Signal Description Signal Level (At Power-on) Phase A of Encoder Head 1 Phase A of Encoder Head 2 A2 (Axis 1) A6 (Axis 2) A3 (Axis 1) A7 (Axis 2) Phase A of encoder after synthesis * Positional deviation signal Position * Velocity 1.46 mV / pulse 0.
GALILEO ② ① ⑤ ③ ④ ・Select the Monitor tab. ① ・Select an axis for monitor output switching. ② ・Select the monitor item of each output terminal. ③ ・Select an output signal magnification. ④ ・Press the SET button. ⑤ CANON Digital Galvano Scanner System Users Manual 1.
Note: ・The analog monitor output is from the D/A converter of the controller. Since the output range of the D/A converter is from –3 to +3 V, output is looped by magnification setting if it exceeds this range. ・The relationship between encoder pulse and angle depends on the galvano motor. KP-1SM30 360° = 83328 pulses × 2048 divisions = 170655744 pulses 0.01° = 170655744 pulses / 360° ×0.01 = 4740 pulses At the monitor output position (0.091 V/pulse), the analog monitor output changes: 0.01° = 4740 × 0.
5.3. Digital Input-Output Function The controller has a digital input-output function for checking the status of the controller. Pin No.
6. Other - Operation Setting 6.1. Setting Controller Activation Mode Clock selection With the default settings at shipping, a parameter is set to activate the controller with the internal clock. When assembling the device, however, the mode can be switched for activation with an external clock (high-speed serial communication).
SW2 SW1 2 1 2 1 OFF ON SW1 SW2 OFF ON Axis 1 SW1-2 Terminal A6 Auto EEPROM Read Auto Homing OFF OFF ON ON 0 1 or open 0 1 or open Disabled Enabled Enabled Enabled Disabled Disabled Disabled Enabled SW2-2 Terminal A6 Auto EEPROM Read Auto Homing OFF OFF ON ON 0 1 or open 0 1 or open Disabled Enabled Enabled Enabled Disabled Disabled Disabled Enabled Axis 2 : Setting at shipping CANON Digital Galvano Scanner System Users Manual 1.
6.2. Operation that synchronizes with external trigger Signal input(Raster Scan) “4-3. raster scan operation”, It can be operated synchronizing with external trigger Signal. 【The Movement Pattern】 There are two kinds of movement patterns. ①（The raster scan of one coming and going operates whenever the external trigger signal is input.） Angle Raster Scan position (Current Angle Position) Voltage External Trigger Signal ②（The raster scan of one way operates whenever the external trigger signal is input.
【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 Monitor Board NO. Signal Name B5 Ｄ10 I/O Signal Description Input External Trigger Signal Logic High：ON Remarks See Circuit below. Connection Specifications 3.3V TTL Input FPGA R ： 100Ω Connector 3.
7. Commands The controller has a monitor output (analog output) terminal for monitoring the RS-232C command operation status and an external signal input terminal for controller operation. 7.1.
3:Position error Monitor Output Selection (A3 , A9) Yes 0: Position 1: Velocity 2:Course Angle 3:Fine Angle Monitor Output Selection (A4 , A10) Yes 0: Head1 A phase 1: Head2 A phase 2:Corrected A phase 3:Internal Target Monitor Output Select Check Yes 0:A2 (A8) Monitor 1:A3 (A9) Monitor 2:A4 (A10) Monitor 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
7.2. Command Details Command ID Data Return Value Explanation Related Command Return Value Explanation 0: Command execution successful 1: Command execution unsuccessful This command resets the system to the initial status after activation. However, the parameter values are retained. If a high-priority error requiring soft reset occurs (see 9-2, “Errors” for details), execute this command after solving the cause. Command ID = 2: Homing Start If only reset is executed, homing is necessary for a return.
Command ID Data Return Value Explanation Return Value Explanation Command Name Servo ON 0: OFF 1: ON 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.
Command ID Data Return Value Explanation Related Command Return Value Explanation Related Command Command Name Forced Stop 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.
Data Return Value Command Name 11 Command ID Thermistor Temperature Read 0: Controller temperature 1: Motor temperature Thermistor voltage A/D converted value Controller Thermistor A/D converted value A/D converted value 4000 3500 3000 2500 2000 1500 1000 500 0 20 30 40 50 60 70 80 Temperature（℃） 90 100 110 Explanation Motor Thermistor A/D converted value A/D converted value 4000 3500 3000 2500 2000 1500 1000 500 0 20 30 CANON Digital Galvano Scanner System Users Manual 1.
Data Return Value Explanation Return Value Current Position Read 0: Current position 1: Current target value (Program origin) 2: Current target value (Absolute position) Position (Pulse) Command ID = 30: Program Coordinate System Command ID Data Command Name 12 Command ID 13 Command Name Version Read 14 Command Name Status Read 0: Main DSP 1: Sub DSP Ver. No Explanation Command ID Data Return Value Status (16 bits) Each status can be checked by each bit after conversion into 16-bit display.
Data Return Value Command Name 15 Command ID Error Read 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.
Command ID Command Name 22 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 “Parameter ID = 2: Maximum velocity” is used.
Command ID Data Return Value 23 Command Name Operation Mode Selection 0: Raster scan stop or Internal Clock mode 3: Raster scan start 7: High-speed serial communication mode 8: Raster scan start by the external trigger signal input (one way scan) 9: Raster scan start by the external trigger signal input (Coming and going scan) 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 afte
Command ID Command Name 26 Parameter Value Check Data Parameter ID Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command returns the parameter setting of Parameter ID. Command ID Command Name 30 Program Coordinate System Data 0: Z phase 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.
Command ID Command Name 41 Monitor Output Selection (A3, A9) Data 0: Position 1: Velocity 2: Course Angle 3: Fine Angle Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation The output signal of analog monitor output A3 (the Axis1) and A9 (the Axis2) can be selected. When the controller starts, the 1: Velocity has been selected. (For details, see 5.
Command ID Command Name 44 Monitor Magnification Setting (A2, A8 ) （×2N） Data Magnification : N Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation Magnification is specified by exponent of power-of-two. E.g. -2 Data = -2 2 = 0.25 times -1 Data = -1 2 = 0.5 times 0 Data = 0 2 = 1 times 1 Data = 1 2 = 2 times 2 Data = 2 2 = 4 times (See 5.
Command ID Command Name 47 Data 0: A2, A8 monitor magnification 1: A3, A9 monitor magnification 2: A4, A10 monitor magnification Return Value Magnification : N Explanation The exponent of power-of-two. （×2N） Related Command Command ID Data 0: Head 1 1: Head 2 Return Value Timing 0 or 1 101 Command Name Counter Clear Timing Explanation CANON Digital Galvano Scanner System Users Manual 1.
8. Parameters 8.1.
44 48 49 50 51 52 53 64 66 67 68 Deviation Limit Encoder VR adjustment Head 1 A/B-phase Offset Encoder VR adjustment Head 1 A-phase Amplitude Encoder VR adjustment Head 1 B-phase Amplitude Encoder VR adjustment Head 2 A/B-phase Offset Encoder VR adjustment Head 2 A-phase Amplitude Encoder VR adjustment Head 2 B-phase Amplitude DSP Operation Setting High Speed Serial Status Format High Speed Serial Data Length High Speed Serial Data LSB Position CANON Digital Galvano Scanner System Users Manual 1.
8.2. Parameter Details Parameter ID Parameter Name 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.
Parameter ID Parameter Name 3 In-position Width Data In-position width (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation The end of movement is judged when a difference from the target value (number of pulses) enters this range. Note: The relationship between the number of pulses and the angle depends on the motor. Related Command /Parameter Bit 2 “Settlement in In-position Width” becomes 1 in status read (Command ID = 14).
Parameter ID Parameter Name 7 Torque Constant Data 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.
Parameter ID Parameter Name 10 Encoder Periodicity Data Encoder periodicity (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the number of pulses per rotation of the motor encoder. KP-1SM30,KP-1SM100: 83328 pulses Whenever the motor model is changed, the setting of this parameter should be changed.
Parameter ID Parameter Name 13 High-speed Serial Communication Conversion Gain Data High-speed serial communication conversion gain (Unit: Multiple × 1000) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation High-speed serial communication data is specified by 16 bits. Ordinary data is 1 for one pulse and can be specified up to the following positions: Maximum position: 0xFFFF = 32767 pulses = About 5.
Parameter ID 15 Parameter Name High-speed Serial Communication Offset Data High-speed Serial Communication Offset (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation Set this parameter, when a center position of the high-speed serial communications data is offset. This is effective, when operating by high-speed serial communications. 0 is set usually. E.g. Data = 100 High-speed serial communication data(16bit) 0x8000 = 100 encoder pulse position.
Parameter ID 18 Parameter Name First Digital Notch 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.
Parameter ID 22 Parameter Name Digital Low-pass Frequency Filter Data Cutoff frequency of the digital low-pass filter (Unit: Hz) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the cutoff frequency of the digital low-pass filter.
Parameter Name 26 Parameter ID Raster Scan Time Data 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).
Parameter Name 28 Parameter ID Raster Scan Angle Data 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).
Parameter ID Parameter Name 31 Raster Scan Start Position Data 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.
Parameter ID Parameter Name 34 Deceleration Time Data 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.
Parameter ID 44 Parameter Name Deviation Limit Data 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.
Parameter ID 51 Parameter Name Encoder VR Adjustment Head 2 A/B-phase Offset Data A/B-phase offset of encoder VR adjustment head 2 (Unit: none) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to adjust the offset of encoder signal. Note: This is usually set appropriately at shipping.
Parameter Name 64 Parameter ID DSP Operation Setting Data DSP operation setting (Unit: none) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the activation mode. Each bit has a meaning.
Parameter ID 68 Parameter Name High Speed Serial Data LSB Position Data High Speed Serial Data LSB Position (Unit: bit) Range = 0 ∼ 4 Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation The least significant bit position of the target position data of high-speed serial communication 20bit data can be specified. Range = 0bit ∼ 4bit (For details, see 2.7.
8.3. Modifying Parameters This section explains how to modify parameters. GALILEO ⑥ ④ ② ① ⑤ ③ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Modify the parameter values as required. When a parameter value is modified, its cell turns red. ③ ・ Turn the servo OFF (necessary for modifying parameters). ④ ・ Press the SET button to reflect modified parameters in the controller settings. ⑤ ・ Turn the servo ON.
8.4. Writing Parameters into ROM All parameters are written in the controller ROM. At activation, the parameters are automatically read and set in the controller. If parameters are modified, they should be written into ROM for activation with the same settings at the next power-on. Write modified parameters into ROM as follows: GALILEO ② ① ⑤ ③ ④ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed.
8.5. Saving a Parameter File All parameters can be saved into a PC file. Save a parameter file as follows: ② ① ③ ④ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Press the Save to File button. Specify a location and save the file. ④ CANON Digital Galvano Scanner System Users Manual 1.
9. Safety Functions This system has various safety functions to ensure safe use. 9.1. Safety Functions The safety functions can be classified into hardware monitoring and software monitoring. Hardware monitoring ・Power supply fuse +24 V line (each axis) +5 V line ・Output amplifier overheat Temperature monitoring by thermistor (abut 80ºC) ・Motor overheat Temperature monitoring by thermistor (abut 75ºC) (If output amplifier or motor overheat is detected, the amplifier output is shut down.
9.2. Errors Priority: High Error Hex Monitor Item Error Condition Setting Change Possible /Impossible System status after error Digital Output Recovery Method (Parameter) Stroke over Encoder pulse count 0x0001 Counter over 0x0002 In-position overtime (P00, P01) The velocity exceeds the setting by P02 (Maximum Velocity). Possible Encoder pulse count The accumulated time based on the setting of P03 (In-position Width) exceeds the setting of P05 (In-position Overtime).
Priority: Low Error Hex Monitor Item Error Condition Setting Change Possible /Impossible System status after error Digital Output Recovery Method (Parameter) Format error 0x0040 Command data error Command format An undefined command or parameter is sent. 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.
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