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.
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............................................................................................................................. 5 1.1. Features ............................................................................................................................................ 5 1.2. Configuration ..................................................................................................................................... 5 2. Specifications ........................
5. Monitor Output and Digital Input Functions ............................................................. 62 5.1. Connector Pin Assignment .............................................................................................................. 62 5.2. Analog Monitor Output Selecting ..................................................................................................... 66 5.3. Digital Input-Output Function ...............................................................................
1. Product Outline 1.1. Features The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the controller. This system has the following features: z High positioning precision z Low temperature drift z Fast and stable operation by a unique control system z Easy tuning with parameter settings 1.2.
2. Specifications 2.1. Galvano Motor (GM-1010, GM-1015, and GM-1020) Performance and shape GM-1010 GM-1015 GM-1020 Conforming beam diameter Φ8 to φ10 φ10 to φ15 φ15 to φ30 Scan angle ±20 deg ±20 deg ±20 deg Encoder cycle number 1000 pulses/rotation 1500 pulses/rotation 1500 pulses/rotation Number of encoder 8,192,000 pulses 12,288,000 pulses 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.
2.2.
36 6 φ33 36 0 φ22 -0.03 GM-1010 -0.005 φ5 -0.015 2.3. Dimensions 32 (Clamp area) GM-1015 46 6 φ33 36 -0 φ28 -003 Motor cable -0.005 φ6 -0.015 Encoder cable 42 (Clamp area) Encoder cable Motor cable CANON Digital Galvano Scanner System Users Manual 1.
7.5 φ43 56 -0 φ36 -003 42.7 -0.005 φ7 -0.015 GM-1020 51.4 (Clamp Area) Encoder Cable Motor Cable CANON Digital Galvano Scanner System Users Manual 1.
GC-201 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 +24 V ± 10% (For motor drive) Peak 10 A × 2 axes RMS 2.5 A × 2 axes (RMS value differs according to operating conditions, the above conditions GM-1010, Ymirror、 ±5°, 200Hz) +5 V ± 5% (For control circuit) 2.8 A 2.5. Connections IF board High-speed serial communication Digital input/output RS-232C +24 V power +5 V power Axis 2 Axis 1 Galvano motor CANON Digital Galvano Scanner System Users Manual 1.
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 ＋ ＋ － － CANON Digital Galvano Scanner System Users Manual 1.
2.6. Connector and Pin Assignment (Connector types) ⑦ ⑥ ⑧ ③ ⑤ ④ ⑨ ① ② ① Axis 1 motor encoder connector ② Axis 2 motor encoder connector 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.
(Connector model number & pin assignment) ③ +5 V power supply (Connector model number) Connector Board side Cable side Model No. Manufacturer S2P-VH VHR-2N JST JST (Connector pin assignment) 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 assignment) 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 assignment ) Pin No.
⑨ Cooling 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 3 4 Signal Description +24 V Output GND (No connection) (No connection) CANON Digital Galvano Scanner System Users Manual 1.
2.7. Optional Cables Optional cables are prepared for power and communications cables. Connector pin assignment for each cable as follows. Verify details with your sales representative. Option cables ① Power cable (+5 V) ② Power cable (+24 V) ③ RS-232C cable ④ High-speed serial communication cable ① Power Cable +5 V ② Power Cable +24 V CANON Digital Galvano Scanner System Users Manual 1.
③ RS-232C Cable PC side (D-sub 9 pin) Pin Signal 2 RX 3 TX 5 GND ④ High-Speed Serial Communication Cable PC side (D-sub 25pin) Pin Signal 1 Clock 2 FS 3 Data (Axis 1) 4 Data (Axis 2) 5 Do not connect 6 Status 7 Do not connect 8 Do not connect 9 Do not connect 10 Do not connect 11 GND 12 Do not connect 13 Do not connect CANON Digital Galvano Scanner System Users Manual 1.
2.8. Control Specifications The controller (GC-201) is operated by: • RS-232C command input • High-speed serial communication RS-232C High-speed serial communication communication command input - Raster scan and step movement etc. - Vector scans with control over the can be performed easily. desired locations of two axes are possible. This is used in laser - In order to obtain synchronization marking etc.
- With the default settings at shipping, power-on starts up the controller with in RS-232 Communication Command Input mode. - The parameter can be set to determine which mode the controller starts after power-on. (See 6.1. “Setting Controller Start Up Mode”) Note: For start up when set to the High-Speed Serial Communication mode, in order to use high-speed serial communication clock pulses internally, signal input by high-speed serial communication is necessary at power-on.
2.8.1. Number of Encoder Pulses This section explains the relationship between the galvano scanner motor rotating angle and the number of encoder pulses. Control commands and some of the parameter angle settings use the number of encoder pulses. The controller divides one encoder cycle into 8,192, and this is the number of encoder pulses. Depending on the type of encoder included on the motor, caution is necessary as the number of pulses for the same specified angle can differ.
2.8.2. RS-232C command input RS-232C command input allows the following: • Operation setting • Parameter setting • Error processing • Status check (For details, see 8.
(Command specifications) In response to command send, the controller returns a reply with data. The data contents depend on the command. (For details, see 8.2. “Command Details”) Command send A Axis No. Axis No. C Command ID Decimal, 3-digit (See 7.1 for details) Command 1 or 2 E.g.
Parameters of the GC-201 can be changed by the following sending method to the controller. Also in response to parameters sent, the controller always returns a reply with data. The data contents depend on the command. (For details, see 9.2. “Parameter Details”) When a parameter is changed, in order to start up with the same setting the next time power is turned on, it is necessary to write the changed parameter to the ROM. (See 9.4.
Writing parameters to ROM is also possible with commands via RS-232C. When writing parameters to ROM, a reply that definitely contains data will be sent by a controller. The content of data is different by a parameter. (For details, see 9.2. “Parameter Details”) (Note: Carry out writing parameters to ROM only after thoroughly verifying the content. Depending on the changed values, the controller may not start normally.) Parameter ROM Write send E Axis No. Axis No.
2.8.3. High-speed serial communication To control the mirror to an arbitrary position by marking or any other application, target position data updated as required can be given to the controller by using high-speed serial communication. By setting, the controller can be started up in the mode of tracking a target position specified by high-speed serial communication. (For details, see 6.1.
(Target Position Data) DAT (AXIS1), DAT (AXIS 2) It is possible to switch the length of data used as target position data from the DAT (AXIS1), DAT (AXIS 2) 20 bit (every 100 kHz) signals. Please set appropriately to match the signal specifications of the scanner controller that outputs a high-speed serial communication signal, and other output equipment. Note: The length of data input in the GC-201 is always 20 bit (every 100 kHz).
Examples of the settings are as follows. (Example 1) Parameter ID = 67 16 Parameter ID = 68 1 XY2-100 specification compatible Bit 1 2 3 10 11 12 13 14 15 16 17 18 19 20 DATA (AXIS 1) N N N D15 D14 D13 D12 D11 D10 D9 4 5 6 7 8 9 D8 D7 D6 D5 D4 D3 D2 D1 D0 N DATA (AXIS 2) N N N D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 N 1bit (Parameter (パラメータID = 68) 16bit (Parameter (パラメータID = 67) Note: The above N bit data is not used.
This section explains the motor rotating angle for the high-speed serial communication data. Default settings have the following relationships. Data 1 = 1 pulse (factory setting) See 2.8.1. “Number of Encoder Pulses" for the relationship between the motor rotating angle and the number of pulses.
Parameter ID Data 13 (High-speed serial communication conversion gain parameter) E.g. Magnification ×1000 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 CANON Digital Galvano Scanner System Users Manual 1.
• In the case of 20 bit data Usually data 1 = 1 pulse. (GM-1010) High-speed communication Motor Target position data value Number of pluses 20bit Maximum Motor rotating angle 0xFFFFF －524287 pulses －23.04 deg 0 pulse position 0x80000 0 0 Minimum position 0x00000 ＋524288 pulses ＋23.04 deg position (GM-1015, GM-1020) High-speed communication Motor Target position data value 20bit Maximum Number of pluses Motor rotating angle 0xFFFFF －524287 pulses －15.
2.8.3.1. Origin Offset It is possible to change the origin position of high-speed serial communications. Parameter ID Data 15 High-speed serial communication Unit: pulse offset Unit is pulse. High-speed serial communication offset is not influenced by the parameter ID = 13 high-speed serial communication conversion gain setting. E.g. When parameter ID = 15 setting 2276 pulse (=0.1°) is set, regardless of the parameter ID = 13 setting, it will always operate with a 0.1° (CW direction) offset.
2.8.3.2. High-speed serial communication motor drive timing The following diagram indicates actual motor drive signal output timing when the high-speed serial communication position command is received. COMMAND 10us XY-2 COMMAND FRAME SYNC DSP Sampling Clock Target Position1 5us Target Position2 Target Position3 10us 5us CONTROL 20us CANON Digital Galvano Scanner System Users Manual 1.
2.8.4. Status (High-speed Serial Communication STS) The controller status is sent by the high-speed serial communication STS line. The contents of status sent from a controller can be changed by the following parameter. Note: Status output will only be output when controlled by the high-speed serial communication mode. During operation in a RS-232C communication input mode (internal clock), there will be no status output (raster scan, status transfer etc.).
• Mode-0 : Controller condition 1 Outputs the status of the controller. POW OK : No problem with the power supply TEMP OK : No problem with the internal temperature Axis2 INPOS : Axis 2 in-position signal Axis1 INPOS : Axis 1 in-position signal (When current position moves into the in-position range, this signal will be output.) • Mode-1: Controller condition 2 Outputs the status of the controller. READY : Servo ON and ready to control by high-speed serial communication.
• Mode-3: Current position data (Axis 2) Outputs the Axis 2 encoder position. Data length: 20 bits. • Mode-4: Current position data (Axis 1, Axis 2) The encoder position of Axis 1 and Axis 2 is output alternately. Data length: 19 bits. The first 1 bit indicates the axis (Axis Flag). Axis Flag = 0 Axis 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. CANON Digital Galvano Scanner System Users Manual 1.
2.8.5. RS-232C Communication Command Input and High-Speed Communication Switching A position command input can be switched with a RS-232C communication command.
2.9. Heat Radiation and Installation Since the controller and motor generate heat, their heat radiation should be considered carefully. Generated heat depends on the operating conditions. Determine a heat radiation method according to the operating conditions. The controller and motor have a temperature detection sensor (thermistor) in the heat generating section.
3. Software The controller (GC-201) bundles the dedicated control software. Using the control software makes the following controller operations easy: z Parameter setting z Operation setting (Step movement and raster scan) z Status check z Servo tuning (Frequency characteristic measurement) Most of the functions that can be performed by the control software can also be executed by external commands input through RS-232C connection without using the control software.
3.3. Control Software Installation ・ Insert the bundled control software installation CD into the CD drive. D：¥ ・ Execute Setup.exe in the Control Software folder. ・ Press the Next button. CANON Digital Galvano Scanner System Users Manual 1.
・ Specify an installation folder and press the Next button. (Recommendation: Usually this is not changed.) ・ Press the Next button. CANON Digital Galvano Scanner System Users Manual 1.
・ Press the Close button. This completes installation. CANON Digital Galvano Scanner System Users Manual 1.
3.4. Software Start Up ・ Connect the controller and the PC with the optional RS-232C cable. ・ Select Windows “START” - “Programs” - “Canon Scanner” - “Control Software”. ・ Setting the COM port Select the connected RS-232C port and press the OK button. ・ The control screen is displayed. While communication with the controller has not started yet, the screen displays “DISCONNECT” in gray at the upper left as the connection status.
・ When the power to the controller is turned on, communication automatically starts. When communication starts, the connection status at the upper left changes to “CONNECT” in green. Connection status The control software can be started up after power to the controller has been turned on. Communication then starts automatically. (“CONNECT” is displayed.) Note: The value of each item on the above screen differs depending on the controller status. CANON Digital Galvano Scanner System Users Manual 1.
3.5. Control Screen This section explains the buttons and other items on the control screen. ② ③ ④ ⑤ ⑥ ⑫ ⑬ ① ⑦ ⑧ ⑩ ⑪ ⑨ 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 (Mechanical angle) of each axis is displayed.
⑤ Servo ON/OFF Start or stop servo control. ⑥ High-speed serial communication selection Select the high-speed serial communication command or RS232C command input for position specification. (For details, see 4.4. Position Command Input by High-speed Serial Communication) (Start = High-speed serial communication, OFF = RS-232C command) 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 [Control Software] and by [RS-232C command] are explained together. 4.1. Controller Start Up When the power (+5 V, +24 V) is turned on, the controller execute the following automatically: ・Read saved parameters from ROM ・Home to the origin ・Correct the encoder (high-speed oscillation of a fixed angle) It takes about 15 seconds until the controller is started up.
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”) CANON Digital Galvano Scanner System Users Manual 1.
4.2. Step Movement Execute step movement for a fixed angle. Control Software ② ① ④ ③ ・Select the Step Move tab. ① ・Select an axis for step movement. ② ・Specify the displacement (angle or pulse count) for relative position (STEP) and absolute position. ③ ・Press the STEP button (either positive or negative position direction can be specified) or GO button. ③ Note: Uncheck the ④ checkbox when moving continuously.
RS-232C command ・ Target value setting mode (Command ID = 10) ・ Target position setting (Command ID = 20) ・ Movement start (Command ID = 8) CANON Digital Galvano Scanner System Users Manual 1.
4.2.1. Step Movement Responce Time Measurement Control Software has a function that measures the step movement response time. This function is can only be executed by the control software. It cannot be executed by a RS-232C command. ② ① ③ • Put a check in the Enable Scope checkbox ① • Select the time range for step movement response to be measured ② (As the response time depends on the displacement, change when necessary.
① ② ③ ④ ⑤ ⑥ ⑦ Scope and Measurement window (Scope and Measurement window explanation) ① ② 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 ① Displays the cursor location in the step response waveform (Step response graph. waveform) CANON Digital Galvano Scanner System Users Manual 1.
Measured step response waveforms can be saved temporary as ③ Reference data (Save, display, hide) reference data. The next measured data can be overwritten and compared. (See 4.2.1.2 Displays the ④ difference of MAIN “the Reference Data Comparison Method.”) This displays the difference between measurement data and reference data. and reference data ⑤ Motor drive current ⑥ Zoom button ⑦ Saving data Displays the motor drive current. Use the zoom button to zoom in and display detailed data.
4.2.1.1. Measurement Data Display Zoom Method A zoomed display is possible in order to confirm measurement data details. (Specify horizontal (time) zoom) • Drag the step response display cursor (red) to the width you want to display enlarged ① (Adjust while looking at the X Cursors display below) • Press the Horizontal ZOOM button ② ① ② CANON Digital Galvano Scanner System Users Manual 1.
(Specify vertical (angle) zoom) • Drag the step response display cursor (green) to the width you want to display enlarged ① (Adjust while looking at the Y Cursors display below) • Press the Vertical ZOOM button ② ① ② CANON Digital Galvano Scanner System Users Manual 1.
4.2.1.2. Reference Data Comparison Method This displays step response waveforms with two different measurement conditions, and makes a comparison possible. ① • Display the step response waveform with the first measurement condition, and press the “Save MAIN to REF” button. ① Measured waveform data (MAIN) is copied to the reference data (REF). There is no change to the screen display at this time. (The above display is the measurement results for 0.1 deg (Mechanical) step movement.
• The step response waveform displays (blue). (The above display is the measurement results for 0.12 deg (Mechanical) step movement.) • Press the REF button. ② • The response waveform (gray) saved in reference data is overwritten. REF MAIN CANON Digital Galvano Scanner System Users Manual 1.
• Press the following button when you want to delete the waveform display for each of MAIN (blue) and REF (gray). MAIN button ③ -> Wfm OFF button ⑤ REF button ④ -> Wfm OFF button ⑤ To display again, press the MAIN, or OFF buttons. ③ ④ ⑤ CANON Digital Galvano Scanner System Users Manual 1.
4.3. Raster Scan Execute oscillation of a fixed angle at a fixed frequency. Control Software ② ① ③ ④ ⑤ ・Select the Raster Scan tab. ① ・Select an axis for raster scan. ② ・Specify the operation parameters (Scan Time, Scan Angle, Duty, and Interval). ③ ・Press the Scan Start button to start operation. ④ ・Press the Scan Stop button to stop operation. ⑤ CANON Digital Galvano Scanner System Users Manual 1.
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) CANON Digital Galvano Scanner System Users Manual 1.
4.4. Position Command Input by High-speed Serial Communication In order to carry out a vector scan, target position data is given to the controller by high-speed serial communication, and the data is updated as required. It is possible to change the mode of the controller to the mode of receiving target position data by high-speed serial communication. For changing the mode, it is necessary to enter high-speed serial communication signals into the controller in advance.
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.
Evaluation Monitor Board Pin Assignment Pin Assignment of the optional monitor board for evaluation is as follows. D15 D9 D4 D1 A7 A5 A3 A1 D16 D10 D5 D2 A8 A6 A4 A2 D1 D3 D11 D6 D18 D12 GND Digital I/O CANON Digital Galvano Scanner System Users Manual 1.
Analog monitor output connector Connector model number Connector Board side Cable side Model No. Manufacturer XG4C-1034 XG4M-1030-T OMRON OMRON Connector pin assignment 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 assignment 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 [Control Software] or [RS-232C command send].
Control Software ② ① ⑤ ③ ④ ・Select the Monitor tab. ① ・Select the Monitor tab. ① ・Select an axis for monitor output switching. ② ・Select the monitor item of each output terminal. ③ ・Select an output signal magnification. ④ ・Press the SET button. ⑤ 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 repeated by the magnification setting if it exceeds this range. ・The relationship between encoder pulse and angle differs depending on the galvano motor. E.g. GM-1010 360° = 1000 pulses × 8,192 divisions = 8,192,000 pulses 1° = 8,192,000 pulses / 360° = 22,756 pulses At the monitor output position (0.
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 Start Up Mode Clock selection With the default settings at shipping, a parameter is set to start up the controller in RS-232C communication command input mode (internal clock). When assembling the device, however, the mode can be switched for start up with an external clock (high-speed serial communication).
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. Controller LED Display The controller (GC-201) is equipped with an LED that indicates the controller status. After turning on the power, when the controller starts up normally, the display will be as follows. LED1 LED2 LED3 LED4 (Red) (Blinks in approx 2 sec. intervals) (Blinks in approx 2 sec.intervals) (Blinks in approx 1 sec. intervals) (Not turns on) LED5 (Red) (Not turns on) LED7 LED6 (Turns on) (Turns on) Meaning of each LED LED No.
A response is necessary after confirming the error details with the control software, or RS-232C command ID = 15 error read. This LED (red) is lit when a malfunction occurs with the controller. LED5 ALARM display (for Axis 2) A response is necessary after confirming the error details with the control software, or RS-232C command ID = 15 error read. Always lights in approximately 1 sec. intervals if LED6 DSP2 operation (for Axis 1) DSP2 start up correctly. Always lights in approximately 1 sec.
6.3. Operation that Synchronizes with External Trigger Signal input (Raster Scan) “4.3. Raster Scan” can be operated in synchronization with an external trigger signal. The Movement Pattern There are two kinds of movement patterns. ① (The raster scan of one coming and going operates whenever the external trigger signal is input.) Angle Raster Scan position (Current Angle Position) Voltage External Trigger Signal ② (The raster scan of one way operates whenever the external trigger signal is input.
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 Input Signal Description External Trigger Signal Logic High: ON Remarks See Circuit below. Connection Specifications 3.3V TTL Input FPGA R : 100Ω 3.
7. Tuning 7.1. Tuning At the time of shipping, with the combination of the galvano motor and controller (GC-201), appropriate servo tuning has been completed. The following tools have been prepared to check malfunctions during use, and handling trouble such as mirror damage. • Control software It is possible to check servo tuning related parameters and make changes from the control software’s Servo Setting tab. Note: Changes are not usually made to the parameters.
7.2. Frequency response (FFT) Measurement The control software includes a function to measure the frequency response of the galvano scanner motor. Frequency response measurement is used in the following situations. Initial frequency responses are saved, and these are compared to confirm changes with frequency response when malfunctions occur. You can determine whether the cause of the malfunction is with the motor or servo settings.
② ① • The frequency characteristic measurement window appears • Set the frequency range and number of points to measure ① (The above is with defaults of 1 kHz ~ 50 kHz and 150 points input) • Press the BODE button ② (Press the Abort button to stop while measuring) CANON Digital Galvano Scanner System Users Manual 1.
④ Drag and move ③ ① ② • The frequency characteristic measurement results display. • By dragging the cursor (point where red lines intersect), specified frequency detailed information (measured frequency points, gain, and phase) will display ② • Press the File Save button to save measurement results (saves in CSV file format) ③ • It is possible to read and display measurement results that were saved in the past.
Saved data can be compared with the current measurement results in the window. ① ④ ② ③ • Read and display saved data by pressing the File Open button (blue) ① • Register reference data with the Save MAIN to REF button ② • Measure with the BODE button ③ • Data (blue) measured with ③ displays overwriting reference data (gray). ④ Note: When comparing with past measurement data, even when there are no problems, it may not match exactly due to the influence of measurement error.
7.3. Auto Tuning Servo tuning of galvano scanner motors and controllers are set appropriately by Canon at the time of shipping, however, an auto tuning function is included in the controller software in the following situations for tuning again. - When you want to replace a damaged mirror - When oscillation occurs to change of the motor status or load status and you want to carry out appropriate servo tuning This auto tuning function can only be used when the following conditions have been met.
Operations ① ② ③ • Need to change the mechanical setting so that can operate in a range ±15°(Mechanical Angle) , when excute the auto tuning. Because that auto tuning program operate the motor in a range ± 15°(Mechanical Angle) . • Turn OFF high-speed serial ① • Select the Servo Setting tab ② • Press Auto Tuning ③ • Input the password (canon) CANON Digital Galvano Scanner System Users Manual 1.
• Display of the Auto Tuning screen ④ ⑤ ⑥ ⑧ ⑦ ⑨ • Select the setting file (Definition File). ④ Setting files will be provided by Canon. • When necessary, select parameter files to load in the controller prior to tuning. ⑤ Check the “Load Parameter File before start” checkbox and specify the parameter file. Use in situations when you want to load a parameter file and then carry out tuning. Parameter files to be loaded will be prepared by the user. Refer to 9.5 for the file creation method.
• Input the serial number. ⑧ A folder with the same name as the number input here is generated in the saved results folder, and tuning results are saved. Usually the controller’s serial number is input, however, any number that is easy for the user to manage may be input. • Pressing the Start button. Then starts the tuning. ⑨ ⑩ ⑪ ⑫ ⑬ ⑭ • The name of the motor and mirror to be tuned will display in Target Galvano. ⑩ • Details of the current tuning being carried out display in Command.
• When tuning is completed the following message displays, and tuning results are saved to EEPROM. Saved Results Folder The saved results folder is composed as follows. Folder specified as the result save folder Results Folder Serial number 00000001 Axis number #1 #2 00000002 #1 #2 Results File The following files are saved in the axis number folders after tuning. • LOWGAIN.CSV Frequency response characteristics with no filter and low gain • TORQUE.CSV Torque correction data • STEP.
Parameters Changed During Auto Tuning The following parameters are adjusted or changed by the auto tuning.
7.4. X and Y Axis Matching It is possible to match the step response waveforms of the X axis (Axis #1) and Y axis (Axis #2). (Summary of Operations) • Matching the frequency response This operation matches the frequency response of both axes at 1 kHz. Gain is adjusted with “loop gain fine adjustment” (parameter ID = 45). Phase is adjusted with “Notch filter Q value” (parameter ID = 17 and 20) of each axis.
Operations ① ② ③ • Turn OFF high-speed serial ① • Select the Servo Setting tab ② • Press XY Matching ③ CANON Digital Galvano Scanner System Users Manual 1.
• Display of the X and Y Matching screen • Select the axis side with no margin for tuning (phase margin, gain margin) as the Reference. Usually a large mirror load is attached to the Axis #2 (Y axis) side, Axis #2 will be the Reference. With X and Y matching, the frequency response of another Axis will be adjusted to the frequency response of the Reference side. CANON Digital Galvano Scanner System Users Manual 1.
• By pressing the SETUP button, operating conditions during FULL AUTO can be set. Usually default parameter settings will operate correctly. • Frequency Frequency when measuring the frequency response • GAIN Max Change Permissible change 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.
• Press the FULL AUTO and tuning starts. • Operation details display in the log messages while operating. • The gray waveform is the Reference waveform. CANON Digital Galvano Scanner System Users Manual 1.
• Adjusting the frequency response. • Adjusting the amount of overshoot. CANON Digital Galvano Scanner System Users Manual 1.
• When the overshoot amount adjustment is completed, the waveforms match. • Save the tuning results to EEPROM. Refer to 9.4. Writing Parameters into ROM. CANON Digital Galvano Scanner System Users Manual 1.
Individual parameters can be adjusted by the user. • Press the MANUAL button. ① • It will display like the diagram to the right. • Press INITIALIZE first. ② ③ • Pressing MEASURE BODE carries out the frequency response measurement, and displays the waveforms. ① • By changing the GAIN [dB] value and measuring the frequency response, the Gain waveform will move up ⑤ ② and down according to the GAIN value.
8. Commands The controller has a monitor output (analog output) terminal for monitoring the RS-232C command operation status and an external signal input terminal for controller operation. 8.1.
ID Command Name Data Monitor Output Selection A2 (A8) Yes 0: Head1 A phase signal 1: Head2 A phase signal 2: Corrected A phase signal 3: Deviation signal Monitor Output Selection A3 (A9) Yes 0: Current position signal 1: Velocity signal 2: Corrected encoder count 3: Encoder interpolation data Monitor Output Selection A4 (A10) Yes 0: Head1 B phase signal 1: Head2 B phase signal 2: Corrected B phase signal 3: Target position signal Monitor Output Select Check Yes 0: A2 (A8) Monitor 1: A3 (A9) Mo
8.2. 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 start up. However, the parameter values are retained. If a high-priority error requiring soft reset occurs (see 10.2. , “Errors” for details), execute this command after resolving the cause. 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 Control Mode Specification 0: PI control 1: LQ control 0: Command execution successful 1: Command execution unsuccessful LQ control is usually used.
Command ID Data Return Value Explanation Related Command Return Value Target Value Setting Mode 0: Absolute position 1: Relative position 0: Command execution successful 1: Command execution unsuccessful This command is used to specify a position coordinate system for setting by “Command ID = 20: Target Position Setting.” Before setting a target position, this command should be executed.
Command ID 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 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.
Command ID Data Return Value Command Name 15 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 20 Target Position Setting Data Target position (Pulse) Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command is used to set a target position by step movement.
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 started by the external trigger signal input (one way scan) 9: Raster scan started 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
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 42 Command Name Monitor Output Selection A4 (A10) Data 0: Head1 B phase signal 1: Head2 B phase signal 2: Corrected B phase signal 3: Target position signal Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation The output signal of analog monitor output A4 (the Axis1) and A10 (the Axis2) can be selected. When the controller starts, the 3: Internal Target has been selected. (For details, see5.2.
Command ID Command Name 46 Monitor Magnification Setting A3 (A9) (×2N) Data Magnification : N Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation Magnification is specified by an exponent of the 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 5.2.
Command ID Command Name 161 Data 0: Head 1 1: Head 2 Return Value Timing 0 or 1 Explanation It is necessary to set the return value as follows. Counter Clear Timing Head 1 Parameter ID = 11 Head 2 Parameter ID = 14 These values have the standalone motor unique values, and the controller motor set with servo tuning at Canon has been explained. When changing the motor or controller, after checking this command Head 1 and Head 2, it is necessary to make settings. E.g.
9. Parameters 9.1.
48 49 50 51 52 53 64 66 67 68 VR head1 AB offset VR head1 A gain VR head1 B gain VR head2 A gain VR head2 A gain VR head2 B gain DSP Operation Setting High Speed Serial Status Format High Speed Serial Data Length High Speed Serial Data LSB Position CANON Digital Galvano Scanner System Users Manual 1.
9.2. 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 Range Data In-position range (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation The end of movement is judged when a difference from the target value (number of pulses) enters this range. Note: The relationship between the number of pulses and the angle depends on the motor. Related Command /Parameter Bit 2 “Settlement in In-position Range” becomes 1 in status read (Command ID = 14).
Parameter ID Parameter Name 8 Total Inertia Data Total inertia (Unit: 0.01 gf・cm2) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the inertia due to the motor rotation shaft and the mirror. Note: Be careful about the unit. Set a value of gf・cm2 multiplied by 100.
Parameter ID 11 Parameter Name Origin Clear Timing (Head 1) Data Origin clear timing (0 or 1) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is related to origin detection. The value checked by “Command ID = 101: Counter Clear Timing” is set. Each motor has a unique value. Note: An appropriate value is set at shipping. When only the motor is replaced, the value should be checked and set by a command.
Parameter ID 14 Parameter Name Origin Clear Timing (Head 2) Data Origin clear timing (0 or 1) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is related to origin detection. The value checked by “Command ID = 101: Counter Clear Timing” is set. Each motor has a unique value (0 or 1). Note: An appropriate value is set at shipping. When only the motor is replaced, the value should be checked and set by a command.
Parameter ID 17 Parameter Name #1 Digital Notch Filter Q Data Q value of the first digital notch filter (Unit: ×100) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the Q value of the first digital notch filter. Set a value multiplied by 100.
Parameter ID 20 Parameter Name #2 Digital Notch Filter Q Data Second digital notch filter Q value (Unit: ×100) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the Q value of the second digital notch filter. Set a value multiplied by 100.
Parameter ID 23 Parameter Name #1 Analog Notch Filter Frequency Data Central frequency of the first analog notch filter (Unit: Hz) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the central frequency of the first analog notch filter. The setting range is from 9750 to 42820 Hz.
Parameter ID Parameter Name 26 Cycle Time of Raster Scan 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 ID Parameter Name 28 Scan Angle of Raster Scan 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 Start Position of Raster Scan 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 45 Parameter Name Loop Gain Fine Adjustment Data Loop Gain Fine Adjustment (Unit: Multiple × 1000) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter makes fine adjustments to the servo's loop gain (inertia of the motor and mirror, and the torque constant of the motor are related). Note: This is usually set appropriately at shipping.
Parameter ID 51 Parameter Name VR head2 AB 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 the encoder signal. Note: This is usually set appropriately at shipping.
Parameter ID Parameter Name 64 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 start up 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 20 bit data can be specified. Range = 0 bit ~ 4 bit (For details, see 2.8.3.
9.3. Modifying Parameters This section explains how to modify parameters. Control Software ⑥ ④ ② ① ⑤ ③ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Modify the parameter values as required. When a parameter value is modified, its cell turns red. ③ ・ Turn the servo OFF (necessary for modifying parameters). ④ ・ Press the SET button to reflect modified parameters in the controller settings. ⑤ ・ Turn the servo ON.
9.4. Writing Parameters into ROM All parameters are written in the controller ROM. At Start up, the parameters are automatically read and set in the controller. If parameters are modified, they should be written into ROM for start up with the same settings at the next power-on. Write modified parameters into ROM as follows: Control Software ② ① ④ ③ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed.
9.5. Saving a Parameter File All parameters can be saved into a PC file. Save a parameter file as follows: ② ① ④ ③ ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Press the Save to File button. Specify a location and save the file. ④ CANON Digital Galvano Scanner System Users Manual 1.
10. Safety Functions This system has various safety functions to ensure safe use. 10.1. Safety Functions The safety functions can be classified into hardware monitoring and software monitoring. Hardware monitoring ・Power supply fuse +24 V line (each axis) +5 V line ・Output amplifier overheat 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.
10.2. 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 0x0010 Motor overheat 0x0020 Origin detection error Encoder signal error 0x0800 (Axis1) (P00, P01) Connector A1 The velocity exceeds the setting by P02 (Maximum Velocity).
Priority: Low Error Hex Monitor Item Error Condition Setting Change Possible /Impossible System status after error Digital Output Recovery Method (Parameter) Clock lack Format error 0x0008 0x0040 Command data error High-speed serial communications clock The clock is no longer input Impossible Command format An undefined command or parameter is sent. Impossible Command data Command data is illegal. No data is given to a command requiring data. Data is given to a command requiring no data.
11. Appendix 11.1. Firmware Update The GC-201 controller is equipped with two DSP’s (Digital Signal Processor) for Axis 1 and for Axis 2, and the same firmware is written in each DSP. When firmware is upgraded for the addition of functions and fixing problems, it is possible to connect a RS-232C cable and update the firmware with dedicated write software. A dedicated firmware update CD will be provided when there is a necessity to update the firmware.
11.1.1. Writing Procedure Carry out operations according to the following procedure. It will be necessary to operate DIP switches and jumper switches on the controller. Please follow this procedure. 1.
2. Updating the DSP of Axis 1 With the GC-201 controller’s power turned off, set the jumper switches and DIP switches as follows. SW1 : 1-ON JP1 : 1-2 short JP2 : 1-2 short 2 1 SW1 OFF ON JP2 JP1 3 2 1 3 2 1 According to the controller settings, the default state of "2" of SW1 will differ. This is regardless of a firmware update. Do not change from the default state. 3. Turn on the power. 4. Start-up GCFlash.exe on the firmware update CD. 5. The GCFlash window will display.
Usually, settings in the window do not need to be changed, however, need to change when the connected COM port differs. When writing fails frequently, change the baud rate (default value of 57600) to a smaller value and try again. 6. When Write Complete displays in the log display area, it is finished. 7. Shut down GCFlash. (It is necessary to completely shut down once.) 8. Turn off the GC-201 controller’s power. 9.
SW1 : 1-OFF SW2 : 1-OFF JP1 : 1-2 Short JP2 : 1-2 Short 2 1 2 1 OFF ON SW1 OFF ON SW2 According to the controller settings, the default state of "2" of SW1 or SW2 will differ. This is regardless of a firmware update. Do not change from the default state. JP2 JP1 3 2 1 CANON Digital Galvano Scanner System Users Manual 1.
11.2. Parameter Changes from the Number of Encoder Divisions As explained in 2.8.1 Number of Encoder Pulses, the scanner motor encoder signal is divided into 8,192 divisions generating encoder pulses within the GC-201 controller. Firmware versions prior to DSP Ver. XXXXXXXX were set with 2,048 divisions. When currently using firmware with 2,048 divisions, with the following procedure, usage with 8,192 divisions is possible.
Select the following values from the list box in the RESOLUTION area. GM-1010 22,756 (pulse / degree) GM-1015,1020 34,133 (pulse / degree) ② Press the Change button. ③ Parameter changes necessary for using with 8,192 divisions will be carried out. It is also possible to return to 2,048 divisions. GM-1010 5,689 (pulse / degree) GM-1015,1020 8,533 (pulse / degree) It is possible to use with the latest firmware as is. CANON Digital Galvano Scanner System Users Manual 1.
NOTE CANON Digital Galvano Scanner System Users Manual 1.
Canon Inc. Canon Marketing Japan Inc. 2-16-2, Konan, Minato-ku, Tokyo 108-8011 CB Sales Department Tel. 03-3740-3336 ･The contents of this document are subject to change without notice. ･If you find any question, error, or omission in this document, please contact Canon. CUD-L006-E02 CANON Digital Galvano Scanner System Users Manual 1.20 © CANON INC.
