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SHOT-202 SHOT-204MS - OptoSigma Global Top

1. Full Closed Loop Control Notes regarding these materials These materials are intended as a reference to assist our customers in the use of the SIGMA KOKI CO LTD product best suited to the customer s application they do not convey any license under any intellectual property rights or any other rights belonging to SIGMA KOKI CO LTD or a third party SIGMA KOKI CO LTD assumes no responsibility for any damage or infringement of any third party s rights originating in the use of any product data diagram charts programs or algorithms contained in these materials All information contained in these materials including product data diagrams charts programs and algorithms represents information on products at the time of publication of these materials and are subject to change by SIGMA KOKI CO LTD without notice due to product improvements or other reasons When using any or all of the information contained in these materials including product data diagrams charts programs and algorithm please be sure to evaluate all information and products SIGMA KOKI CO LTD assumes no responsibility for any damage liability or other loss resulting from the information contained herein SIGMA KOKI CO LTD products are not designed or manufactured for use in equipment or system that is used under circumstances in which human life is potentially at stake SIGMA KOKI CO LTD products cannot be
2. 1 Record buttons cross shaped up and down Select from input signal monitoring or output signal tests ee Select the signals used for I O tests SET vrs In the TEST mode start up screen press this button to conduct an I O test Se Set signals used in output test to OFF Lo SPD ercis Set signals used in output test to ON Hi MODE gt Press to cancel selection or I O test the previous screen will be displayed 15 2 Example of Input Signal Monitoring This example illustrates how to test I O connector input signals using the SHOT 204MS Operations Figure 15 1 TEST Mode Screen From the TEST mode screen press the SET button The selection screen for input signal monitoring and output signal testing will appear Press the top and bottom of the cross shaped button until INPUT MONITOR is displayed After checking the display press the SET button to display the Figure 15 2 input signal monitor screen If you press the MODE button at this Input Signal Monitor Selection point you will return to the previous screen Press the top and bottom of the cross shaped button to scroll TEST MODE through the names of the input signals where you can check INPUT MONITOR the signal level H L OFF ON for each signal After checking the display press the SET button to display the input signal monitor screen If you press the MODE button at this point you will return
3. Emergency stop button Press this button to stop immediately any motorized stages currently in progress Connector for control pad This is where a control pad for button control is connected the CJ 200 may be used The pad can be used to drive the motorized stage through button controls or the controls for each operating mode Display panel Displays the position coordinates for each axis and the operating mode RS232C connector This connector is used when the device is controlled from the computer via an RS232C interface GP IB connector This connector is used when the device is controlled from the computer via a GP IB interface USB connector This connector is used when the device is controlled from the computer via a USB interface I O connector This connector accepts a cable for sending and receiving I O and control signals to from an external device It can also be used to drive motorized stages remotely or to start programmed operations Terminal panel The terminal panel is used when you use trigger output signals or the DC 24V power source Stage driving connector Connect to the motorized stage of your choice supports up to four axes AC connector This is where you connect the supplied 2 3meter power cable USABLE DETACHBLE POWER CORDS SHOT 202 204MS Use the detachable power cord set attached to the product only AC100 120V SHOT 202 204MS IEC C 22 Type SJT No16 AWG Min
4. Pulse instructions activate the operations without monitoring the position Information from the magnescale The control method is the same as that of the SHOT 204 specification 3 Scale correction feature The scale correction feature divides one scale pulse of the 0 5m resolution into 10 to make the resolution 0 05 um In the HOST mode it is effective with the M and A commands In the MANUAL mode it is effective when you make movements pulse by pulse with the buttons on the control pad CJ 200 In any other action the basic resolution is 0 5 um 20 2 Automatic setup feature Unsmooth positioning may be caused by improper settings of the motorized stage and magnescale The stage controller SHOT 204MS is equipped with an automatic setup feature that judges the specification of the motorized stage and compares the travel per pulse with the actual magnescale value to set the memory switch for the best operation You can operate the automatic setup in the Manual mode lt How to perform the automatic setup gt Follow the steps below to perform the automatic setup Use the buttons on the control pad CJ 200 Turn on the controller Press the MODE button on the control pad to switch to the MANUAL mode Press the Ctrl and SET buttons at the same time Change MANUAL SETUP to AUTO SCALE with the upper and lower parts of the cross shaped button Press the SET button to start the automatic setup The automatic setup
5. SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 4 Parts of the SHOT 202 204MS SHOT 204MS Front Panel 4 1 Nomenclature Four axis STAGE CONTROLLER X lL Stepping Motor Drive SHOT 204MS CONTROL PAD as a a O OFF ON Display panel Display showing Power switch coordinates for each axis Operating mode display Limit sensor display Connector for control pad Emergency stop button SHOT 204MS_ Rear Panel S GP IB connector I O connector ae Terminal panel Trigger output DC 24V output OUT PUT TRIG DC24V O e o AC100 120V 200 240V STAGET oL 1 0 T C USB connector N L RS232 connector iy SCALE3 SCALE4 USB RS232C SCALE1 SCALE2 O O O STAGE STAGES STAGE4 7 AC connector Earth terminal Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail re A A off jo off Jo off jo off jlo 0 Stage driving connector first and second axes In the case of the SHOT 204 the first through fourth axes 3 Scale connectors for the first through fourth axes 4 Mi SHOT 202 204MS User s Manual W Power switch The SHOT 202 204MS is on when the switch is set to ON Set the switch to OFF to turn the SHOT 202 204MS off
6. Rotate axis 2 4 counter clockwise axis 2 4 rotates while signal is on Speed command stage moves at the speed set in the speed setting memory switches SPEED1 4 through combinations of SPEED1 and SPEED2 input signals Selected speed SPEED1 SPEED2 SPEED3 SPEED4 SPEED1 signal OFF ON oF oN SPEED2 signal OFF OFF on on Input conditions can be checked as four bit data LSU SE a Pe TENERENT IN1 ON IN2 ON ON ins m E E A 2 Description of Output Signals ALARM output XORG COMP output YORG COMP output Alarm ON when an alarm is generated Return to origin operation for axis 1 3 completed ON when return to origin operation for axis 1 3 is completed Signal output as 100ms pulse Return to origin operation for axis 2 4 completed ON when return to origin operation for axis 2 4 is completed Signal output as 100ms pulse Output as four bit data In the tables above indicates OFF Osaka branch Te 8 1 6 6307 4835 SIGMA KOKI _ Fax 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 17 1 2 I O Signals for Motorized Operations Figure 17 2 Programmed Motorized operations will start when the I O signal START input Motorizad Operation Display is set to ON During operation the LCD shows the program number and line being executed as Figure 17 2 Prg No x k
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8. 0 32 0 5 0 66 0 75 0 86 1 1 1 1 25 1 4 4G et Example Set the digital switch to 5 for a motor rated for a current of 0 75 A phase 19 3 Stop Current Settings STOP The motor stop amperage can be set by adjusting the position of the STOP rotary volume as shown in the following chart The figures in this chart are given as a percentage of the RUN amperage 4 26 SW No 0 1 2 3 4 5 6 1 8 9 10 Cray NY 20 24 27 37 41 51 60 68 75 80 88 x i Example When the digital switch is set to 5 with a motor rated for a current of 1 4A phase the motor will be supplied with a current of 0 7A phase when stopped 46 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 20 Capabilities of Magnescale Interface only for the SHOT 204MS 20 1 Control mode The stage controller SHOT 204MS carries out both of the closed loop control and open loop control You can change the control mode by setting the memory switch 1 Closed loop control In HOST command the following commands are carried out in the closed loop control M command Value in um The set resolution is 0 05 um or more A command Value in um The set resolution is 0 05 um or more Any other action is carried out in the open loop control 2 Open loop control
9. 10 x Serew lead in um _ in 0 1m steps 500 Number of steps DIVIDE 9 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI E mail in POE Sc pele A SHOT 202 204MS User s Manual W 6 4 Memory Switch Settings Examples Examples are provided below of the settings used in connecting a SGSP MS 20 85XY motorized stage and a SGSP MS 33 100XY motorizedstage to the SHOT 204MS controller Memory switch setting display Examples of settings for 1 2 axis SGSP MS 20 85XY 3 4 axis SGSP MS 33 100XY Range Options Default value SIGMA KOKI SPEED SEL SPEED1 S SPEED1 F SPEED1 R SPEED2 S SPEED2 F SPEED2 R SPEED3 S SPEEDS F SPEED3 R SPEED4 S SPEED4 F SPEED4 R AXIS INTERFACE BAUDRATE DELIMIT GP IB ADDR STAGE1 UNIT STAGE2 UNIT STAGE3 UNIT STAGE4 UNIT DIVIDE1 DIVIDE2 DIVIDES DIVIDE4 BASE RATE1 BASE RATE2 BASE RATE3 BASE RATE4 TRG LEV LS LEV1 LS LEV2 LS LEV3 LS LEV4 MOVE1 MOVE2 MOVE3 MOVE4 POSOUT TRG WIDTH MODE SEL ORIGIN1 ORIGIN2 ORIGIN3 ORIGIN4 ORG1 SEL ORG2 SEL ORG3 SEL ORG4 SEL ORG1 S ORG1 F ORG1 R ORG2 S ORG2 F ORG2 R ORG3 S ORG3 F ORG3 R ORG4 S ORG4 F ORG4 R COMM ACK CONT1 CONT2 CONT3 CONT4 INPOS1 INPOS2 INPOS3 INPOS4 1 4000 40000 200 20000 200000 200 30000 300000 200 40000 400000 200 4 RS232C 9600 CRLF 8 MICRO MICRO MICRO MICRO 80 80 200
10. 1000 sides of the Cross shaped button 1000 O Edit Data 1000 pattern 1000 Speed setting Output instructions After moving the cursor to the item you wish to edit press the SET or SPD buttons to change the setting for the item 30 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com HE SHOT 202 204MS User s Manual Press the MODE button when entry is complete The confirmation screen shown in Figure 12 4 will appear display YES SET NO SPD CANCEL MODE Figure 12 4 Confirmation Dialog Press the MODE button to make further changes to position data OK Press the SPD button to exit without saving position data Press the SET button gt SPD Position data will be saved and the initial screen for TEACHING CANCEL MODE PROGRAM mode will be displayed 12 3 Explanation of Program Data Table 2 Example of relative positional coordinates entered in Program No 1 Line Operating Specified First Specified Second Output Speed Wait time number pattern axis coordinate axis coordinate instruction setting 1 Line number Operating pattern 0 1234 w o fpr fo Programs can consist of from one to eight thousand lines 0 normal operation move to specified coordinates and stop 10 continuous operation specified fi
11. 2 2 2 2 20 20 20 20 HI NORMAL NORMAL NORMAL NORMAL POS POS For the details of the memory switch for the SHOT 202 see 9 3 Memory Switch Settings for the SHOT 202 Page 15 10 Osaka branch Te 8 1 6 6307 4835 Fax t 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 7 Changing the Operating Mode and Using the Control Pad The control pad CJ 200 allow for smooth operation of the stage controller SHOT 202 204MS in each operating mode The control pad connected to the controller via a cable provides remote operation This means that the control pad allows you to work near the motorized stage while checking its behavior even if the controller and the motorized stage are away from each other 7 1 The Control Pad There is a control pad that can be used with the stage controller SHOT 202 204MS The following table shows the names of the buttons and the name used when referring to the buttons in this manual Button Control pad CJ 200 Cross shaped button 1 3 Cross shaped button 1 3 Cross shaped button 2 4 Cross shaped button 2 4 Round button ORG Round button SET ZERO Round button STOP RUN Round button SPD Round button SET Round button MODE Left and right buttons on front of controller Ctrl Left and right buttons on front of controller ENTER Switch ABC Right
12. 200 20 20 120 120 HI NORMAL NORMAL NORMAL NORMAL POS POS MINI MINI MINI MINI 20000 200000 200 20000 200000 200 20000 200000 200 20000 200000 200 MAIN CLOSE CLOSE CLOSE CLOSE 2 2 2 2 1 4 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1427374 RS232C_ USB GP IB 48009600 19200 38400 CR LF CRLF EOI 0 30 PULSE MICRO DEG SENSOR PULSE MICRO DEG SENSOR PULSE MICRO DEG SENSOR PULSE MICRO DEG SENSOR 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 1000 1 1000 1 1000 1 1000 HI LO NORMAL CLOSE NORMAL OPEN NORMAL CLOSE NORMAL OPEN NORMAL CLOSE NORMAL OPEN NORMAL CLOSE NORMAL OPEN POS NEG POS NEG POS NEG POS NEG ON OFF 1071001000 HOST MANUAL REMOTE TEACHING EDIT LOAD TEST ON OFF ON OFF ON OFF ON OFF MARK MINI NOR MARK MINI NOR MARK MINI NOR MARK MINI NOR 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 MAIN SUB OPEN CLOSE OPEN CLOSE OPEN CLOSE OPEN CLOSE 0 99 0 99 0 99 0 99 1 100 1000 200 500 5000 200 750 7500 200 1000 10000 200 1 RS232C 9600 CRLF 8 PULSE PULSE PULSE PULSE
13. 38400 CR LF CR LF EO 0 30 PULSE MICRO DEG PULSE MICRO DEG 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 1 1000 1 1000 HI LO NORMAL CLOSE NORMAL OPEN NORMAL CLOSE NORMAL OPEN POS NEG POS NEG ON OFF 10 7 100 1000 HOST MANUAL REMOTE TEACHING EDIT LOAD TEST ON OFF ON OFF MARK MINI NOR MARK MINI NOR 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 MAIN SUB Default value 100 1000 200 500 5000 200 750 7500 200 1000 10000 200 2 RS232C 9600 CRLF 8 PULSE PULSE 20 20 HI NORMAL CLOSE NORMAL CLOSE POS POS ON 10 HOST ON ON MINI MINI 500 5000 200 500 5000 200 MAIN gt For more information see 9 4 Memory Switch Settings in Detail For the details of the memory switch for the SHOT 204MS see 6 4 Memory Switch Settings Examples for the SHOT 204MS Page 10 15 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 9 4 Memory Switch Settings in Detail The numbers in each heading indicate the number of the memory switch setting item for the SHOT 202 204MS Non numeric options for memory switch settings data are listed in ascending order according to the values 0 1 2 3 used at download and
14. NEMA6 15P AC200 240V Rated 7A 250V 3 Conductors Tandem blade UL CSA Approved Single phased 2 current carrying amp Rated 7A 250V ground UL CSA Approved UL CSA Approved Cable length of above Power Supply cord shall be shorter than 4 5m 2 Earth terminal Ground the equipment when in use gt 49 Scale connectors Connects to the magnescales to be used Supports up to four axes 5 Tokyo Head office Te 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W Chapter 2 Basic Operations The basic operations needed to position motorized stages are outlined below with cross references to the sections of the manual in which these operations are described in detail Mastering these operations will acquaint you with SHOT 202 204MS controllers and their operation 5 Connecting to Motorized Stages 6 Turning the Controller On 7 Changing the Operation Mode with the Control Pad 8 Using the Control Pad Joy Pad to Position Motorized Stages 9 Changing the Memory Switch 10 Using a Computer to Position Motorized Stages Connect each magnescale specification motorized stage SGSP series to the respective connector first through fourth axes via the dedicated cable Adjust the driver switch settings for each of the connected motorized stages See 5 1 Connecting to Motorized Stages Ks Page 7 5 2 Connecting Po
15. Name used in this manual Left Up Down ORG ZERO STOP SPD SET MODE Ctrl ENTER Switch Be sure to set the switches in the center of control pad to C position when device is connected to the controller X D When using the control pad CJ 200 with the stage controller insert the male connector into the terminal labeled CONTROL PAD with the arrow mark uppermost Be sure the controller is off when you connect the control pad You may not able to use the buttons on control pad if you connect or disconnect either device while the controller is on If you are unable to use the buttons perform the following operations to reset the device CJ 200 reset operation Set the switch to A while pressing the ORG button Release the ORG button and return the switch to C Figure 7 2 Control Pad CJ 200 r saa mm ser zro A O Be a 7 w Oe 11 Figure 7 1 SHOT 202 front panel Four axis STAGE CONTROLLER SIGMA KOKI Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 7 2 Operating Modes and Control Buttons The controller has seven operating modes You can control motorized stages in a variety of different applications by changing modes Press the MODE but
16. Position stage at mechanical origin for those axis for which ORIGIN 1 4 memory switch is set to ON 5 Logical origin button Ctrl ZERO Position stage at logical origin O for all axes 6 Trigger button ENTER Output pulse from trigger output terminals on rear panel terminal panel 7 Stop button STOP Stop all operating motorized stages immediately 9 Checking and Setting Memory Switches Memory switch settings differ depending on the motorized stage used Be sure to adjust memory switch settings for optimal operation of motorized stages 9 1 Changing Memory Switch Settings To display the memory switch settings screen in MANUAL mode press the Ctrl and SET buttons simultaneously Memory switch settings can be changed using the buttons on the control pad 1 Cross shaped up button Cycle through items in descending order No 21 71 70 down button Cycle through items in ascending order No 7071 12 2 Cross shaped right button For numeric options move cursor to right digit left button For numeric options move cursor to left digit 3 SET button ssssssssseseessseeseeesee Cycle through options for the current item or increase the value of numeric options seeenessceessseessesenses After changes to settings have been completed save changes to settings and exit 4 SPD button sssssssesesessseesesessee Cycle through options for the
17. SET lt In the TEACHING PROGRAM mode start up screen press this button to begin teaching operations R 0On exiting TEACHING mode press this button to exit and record changes to settings SPD On exiting TEACHING mode exit without saving changes to settings MODE gt Press to exit TEACHING mode a confirmation screen will be displayed ersi ln the confirmation screen displayed at completion of TEACHING mode operations press MODE to return to TEACHING mode 2 Cross shaped drive button Right Move first axis in direction forward rotation Left Move first axis in direction reverse rotation Up ses Move second axis in direction forward rotation Down Move second axis in direction reverse rotation Ctrl right Move third axis in direction Ctrl left Move third axis in direction Ctrltup Move fourth axis in direction Ctrl down Move fourth axis in direction 3 Speed button SPD sts Cycle through 1 SPEED1 2 3 4 settings stored in memory switches 172 341 4 Clear coordinates button ZERO Reset position coordinates for all axes to zero 5 Mechanical origin button ORG Position stage at mechanical origin for those axis for which ORIGIN 1 4 memory switch is setto ON 6 Logical origin button Ctrl ZERO Position stage at logical origin 0 for all axes 7 Trigger button ENTER eses Record relative positio
18. 1 SHOT 204MS Rear Panel SCALER SCALES SCALEN Motorized operations can be performed following the instructions in a controller internal program using START PAUSE and STOP signals Two programs No 1 and No 2 are available for selection As end of operation signals are output when each operation is completed programmed operation can be used for easy remote control while confirming the operating condition of each stage xD 1 0 Signals wide 2 10ms 17 1 1 I O Signals for Manual Operation 1 Description of Input Signals ALMRST input AXISSEL input XORG input YORG input XJOG input XJOG input YJOG input YJOG input SPEED 1 2 input gt INI 4 Reset ALARM when this signal is on control axis selection select axis to be controlled axes 1 2 or 3 4 I O connector allows operation of up to two axes When the SHOT 204 four axis controller is used the axis controlled 1 2 3 4 can be selected Return axis 1 3 to origin when ON axis 1 3 returns to mechanical origin Return axis 2 4 to origin when ON axis 2 4 returns to mechanical origin Rotate axis 1 3 clockwise axis 1 3 rotates while signal is on Rotate axis 1 3 counter clockwise axis 1 3 rotates while signal is on Rotate axis 2 4 clockwise axis 2 4 rotates while signal is on
19. The minimum speed S maximum speed F and acceleration deceleration time R are set according to the SPEED SEL memory switches when the power is turned on This command allows you to change these initial settings The following options are available Minimum speed S 1 500000PPS Maximum speed F 1 500000PPS Acceleration deceleration time R 0 1000mS Note that the minimum speed S must be less than or equal to the maximum speed F D 1S100F1000R50 Adjust speed settings for the first axis S 100PPS F 1000PPS R 50ms D 2S1000F5000R200 Adjust speed settings for the second axis S 1000PPS F 5000PPS R 200ms D 4S200F2000R100 Adjust speed settings for the fourth axis S 200PPS F 2000PPS R 100ms SHOT 204MS D WS100F1000R20081 OOF1 000R200 Adjust speed settings for the first and second axis SHOT 202 First axis speed settings Second axis speed settings D WS100F1000R50S100F1000R50S200F2000R100S300F3000R200 Adjust speed settings for the first second Jl third and fourth axis SHOT 204MS First axis Second axis Third axis Fourth axis speed settings speed settings speed settings speed settings Acceleration and Deceleration Patterns WD Requirements for settings Maximum pulse Sek speed F Where F lt 8000PPS 1 lt S F lt 8000PPS Where F2 8000PPS eae i come Number of 64 lt S F lt 2000000PPS pulses moved i Acceleration __s Deceler
20. This command is used to detect the mechanical origin for a stage and set that position as the origin Once the mechanical origin has been detected the value displayed will be 0 The stage will move at the speed specified in the ORG1 2 SPEED S F R memory switches H 1 Detect the mechanical origin for the first axis H 2 Detect the mechanical origin for the second axis 3 Detect the mechanical origin for the third axis SHOT 204MS 4 Detect the mechanical origin for the fourth axis SHOT 204MS H W Detect the mechanical origin for the first and second axes detect the mechanical origin for the first second third and fourth axes when SHOT 204MS is used The stage can be stopped using L E H H lt Detecting the Mechanical Origin gt MARK Sigma system When the command is given to detect the mechanical origin the stage begins moving clockwise i e in the direction at the 4 operating speed F specified in the memory switches stopping Starting speed S 1 10 starting speed S when the clockwise limit sensor is detected It then moves counter clockwise i e in the direction at the starting speed S until the origin proximity sensor is detected at which point it reduces speed to 1 10 The stage continues moving until the origin sensor is detected and then stops CKR series etc Operating speed F CW Cy CCW CY CCW Cy VY WS CW Origin proximity Or
21. You Begin ee ee ee ee ee ee ee ee ee ee 2 1 Package Contents eee eee ee ne ee eee ee ee wa eee ee ee eee ee ee 2 2 Overview ee ee ea ee eee ee ee ee ee ee ee 3 3 The SHOT 202 204MS System Paar aaa ae eee ee ee ee 3 4 Parts of the SHOT 202 and SHOT 204MS 9 ers esses ner ee ree wees espe nye 4 Chapter 2 Basic Operations ee ee ee ee 6 5 Connecting to Motorized Stages ae ee ee ee ee 7 6 Turning the stage Controller On eee eee ee eee Ae ee Ae eee Ae wee eee es 8 7 Changing the Operating Mode and Using the Control Pad 11 8 Using the Control Pad to Position Motorized StageS ttt tr ttre 13 9 Checking and Setting Memory Switches rerr terre tte tte tees 13 10 Using a Computer to Position Motorized Stages ttt ttt ttt ttre 19 Chapter 3 Commonly Used Features ayy Riis ENA iat a Shap Sich sms Saves atyal smi Tas Seyler At ai cms Jatveysaial Sai cate ewan a 27 11 Recording Positions in TEACHING Mode ssrrrtr tert tresses ereees 28 12 Editing Programs in EDIT Mode ea ae ee ee ee er er ee ar ee ae 30 13 Programmed Operation of Motorized Stage r setts ttt eset rees 34 14 Sending and Receiving Program and Memory Switch Data from a Computer 35 15 Testing I O Signal Connections Bee ele BONS Cela Pe Ee ea Be ewe a ee ee ea bow ewe ae ere 37 Chapter 4 Specifications T athe fas 60 Ye Gat aL 18 gay Simi dat Sates es E E sat EE ERE OEN A Japan 39 16 Specifications ee ee ec ee ec
22. cable DMINIS CA to the connector round type 12P male of the motorized stage SGSP MS 20 85XY Connect a standard cable DBCS 15 to the connector D sub15P male of the motorized stage SGSP MS 33 100XY Connect the cable from the SGSP20 85XY to the D sub 15 pin female STAGE 1 connector on the rear panel of the SHOT 204MS controller Connect the cable from the SGSP MS 33 100XY to the D sub 15 pin female STAGE 2 connector on the rear panel of the SHOT 204MS controller lt Connecting the cable for the motorized stages to the controller gt Example Connect the cable CH SIGMA for scales to the connector D sub9P of the motorized stage SGSP MS 20 85XY Connect the cable CH SIGMA for scales to the connector D sub9P of the motorized stage SGSP MS 33 100XY Connect the cable of the SGSP MS 20 85XY to the SCALE 1 2 connectors round type 10P on the rear panel of the SHOT 204MS controller Connect the cable of the SGSP MS 33 100XY to the SCALE 3 4 connectors round type 10P on the rear panel of the SHOT 204MS controller 5 2 Connecting Power Cable and Control Pad Connect the supplied power cable to the AC connector on the rear panel of the controller to plug the cable into an outlet Ensure that it is grounded To use the control pad CJ 200 with the stage controller insert the connector male with its arrow mark upward into CONTROL PAD in the center of the front panel 5 3 Sett
23. ee ee eee ee ek a ce a are eck er ari 39 17 Connector Pin Numbers and Signals sss ttt terre tsetse 40 18 Trigger Signals ee ee ee ee ee ee ee ee ee ee ee ee ee 43 19 Driver Switch Settings eee ear a er eee eee ee eee ee eee ee ee ee ee eee ea 46 20 Capabilities of Magnescale Interface sss rrr rrr tt ttt eee ees 47 21 Exterior Dimensions ee ee ee ee ee ee ee ee ee ee ee ee ee ey 49 Hi SHOT 202 204MS User s Manual For Your Safety Before using this product read this manual and all warnings or cautions in the documentation provided Only Factory Authorized Personnel should be changes and or adjust the parts of controller The Symbols Used in This Manual A WARNING This symbol marks warnings that should be read and used to prevent serious injury or death A CAUTION This symbol indicates where caution should be used to avoid possible injury to yourself or others or damage to property The above indications are used together with the following symbols to indicate the exact nature of the warning or caution Examples of Symbols Accompanying Warnings and Cautions A Symbols enclosed in a triangle indicate warnings and cautions The exact nature of the warning or caution is indicated by the symbol inside the symbol at left indicates risk of electrocution O Symbols enclosed in a circle mark indicate prohibitions actions that must not be performed The exact nature of the prohibition is indica
24. gt MODE Only relative coordinate positional data for each line number in the program can be recorded in WD TEACHING PROGRAM mode Other data operating patterns output instructions speed settings and wait times can be edited in EDIT mode Table 1 Example of relative positional coordinates entered in Program No 1 Line Operating First axis Second axis Output Speed Wait ti s Wait time number pattern coordinate coordinate instruction setting o0 12 10 o0 1 0 Po tooo o o 1 o SS 5 X Programs can only record coordinates for the first and second axes 29 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 12 Editing Programs in EDIT Mode In EDIT mode you can edit program data stored inside the controller There are two programs No 1 and No 2 12 1 Recording Selections and Data Input Programs can be edited using the buttons on the control pad 1 Record buttons Cross shaped up and down Cycle through program numbers in the order No 1 gt 2 gt 1 gt 2 SET es In the EDIT mode start up screen press this button to begin editing sesse 0On the confirmation screen press this button to exit and record changes to settings SPD s On the confirmation screen exit without saving changes to settings MODE gt Press to exit EDI
25. position in the direction on the first axis the 20 pulse position Moves the first axis to the electrical logical origin 4 E command Settings for rotary movement circular interpolation Features This command is to specify the direction and amount in pulses of travel for simultaneous linear travel on two axes This command must always be followed by a drive G command The speed of travel is the minimum speed S of each axis setting The coordinates for the final position are given in pulses only the first and second axes may be set E MCT REE T P2000 FP100 With the center for circular travel set to the 2000 pulse position in the direction on the first axis and the 100 pulse position in the direction on the second axis travel Final coordinates Central coordinates by circular Final coordinates Central coordinates G Ex1 G Travel in a circle to the final position with the center of the circle being given using the relative coordinates 5000 0 measured from the present position travel is always clockwise E W P0 P0 P5000 P0 ans interpolation in a full circle from the present position to the final position Example 1 Second Starting point Ci enter First axis 4 i 10000 15000 21 Tokyo Head office Te l 81 3 5638 8228 SIGMA KOKI E mail in PSE Speier re SHOT 202 204MS User s Manual W 5 K command Settings for linear travel linear inte
26. progresses in the following order 1 Returning each axis to the mechanical origin 2 Execution of the automatic setup movement to the direction 3 Returning each axis to the mechanical origin When the automatic setup is complete you will be returned to the MANUAL mode screen 47 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 20 3 Alarm When an abnormal condition arises for example the magnescale is out of order or a cable is broken an alarm out of order appears with the description of the abnormal condition on the LCD of the controller See Figure 20 1 When an alarm is generated first correct the abnormal condition then clear the Figure 20 1 Alarm example alarm as follows Press the ZERO button on the control pad ALRAM No S1 H Send the reset command U in the HOST COMPUTER mode RESET Turn on the alarm reset signal of the I O connector signal in the REMOTE EXECUTE mode If any of the axes is in an alarm abnormal condition the rest of the axes are not allowed to be driven as well 1 Types of alarms and causes When an alarm is generated check the alarm number that appears on the LCD of the controller to correct the cause of it Here is a list of the alarm numbers nature of the alarms and causes Alarm No Name of alarm Description Remarks 00 Normal Normal S1 Sens
27. pulses Trigger output e Set moving trigger time intervals of trigger output T T Trigger output time intervals Example T T10 Output trigger every 100msec 100 01 seconds when 2 axis stage is in operation 2 axis stage driving pulse 100ms 100ms 100ms Trigger output e Output trigger once when the command is executed T M e Disable trigger output after the command is executed T S 43 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 4 Output trigger according to program output instructions in REMOTE EXECUTE mode In program output setting instructions triggers are output during positioning or when positioning is completed I O input settings are made at the same time Output instruction settings e I O output O to 15 four bit data output e Positioning time trigger output 1 to 10000 intervals of 0 01 to 100 00 seconds e Positioning pulse trigger output intervals of 2 to 3000 pulses Format for output instructions e Set axis for trigger output and positioning trigger pulses I O output data P axis for trigger output P trigger pulses Note Set the movement speed for motorized stages to less tha
28. to settings To cancel the OK settings press the SPD button YES SED Press the SET button to return to MANUAL mode NO SPD gt Press the SET button to select OK then press the MODE CANCEL MODE button Osaka branch Te 81 6 6307 4835 SIGMA KOKI 2 78 6 6807 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 6 3 Memory Switch Settings The controller s internal memory switches are set to suit each of the connected stages Memory switches specify the speed and step angles number of steps for the motorized stage and the logical conditions under which a stage event will be detected For details see 9 Checking and Setting Memory Switches To display the memory switch settings screen in MANUAL mode press the Ctrl and SET buttons simultaneously For the SHOT 204MS press the SET button again after the above action How to operate the buttons for setting the memory switch 1 Cross shaped up button down button 2 Cross shaped right button left button 3 SET button 4 SPD button Cycle through items in descending order No 21 71 70 Cycle through items in ascending order No 70771712 For numeric options move cursor to right digit For numeric options move cursor to left digit Cycle through options for the current item or increase the value of numeric options Cycle through options for the
29. to the previous screen Figure 15 3 Input Signal Monitor Screen Input signals lt Input signal gt Name Parameter INPUT MONITOR O input DIN1 H L DINI H DIN2 H L DIN3 H L DIN4 H L Program number selection PROG H L Program operation start START H L Return to first axis origin ORIG1 H L Return to second axis origin ORIG2 H L Pause PAUSE H L Stop STOP H L First axis clockwise rotation JOG1 H L First axis counter clockwise rotation JOGi H L Second axis clockwise rotation JOG2 H L Second axis counter clockwise rotation JOG2 H L Speed setting1 SPEED1 H L Speed setting2 SPEED2 H L Select axis 1 2 3 4 AXISSEL H L Alarm Reset ALMRST H L 37 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual E 15 3 Example of Output Signal Testing This example illustrates how to check I O connector output signals using the SHOT 204MS Operations From the TEST mode screen press the SET button The selection screen for input signal monitoring and output signal testing will appear Press the top or bottom of the cross shaped button until OUTPUT TEST is displayed After checking the display press the SET button to display the output signal test screen If you press the MODE button at this point you will return to the previous screen Figure 15 4 Output Signal Test Selection Pres
30. used for any specific purposes such as apparatus or systems for transportation vehicular medical aerospace nuclear or undersea repeater use The prior written approval of SIGMA KOKI CO LTD is necessary to reprint or reproduce in whole or in part these materials If these products or technologies are subject to the Japanese export control restrictions they must be exported under a license Japanese government and cannot be imported into a country other than the approved destination Any diversion or reexport contrary to the export control laws and regulations of Japan and or the country of destination is prohibited SIGMA KOKI CO LTD http www sigma koki com Tokyo Head office 119 9 Midori SIGMA KOKI Tokyo Head office Sumida ku Tokyo 130 0021 JAPAN Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail sales sigma koki com Osaka Branch 4 9 28 Nishi Nakajima Yodogawa ku Osaka 532 0011 JAPAN Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail sales osaka sigma koki com Kyushu Sales office 3 17 Hie machi Hakata ku Fukuoka shi Fukuoka 812 0014 JAPAN Tel 81 92 481 4300 Fax 81 92 481 4310 E mail sales kyushu sigma koki com Technology Center 1 1 Yatsukaho Hakusan shi Ishikawa 924 0838 JAPAN Tel 81 76 274 6100 Fax 81 76 274 6103 Percentage of Waste Paper pulp 100 fe Fis Percentage of Waste Paper pulp 70 2008 9 Third edition Contents For your safety ee ee ee ee ee 1 Chapter 1 Before
31. 10 OUT data 2 Trigger output every 100ms 10msx10 4M OUT data 4 One trigger output 9S OUT data 9 Trigger output disabled Speed Speed settings S F R stored in memory switches 1 to 4 are input X If the operating pattern is 30 31 32 40 41 50 99 F N will be input Wait time Enter wait time 0 to 2560 in units of 0 1 seconds K If the operating pattern is 30 31 32 40 41 50 99 2 F N will be input 32 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail ee ieee on 12 4 Example Programs Examples of simple programs are as follow 1 Program Example 1 edited in EDIT mode Starting point 0 0 A 1000 0 B 0 500 C 500 500 D 1000500 E 1500 500 F 2000 500 End point 0 800 G 2000 800 Specified Specified first axis second axis coordinate coordinate Mi SHOT 202 204MS User s Manual W Move to point A at Speed 3 After stopping output trigger Move by linear interpolation to point B at the minimum speed S for Speed 4 and stop After stopping output OUT 1 and trigger then wait for 2 seconds Move 500 pulses on first axis at Speed 4 and stop After stopping output trigger and wait for 1 second This operation is repeated four times Move to point G at Speed 2 and stop After stopping output OUT 2 and trigger Move to end point at Speed 4 After stopping output OUT 0 and trigger 2 Program 2 downloaded from th
32. LineNo Kk k 1 Description of Input Start Stop Signals e PRG input Program settings specifies the number of the program data to be executed e START input Start command for motorized operations program execution begins when signal is ON e PAUSE input Pause command operations are paused while signal is ON and resume when signal is turned OFF e Stop input Stop command for motorized operations programmed operations stop when signal is turned ON e ALMRST input Reset the alarm The error is reset when the signal is turned ON 2 Descriptions of Output Signals while Program Is Running e COMP output program completed ON when motorized operations are complete Signal output as 100ms pulse e BUSY output Busy ON during operations e ALARM output Alarm ON when an alarm is generated L5 Page 47 17 1 3 I O Connector Signals Name no Name acai eee STOP H 39 STOP L 2SC2873 Saua ET Figure 17 4 Control signal Output Circuit a H L Figure 17 5 Control signal Input Circuit Figure 17 6 I O IN1 4 Circuit 10250 52A2JL connector Sumitomo 3M used NC NC 2 2k2 TLP281 Vx No Ac 5 6 7 8 9 10 i 12 13 15 16 ra 18 19 22 23 4 5 7 10 11 12 15 16 17 18 19 0 1 22 23 24 25 2 2k TLP281 COM INO Z 4 Tokyo Head office
33. O in 0 1 um steps DEG in 0 001 degree steps Options At a setting of PULSE or SENSOR Disabled At a setting of MICRO 1 to 1000 0 1 um to 100 um At a setting of DEG 1 to 1000 0 001 degrees to 1 degree lt Settings example gt BASE RATE 40 for a directly motorized stage with screw lead of 2mm Rotation stage Stage XYZ linear stage SKIDS SGSPseries Screw lead 1mm 2mm 6mm 10mm 20mm 25mm Base step angles 0 72 0 72 Travel per pulse at a base step 2um 4um 12um 20um 40um 50um 0 005 BASE RATE 20 40 120 200 400 500 5 29 31 TRG LEV Logical settings for trigger output Specify the logic voltage levels when the trigger is ON Options HI Positive active High o LO Negative active Low Pal LS LEV1 Specify the input logic for the first axis limit sensor LS LEV2 Specify the input logic for the second axis limit sensor LS LEV3 Specify the input logic for the third axis limit sensor 30 32 31 33 134 SSS A 35 LS LEV4 Specify the input logic for the fourth axis limit sensor Select the conditions input logic for the limit sensor for each axis Options NORMAL OPEN Normal open switches ON from default value of OFF when limit sensor is detected o NORMAL CLOSE Normal close switches OFF from the default value of ON when limit sensor is detected pt Motorized stages that support normal open method CGO CKR series etc Motorized stages that support n
34. Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail he A Hi SHOT 202 204MS User s Manual _ 14 Sending and Receiving Program and Memory Switch Data from a Computer Program data and memory switch settings can be edited on a computer and downloaded to the controller SHOT 202 204MS or data can be uploaded to computer and saved to disk 14 1 Control Pad Operations 1 Record buttons cross shaped up and down Select program number or memory switch sone Select UP LOAD or DOWN LOAD SET steer Oin the LOAD mode start up screen press this button to upload or download data genes Press to choose a program number or memory switch sie Press to upload or download data MODE gt Press to cancel selection or upload download the previous screen will be displayed 14 2 Example of Upload and Download Operations This example illustrates how to upload Program No 1 using the SHOT 204MS Operations From the LOAD mode screen press the SET button The selection screen for program number and memory switch settings will appear Press the top and bottom of the cross shaped button until PROGRAM NO 1 is displayed After checking the display press the SET button to display the selection screen for upload and download If you press the MODE button at this point you will return to the previous screen Press the top and bottom of the cross shaped but
35. SHOT 202 204MS User s Manual E Example for Trigger output connection The open collector gate 74LS06 is used for the trigger output circuit in the controller In the Figure 1 the amplitude of the trigger output pulse is 24V because of the DC24V power supply connection Controller DIAL Ee Trigger output pulse Atoa Figure 1 In the Figure 2 the amplitude of the trigger output pulse is 5V because of the 5V power supply connection In this case you need to prepare the 5V power supply Controller p DIAL Trigger output pulse AvVGOd 5V Power supply 5V Figure 2 45 Tokyo Head office Te l 81 3 5638 8228 SIGMA KOKI Fax 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual E 19 Driver Settings Switches for driver settings driving current and stopping current are Figure 19 1 Base of SHOT 204MS found in the base of the controller case Ene driving stop torque of the motors change by settings of each switch Q Q i l Il Il Il Il i The number of steps for the drivers is set with DIVIDE of the memory switch of the controller 3 Settings switches 19 1 Division Settings If the base step full step angle is to 0 72 degrees the stepping motor makes one full turn every 500 pulses The motor is said to have a minimum analytic capacity of 0 72 degrees if the motor
36. T mode a confirmation screen will be displayed eases In the confirmation screen displayed at completion of EDIT mode operations press MODE to return to EDIT mode 2 Data entry buttons cross shaped up gt Scroll through program line numbers in descending order No 5 4 gt 3 gt 2 cross shaped down Scroll through program line numbers in ascending order No 1 2 gt 3 4 cross shaped right Move the edit cursor to the right cross shaped left Move the edit cursor to the left SET s Make changes to the selected item numerical data increases SPD Make changes to the selected item numerical data decreases Figure 12 1 EDIT Mode Screen 12 2 Editing Programs An Example This example illustrates how to edit programs with the SHOT 204MS Operations From the EDIT mode screen press the SET button The program number selection screen will appear Figure 12 2 Program Number Selection Select a program number by pressing the top or bottom of the cross shaped button Press the top or bottom of the button to cycle through settings EDIT MODE No 1No 2No 1 PROGRAM NO 1 In this example position data will be recorded in Program No 1 Press the SET button when PROGRAM NO 1 is displayed The screen will Fi 12 3 Editing Programs change to program data Edit mode S PRESEN Edit Data Data are separating by commas Move the cursor using the right and left
37. T4 Set the control method for the fourth axis Set the control method open loop or closed loop method for each axis Options OPEN open loop control method CLOSE closed loop control method 68 INPOS1 set the in position range of the first axis when the closed loop method is selected 69 INPOS2 set the in position range of the second axis when the closed loop method is selected 70 INPOS3 set the in position range of the third axis when the closed loop method is selected 71 INPOS4 set the in position range of the fourth axis when the closed loop method is selected Set the in position range range of the positioning stop at the time of positioning for each axis when the closed loop is selected range 0 99 degrees Ideology of the in position range 0 99 The value specified for the in position range completes the positioning if the travel reaches this range against your travel instruction The range of 0 99 was determined based on 0 5 um the precision per pulse from the magnescale lt Examples gt Set value 0O range from0 0 5um Set value 1 1 x 0 5 range of 0 5um Set value 99 99x 0 5 range of 49 5 um 18 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com HE SHOT 202 204MS User s Manual 10 Using a Computer to Position Motorized Stages The controller can be connected to a computer using an RS232C GP Motorized stages can then be precisely con
38. Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 17 2 STAGE1 4 Connector No Name Blue motor wiring Red motor wiring Orange motor wiring Green motor wiring Black motor wiring GND sensor common ORG mechanical origin detection No Name 9 Figure 17 6 Sensor Input Circuit 10 11 LS limit detection on 5V 12 LS limit detection on 74LS14 g ZS equiualert 13 GND sensor common 14 NEAR proximity detection wert Bo Zz 15 12V sensor power supply J a INIO A O Pp 12V sensor power supply Female XM2F 1510 connector OMRON products used 17 3 SCALE1 4 Connector No Name No Name 1 5V 120mA 6 NC 2 5V 70mA 7 NC 3 GND 8 ALARM output 4 Phase A input 9 GND 5 Phase B input 10 GND TCS7705 012010 connector Hosiden Corporation products used 17 4 RS 232C Connector No Name No Name 1 6 DTR 2 TXD 7 CTS 3 RXD 8 RTS 4 DSR 9 fa 5 SG XM2C 0912 112 connector OMRON products used 17 5 USB Connector No Name No Name 1 3 DATA 2 DATA 4 GND XM7B 0442 connector OMRON products used 17 6 Control Pad No Name No Name 1 DATA 4 5V 2 5 CLK 3 GND 6 TCS7668 01 201 connector Hosiden Co
39. UNIT Select the units used for display third axis 19 19 20 20 21 we Se So OS 22 STAGE4 UNIT Select the units used for display fourth axis Choose the units used to display position coordinates of LCD Options PULSE 999999999 displays number of pulses O MICRO 99999999 9 i DEG 999999 999 2 SENSOR 999999 9 3 only SHOT 204MS 21 NOT USE 22 23 DIVIDE1 Select number of steps for 1st axis DIVIDE1 M2 for SHOT 202 select number of steps for 1st axis 23 NOT USE 24 24 DIVIDE2 Select number of steps for 2nd axis DIVIDE2 M2 for SHOT 202 select number of steps for 2nd axis 25 DIVIDE3 Select number of steps for 3rd axis 6 DIVIDE4 Select number of steps for 4th axis Input the value for the number of steps for each axis Options 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 BASE RATE in 0 1m steps 10 x travel per pulse in um Number of steps DIVIDE 16 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com Hi SHOT 202 204MS User s Manual 27 27 BASE RATE 1 Travel per pulse at the base full step for the first axis 28 28 BASE RATE 2 Travel per pulse at the base full step for the second axis 29 BASE RATE 3 Travel per pulse at the base full step for the third axis 30 BASE RATE 4 Travel per pulse at the base full step for the fourth axis Input the travel per pulse at the base full step for each axis MICR
40. Y STAGE3 4 5 5 RUN Set the drive current to 0 75A from motor SGSP MS 33 100XY 0 75A 50 STOP Set the stop current to 51 of the drive current 7 SIGMA KOKI Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 6 Turning the Controller On The controllers can be connected to a variety of different motorized stages Figure 6 1 SHOT 204MS Power Switch XYZ linear stages rotation stages and gonio stages on from one to four axes using dedicated cables Examples are shown in figures 6 2 and 6 3 Figure 6 2 SHOT 202 LCD Display Figure 6 3 SHOT 204MS LCD Display SHOT 202 ROM SHOT 204MS ROM pie Ver1 00 Ver1 00 OFF ON lt SHOT 204MS Operating Mode Display gt H HOST COMPUTER NODE KOST E when P R command is executed SPEED P PROGRAM will appear lear M MANUAL pam R REMOTE EXECUTE T TEACHING PROGRAM E EDIT Operating Limit sensor L LOAD mode display mode display S TEST 6 1 Operating Mode at Power On Figure 6 4 Control pad CJ 200 The operating mode at power on depends on the MODE SEL L memory switch setting which is stored in the controller 2 a At shipment the memory switch is set to HOST COMPUTER The fas oe operating mode at po
41. aka branch Tel 81 6 6307 4835 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 2 M command Set number of pulses for relative travel Features This command is to specify the axis of travel direction and the travel number of pulses This command must always be followed by a drive G command Travel is by means of acceleration deceleration driving The distance travelled is specified in pulses Unit of travel M 1 P1000 G M 2 P10000 G M 3 P5000 G M 4 P9000 G M W P500 P200 G M W P50 P20 P30 P100 G Open loop control number of pulses GSHOT 202 204MS open loop Closed loop control um SHOT 204MS closed loop Travel 1000 pulses in the direction on the first axis Travel 10000 pulses in the direction on the second axis Travel 5000 pulses in the direction on the third axis GSHOT 204MS closed loop Travel 9000 pulses in the direction on the fourth axis Travel 500 pulses in the direction on the first axis and 200 pulses in the direction on the second axis SHOT 202 Travel 50 pulses in the direction on the first axis 20 pulses in the direction on the second axis 30 pulses in the direction on the third axis and 100 pulses in the direction on the fourth axis SHOT 204MS open loop The SHOT 204MS carries out the closed loop control if CONT1 4 are set to CLOSE and open loop control if set to OPEN If you have an axis
42. an be stored in memory switches The data stored in the memory switches can be confirmed or changed either by pressing the Ctrl and SET buttons on the control pad or using computer commands See 9 1 Changing Memory Switch Settings I Page 13 9 2 Setting Memory Switches An Example KS Page 14 9 3 Memory Switch Settings for the SHOT 202 204MS K s Page 15 9 4 Memory Switch Settings in Detail K Pages 16 18 Host computer mode HOST H operation Motorized stages can be controlled by sending simple commands from the computer to the stage controller e g Speed D command parallel move M command driver G command See 10 1 Control Pad Operations us Page 19 10 2 List of Commands E gt Page 19 10 3 Command Format KS Page 20 10 4 Commands in Detail I Pages 20 26 Osaka branch Te 81 6 6307 4835 SIGMA KOKI E mail eT nd em 5 Connecting to Motorized Stages The controllers can be connected to a variety of different motorized stages XYZ linear stages rotation stages and gonio stages on from one to four axes using dedicated cables 5 1 Connecting to Motorized Stages First connect the Controller to the motorized stages HE SHOT 202 204MS User s Manual Here is an example of how to connect the motorized stages SGSP MS 20 85XY and SGSP MS 33 100XY to the SHOT 204MS controller lt Connecting the cable for the motorized stages to the controller gt Example Connect a standard
43. ation time Rms Positioning time i time Rms 12 U command Reset alarm Features This command resets the alarm when an error occurs U 1 Resets the alarm for the first axis U 2 Resets the alarm for the second axis U 3 Resets the alarm for the third axis SHOT 204MS U 4 Resets the alarm for the fourth axis SHOT 204MS U W Resets the alarm for the first and second axes first second third and fourth axes for the SHOT 204MS 13 W command Set wait time Features This command specifies the time between stage move operations Values range from 1 to 2550 0 1 to 255 0 seconds W 255 Wait 25 5 seconds before the next move 14 T command Send trigger output Features This command outputs a trigger terminal panel to for each specified position travel pulse or interval Data can be collected by position coordinates or time the pulse width of the trigger signal can be set to 10 ms 100 ms or 1 ms using the WIDTH memory switch T T time value Triggers output at specified intervals Time value 1 to 10000 0 01 to 100 00 seconds T P axis P pulse value Triggers output for the specified axis each time the stage moves the specified number of pulses Axis 1or2 Pulse value 2 to 30000 T S Prevents pulse output T M One trigger is output when this command is received 23 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI E mail in PSE Sc pete re SHOT 202 204MS Us
44. atures This command is used to determine position according to a controller internal program by inputting commands for remote operation in place of external control signals from host computer mode Enter remote execute mode Return to host computer mode No Set program number 1 or 2 No 1 2 Start independent programmed operation Stop independent programmed operation BO OO OO OD Qcecmonuigdz 0 Temporarily suspend independent programmed operation 1 End temporary pause of independent programmed operation 0 Prevent transmission of operation complete COMP signal when programmed operation is completed C1 Allow transmission of operation complete COMP signal when programmed operation is completed X The controller will send the data string COMP when programmed operation is completed P TO Prevent transmission of trigger signal data TRIG when trigger is output P T1 Allow transmission of trigger signal data TRIG when trigger is output X The controller will send the data string TRIG when trigger signal is output 26 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail rg tad a Mi SHOT 202 204MS User s Manual W Chapter 3 Commonly Used Features The basic operations needed to position motorized stages are outlined below with cross references to the sections of the manual in which these operations are described in detail Mastering these operations will acquaint you with SGHOT 202 204MS contro
45. current item or decrease the value of numeric options Pressing the Ctrl ORG ZERO buttons simultaneously resets the memory switch to the defaults factory settings To complete your settings press the MODE button This brings you to the confirmation screen where the SET button is pressed to store the changed data and exit from the screen You will be returned to the initial screen of the Manual mode To exit with the changes cancelled press the SPD button To cancel the exit and set the memory switch again press the MODE button Each motorized stage requires different memory switch settings It may not work without the required settings See the table below indicating the settings required for each motorized stage to work properly For the SHOT 204MS press the SET button and select OK then press the MODE button again You will be returned to the initial screen of the MANUAL mode Each motorized stage requires different memory switch settings It may not work without the required set tings See the table below indicating the settings required for each motorized stage to work properly Memory Switch No Settings to Action 202 204MS be made 14 14 AXIS Set it to the number of the motorized stages to be connected Set the input logic of the limit sensor 30 31 3295 LS LEV Select NORMAL CLOSE to connect a motorized stage of the SGSP SGSP MS series Set the m
46. current item or decrease the value of numeric options seesseesossesssessssessse After changes to settings have been completed cancel changes to settings and exit 5 MODE button ssessssssssssessesesssee Press to end changes to settings a confirmation screen will be displayed stot eeeeeeseeeeeseenenes Exit confirmation screen and return to memory switch settings screen 6 Ctrl ORG ZERO buttons restore memory switch settings to factory defaults 13 Tokyo Head office Tel 8 3 5638 82 28 SIGMA KOKI E mail in Pt OE Speer nie SHOT 202 204MS User s Manual W 9 2 Setting Memory Switches An Example Here you will change the detection method logic of the limit sensor from normal close to normal open as an example of memory switch settings In this example we will change LS LEV1 memory switch setting item from NORMAL CLOSE to NORMAL OPEN D The detection method of the limit sensor depends on the motorized stage used Motorized stages that support the normal open method CGO CKR series etc Motorized stages that support the normal closed method SGSP and SGSP MS and TSDM series y Normal open is defined as OFF when the limit sensor is not detected and ON when it is detected the signal state defaults to OFF as long as the limit sensor is not detected Normal close is defined as ON when the limit sensor is not detected and OFF when it is detected the signal s
47. e computer after editing Starting point 0 0 A 900 0 B 400 500 C 800 500 D 1300500 E 2000 500 Output trigger for every 200 pulses moved End point 0 800 F 2000 800 Specified second axis coordinate Output instruction Line Operating ae number pattern coordinate Move to point A at Speed 3 After stopping output OUT 0 no trigger output Move by linear interpolation to point B at the minimum speed S for Speed 4 and stop After stopping output OUT 1 and trigger then wait for 2 seconds Wait until input condition l 1 Move to point E at Speed 4 and stop After stopping output trigger output Output trigger when passing points C and D Move to point F at Speed 2 and stop After stopping output OUT 1 no trigger output Move to the end point at Speed 4 outputting a trigger for every 200 pulses moved on the first axis After stopping output OUT 2 Speed setting Wait time Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 SIGMA KOKI E mail A E PAN con SHOT 202 204MS User s Manual W 13 Programmed Operation of Motorized Stages Programs edited in edit mode or downloaded from a computer can be used to operate motorized stages by means of commands received from the computer or by signals from the I O connectors on the rear Figure 13 1 LCD Display during panel There are two programs No 1 and No 2 As end of op
48. er s Manual E 15 C command Free hold motor Excitation ON OFF Features This command is used to excite the motor or to turn excitation off making it possible to move rotate stages manually The options available are 0 free motor and 1 excitation hold motor C 10 Free first axis motor C 21 Excite hold second axis motor C 31 Excite hold third axis motor SHOT 204MS C 40 Free fourth axis motor SHOT 204MS c w1 Excite hold both the first and second axis motors excite all of the first second third and fourth axis motors when SHOT 204MS is used 16 S command Changing the number of steps Features Use this command to change motor step angle number of steps Select one of the following 15 step angles built into the driver First specify an axis then set the value Note If the closed loop control is selected the travel per pulse must not be more than 0 54m 0 05 um recommended S 180 Divides the step angle of the first axis into 80 angles S 280 Divides the step angle of the second axis into 80 angles S 380 Divides the step angle of the third axis into 80 angles SHOT 204MS S 480 Divides the step angle of the fourth axis into 80 angles SHOT 204MS If the base step full step angle is to 0 72 degrees the stepping motor makes one full turn every 500 pulses The motor is said to have a minimum resolution of 0 72 degrees if the motor moves 10 mm for each turn minim
49. eration program execution signals are output when each operation is completed programmed operation can be used for easy remote control while confirming the Prg No 1 operating condition of each stage The LCD display during Line No programmed operation shows the program number and the line currently being executed see right 13 1 Starting Programmed Operations from a Control Pad Pressing the Ctrl and STOP buttons simultaneously when no 5 comput l ignal i t ill start programmed operation oaa puter or I O signal is connec ed will sta P og p i l A S Note that the program number is set by I O signals even during 20 ao es control pad operations A on A Program No 1 is selected when no I O signals are connected 13 2 Starting Programmed Operations from a Computer STOP button When starting programmed operations from a computer you can perform motorized operations positioning following the instructions in the program by sending remote execute commands from host computer mode in place of external control signals The available commands are shown below P R Enter remote execute mode P H Return to host computer mode P P AXIS Set program number 1 or 2 AXIS 1 2 P S Start independent programmed operation PE Stop independent programmed operation P UO Temporarily suspend independent programmed operation P U1 End temporary pause of independent programmed operation P CO P
50. ethod of returning to the mechanical origin for each axis 39 40 47 50 ORG SEL Select the MINI method to connect a motorized stage of the SGSP SGSP MS series If you connect motorized stages of the SGSP MS series to the SHOT 204MS set the memory switches according to the following table Memory Settings to be made Motorized stages of the SGSP MS series Switch No 20 1mm lead 26 2mm lead 33 6mm lead 46 10mm lead Travel per pulse 0 025ym pulse notes 0 05ym pulsernote 3 0 15pm pulse ote 3 0 25 M pulse note 3 19 22 STAGE UNIT MICRO MICRO MICRO MICRO 23 26 DIVIDE 80 80 200 250 27 30 BASE RATE 20 2 0um 40 4 0um 120 12 0um 200 20 0um 32 35 LS LEV NC wote1 NC wote1 NC wote1 NC wote1 64 67 CONT CLOSE note2 CLOSE note2 CLOSE ote2 CLOSE note2 68 71 INPOS 2 2 2 2 Note 1 NC NORMAL CLOSED NO NORMAL OPEN Note 2 For CONT one of the settings to be made select either the open loop control or closed loop control Note 3 If you select the closed loop control make sure to set the number of steps DIVIDE so that the travel pulse is not more than 0 5um 0 05um recommended For a stage of the SGSP MS series fix the number to 80 Idea of the number of steps DIVIDE and base rate BASE RATE They are set so that the travel on the LCD agree with the actual travel BASE RATE in 0 1m steps 10 x travel per pulse in ym Base rate BASE RATE
51. he event that you should find that any item is missing or damaged Stage Controller Manual Two axis STAGE CONTROLLER 2 3meter AC power cable Sample software option http www sigma koki com I O signal connector Control pad CJ 200 option option Zo B lt 20 9 vo tame O Se product number 10150 or 10350 equivalent Sumitomo 3M product o OOA 2 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com HE SHOT 202 204MS User s Manual 2 Overview The SHOT 202 is a stepping motor drive two axis stage controller with build in drivers suited for measurement and device control applications The SHOT 204MS is a magnescale ready four axis stage controller for full closed loop control Compatible with existing models this controller offers excellent applicability across a wide range of requirements at a low cost When the SHOT 202 204MS is connected to an ordinary personal computer via an RS232C GP IB or USB interface the stage can be accurately moved to the desired position by simple commands sent from thePC Also it is possible to save internal data via program data downloads and uploads The program hasbeen simplified for ease of construction of complicated control systems Internal power supply for I O Input Output signals trigger output signals and DC 24V output signals makes it possible to control ex
52. herwise the operation is abnormal operation 41 circular interpolation setting the center coordinate Input the center coordinate for the circular interpolation operation You must input the operating pattern 40 before the operating pattern 41 otherwise the operation is abnormal operation Example i Specified Specified Bh E Operating first axis second axis mii Spaa Wait time P coordinate coordinate g E 10 Specified first axis 4 o o0 10 End coordinate 0 pulse current position Center coordinate 2000pulses Specified second axis End coordinate 0 pulse current position Center coordinate 100 pulses Moving speed 1 After stopping the stages OUT1 trigger outputs are generated and wait for 1second 50 Select specified axis SHOT 204MS Select the two driving axes Program after this line number 50 drives the specified first axis and the specified Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI _72x 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual E second axis Specified Specified Pret er beat first axis second axis i ae m Wait time P coordinates coordinates u 9 E 5 3 4 1 Program after this line number 50 operates the specified first axis stage 3 and the specified second axis stage 4 99 End of data This pattern must be entered in the last line of the program no operati
53. hird axis Fourth axis Three character coordinates coordinates ACK1 eee X Command or parameter errors coordinates K Command received normally ACK2 oee SHOT 202 L First axis stopped at LS M Second axis stopped at LS W First and second axes stopped at LS K Normal stop SHOT 204MS 1 to E LS stop axis display Example 1 1 1 First axis stopped at LS coordinates X Example 2 E Second third and forth axis stopped at LS W First second third and forth axis stopped at LS K Normal stop R Alarm stop To check the factor use the L command ACK3 eeey B BUSY L I O Q and P commands can be received R READY all commands can be received Coordinate values for each axis have a fixed length of ten digits including symbols symbols are left aligned coordinates values right aligned 2 command Status 2 Features On receipt of this command the controller returns the stage operating status It ACK3 ceecee Data returned ACK3 Ceres B BUSY L I O Q and P commands can be received R READY all commands can be received 3 command Request for internal information Features This command returns controller settings Parameter AXIS Parameter Data returned V Version numbers P Travel per pulse D Travel speed M Size of relative linear pulses A Size of absolute linear pulses O Last output Ww Last settings
54. igger signal output 19 SIGMA KOKI Tokyo Head office Tel 8 3 5638 82 28 Fax 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 10 3 Command Format The communications protocol used between the controller and the computer depends on the memory switch COMM ACK ils When COMM ACK is set to MAIN new system A protocol is used in which one response is issued for each command Command string receive Response string sent The response string when a command is received normally is OK that when the command was not received NG In some cases for example in response to confirmation commands data will be returned instead of OK Commands should only be sent after checking the internal status of the controller When COMM ACK is set to SUB old system A protocol is used in which the controller does not respond to each command Data will however be returned in response to some commands such as confirmation commands To determine whether or not a command was received normally use the Q command to check status 10 4 Commands in Detail Commands are categorized as follows 1 Control commands 1 drive commands 2 Control commands 2 settings 3 Confirmation commands 4 I O commands 5 Other commands 1 Control commands 1 drive commands 1 H command Return to mechanical origin Features
55. igin sensor limit sensor sensor MINI system When the command is given to detect the mechanical origin the stage begins moving clockwise i e in the direction at the P Operating speed F operating speed F specified in the memory switches stopping cw when the clockwise limit sensor is detected It then moves CCW Move 1000 pulses at operating speed counter clockwise i e in the direction at the operating speed F CW Starting speed S for 1000 pulses After stopping it begins moving clockwise i e in pa CCW 7 Move 1000 pulses at operating speed Stage the direction once more at the starting speed S stopping when the clockwise limit sensor is reached It then moves counter clockwise i e in the direction at the operating speed F for 1000 pulses This position is taken as the mechanical origin SGSP series CW limit sensor Standard system SIGMA KOKI Fax 81 6 6307 4834 When the command is given to detect the mechanical origin the stage begins moving clockwise i e in the direction at the starting speed S specified in the memory switches When the origin proximity sensor is detected speed is reduced to 1 10 The stage continues moving in clockwise i e in the direction until the origin sensor is detected at which point I o ma Origin sensor Origin proximity the stage stops sensor 1 10 starting speed S Starting speed S Os
56. in 204MS that is not driven you need to designate PO for that axis M W P100 P0 P200 P0 Travel 100 pulses in the direction on the first axis 200 pulses in the direction on the third axis move and the second and fourth axes are not driven 3 A command Set number of pulses for absolute travel Features This command is to specify the axis of travel direction and the travel number of pulses This command must always be followed by a drive G command Travel is by means of acceleration deceleration driving The distance traveled is specified in um or the number of pulses depending on the control method This command also returns the axis to the electrical logical origin Unit of travel A 1 P2000 G A 2 P30000 G A 3 P500 G A 4 P200 G A W P1000 P2000 G A W P10 P20 P30 P400 G A 1 P0 G Open loop control number of pulses SHOT 202 204MS open loop Closed loop control um SHOT 204MS closed loop Travel to the 2000 pulse position in the direction on the first axis Travel to the 30000 pulse position in the direction on the second axis Travel to the 500 pulse position in the direction on the third axis SHOT 204MS closed loop Travel to the 200 pulse position in the direction on the fourth axis Travel to the 1000 pulse position in the direction on the first axis and the 2000 pulse position in the direction on the second axis SHOT 202 Travel to the 10 pulse
57. ing the driver switches Adjust the driver switch located on the bottom of the controller for each of the connected motorized stages For details see Section 19 Driver Switch Settings 5 3 1 Setting the drive current rotary volume RUN Set the current for running motors by adjusting the position of the rotary volume RUN according to the following table The required driving current depends on the stage to be used Make the settings according to the rated current value specified on a side of the stage SW No 0 1 2 3 4 Current value A 0 25 0 27 0 32 0 5 0 66 0 75 0 86 1 25 10 G z 1 4 4G et 0 10 5 3 2 Setting the stop current rotary volume STOP Set the current for motors at rest by adjusting the position of the rotary volume STOP according to the following table Each figure in this table indicates a percentage of the drive RUN current value you set The stop current is factory set to 5 50 10 ty 6 88 JE 1 9 0 10 SW No 0 1 2 3 4 5 6 4 8 9 20 24 27 37 41 51 60 68 5 80 lt RUN and STOP settings examples gt Examples RUN STOP Settings for Stages 1 and 2 SGSP MS 20 85XY RUN Set the driving current to 0 66A from motor STAGE1 2 4 gt STOP Set the stop current to 51 of the drive current SGSP MS 20 85XY 0 66A 51 Settings for Stages3 and 4 SGSP MS 33 100X
58. iualert Trigger signals can also be output at the completion of motorized stage H positioning allowing instructions to be given to external devices when the stage has reached a specified position Figure 18 2 Trigger Output The following four methods are available for trigger signal output 1 Trigger signals are output once when the ENTER button on the control pad is pressed in MANUAL mode 2 Trigger signals are output once when the ENTER button on the control pad is pressed when positioning information is acquired in TEACHING PROGRAM mode 3 Trigger signals can be output according to control commands from the computer in HOST COMPUTER mode Use the T command to trigger output by command in HOST COMPUTER mode T command settings e Time trigger output interval 1 to 10000 intervals of 0 01 to 100 00 seconds e Pulse trigger output interval 2 to 30000 pulse intervals e Axis for trigger 1to2 T command format e Set the axis for trigger output and the trigger pulse interval during positioning T P axis for trigger output P trigger pulse interval Note Set the movement speed for motorized stages to less than 56KPPS when using the above commands Trigger signals may not output at speeds of over 56KPPS Example T P2P5 Output trigger every 5 pulses when 2 axis stage is in operation 2 axis stage driving pulse 5 pulses 5 pulses 5
59. ive ar OL positional coordinates will be displayed as long as the ENTER button is 789 OL held down as shown in Figure 11 4 At the same time the following operations are performed Figure 11 4 Entering Position Data The relative positional coordinates for axes 1 and 2 are recorded in Program 1 The relative positional coordinates for axes 1 through 4 are Line No transmitted to the computer ZC lOO Ohne S Example of transmission format 1234 100 0 789 The current coordinates are transmitted to external devices if the m POSUT memory switch is set to allow transmission of data to external devices POSOUT ON Transmission enabled F POSOUT OFF Transmission disabled Line No 2 A pulse is output from the trigger output terminal in the 1000900222 Ome terminal panel on the rear panel The relative positional coordinates for any number of points can be entered by repeating the above operations 4 Press the MODE button when entry is complete Line No 3 The confirmation screen shown in Figure 11 5 will appear with the 500 550 0 100 display YES SET NO SPD CANCEL MODE Press the MODE button to make further changes to position data Press the SPD button to exit without saving position data Figure 11 5 Confirmation Screen OK 5 Press the SET button Position data will be saved and the initial screen for TEACHING PROGRAM mode will be displayed SPD CANCEL
60. l international sigma koki com MODE CtrI MODE Cross shaped button SET SPD 12 Mi SHOT 202 204MS User s Manual W 8 Using the Control Pad to Position Motorized Stages In MANUAL mode Motorized stages can be positioned using the buttons on the control pad Memory switch settings can also be changed Figure 8 6 MANUAL Mode Display 1000 L 8 1 Using a Control Pad to Control Motorized Stages 40000 L 1000 L 10000 L Motorized stages can be controlled using the buttons on the control pad oy 1 Cross shaped drive button Right Move first axis in direction forward rotation Left Move first axis in direction reverse rotation Up Move second axis in direction forward rotation Down Move second axis in direction reverse rotation Ctrl right Move third axis in direction forward rotation SHOT 204MS only Ctrl left Move third axis in direction reverse rotation SHOT 204MS only Ctrl up Move fourth axis in direction forward rotation SHOT 204MS only Ctrl down Move fourth axis in direction reverse rotation SHOT 204MS only 2 Speed button SPD Cycle through SPEED1 2 3 4 settings stored in memory switches 1 gt 2 gt 3 gt 4 gt 1 3 Clear coordinates button ZERO Reset position coordinates for all axes to zero 4 Mechanical origin button ORG
61. llers and their operation 11 Recording Positions in TEACHING Mode 12 Editing Programs in EDIT Mode 13 Programmed Operation of Motorized Stages 14 Sending and Receiving Program and Memory Switch Data from a Computer 15 Testing I O Signal Connections i Determining positions in TEACHING PROGRAM mode TEACHING T Coordinates can be recorded in a program by moving motorized stages to the desired position and pressing the ENTER button in TEACHING mode See 11 1 Recording Selections and Operating Motorized Stages I Page 28 11 2 Example of Entry Operations in TEACHING PROGRAM gy 5 gt Pages 28 29 Mode Editing programs in EDIT mode EDIT E In EDIT mode you can edit and record patterns of operation coordinates for the first and second axes output directions speed settings and wait times See 12 1 Recording Selections and Data Input KF Page 30 12 2 Editing Programs An Example Pages 30 31 12 3 Explanation of Program Data Is Page 31 32 12 4 Example Programs I s gt Page 33 Operating motorized stages in REMOTE EXECUTE mode REMOTE R Control motorized stages by selecting executing pausing and terminating programs via control signals from the I O connectors on the rear panel The same operations can be performed using computer commands See 13 1 Starting Programmed Operations from a Control Pad Ws Page 34 13 2 Starting Programmed Operations f
62. mit sensor by the memory switch are limited only to switching direction limit sensor LS and direction limit sensor LS The near point detection sensor and the mechanical origin are fixed to NORMAL OPEN 14 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail he A 9 3 Memory Switch Settings for the SHOT 202 Mi SHOT 202 204MS User s Manual W Memory switch settings will return factory defaults if you press the Ctrl ORG and ZERO buttons simultaneously No 202 01 02 03 04 05 06 07 08 09 10 11 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 Memory switch setting display SPEED SEL SPEED1 S SPEED1 F SPEED1 R SPEED2 S SPEED2 F SPEED2 R SPEED3 S SPEEDS F SPEED3 R SPEED4 S SPEED4 F SPEED4 R AXIS INTERFACE BAUDRATE DELIMIT GP IB ADDR STAGE1 UNIT STAGE2 UNIT NOT USE DIVIDE1 M2 NOT USE DIVIDE2 M2 NOT USE NOT USE BASE RATE1 BASE RATE2 TRG LEV LS LEV1 LS LEV2 MOVE1 MOVE2 POSOUT TRG WIDTH MODE SEL ORIGIN1 ORIGIN2 ORG1 SEL ORG2 SEL ORG1 S ORG1 F ORG1 R ORG2 S ORG2 F ORG2 R COMM ACK Range Options 1 4 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 500000 1 500000 0 1000 1 2 RS232C USB GP IB 4800 9600 19200
63. moves 1mm for each turn minimum resolution 1mm 500 pulses 2um You can change the minimum resolution by dividing the motor step angle 1 2 0 36 Micro step angles per pulse Basic step angle full step angle number of divisions Division 4 full 2 half 4 5 8 10 20 25 40 50 80 100 125 200 250 Step angle 072 0 36 0 18 0 144 0 09 0 072 0 036 0 0288 0 018 0 01412 0 009 0 0072 0 00576 0 0036 0 00288 Number of pulses per full turn 500 1000 2000 2500 4000 5000 10000 12500 20000 25000 40000 50000 62500 100000 125000 Resolution 2um dum 0 5um 0 4um 0 25um 0 2um 0 1m 0 08ym 0 05ym 0 04um 0 025um 0 02um 0 016 um 0 01pm 0 008um Example Set Memory switch to 80 to divide step angle by 80 Note 1 If you select the closed loop control make sure to set the number of steps DIVIDE so that the travel pulse is not more than 0 5um 0 05um recommended For a stage of the SGSP MS series fix the number to 80 BASE RATE in 0 1m steps 10 x travel per pulse in um Number of divisions DIVIDE 19 2 Driving Current Settings RUN Current settings for motor rotation can be set by adjusting the position of the RUN rotary volume as shown in the following chart SW No 0 1 2 3 4 5 6 7 8 9 10 G y Amperage A 0 25 0 27
64. n 56KPPS when using the above commands Trigger signals may not output at speeds of over 56KPPS Example OP2P5 I O output data 0 trigger output every 5 pulses while positioning 2 axis stage 2 axis stage driving pulse 5 pulses 5 pulses 5 pulses Trigger output e Set trigger time intervals for trigger output during positioning I O output data T Trigger time Example 2T10 I O output data 2 trigger output every 100msec 10 X 0 01 seconds while positioning 2 axis stage 2 axis stage driving pulse 100ms j 100ms j 100ms Trigger output e Output trigger once when the command is issued I O output data M M can be omitted Example 4M I O output data 4 trigger output once when positioning of 2 axis stage is completed 2 axis stage driving pulse Positioning completed Trigger output e Disable trigger output after the command is executed I O output data S Example 9S I O output data 9 disable output trigger 44 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com WH
65. n data and send to computer agen Output pulse from trigger output terminals on rear panel terminal panel 8 Stop button STOP e Stop all operating motorized stages immediately 11 2 Example of Entry Operations in TEACHING PROGRAM Mode This example illustrates how to enter position data while operating motorized stages using the SHOT 204MS Operations Figure 11 1 TEACHING Mode Screen 1 From the TEACHING PROGRAM mode screen press the SET button to display the program numbers screen Figure 11 2 2 Select a program number by pressing the top or bottom of the cross shaped button Press the top or bottom of the button to cycle through settings No 1 gt No 2 gt No 1 Figure 11 2 Program Number Selection In this example position data will be recorded in Program No 1 Press the SET buttonwhen PROGRAM NO 1 is displayed TEACHING MODE The TEACHING PROGRAM mode screen will appear At this pointthe PROGRAM NO 1 buttons on the controller can be used to operate the motorized stage 28 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail he A Mi SHOT 202 204MS User s Manual W 3 Move the motorized stages to the desired positions using the buttons on Figure 11 3 TEACHING Screen the control pad To record the position of the motorized stage on each axis press the i T lesah OL ENTER button 2 100 OL The relative positions for each axis will be recorded and the relat
66. n to electronic logical origin Features When this command is executed the stage decelerates and stops Set the electronic logical origin for the first axis Set the electronic logical origin for the second axis Set the electronic logical origin for the third axis SHOT 204MS Set the electronic logical origin for the fourth axis SHOT 204MS Set the electronic logical origins for the first and second axis set the electronic origins for the first second third and fourth axis when the SHOT 204MS is used DDUDVIDD Sron 9 L command Decelerate and stop Features When this command is executed the stage decelerates and stops First axis decelerates and stops Second axis decelerates and stops Third axis decelerates and stops SHOT 204MS Fourth axis decelerates and stops SHOT 204MS First and second axis decelerate and stop first second third and fourth axis decelerate and stop when SHOT 204MS is used ame ee T ae ie SON 10 L E command Emergency stop Features This command stops all stages immediately whatever the conditions L E Stop first and second axes immediately stop first second third and fourth axis immediately when SHOT 204MS is used 22 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 11 D command Speed settings Features
67. of the driver inconsistency of the number of steps and others lt Listofthe Status of the input signal gt Input 0 1 2 3 4 5 6 7 8 9 10 if 12 13 14 15 IN1 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON IN2 OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON IN3 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON IN4 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON XOFF indicates that the contact is open and ON that it is closed 2 O commands Output Features Use this command to specify the output OUT 1 4 to the I O connector 6 fo orm Parameter values are from 0 to 15 Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 OUT1 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OUT2 OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OUT3 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON OUT4 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON XOFF indicates that the contact is open and ON that it is closed 5 Other commands 1 P commands Extended commands for remote operation Fe
68. on is performed Start operation according to specified input conditions External four bit I O input signals are monitored and operation is begun under identical conditions I O signal conditions can be input to the coordinates for the first axis see 0 to 15 I commands page 26 F Repeat a block of operations a specified number of times The number of repeats can be input to the coordinates for the first axis 1 to 255 N Marks end of block of operations to be repeated Movement distance on specified first axis Input the relative distance to be moved 9999999 pulses XX If the operating pattern is 30 31 32 99 N will be input Movement distance on specified second axis Input the relative distance to be moved 9999999 pulses XX If the operating pattern is 30 31 32 99 F N will be input Output Determine position for I O or trigger pulse output and output signal on completion Input ranges I O output 0 to 15 see O commands page 25 Trigger T time 1 to 10000 0 01 to 100 seconds interval Trigger P pulses 2 to 30000 pulse interval Example 15 OUT data 15 One trigger output XX If the operating pattern is 30 31 32 40 41 50 99 F N will be input X The following trigger settings can be used when a program is downloaded from a computer OP1P10 OUT data 0 One trigger output for every 10 pulses moved on first axis X Set the speed to less than 56 KPPS when trigger output is used 2T
69. op current Motor excitation Division micro step settings 4 Electrical fast transmit burst immunity 5 Electrical isolation voltage 6 Surge immunity 7 Electrostatic discharge AC 100 120V 200 240V 50 60Hz 10 160VA SHOT 202 300VA SHOT 204MS 5 to 40C 20 to 60C up to 2000m I 2 20 to 80 RH no condensation 270W x297D x118H excluding projections 5 5 kg SHOT 202 6 5 kg SHOT 204MS 2 axis SHOT 202 4 axis SHOT 204MS 999999999 pulses 500kPPS 1PPS 0 to 1000ms Mi SHOT 202 204MS User s Manual W Origin sensor proximity sensor CW limit CCW limit Memory switches can be used to change input logic for limit sensors Open collector output Maximum use conditions DC24V 30 mA RS232C interface Communication Parameters Baud rate 38400 19200 9600 4800 Data bits 8 bits Parity None Stop bit 1 bit Flow control Hardware Delimiters CR LF CR LF GP IB interface Setting address 1 to 30 Delimiters Universal serial bus USB interface DC36V 3 2A non isolated For motor driver CR LF CR LF EOI DC24V 1 0A non isolated external I O power source Terminal panel output motor braking etc DC12V 0 2A non isolated Sensor power source CPU logic circuit Driver IF DC5V 1 0A isolated 4 input points photo coupler input internal resistance 2 2 kQ 4 output points open collector output maximum use conditions DC24V 100mA 14 input points photo coupler inpu
70. or abnormality Generates an alarm when the alarm output of the magnescale is out of order Scale while being monitored Abnormal conditions such as broken wires between the detection head and detector S2 Broken wire detected Generates an alarm when an encoder does not return a signal against the Scale stage slightly moved It detects disconnected connectors mini DIN and others S3 Control abnormality Generates a warning when the axis does not reach the in position after the Scale specified number of controls It detects malfunction of the driver inconsistency of the number of steps and others 48 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com 21 Exterior Dimensions 21 1 Exterior of SHOT 202 Mi SHOT 202 204MS User s Manual W YATIOULNOO J9VLS xe ou _zoz 10Hs swarm Satins Weight 5 5kg 297 270 d e D i Jo U IE Yo e Si FO i EE fst q lai ii T i Weight 6 5kg I L 49 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550
71. ormal closed method SGSP SGSP MS and TSDM series 32 36 33 37 38 39 MOVE1 Direction of travel for first axis MOVE2 Direction of travel for second axis MOVES Direction of travel for third axis MOVEA4 Direction of travel for fourth axis Select the direction for each axis Options POS Positive forward rotation o NEG Negative reverse rotation 1 Deor a Tews 34 40 POSOUT Select data output for TEACHING PROGRAM mode Specify settings for data output to the host computer when the ENTER button is pressed in TEACHING PROGRAM mode Options ON Enabled o OFF Disabled mid 35 41 TRG WIDTH Set the pulse width of the trigger output Specify the pulse width time of the trigger output Options 10 10 uS o 100 100 uS a 1000 1mS 2 17 Tokyo Head office Tel 81 3 5638 8228 SIGMA KOKI Fax 81 3 5658 6550 E mail international sigma koki com SHOT 202 204MS User s Manual E 36 42 MODE SEL Set the initial operating mode at power on Specify the initial operating mode at power on Options HOST host computer mode o MANUAL manual mode P REMOTE remote execute mode 2 TEACH teaching program mode 3 EDIT edit mode 4 LOAD load mode 5 TEST test mode 6 37 43 ORIGIN1 First axis origin detection 38 44 ORIGIN2 Second axis origin detection 45 ORIGIN3 Third axis origin detection 46 ORIGIN4 Fourth axis origin detection Specify whethe
72. p or reduce speed MAIN is used Speed settings D Set S F andR Lal S Alarm reset U Alarm reset D Problem receiving Wait Ww Specify command wait time command NG Trigger output T Trigger output When old system SUB Free motor C Excitation ON OFF eee Switch number of steps S Switch number of steps No response Confirmation Commands Status1 Q Return current position etc Status2 Return B R READY refer to P25 Internal information Check internal information 1 0 Commands When new system MAIN is used Command received normally OK Output O Output to I O connector Problem receiving command NG When old system SUB is used No response Input l Input from I O connector refer to P26 Other Commands Mode change P R Enter remote execute mode P H Enter host computer mode Mode change P P1or2 Specify program number 1 or 2 Wnenmew system Start command P S Start independent programmed operation MAIN is used Stop command P E Stop independent programmed operation Command received Pause command P U0 Pause program normally OK Pause cancel P U1 Cancel program pause Problem receiving Select signal sent on P CO Signals can not be sent at completion of command NG completion of operation programmed operation P C1 Signal is sent at completion of programmed bid og system SUB operation is used Select signal sent on Trigger P TO Trigger signal can not be sent at trigger signal No response output signal output P T1 Trigger signal is sent at tr
73. r to return to the mechanical origin for each axis Options ON Enabled o OFF Disabled a 39 47 ORG1 SEL Specify method used for return to first axis origin 40 48 ORG2 SEL Specify method used for return to second axis origin 49 ORG3 SEL Specify method used for return to third axis origin 50 ORG4 SEL Specify method used for return to fourth axis origin Specify method used when returning to the mechanical origin for each axis Options MARK MARK Sigma method o MINI MINI method 1 NOR standard method 2 41 46 51 56 ORG1 2 SPEED S F R Specify speed when returning to origin 57 62 ORG3 4 SPEED S F R Specify speed when returning to origin Set the speed minimum S maximum F and acceleration deceleration time R when returning to the mechanical origin for the stage on each axis Options S 1 to 500000PPS F 1 to 500000PPS R 0 to 1000ms 47 63 COMM ACK Choose the communication protocol used when communicating with the computer Specify whether the controller will return OK NG in response to command signals sent from the computer in HOST COMPUTER mode Options MAIN New system return OK NG when using RS232C GP IB or USB interface lo SUB Old system do not return OK NG when using RS232C GP IB or USB interface pead 64 CONT1 Set the control method for the first axis 65 CONT2 Set the control method for the second axis 66 CONT3 Set the control method for the third axis 67 CON
74. revent transmission of operation complete COMP signal when programmed operation completed P C1 Allow transmission of operation complete COMP signal when programmed operation is completed The controller will send the data string COMP when programmed operation is complete P TO Prevent transmission of trigger signal data TRIG when trigger is output P T1 Allow transmission of trigger signal data TRIG when trigger is output XThe controller will send the data string TRIG when trigger signal is output 13 3 Starting Programmed Operations Using I O Signals When starting programmed operations from an external device you can perform motorized operations following the instructions in the program by turning START input for in I O signals in the rear control panel ON Pauses PAUSE input signals and STOPS STOP input signals are used to pause motorized operations or for emergency stops There are two programs No 1 and No 2 which can be selecting using I O signals Program No No 1 No 2 I O PRG signals OFF ON Motorized stages can be operated returned to mechanical origin turned clockwise or counter clockwise have their speed settings changed etc by turning I O connector signals on or off End of operation signals output from the I O connectors when each operation is completed make it possible to control stages remotely while confirming the operating condition of each stage 34
75. rom a Computer KS Page 34 13 3 Starting Programmed Operations Using I O Signals KS Page 34 LOAD mode operations LOAD L Upload program or memory switch data to or download program or memory switch data from the controller See 14 1 Control Pad Operations 14 2 Example of Upload and Download Operations K Page 35 14 3 Example of Format for Downloaded Data 14 4 Example of Format for Uploaded Data KS Page 36 TEST mode operations TEST S Check connections and wiring for control signals from the I O connectors on the rear panel See 15 1 Control Pad Operations i Page 37 15 2 Example of Input Signal Monitoring 3 Page 37 15 3 Example of Output Signal Testing 3 Page 38 WD The programs created in TEACHING or EDIT mode are in REMOTE mode executed 27 Tokyo Head office Tel 8 3 5638 82 28 SIGMA KOKI E mail in PSE Sc pele ie SHOT 202 204MS User s Manual W 11 Recording Positions in TEACHING Mode In teaching program mode you can move motorized stages to the desired position using the buttons on the control pad and record position data to an internal program or computer 11 1 Recording Selections and Operating Motorized Stages Using the buttons on the control pad you can select programs record data and operate motorized stages 1 Record buttons Cross shaped up and down Cycle through program numbers in the order No 1 gt 2 gt 1
76. rpolation Features This command is to specify the direction and amount in pulses of travel for simultaneous linear travel on two axes This command must always be followed by a drive G command The speed of travel is the minimum speed S of each axis setting The coordinates for the final position are given in pulses only the first and second axes may be set i Travel using linear interpolation to the 1000 pulse position on the first K Wet P1000 P300 axis and the 500 pulse position on the second axis Final coordinates G 6 J command Jog Features This command drives stages continuously at a constant speed at the starting speed S This command must always be followed by a drive G command Jidt move in the direction on the first axis G JZ move in the direction on the second axis G Ja move in the direction on the fourth axis SHOT 204MS G J W move in the direction on the first axis and in the direction on the second axis SHOT 202 G J W 4 move in the direction on the first axis in the direction on the second and third axis and in the direction on the fourth axis SHOT 204MS G 7 G command Drive Features When a drive command is issued the stage starts moving moves the specified number of pulses and then stops The G command is used after M A J K and E commands G Drive 2 Control commands 2 settings 8 R command Retur
77. rporation products used 17 7 Examples of External Signal Connections Controller Input Circuit Controller 24V Controller Controller Output Circuit X Example of connection when controller internal Controller power source is used 42 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 18 Trigger Signals Figure 18 1 SHOT 202 Rear Panel Trigger signals are output as pulse wave signals when fixed length 3 Sar eae signals from the trigger signal terminals on the rear panel of the Ce OD Oe Q controller TRIG to an external device are set to ON p z z Je oe ef Je o The signal output circuit is shown in Figure 18 2 The trigger signal pulse width the length of time the signal is ON is set in the TRG WIDTH memory switches stored in the controller three TRIG DC24V values lengths are available O jyo You can choose the width of pulse from 10 u sec 100 u sec or 1msec Tot Trigger signals can be output at specified positions or intervals synchronized with the positioning of an motorized stage As a result they can be used to give instructions to an external device during positioning 74LS06 equ
78. rst axis Operate continuously without stopping taking the specified coordinate as a point through which to pass Only one axis may be specified movement on the second axis stops No more than 256 continuous moves should be specified in a row X Set the speed to less than 25 KPPS when trigger output is used 11 Continuous operation specified second axis Operate continuously without stopping taking the specified coordinate as a point through which to pass Only one axis may be specified movement on the first axis stops No more than 256 continuous moves should be specified in a row X Set the speed to less than 25 KPPS when trigger output is used 20 Two axis linear interpolation operation Move simultaneously to the specified positional coordinates on both axis 30 Return to mechanical origin specified first axis Only specified first axis returns to mechanical origin Specified second axis is still stopping 31 Return to mechanical origin specified second axis Only specified second axis returns to mechanical origin Specified first axis is still stopping 32 Return to mechanical origin specified both axes Specified first and second axes return to mechanical origin Input the next two operating patterns for the circular interpolation operation 40 circular interpolation setting the end coordinate Input the end coordinate for the circular interpolation operation You must input the operating pattern 41 next to the operating pattern 40 ot
79. s are used as separators 1 100 1000 200 500 5000 200 1 1 10 EOF Example 35 EOF End of File 1A H or Z ASCII Tokyo Head office Tel 8 3 5638 82 28 Fax 81 3 5638 6550 SIGMA KOKI E mail international sigma koki com SHOT 202 204MS User s Manual W 14 4 Example of Format for Uploaded Data 1 Program data Program data are variable length CSV files comma separation CR LF Variable length data are used Example 1 0 1000 1000 0 1 2 CR LF 2 0 2000 1000 0 1 3 CR LF 3 99 3000 1000 3 0 4 CR LF EOF EOF End of File 1A H 2 Memory switches Commas are used as separators Example 1 100 1000 200 500 5000 200 1 1 10 EOF EOF End of File 1A H Download reference 1 Preparation and check Check that Windows 98 2000 Me XP works with Stage Controller using Hyper Terminal 2 Turn on your computer and Stage Controller 3 Make a program list that you want to send using Note Pad etc and save as text Example of program list 1 0 10000 0 0 4 0 line no operating pattern coordinate of first axis coordinate of second axis 2 0 10000 0 0 4 0 output specification set speed wait time ZU 4 Pressthe MODE button on the control pad to switch to LOAD MODE Press the SET button select the program number you want to download then press the SET button 5 After you choose UPLOAD pressthe SET button Press
80. s the top or bottom of the cross shaped button to scroll through the names of the output signals TEST MODE Press the SET button to change the output signal to L OFF or OUTPUT TEST the SPD button to set the signalto H ONY If you press the MODE button at this point you will return to the previous screen Figure 15 5 Output Signal Test Output signals lt Input signal Name Parameter OUTPUT TEST 1 O output DOUT1 H L DOUT2 H L DOUT3 H E DOUT4 H L Start operation complete MOVE_C H L Return to first axis origin completed ORG_C1 H L Return to second axis origin completed ORG_C2 H L BUSY BUSY H L Alarm ALARM H L DOUT1 IL The control pad is used to set the ON OFF parameter for output signals SET L OFF SPD H ON 38 Osaka branch Tel 81 6 6307 4835 SIGMA KOKI E mail ee ieee on Chapter 4 Specifications 16 Specifications 1 General specifications Power source Voltage fluctuations Consumption Operating temperature Storage temperature Altilude Indoor use only Installation category Pollution degree Ambient humidity External dimensions Weight 2 Performance Controlling axis Coordinate display Maximum driving speed F Minimum driving speed S Acceleration deceleration time R Sensor input Trigger output Interface DC output I O Control signals 3 Driver Specifications Driver type Driving electric current output current Current down st
81. sunlight or vibration Do not touch the product when your hands are wet When unplugging the product pull on the plug rather than the cord Because some electrical change remains after the power has been cut do not touch the input or output terminals for ten seconds after the product has been turned off When connecting peripherals to the product adjust the product s initial setting parameter settings to suit the peripheral Turn off the power before connecting the product to other devices Connection should be performed following the connection diagram Before turning the equipment on or when beginning operations be sure that you can turn the power off immediately in the event that an abnormality should occur The product can only be repaired modified or disassembled by a qualified technician Do not obstruct the product s air vents or other openings For continued protection against risk of fire replace only with same type and rating fuse Fuse replacement is done by a qualified technician 1 Tokyo Head office Tel 8 3 5638 8228 SIGMA KOKI E mail in PL SE Sper A HM SHOT 202 204MS User s Manual W Chapter 1 Before You Begin 1 Package Contents 1 1 Accessories Provided with This Product Purchasers of the Stage Controller should find that the package contains the items listed below Check the package contents using the following checklist Contact your retailer as soon as possible in t
82. t internal resistance 2 2 kQ Program number 1 point Operating commands 1 point Return to origin command 2 points Pause 1 point Emergency stop 1 point Rotation 2 points Reverse rotation 2 points Speed settings 2 points 1 2 3 4 axis switch 1 point compatible with SHOT 204MS 5 output points open collector output maximum use conditions DC24V 20mA Start operation completed 1 point Return to origin operation completed 2 points BUSY 1 point ALARM 1 point bi polar pentagon micro steps system 0 25A phase to 1 4A phase 20 to 88 of the specified output current Motor excitation ON OFF by input signals 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 divisions EN61000 4 4 1995 Level2 When AC1000V 60Hz is applied between the power terminal and the case for one minute at room temperature and humidity no abnormality shall occur EN61000 4 5 1995 Level2 EN61000 4 2 1995 A1 1998 Level2 39 Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 SIGMA KOKI E mail international sigma koki com SHOT 202 204MS User s Manual W 17 Connector Pin Numbers and Signals 17 1 I O Signals I O signals are enabled when the controller s operating mode is set to REMOTE mode Motorized stages can be operated returned to mechanical origin turned clockwise or counter clockwise have their speed settings D eE L changed etc by turning I O connector signals on or off from a 9 remote device Figure 17
83. tate defaults to ON as long as the limit sensor is not detected Operations Press the Ctrl and SET buttons on MANUAL mode simultaneously Figure 9 1 MANUAL Mode Press the SET button again after the above action The memory switch settings screen will be displayed see Figure 9 2 Press the 2 4 down on the cross shaped button until LS LEVI is displayed as shown in Figure 9 3 Figure 9 2 Memory Switch Settings Press the SPD button to display NORMAL OPEN Press the SPD button to change settings in the order NORMAL CLOSE gt NORMAL OPEN Press the SET button to change settings in the order NORMAL OPEN gt NORMAL CLOSE OIRSREEDRSEE 1 Press the MODE button when changes to settings are complete The confirmation screen shown in Figure 9 4 will appear display YES SET NO SPD CANCEL MODE Press the MODE button to return to the memory switch settings screen Press SPD button to cancel changes to settings Figure 9 3 Sensor Detection Options 32 LS LEV1 NORMAL CLOSE Press the SET button Figure 9 4 Confirmation Screen Press the SET button to select OK then press the MODE button OK YES SEI Pressing the SET button saves changes to settings and returns you to NO SPD MANUAL mode CANCEL MODE Note Changes of the detection method logic of the li
84. ternal input or output devices or to output trigger signals synchronized with external measuring devices 3 The SHOT 202 204MS System The SHOT 202 equipped with built in stepping motor drivers forms a low cost space saving system with stepping motor specification automatic stages SGSP series connected to it via standard cables The SHOT 204MS forms a full closed loop controlled system with magnescale specification automatic stages SGSP MS series and the cable detector box unit CH SIGMA connected to it In addition stage equipment can be controlled in a variety of ways using I O and trigger signals The SHOT 202 204MS System Diagram Measuring instrument I O control Computer Interface Data collection External devices RS232C STR Cable GP IB Cable USB Cable Trigger signal I O signal SHOT 202 Stepping motor drive Connecting SGSP stage TSDM series cable DMINIS CA DBCS 15 DC24V Ground AC100 120V 200 240V 50 60Hz with supplied 2 3meter power cable Stepping motor drive SHOT 204MS Magnescale ready T a aeni SGSP MS stage Da CH SIGMA Connecting cable DMINIS CA DBCS 15 DC24V Ground 4 AC100 120V 200 240V 50 60Hz with supplied 2 3meter power cable 3 Tokyo Head office Te l 81 3 5638 8228
85. tes by the symbol inside or next to the circle mark the symbol at left indicates that the product must not be disassembled Symbols inside a black circle mark actions that must be performed to ensure safety The exact nature of the action that must be performed is indicated by the symbol inside the symbol at left is used in cases in which the AC adapter must be unplugged to ensure safety Symbols on the product The symbol mark on the product calls your attention Please refer to the manual in the case that you operate the part of the symbol mark on the product This symbol labeled on the portion calls your attention Symbols Used in This Manual The following symbols are used in this manual This symbol is used to indicate cross references to relevant information in this manual or other documentation This symbol marks items that should be confirmed before an operation or action is performed This symbol marks definitions of terms and other useful information This symbol marks supplementary information This symbol is followed by precautions and directions in using the SHOT 202 This symbol is followed by precautions and directions in using the SHOT 204MS Disclaimer of Liability SIGMA KOKI CO LTD does not accept liability for damages resulting from the use of this product or the inability to use this product SIGMA KOKI CO LTD does not accept liability for damages resulting from the use of this prod
86. the SET button again and the screen will display Receiving and the standby screen for download will appear Start Hyper Terminal on Windows 98 2000 Me XP Select Transfer of text file from Transfer On Transfer of text file screen select the text file you have saved and click Open Hyper Terminal screen displays the text file Press ctr and z onthe keyboard of the computer oOo ON At this stage the program is downloaded from your computer to Stage Controller Upload reference 1 Start Hyper Terminal on a computer with Windows 98 2000 Me XP and set the connection 2 Press the MODE button on the control pad to switch to LOAD MODE Press the SET button select the program number you want to upload then press the SET button 3 When the selection screen for UP LOAD and DOWNLOAD appears select UP LOAD and press the SET button twice 4 Data will be sent to Hyper Terminal At this stage a program is uploaded from Stage Controller to your computer 36 Osaka branch Te 81 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com Mi SHOT 202 204MS User s Manual W 15 Testing I O Signal Connections Test mode is used to monitor input signals from the I O connector and to test output signals from the I O connector Connections to external devices can be checked easily 15 1 Control Pad Operations
87. ton on the control pad CJ 200 to cycle through operating modes in the order HOST COMPUTER MANUAL REMOTE EXECUTE TEACHING PROGRAM gt EDIT gt LOAD gt TEST HOST COMPUTER Press the MODE button while holding down the Ctrl button to cycle through operating modes in reverse order HOST COMPUTER gt TEST gt LOAD gt EDIT gt TEACHING PROGRAM REMOTE EXECUTE gt MANUAL HOST COMPUTER The various operating modes and the buttons used in each mode are outlined below mode device can be controlled via transmission of signals to m another device such as a computer MODE CtrI MODE MANUAL mode device is operated manually using the buttons on All buttons can be used E mode device is controlled by I O signals from an external device MODE CtrI MODE CtrI STOP TEACHING mode position data can be stored as desired and HOST HOST COMPUTER mode and fro i REMOT REMOTE EXECUTE mode remote 4 TEACHING PROGRAM mode transm itted to a computer All buttons can be used EDIT mode EDIT mode edit program data MODE CtrI MODE Cross shaped button SET SPD LOAD mode LOAD mode LOAD upload and download internal data Hl MODE CtrI MODE Cross shaped button SET SPD TEST mode TEST mode TEST confirm input and output of I O control signals Osaka branch Te 8 1 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mai
88. ton until UP LOAD is displayed After checking the display press the SET button The display YES SET CANCEL MODE will appear If you press the MODE button at this point you will return to the previous screen Press the SET button to upload the data for Program 1 to the computer When upload has been completed the message Saving OK will appear and the upload download selection screen will be displayed When a download has been completed the message Receiving OK will appear and the upload download selection screen will be displayed Press the MODE button twice to return to the screen displayed at the beginning of LOAD mode 14 3 Example of Format for Downloaded Data 1 Program data Figure 14 1 LOAD Mode Screen Figure 14 2 Program Number Selections LOAD MODE PROGRAM NO 1 Figure 14 3 Memory Switch Selections LOAD MODE MEMORY SWITCH Figure 14 4 UP LOAD DOWN LOAD Selection LOAD MODE 1 UP LOAD Figure 14 5 Confirmation Screen DATA1 UP LOAD OK YES SET CANCEL MODE Figure 14 6 UP LOAD DOWN LOAD Selection Program data are variable length and are recorded as CSV files comma separation CR LF Example 1 0 2000 1000 0 1 3 CR LF 2 0 1000 1000 0 1 2 CRI LF 3 99 3000 1000 3 0 4 CR LF EOF EOF End of File 1A H or Z ASCII 2 Memory switches All memory switches can be set simultaneously Comma
89. trolled by commands strings transmitted from the computer Note that some of the commands used by the SHOT 202 204MS are different from those used in existing controllers The controller will enter HOST COMPUTER mode the first time IB or USB interface you turn it on See Figure 10 1 10 1 Control Pad Operations Figure 10 1 HOST Mode Display 1000 L 10000 L 1000 L W o o IL Because the controller is controlled from the computer only the mode selection buttons MODE and Ctrl MODE can be used in HOST mode 10 2 List of Commands The following is a list of available commands Command String Details Response Control Commands 1 Drive Commands Return to mechanical origin H Detect mechanical origin When new system Set number of pulses for M Axis of movement direction number of pulses MAIN is used relative movement Command received Set number of pulses for A Absolute coordinates normally OK absolute movement Problem receiving Settings for linear movement E Circular interpolation Move at minimum speed S command NG Settings for rotary movement K Linear interpolation Move at minimum speed S When old system SUB Jog command J Move at minimum speed S is used Drive command G Start No response Control Commands 2 Settings Set electronic logical origin R Set the electronic logical origin to the current position When new system Stop L Sto
90. uct that deviates from that described in the manual including fire earthquakes and other acts of God action by any third party other accidents and deliberate or accidental misuse SIGMA KOKI CO LTD does not accept liability for damages resulting from the use of this product in extraordinary conditions If the equipment is used in a manner not specified by the SIGMA KOKI CO LTD the protection provided by the equipment may be impaired A WARNING YXCAUTION Do not use this product in the presence of flammable gas explosives or corrosive substances in areas exposed to high levels of moisture or humidity in poorly ventilated areas or near flammable materials Do not connect or check the product while the power is on Installation and connection should be performed only by a qualified technician Do not bend pull damage or modify the power or connecting cables Do not touch the products internal parts Connect the earth terminal to ground Should the product overheat or should you notice an unusual smell heat or unusual noises coming from the product turn off the power immediately Do not turn on the power in the event that it has received a strong physical shock as the result of a fall or other accident Do not touch the stage while operation Use dry clothes only for cleaning the equipment Do not leave the product in an enclosed area or in areas in which it would be exposed to direct
91. um resolution 10 mm 500 pulses 20 mm You can change the minimum resolution by dividing the motor step angle 1 2 0 36 Effects of dividing step angle for a motor with a basic step angle of 0 72 degrees and a movement rate of 10 mm per turn Number of steps 1 2 4 5 8 10 20 25 40 50 80 100 125 200 250 Step angle 0 72 0 36 0 18 0 144 0 09 0 072 0 036 0 0288 0 018 0 0141 0 009 0 0072 0 00576 0 0036 0 00288 Number of pulses per full turn 500 1000 2000 2500 4000 5000 10000 12500 20000 25000 40000 50000 62500 100000 125000 Resolution 2um dium 0 5um 0 4um 0 25um 0 2um 0 1m 0 08um 0 05yum 0 04um 0 025um 0 02um 0 016 um 0 01pm 0 008um 24 Osaka branch Te 8 1 6 6307 4835 SIGMA KOKI Fax 81 6 6307 4834 E mail international sigma koki com 3 Confirmation commands 1 Q command Status1 Mi SHOT 202 204MS User s Manual W Features On receipt of this command the controller returns the coordinates for each axis and the current state of each stage 1000 ACK1 ACK2 ACK3 Data returned SHOT 204MS QE 100 200 ACK1 ACK2 ACK3 Data returned SHOT 202 l ii l First axis Second axis Three character coordinates coordinates string data 100 200 100 l gji jiii i First axis Second axis T
92. upload The values used at download and upload are marked with an asterisk as follows 1 1 SPEED SEL Speed selection Choose the initial speed setting used at power on Options 1to4 2 13 2 13 SPEED 1 to 4 S F R Speed settings Set the travel speed of stage minimum S maximum F and acceleration deceleration time R four settings Options S 1 to 500000PPS F 1 to 500000PPS R 0 to 1000ms 14 14 AXIS Specify number of axes controlled Specify the number of stages connected or the number of axis controlled if one axis is selected a second axis can not be controlled Options 1 one axis 2 two axis 3 three axes 4 four axes 15 15 INTERFACE Interface selection Specify the interface used to connect to the host computer Options RS232C RS232C interface o USB USB interface ei GP IB GP IB interface 2 16 16 BAUDRATE Set the baud rate Set data transfer speed for an RS 232C connection Options 4800 4800bps Fo 9600 9600bps Pi 19200 19200bps 2 38400 38400bps 3 17 17 DELIMIT Delimiter selection Choose code used to delimit blocks of data for data transfer Options CR CR o LF LF pij CRLF CR LF 2 EOI EOI used when GP IB interface is selected 3 18 18 GP IB ADDR GP IB address selection Choose the address for a GP IB connection Options 1 to 30 STAGE1 UNIT Select the units used for display first axis STAGE2 UNIT Select the units used for display second axis STAGES
93. value K Last settings value E Last settings value AXIS 1 2 3 4 W Note that V O W E and K have no AXIS 25 Examples V2 00 1 00 S100F1000R200 1000 1000 15 255 1000 1000 0 0 100 100 xX X X t ist Axis 2nd Axis 3rd Axis 4th Axis SIGMA KOKI Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com SHOT 202 204MS User s Manual W 4 i O commands 1 I command Input Features This command checks the status of input IN1 4 to the I O connector and the nature of the alarm l 5 in Value of data returned 0 15 SHOT 202 l 15 00 00 00 00 Value of data returned SHOT 204MS Li tt Alarm numbers of the first through fourth axes 00 S1 Status of the input signal O 15 lt List of the alarms for the SHOT 204MS gt Alarm No Name of alarm Description Remarks In order In order Sensor out of order Generates an alarm when the alarm output of the magnescale is out of order while beingmonitored Abnormal conditions such as broken wires between the detection head and detector Broken wire detected Generates an alarm when the encoder does not return a signal against the stage slightly moved It detects disconnected connectors mini DIN and others Control out of order Generates a warning when the axis does not reach the in position after the specified number of controls It detects malfunction
94. wer Cable and Control Pad Ks Page 7 5 3 Checking Driver Switch Settings i Page 7 Turn on the power switch on the front panel The version number will be displayed in the LCD panel followed by the initialization screen Adjust the memory switch settings for each of the connected motorized stages See 6 1 Operation Mode at Power On KS Page 8 6 2 Operating Mode at Power On K Page 8 6 3 Checking Memory Switch Settings I Page 9 6 4 Settings Examples of the Memory Switches for SHOT 204MS K Page 10 Press the MODE button on the control pad to cycle the controller through the available operating modes in the following order press MODE while holding down the Ctrl key to cycle through mode settings in the reverse order HOST COMPUTER MANUAL gt REMOTE EXECUTE TEACHING PROGRAM gt EDIT LOAD gt TEST HOST COMPUTER gt See 7 1 The Control Pad i Page 11 7 2 Operating Modes and Control Buttons Page 12 Manual mode MANUAL M operation You can move motorized stages in different directions using the cross shaped button on the control pad The remaining six buttons can be used to change speed or return the stage to its mechanical or logical origin See 8 1 Using a Control Pad to Control Motorized Stages K5 Page 13 Manual mode MANUAL M operation Parameter settings for driving each of the motorized stages including settings for speed data transfer and display c
95. wer on can be set to any of HOST te we et COMPUTER MANUAL REMOTE EXECUTE TEACHING ay Dip PROGRAM EDIT LOAD and TEST 6 2 Changing the Operating Mode at Power On Follow the directions below to change the operating mode at power on Figure 6 5 MANUAL Mode All operations use the buttons on control pad CJ 200 Turn the controller on 2 Press the MODE button on control pad to change to MANUAL mode see Figure 6 5 Press the Ctrl and SET buttons simultaneously The display will show the memory switch setting screen See Figure 6 6 Press the Set button again after the above action Press the bottom of the cross shaped button 2 4 until MODE SEL is 01 SPEED SEL displayed as shown in Figure 6 7 1 Press the SET or SPD button to select the desired operating mode Pressing the SET button cycles through settings in the order HOST COMPUTER MANUAL REMOTE EXECUTE TEACHING PROGRAM gt EDIT gt LOAD gt TEST Pressing the SPD button cycles through settings in the order 42 MODE SEL TEST LOAD gt EDIT TEACHING PROGRAM gt REMOTE HOST EXECUTE gt MANUAL HOST COMPUTER After selecting the desired setting press the MODE button Figure 6 6 Memory Switch Setting Figure 6 7 Operating Mode Selection A confirmation screen will appear as shown in Figure 6 8 Figure 6 8 Confirmation Screen Press MODE to make further changes

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