Intelligent Positioner
Contents
1. Caution If operation mode switch CONT is not set to RS 232C only Q and command are effective Please note that L command is not received 14 command Status2 Parameter None Function On receipt of this command the controller returns the stage operating status If the setting is not RS232C ACK3 will return by BUSY Note None Sample I ACK3 Data returned ACK3 B BUSY L Q Commands can be received R READY all commands can be received Caution If operation mode switch CONT is not set to RS 232C only Q and command are effective Please note that L command is not received 34 OP SIGMA KOKI CO ITD 15 command Request for internal information Parameter None Function Note None Sample Parameter ODW lt OBRWND BT ORG Parameter Data returned Users Manual On receipt of this command the controller returns the stage operating status Examples Memory Coordinates value of Position number 1 1000 Memory Coordinates value of Position number 2 2000 Memory Coordinates value of Position number 3 3000 Memory Coordinates value of Position number 4 4000 Memory Coordinates value of Position number 5 5000 Version numbers Pulse number per one rotation Position of CONT switch Position specified value information Checking status of origin 35 V2 00 30000 O pulse 1 RS232C 2 I O 2 Position 2 O Undefined2. 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 CAUTION Do not leave the product in an enclosed area or in areas in which it would be exposed to direct 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 charge 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 settings 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 products air vents or other Openings SIGMA KOKI CO LTD Users Manual Chapter 1 General sp
3. O Before origin 1 After origin SIGMA KOKI CO MM Users Manual Attached products Operation manual This manual STOP terminal connector plug AC 100V cable for Japan domestic use Warranty period of this product is 1 year after shipment During warranty period if the defective caused from our responsibility please return the product to us The repair or replacement of parts will be done by free of charge However in regard to an indirect damage or a damage as a result caused from delivery including lost earnings it is considered to not to be covered under warranty In addition the corresponding defective as following below will be not under warranty 1 Incase the repair remodeling and etc is not done by our company 2 Incase defective cause is not by a reason of hardware Effect of vibration etc 3 In case of the conditions of using storage environment and etc of the product is deviated from the description on quotation 4 Sigma Koki Co Ltd does not accept liability for the damages resulting from fire earthquakes and the other acts of God 5 Consumable and pursuant parts Optical components In case of the other problems occur it is subjected to decide by additional mutual agreement Caution e The partial or total duplication of this document without prior consent from Sigma Koki is prohibited e The content on this document is subject to changed without prior notice e The described company name and produ
4. 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 3 1 Connecting to Motorized stage 3 2 Change Controller setting 3 3 Turning the Controller on 3 4 Other Options Connect the motorized stage using the appropriate cable Connect Power and optional Stop Signal See Connecting to Motorized Stages WS Page 10 Connecting Power Cable L Page 10 Connecting Stop Signal VE Page 10 Adjust the controller settings for the connected motorized stage See Checking the Controller Setting KS Page 11 Turn on the power switch on the front panel Press the Position selecting switch or the Return to origin switch for the respective movement See Movement after input power ls Page 19 Operation of motorized stage VE Page 19 Other information on Power Supply See Operation using external I O Ks Page 22 Operation with Serial Interface ES Page 25 SIGMA KOKI CO LTD Users Manual 3 1 Connecting to Motorized Stage The controller can be connected to a variety of different motorized stages with stepping motors using appropriate cables 3 1 1 Connecting to Motorized Stage First connect the Controller to the motorized stages For connection between the controller and the motorized stage use standard DMINIS CA series or DBCS 15 series cables or equivalent Connect the D s
5. is not between 16 777 214 after running There is an error if running this command when motor field excitation is off A 1 P1000 set to move 1000 pulses in the direction G Drive command 5 J command Jog moving Parameter Function Note Sample axis No direction Axis No 1 or W Direction a moving forward direction E moving forward direction Command to drive stage at the low speed S continuously constant speed It must be followed by a G command This command will be cancelled if running other driving commands such as Pulse Number for relative moving without running G command There is an error if running this command when motor field excitation is off J 1 set Jog movement in direction G Drive command 30 SIGMA KOKI CO ITD Users Manual 6 G command Drive command Parameter Function Note Sample None Execute the motion previously entered and stop after the command is completed There is an error if you issue the command not after the commands like Pulse Number for relative absolute moving or Jog moving or position No command Please issue a new drive instruction after this command There is an error if you run this command without new drive instruction It will end the command normally even if the specified travel value is zero There is an error if running this command when motor field excitation is off G
6. operation or run the Electronic Logical Zero Set Command In some case the status is busy and cannot operate when apply C 10 command C 11 is applicable even when status is busy C 10 Deenergize Motor Free 12 P Position Memory Parameter Function Note Sample Button name Position Button name eq 20 FSP MAP BS Position P and number Number range of P 1 000 000 P 15 000 000 All buttons can be set a position memory by absolute coordinate In case of pulse multiple setting is high it might over the range of P 1 000 000 to P 15 000 000 In case of rotation type setting please add position P B1 P1000 Position of button switch number 2 33 SIGMA KOKTCO TD Users Manual 3 Confirmation commands 13 Q command Status1 Parameter None Function On receipt of this command the controller returns the coordinates for each axis and the current state of each stage If the setting is not RS232C ACK3 will return by BUSY Note J None Sample 100 AKC1 ACK2 ACK3 Data returned LW Axis coordinate number ACK1 X IYYRERIEANDGA 4ALI ACK1 X Command or parameter errors ACK1 K Command received normally ACK2 L LS detect K Normal stop ACK3 B BUSY L Q Commands can be received R READY all commands can be received Coordinate values for axis have a fixed length of ten digits including symbols Symbols are left aligned coordinates values right aligned
7. Drive command 31 SIGMA KOKI CO LTD Users Manual 2 Control command 2 Setting system 7 R command Return to electronic logical origin Parameter Axis name Axis name 1 or W Name of axis to operate Function Set the stopping position as coordinate origin When turn ON power the position becomes origin 0 display position When this command is executed the display value is 0 Set by RS 232C only Note Running this command with neither jogging nor the homing operation performed causes an error Sample R 1 set the electronic logical origin 8 L command Deceleration and Stop Command Parameter Axis name Axis name 1 or W Name of axis to operate Function When this command is executed the stage decelerates and stops Note This command is effective only when the stage is operated by a Relative Absolute move pulse count set command Positioning set command Origin command If the stage is not operated this command finishes normally without the stop operation During jogging this command stops the jog operation Sample L 1 Stops axis drive 9 L E command Emergency stop Parameter None Function This command stops all stages immediately whatever the conditions Sample L E Stop immediately 10 D command Speed settings Parameter Axis name Minimum speed Maximum speed Acceleration Deceleration time Axis name 1 or W Name of axis to oper
8. Fixed to OFF Fixed to OFF XD Shaded fields are factory default setting 14 SIGMA KOKI CO ITD srs Manual 6 F value setting SW 12 Maximum speed F is set with this switch Refer to figure 3 2 2 The value set here and the value set at SW14 7 Pulse Multiplication Factor are both multiplied to obtain the pulse rate PPS sent out to the micro step driver The maximum number of pulses acceptable by the built in driver is 500K PPS Make sure that 6 F value x 7 Pulse Multiplication Factor does not exceed 500K PPS sweat OON Jor oN sm sten down e800 760 807 6 soo 6500 6001 650 enge e s00 8500 800 850 o s00 9500 900 950 B 11000 12000 1100 1200 D 15000 16000 1500 1600 E 17000 18500 1700 1850 F 20000 220001 2000 2200 6 F value x 7 Multiple f une PPS ett First apo or 1 Division Speed of F value o U i 45 40 35 30 25 20 S pps 15 10 Setting of o I lt Tim msec i ES ee ERE PE O 2 4 6 8 10 _ switch R msec Fig 3 2 3 Relation of S value Fig 3 2 2 Relation of F S and R values switch setting and of F value siema KOKTCO iD Users Manual 7 Pulse Multiplication Factor setting SW 14 The switch is used to set the number the pulse numbers are multiplied by 6 F value setting 9 Pulses for one rotation setting 10 S value setting 11 Backlash correction value setting Above parame
9. Intelligent Positioner GIP 101 User s Manual Ver 3 3 OP SIGMA KOKI CO ITD SIGMA KOKI CO ITD Users Manual _ Application This user s manual is applied for GIP 101 Intelligent Positioner Revision History First version April 8th 2008 Second version August 6th 2008 Third version July 1st 2009 Version 3 1 July 6th 2009 Version 3 2 July 17th 2009 Version 3 3 March 30th 2010 Notes regarding these materials These materials are intended as a reference to assist our customers in the use of the SIGMAKOKI CO LTD products that are best suited for 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 damages 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 the information on our products at the time of publication of these materials and are subject to change without notice due to product improvements or for other reasons by SIGMA KOKI CO LTD The prior written approval of SIGMA KOKI CO LTD is required to reprint or reproduce in whole or in part any of these materials SIGMA KOKI GO TD Users Man
10. N after movement to command position 2 Input positioning command 1 while status of input positioning command 2 is ON Indefinite do not input 2 position commands at the same time Input stop signal Open input In case of motorized stage is stopping there will be no change Input stop command during moving Open input READY output is continuously OFF when motorized stage stop Please do an error processing to upper level by timer 10 Input positioning command 2 and positioning command 1 during motorized stage moving The movement of motorized stage is started when READY output is OFF After movement to command position 2 READY output is ON Start movement of motorized stage immediately when READY output is OFF After movement to command position 1 READY output is ON Keno If Stop command is input READY output will not change to ON Even though Operation changing switch CONT has I O signal Stop switch of Panel is effective on constant basis 23 SIGMA KOKI CO ITD Users Manual Pin number IL Origin command input ee 2 CEM Position command 1 input Position command 2 input Position command 3 input Position command 4 input Position command 5 input Maximum rating of 13Pin 14Pin i Maximum applied voltage 27V READY output b Please do not apply reverse voltage 244 GND gt FG case and the same electrical potential Circuit inside Controller Fig 3 4 3 I O connecto
11. ON Power off when this switch is turned OFF Make Return to origin movement Immediately stop the motorized stage Uses same signal line with 7 Stop signal connector Motorized stage is driven to extent that this knob is turned When rotated right and left while pushing the knob the motorized stage is driven at high speed according to the angle of the knob It is used to drive the motorized stage to memorized position The motorized stage is driven to the memorized position according to O signals The controller normally operates in Short circuit condition The motorized stage immediately stops in Open circuit condition Uses same signal line as button 3 Emergency stop button origin procedure is required before restart This function is effective regardless of the setting Return to of the Operation mode switch Used to select the operation mode RS232C Operated from PC via serial interfaces FRONT PANEL Operated by buttons and switches placed in front panel O Operated by signals from O connector Connector is used for serial communication with PC Connection for cable to the motorized stage SIGMA KOKI CO LTD Users Manual 11 Earth terminal Connection for external electrical ground 12 AC connector Input power is AC100 240V 10 50 60HZ Use standard IEC 320 C13 cord set SIGMA KOKI CO LTD Users Manual Chapter 3 Basic Operations
12. When you memorize the stopping position please make sure that Operation knob was turned to arrow direction stop and memorize the stopping position Otherwise the stopping position will not be repeatable The backlash correction can be set to match the motorized stage by Setting of Backlash correction value B51 In addition a sudden stopping will lead a gap between gear and the stopping position might not be repeatable as a result In this case please minimize F and S value and maximize R value 21 SIGMA KOKTCO TD Users Manual 3 4 Others 3 4 1 Operation using external I O To operate the controller using the external I O turn Operation switch CONT to I O Computer control and the manual operation knob will be inoperative The Positioning buttons 1 5 will still operate After pressing a position button the motorized stage will move to the memorized position and the READY signal will be output refer to Drawing 3 4 2 for the command timing chart Refer to Drawing 3 4 3 I O connector signal circuit for the connecting to the external I O Caution Beside I O mode despite of Operation changing switch CONT READY signal is also output Caution The position switches cannot be programmed when the controller is in I O mode Please set positioning memory by referring to 3 3 2 Operation of motorized stage Caution The connection of external I O voltage during ON is 24 V 10 and 0 to 0 1V during OFF Please d
13. ad this manual and any warnings or cautions in the documentation provided This manual contains instructions that must be followed to prevent damage to property or possible injury to yourself or to others On the Symbols Used in This Manual The symbols below are used in this manual or on the product to indicate precautions that must be followed to prevent possible injury or damage to property Take the time to understand these symbols before reading the rest of the manual This symbol marks warnings that should be This symbol indicates where caution should read before use to prevent serious injury or be exercised to avoid possible injury to you or death to others or damage to property Symbols Used in This Manual The following symbols are used in this manual This symbolis used fo indicate cross references to relevant informaiton 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 WARNING 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
14. ate Minimum Speed S number Set a number from 1 500 000 PPS Maximum Speed F number Set a number from 1 500 000 PPS Acceleration Deceleration time R number Set a number from 1 1 000 mS Note that the minimum speed S must be less than or equal to the maximum speed F Function 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 Set by RS 232C only Note Be sure to set the maximum speed higher than the minimum speed If set wrong an error is generated and the set value is canceled lIf this command is run continuously the last run this command is effective 32 SIGMA KOKI CO ITD Sample Users Manual D 1S100F1000R50 Speed setting S 100PPS F 1000PPS R 50mS 11 C Motor Free Hold Command Parameter Function Note Sample Axis name operating mode Axis name 71 or W Name of axis to operate Operating mode 0 Deenergize OFF 1 Energize ON This command is used to excite the motor or to turn excitation off The operation of this content makes it possible to move rotate stages manually The options available are 0 free motor and 1 excitation hold motor Set by RS 232C only If deenergized OFF the current position becomes undefined Even when energized ON perform the homing
15. ct name is trademark of each company and registered trademark 36 SIGMA KOKI CO ITD Control setting table memo ILR ARRE SW14 BERZI YF CONT O eoe O RS232C Cees BET ora STOP CONT AC IN RV SRORE RUN STOP SW11 ALY RIY LERLERORE REA YFB Settin Default Settin Name Symbol 8 8 range value value Micro step setting M 0 Driving current setting RUN 0 0 Current down stop setting STOP SWOT swro 2 Swiora Setting wio switch A SW10 5 w106 S007 swio e Swim Swit switch B TE TE Swit swe wie Swi swr One rotation setting SW15 ON OFF ON OFF ON OFF ON OFF OF OF ON OFF ON OFF ON OFF ON OFF Ss OF Ea OF O N OFF OF O F E Em F OFF R ON OFF OFF OFF oF La F 3 Le e po BEEN 3 3 ON OFF OF OF OF OF F F F z F F F F F F F F F o o o o 0 10 0 10 Operation knob sensitivity R52 0 10 RS232C i FRONT CONT Operation mode switch BANET I O S value setting R50 Backlash correction amount Ol F 5 OFF ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 5 3 5 5 12 Users Manual Left position at most as 0 Left position at most as 10 1 memory as 1
16. e format of serial commands The protocol is one command to one response type Command string reception Response string Transmission For commands other than status commands the response string is OK if the communication is normal Otherwise it will be NG Status commands will respond with data instead of the OK or NG 26 B SIGMA KOKI CO LTD Users Manual Table3 4 2 Serial command list command symbol sample description response Control drive command 1 Mechanical origin H 1 CR LF Move to mechanical origin point PositionNo B B 1 CR LF Set position No to move to Pulse Number for M 1 P100 Set axis direction and pulse relative moving CRI LF number Normal OK Pulse Number for A 1 P100 Set absolute coordinate to abnormal NG absolute moving CRI LF move to J 1 CR LF Move at the minimum speed G CR LF Start to move Control setting command2 Electrical logical Set the present point as a R 1 CR LF origin electrical logical origin L 1 CR LF L E CR LF Normal OK Speed setting D 1S5100F1000RS0 Set S F R abnormal NG Set motor ON OFF Set position memory confirmation command O CRILFI Return the present position Status 1 Asin Refer to Status 2 PE 1 CR LF Return B busy R ready 13 14 15 Inner information 1 CR LF Confirm the inner information The command sample assumes that the delimiter setting is CR LF Caution Only
17. e nn cecceecccsesessesesesseseseseseseeseseecessseeseseseenesssesnsasseseeseeseneeeeenenseneneeeees 10 3 1 2 Connecting Power Cable ccceccccecceccssssesssessesessesesesseseseesescsesseeeeseneseesesssesnsessesesasseseeaeeseueaeeneneeseneeeeaee 10 3 1 3 Connecting Stop Signal 0 0 ceesccessssssessssesesessesesessesesessescsesseseeseassessssesesaseeseseeasaeseeseeseusseeeenseeseeeseeaee 10 3 2 Change the Controller Setting ccccccccesseceeceessseeeeeeeeaseeeeeeseasseeeeeesaaseeeeeseaaseeeeeees 11 3 2 1 Checking the Controller Setting 222 2222 snes 11 3 3 Input p w rof controllef sser a EE 19 3 3 1 Movement after input power occ cccscsecesssescssseseseessssesesesescecscseeseseseseneseseseasacacacesesauasaneseeseneanseaees 19 3 3 2 Operation Of motorized StAGE eccecsecsesssssseseesesesessesesessescsessesesssssessssesesasseseseeasaeeeeseessusseeeeessesteseeeee 19 CMS etree re tite tsi sn i ten at tne te inviting Ds ei dw nee einen ain else vse ctn ieee ive 22 3 4 1 Operation USING external O cece ccecseseessseseesesesesseseseesesceessseescessseesesesesnesssesnsasseseeseeseneseeeensssneeeteee 22 3 4 2 Operation with a Serial interface oo ccccccccccscscsssessecscscssesesesesescseseesesesssesssesenssesssesessecaeacsneceeseesesenenees 25 This user s manual is conforming to the software Version 1 23 or later versions as of July 6th 2009 OP SIGMA KOKI CO ITD Users Manual For Your Safety Before using this product re
18. e power is turned off Stopping of motorized stage is able to reset and also able to set a prevent reset by turning ON SW 10 7 Memory protect Stop movement Pressing the STOP switch will immediately stop any stage motion If the stage is moving when the STOP button is pressed the stored location will no longer be accurate A move to ORIGIN will need to be performed before normal operation can continue Note that pressing a Positioning switch after pressing the STOP switch will perform the move to ORIGIN after which the positioning switches will operate normally 20 SIGMA KOKI CO UTD srs Manual DY nemo Backlash correction Gear1 Gear2 Backlash refer to an error in motion that occurs when gears change direction WAAD WANA YANAA 1 2 3 Fig 3 3 4 Backlash explanation drawing The direction condition as Drawing 1 above is moving to A direction In order for a movement from a particular direction to opposite direction B direction the movement must go through a process as Drawing 2 and Drawing 3 The gap between drawing 1 and 3 is considered as backlash The bigger longer backlash the bigger error of stopping position in duration from direction A to direction B To avoid the error of stopping position by backlash this controller was designed to control motorized stage to stop the same direction as when setting a memory of stopping position by turning Operation knob to arrow direction clockwise direction
19. ease refer to the following explanations when setting the switches Caution Set all switches before turning on the power Turn off the controller power while changing the controller settings New settings become effective and memorized when turning on the power Do not remove the screws not marked as j Pulse multiple factor Rotation setting R value setting F value setting 6 setting SW 14 SW Eo 8 SW 13 SW 12 Setting switch A j SW 10 i 12 Knob sensitivity R 52 oA ABAAG FAR AGEE Backlash compensation R 51 Ve Cy a S value setting R 50 A 7 Drive current setting Current down setting Setting switch B RUN STOP SW 11 Fig 3 2 1 Setting Switch Location 11 SIGMA KOKI CO LTD Users Manual 1 Micro step setting M Setting the built in driver Micro step angle per pulse Basic step angle full step angle number of divisions asic step ange s rotation angle per pulse at full step Division ope pe ps e oa o fer 2 Driving Current Settings RUN Setting the built in driver Current settings for motor rotation can be set by adjusting the position of the RUN rotary volume as shown in the following chart The required driving current depends on the stage to be used see stage manual for appropriate value swo o 1 2 8 4 5 6 7 3 Stop Current Settings STOP Setting the built in driver The motor stop amperage can be set by adjusting the p
20. ecifications 1 1 General description This product is a motorized stage controller with built in micro stepping driver for 5 phase stepping motors 1 2 Specifications Power supply Single phase 100 240V 10 50 60 Hz Apparent power 100VA Ambient condition Operating temperature 0 to 40 degrees Celsius Humidity 20 to 80 RH no condensation Outer dimension H 81mm W 145mm D 205mm Excluding protrusions Weight Approx 2kg 1 3 Operations and interfaces Operating switches Power ON OFF switch Positioning switches Return to origin switch Emergency stop switch Rotary encoder switch with push in function Serial interfaces RS 232C D sub 9 pins female connector 4 40 eExternal I O D sub 25 pins female connector M2 6 Stage D sub 15 pins female connector M2 6 1 4 Input Output terminals Power input terminal Inlet type IEC 320 C13 Emergency stop signal input terminal External screw terminal connector 1 5 Serial communications A serial communication with RS 232C connection is available Use straight cable Male connector Female connector when connecting to PC Sigma Koki P N RS232C STR or equivalent Controller side connecter D sub 9 pins female connector 4 40 screw OP SIGMA KOKI CO LTD Users Manual 1 6 Other specifications Conforming standards EU RoHS compliant N 1 7 Cautions Do not use the product for purpose other than motorized stage operation The chassis may get heated whe
21. ferent motorized stage types which are linear type and rotation type Schematic image of rotation type is left side of below figure When sequential positions of O to 11 exist the position next to 11 is O 11 is before 0 Because maximum and the minimum position are located side by side moving between O and 11 is possible However controller needs to recognize pulse number per one rotation with SW 15 setting Schematic image of linear type is right side of below figure At position before 0 and position after 11 there are limits a The movement exceeding these limits is not possible LoS Rotation type Linear type 10 S value setting R 50 This parameter defines S value by of F value which have set at 6 Refer to figure 3 2 2 3 2 3 Turning the rotary resistor to fully left position correspond to 0 Turning the rotary resistor to fully right position correspond to 50 11 Backlash compensation R 51 Turning the rotary resistor to fully left position correspond to no backlash compensation Make adjustment of this parameter by checking actual movement The value set here multiplied by 7 Pulse Multiplication Factor become total compensation value sent out to the built in driver 12 Knob sensitivity R 52 This parameter defines adjustment sensitivity of the operation knob at the front panel Turning the rotary resistor to the right increases sensitivity make larger movement The setting d
22. itch the motorized stage will move to the position that was memorized for that switch Memorizing a position Move the stage to the location to be memorized using the manual operation knob Press a Positioning switch 1 5 and hold it until it stops blinking When the light changes from blinking to on the position is memorized For best repeatability make the final adjustment to the manual operation knob using only clockwise rotation This will maximize the benefit of the backlash compensation Qe refer to backlash correction Caution If the motorized stage is a linear type do not make memorize a position close to a limit sensor The motorized stage might reach to limit sensor due to backlash correction function and the motorized stage will not stop at correct position If it is necessary to set a position near limit sensor minimize the backlash correction value in order to avoid the motorized stage reaching to limit sensor Memorized positions can be only be set over the range of 1 000 000 15 000 000 absolute value Please note that if Pulse multiple setting SW 14 is high Positioning memory might go beyond a range of 1 000 000 15 000 000 The next time the positioning switch 1 5 is pressed the motorized stage will move to the memorized position Note that the Positioning switches will be only be active when the Control switch CONT is set to FRONT PANEL The memorized locations remain stored when th
23. mmand such as Mechanical origin or Jog moving or stop emergence stop There will be an error if the coordinatie is not between 16 777 214 after running There is an error if running this command when motor field excitation is off Sample M 1 P1000 set to move 1000 pulses in the direction G Drive command 4 A command Pulse number for absolute motion Parameter axis No direction displacement Axis No 1 or W Direction k moving forward direction C moving forward direction Displacement P and value The value must be between P100 000 000 It is 9 digits except sign and P Actual number of pulses to move must be between 16 777 214 29 SIGMA KOKI CO ITD Function Note Sample Users Manual This is the command to set axis and direction to move to an absolute position It must be followed bya G command It moves with acceleration and deceleration The travel is specified with a pulse number It can be moved to the electrical logical origin with this command There is no a backrush compensation when positioning If running this command several times without running G command the latest B command or Pulse Number for relative moving or Pulse Number for absolute moving is effective And the setting will be ineffectual after running the command such as Mechanical origin or Jog moving or stop emergence stop There will be an error if the coordination
24. n operated for long time and high duty Do not use the product in areas exposed to dust or vibration 1 8 GIP 101 system diagrams GIP 101 with built in stepping motor drivers is suitable controller to assemble an inexpensive and space efficient system with stepping motor type motorized stages SGSP TSDM series etc and standard cables It includes a variety of controls with O signals Computer Soo RS232C epping motor stage 9P TSDM series in a gt Ss gt SER g O controlled External system AC 100V AC240V SIGMA KOKI CO ITD Users Manual Chapter 2 Function description 2 1 Nomenclature 3 Emergency stop button 2 Return to origin switch 4 Operation knob 1 Power switch 5 Position selecting switch Fig 2 1 1 Front Panel 7 Stop signal connector 8 Operation mode switch 6 O connector 9 RS232C connector hase szc FRONT PANEL 10 Stage driving connector 11 Earth terminal Fig 2 1 2 Rear Panel 12 AC connector OP SIGMA KOKI CO ITD 2 2 Functions 1 8 9 Power switch Return to origin switch Emergency stop button Operation knob Position selecting switch I O connector Stop signal connector Operation mode switch RS232C connector 10 Stage driving connector Users Manual Power on when this switch is turned
25. o not use the I O connector beside Pin of I O connector 24 V of 16 18 20 22 24 I O Connector Operation changing switch IL if 4 cols ET a Pe FRONT PANEL 70 Fig 3 4 1 Rear panel 22 SIGMA KOKI CO UTD srs Manual 5 second unstable Please set 0 2 second Unstable nonprocessing Power input Origin command input j Ob Positioning command 1input Positioning command 2 input zi Stop signal input READY output _ mo ve Movement of Stage Position of Stage Origin Fig 3 4 2 External I O timing chart Power ON status Do not input or output regarding to movement 5 second after power on Input origin command input 20 2 second Start operating the motorized stage after return to Origin when READY output is ON Input origin command again Restart to operate the motorized stage after return to Origin when READY output is ON Repeat the movement same as 2 Input position command 1 input 20 2 second Start movement of motorized stage when READY output OFF READY output become ON after moving to Command position 1 After stopping if you turn Operation knob READY output will change to OFF Input positioning command 1 again No change It is different from Origin command and remains unmoved Input positioning command 2 for the case of continuously input Start movement of motorized stage when READY output is OFF READY output become O
26. oes not get effect of 7 Pulse Multiplication Factor 17 siema koki CO TD Users Manual Caution The motorized stage will not function properly if these settings are incorrect Basically use same setting for 1 and 7 The positions of the stage are calculated from 9 Pulses for one rotation 6 F value multiplied by 7 Pulse Multiple Factor sent out to the built in driver and divided by 1 Micro step setting Memorize the position after setting accomplish By setting the 7 Pulse Multipllication Factor and 1 Micro step setting the same 9 Pulses for one rotation 6 F value and 11 Backlash compensation are all multiplied by 7 Pulse Multiple Factor and registered in the controller as position parameter If the value different from 1 Micro step setting is used pulses per one rotation mismatches and cause incorrect positioning Controller Position information Operation knob 6 F value 9 Pulse per rotation 1 Micro step 10 S value x 7 Multiplier TE division 11 Backlash Compensation Fig 3 2 4 Setting Diagram 18 SIGMA KOKI CO LTD Users Manual 3 3 Input power of controller 3 3 1 Movement after input power lf controller was correctly set ORIGIN switch and POSITIONING switch will light up for 1 second High speed blinking or no lighting means the settings are incorrect 3 3 2 Operation of motorized stage Turn Operation mode switch CONT to FRONT PANEL in order
27. osition 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 The stop current is factory set to 5 50 swno o 1 2 3 4 B 6 7 ae __ ee D Shaded fields are factory default setting 12 SIGMA KOKI CO TD Users Manual 4 Setting Switch A SW 10 SW10 1 232C baud rate bit 1 1 2Cvadrate bti 10 1 OF POR ON ON F F OF ON 10 2 OF F F 480 960 1920 3840 be ia Delimiter setting bit 1 F F Ser 10 4 OF ON OF ON Delimiter setting bit 2 F F ae Fixed to OFF 6 Fixed to OFF OFF Memory write enabled Rotary knobiock OF Operaen knob enabisd OFF Operation knob enabled 232C baud rate bit 2 13 SIGMA KOKI CO LTD Users Manual 5 Setting Switch B SW 11 F value increased by 1 5 times see section 6 SW12 2 F value reduced to 1 10 see section 6 SW12 ON Reversed direction movement made by the knob rotation OFF Normal direction movement made by the knob rotation ON Backlash correcting direction is 4 Backlash correcting opposite from the knob direction direction reversed OFF Backlash correcting direction is same with the knob direction 3 Knob direction reversed ON Origin sensor and Origin proximity sensor is not jumper Polarity reversed wired OFF Origin sensor and Origin proximity sensor is jumper wired 1 5 Fixed to OFF 7 For maintenance
28. r signal circuit Caution Please set all range of input voltage as following below Voltage is 24 V 10 when ON Voltage is 0 to 0 1 V when OFF 24V of 16 18 20 22 24 Pin do not use beside I O connector All signals are set ON with photo coupler in LED is light 24 SIGMA KOKI CO TD srs Manual 3 4 2 Operation with a serial interface Operate with a serial interface Switch operation mode CONT to RS232C position to operate the controller using the serial interface Caution Interface is sensitive to noise Please keep away from the power line and keep cable less than 3m Please connect the RS232C according to the Table 3 4 1 RS 232C connector pin assignments Please use the RS232C STR cable which is made by Sigma koki or an equivalent one straight male female inch screw Switch for changing operation RS232C connector STAGE Fo o hae B 00G HY Table 3 4 1 RS 232C connector pin assignments The serial communication parameters that are supported are shown below Refer to Table3 4 2 Serial command list for a list of supported commands 25 SIGMA KOKI CO ITD Users Manual Setting the serial communication Baud rate 4800 9600 19200 38400 Set by SW10 1 2 Data bits 8 Parity None Stop bit 1 Flow control None Caution There is no flow control There is a risk of abnormal communication if you send the commands continuously Th
29. ront panel It must be followed by a G command Backlash compensation will be applied when positioning If the origin has not been set then this command will execute the H command If running this command several times without running G command the latest B command or Pulse Number for relative moving or Pulse Number for absolute moving is effective And the setting will be ineffectual after running the command such as Mechanical origin or Jog moving or stop emergence stop There is an error if running this command when motor field excitation is off B 1 choosing No 1 position G Drive command 28 Z sema kokico mD Users Manual 3 M command Pulse number for relative motion Parameter axis direction displacement Axis No 1 or W Direction k moving forward direction e 5 moving Forward direction Displacement P and value The value must be between 16 777 214 Function This is the command to set axis and direction for relative travel It must be followed bya G command It moves with acceleration and deceleration The travel is specified with a pulse number There is no a backlash compensation when positioning Note If running this command several times without running G command the latest B command or Pulse Number for relative moving or Pulse Number for absolute moving is effective And the setting will be ineffectual after running the co
30. ters are multiplied by a factor set by this switch and obtain pulse numbers PPS sent out to the micro step driver It is recommended to use same value as 1 Micro step Setting wn oo 123 21575 7 E Mtn factor 1 x2 xe xs x6 x10 220 x40 x60 FEER NE NILEN Caution The memorized coordinate is limited from 1 000 000 to 15 000 000 Do not use too large multiple factor that exceeds this limit 8 R value setting SW 13 Acceleration Deceleration time R is set Refer to figure 3 2 2 swn o 1 2 3 4 s fem 7 TSA ETSI DE r 300 a0 400 soo 600 700 800 1000 9 Pulses for one rotation setting SW 15 0 is used for linear stages and other settings are used for rotation stages For rotation stages set pulse number for one rotation at full step operation Use values determined by the stage to be used Set 72 000 for SGSP series rotation stages The value entered here multiplied by 7 Pulse Multiplication Factor become total pulse per rotation sent out to the built in driver Sswno Of 1 2 3 4 5 6 7 Bb Set value tie emossa 30000 36000 72000 144000 9 A B D EJ F ERE KER Caution 7 Pulse Multiplication Factor x 9 Pulses for rotation is limited from 1 000 000 to 15 000 000 16 SIGMA KOKI CO ITD srs Manual Qe Difference between linear and rotation type stages There are two dif
31. the Q and command are effective when the operating mode switch is not set to RS232C Caution The counter number and action can not be sure if the pulses that it traveled are over the regulated value especially when it is driven by Jog command Please note that it is not stopped by LS command when using J command to rotate The address will be changed automatically within a revolution when stopped after command M A J to rotate 27 SIGMA KOKI CO ITD Users Manual Commands are sorted as below 1 Control Drive command 1 2 Control Setting command 2 3 Confirmation command 1 Control Drive 1 H command Parameter Function Note Sample command 1 Mechanical origin axis name Axis name 1 or W Find the mechanical origin of stage and make the that position the origin While searching for the origin no command is accepted except stop commands and confirmation commands Speed and the time of acceleration and deceleration are the latest data which are set There is no deceleration when searching out limit sensor There is an error and searching origin is not run when motor field excitation is off H 1 searching for mechanical origin set origin H W is the same 2 B command Position No Parameter Function Note Sample button No Button No le a AE RSS Choose the memorized position to move to These numbers correspond to the 5 buttons on the f
32. to control motorized stage Turn on main Power switch 2 Return to origin switch 3 Emergency stop button PONER Sete 4 Operation knob 1 Power men te e ORNGIN STOP a ajo eid Operation mode switch 1 2 3 4 5 j Pr i i i 5 Position selecting B m mr ker VA AN STAGE Fig 3 3 2 Front panel I 9 O Cass O Fig 3 3 3 Rear panel Move to origin Press Return to ORIGIN switch ORIGIN switch will light up The stage will move to origin position and stop Lamp of origin switch will light up Note After turning on the power or pressing the STOP switch pressing a POSITION switch will start the Move to Origin After this is completed the POSITION switches will behave normally Using the Operation knob Turn left or right Operation knob to move the motorized stage Motorized stage will move according to angular degree when you turn left or right while pressing Operation knob at the same time The setting of sensitivity of Operation knob and moving direction of Operation knob is according to 3 2 Change the Controller Setting When turn Operation knob I Control changing switch CONT to FRONT PANEL and SW10 8 Rotary knob lock SIGMA KOKI CO TD Users Manual Movement using the positioning switches Move to a position After pressing a positioning sw
33. ual Table of Contents FOr YOU OON ea E ee ee eee 3 Chapter 1 General specifications c cc ccccccccccssseceeeeceeseeceeseeaeeeeeeeseeeeceeeeseeneeeeesananeeeess 4 1 1 General CESCIIPTION cccccessececcesseeeecsseeceeaseeeeeeuseeeecaaseeeecusseseeeaseesesaasessecassesseeaseesssags 4 VeZ SOC INC All ONS ES SEE E A EEE EE 4 1 3 Operations and interfaces cccssccecssseeeeccsseeeeeesseeeecesseeeecasseeeeeaseeseeaasessecagseeseeaseeesseas 4 1 4 Input Output terminals ccc eseeeeeesseeeecesseeeeceaseeeecuseeeecasseeeeeaseeeesaaseesecasseeseeaseesssaas 4 1 5 Serial COMMUNICATIONS cccccsesseececeeeesseeeeeeeesseeeeeeceaseeeeeesaasseeeeeenasseeeseeeagseeeesenaaseees 4 1 6 4g nec pe ci eat 61 ce ee ee eee 5 MF AMUN NS SETE E nine cis E E cic es nae E sete So Sue ule nes se ate eo eee es eaaine vetoes yeni 5 1 8 GIP 101 system CIAGrAMS cccccsscccecesssseeeceeeeseeeececeaseeeeeesaaseeeeeeseagseeeeeeeasseeeesenaaeeees 5 Chapter 2 Function describ NOM aceite coadhcccsase scauetadedhondteicbdanhacdtulacdedasicacauseadesecaasnntacaehdiceasacdtabace 6 2 1 NomenclatUT e ed i a EE aaaea 6 22 FUNC UON Sa re T Chapter 3 Basic Operations cccccccccccccceeeeseceeecesaeececeeceeseeeeseeaeeeeeeeseeseeceseeseaeeeeesanaeeeeess 9 3 1 Connecting to Motorized Stage cccccccsssccceceeeesseeeeeeeeseeeeseseasseeeeeseaaseeeeessaasseeeeees 10 3 1 1 Connecting to Motorized Stag
34. ub 15 pin male M2 6 to STAGE connector on the rear panel of the controller and connect other end of the cable to the motorized stage Caution Turn off the controller power while connecting the motorized stage 3 1 2 Connecting Power Cable Connect the power cable to the AC IN connector on the rear panel of the controller to plug the cable into an outlet Caution For your safety connect the earth terminal to ground 3 1 3 Connecting Stop Signal Connect the dedicated connector plug to Stop signal connector The controller normally operates in Short circuit condition The motorized stage immediately stops in Open circuit condition Refer to following circuit diagram for stop signal input STOP signal Short circuit normal operation Open circuit stop Controller side Fig 3 1 STOP input circuit Caution Turn off the controller power while connecting the stop signal input TLP521 or equivalent FG Frame ground 10 SIGMA KOKI CO UTD srs Manual 3 2 Change the Controller Setting 3 2 1 Checking the Controller Setting Adjust the driver switches located on the bottom of the controller to set the current levels appropriate to the connected motorized stage as specified in the manual included with the motorized stage The switches can be accessed as shown in Fig 3 2 1 by removing the panel s 4 screws at bottom of the controller marked as gt Pl
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