User`s Manual - OptoSigma Global Top
Contents
1. To exit the GSC 01 Configuration Program first click the DISCONNECT button and when the indicator turns red select Exit in the File menu You can exit the program safely After having written in setting at GSC 01 please spend a power supply of GSC 01 again by all means The setting that wrote in from a point in time when GSC 01 rebooted becomes effective normally GSC 01 Confieuration Ver 1 00 Copyrieht c 2011 SIGMA KOKI CO LTD FEER FED oD Het 60 01 OPERATION BASIC 1 3 BASIO 2 9 BASIC 2 2 COM PORT BASH 1 3 BASIC 2 3 BASIC 3 3 COM PORT BASIC CONDITION BASIC CONDITION Savial Mo 5000000000 kemi Holt euo dive Normal Hall step de Vesen 100 O Reverse O Full cmap drive xk O Reverse O Full step dive Revieen an FIN MODE OGIGIN MOOT voa SYSTEM OFFSET af Onuaf 0 MOA SYSTEM OFFSET of OVO i O CENTER SYSTEM CENTER SYSTEM o ONN CONNEC MOTOR CURRENT El QOMNECT MOTOR CURRENT ioan RUN CURRENT 30 mA RUN CURRENT 0 m STORE STOP CURRENT 1 ma STOP CURRENT TF m RUN RUN RUN f RUN RUN RUN RUN CURREN URAIN CURREN CURRIN CURREN CURREN CURREN CURREN T J Sins T Oma Tea T Manas T OwA T0mA TMnA TALES 7 priestess Connected GS 0 Dincerrnctnd GS 01 5 4 Error Display This section describes the typical error displays and the countermeasures in GSC 01 Configura tion Program Message Cannot connect GSC 01 6502. ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON DI2 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON DIS OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON Example return 2 Only DI1 is ON Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E 2 SHOT Series Extended Commands 16 S N command Offset of Origin Setting Command Features Sets an offset of origin Specifying an offset with this command inserts a move by an equal dis tance to the offset value after the homing operation When the offset move finishes the position reached replaces the origin position The offset of origin is effective only for the homing operation in MINI system If Center system is selected for the homing operation the value set in this command is ignored Turning the power off initializes the value specified in this command The factory set initial value is zero Command format S Np Parameter p offset value Set a value from 0 16 777 215 Return Normal OK Error NG Example S N10000 Sets a 10000pulse offset of origin from machine zero 17 S J command JOG Speed Set Features Sets a driving speed in PPS for jog operations by the J Command JOG switch on the front panel or jog si
3. Flexible Controller One Axis Stage Controller FOF Your 2_OptoSigma 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 SIGMAKOKI CO LTD or a third party SIGMAKOKI 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 SIGMAKOKI CO LTD without notice due to product improve ments 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 SIGMAKOKI CO LTD assumes no responsibility for any damage liability or other loss resulting from the information contained herein SIGMAKOKI 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
4. LTD products cannot be 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 SIGMAKOKI 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 re export contrary to the export control laws and regulations of Japan and or the country of destination is prohibited HM GSC 01 User s Manual E Contents For Your Safety E E aver lava aVeiesale erelevarsie oeueiasa eiesela einlie aa e areieiaia e avatessieis arcte cvarete ers 2 Chapter ie Before You Begin cat s sages gvaasu sree E T E anoieia aye cous EEE 3 il Check Inside the Package E E A EE E N E slater shaicheve eoia spsieyeistaansias 3 V Setup Automatic Stage E E E E T E E a N cre MoI SE ONES LESS 4 3 The GSC 01 System EET E E OTE T EE ET EET E E EE 4 4 Parts of the GSC 01 EE E E E E E E E E E diam E E 5 Chapter 2 Configuration program tttrrrressrrrererrrrerrreeerrrreeerereeereee 6 5 Use the Configuration Program E E A E E E E A E E EE 6 Chapter 3 Using GSC 01 E E EE E E ONAT TAE I N E 11 6 Using a PC to Position Motorized Stage E L E E E A AEAT E 11 7 Using 1 0 Signal SEEDEDE REE LSE TE SEE
5. 24V 1 3A To enable the e stop signal set the jumper cable open short A Turn off a power supply in the case of the connector connection for security Fax 81 3 5638 6550 Tokyo Head office Tel 81 3 5638 8228 E mail international sigma koki com E GSC 01 User s Manual E Chapter 2 Configuration program Download Configuration program for GSC 01 from our web page View our home page http www global optosigma com Install the configuration program for setting up the operation of the GSC 01 on your PC Configure operational settings for GSC 01 with this tool before you use it Using the GSC 01 without the configuring it may cause not only malfunctions but also damage to this device and or the stages Please download from the page of Sample Software or Stage Controllers on Support information on our website about the configuration program http www global optosigma com en_jp support 5 Use the Configuration Program 5 1 Setup Communications Correctly connect the GSC 01 to the PC where the Configuration Program has been installed Connect with the RS232C cable Start up Configuration Program When the program is started up select Tools and then select Options to make port baud rate settings for PC Select the port where GSC 01 is connected the communications port Set the baud rate to 9600 B BASIC 1 3 BASIO 2 9 BASIC 2 2 COM FORT BASIO CON
6. m 3 The GSC 01 System 1 0 control External devices SGSP 15 20 26 series SGSP40ZF 60ZF 80ZF series D15RP CA GSC 01 DMINIS CA OSMS ZF series PC pea SGSP40 60Y AW series SGSP 60A B series a a D15RP CA TSDM series RS232C STR DMINIH CA SGSP ACT series Cable Cable OSMS 40A GND line lt 2 m DC line lt 2 m HPS series TAMM series HDS series OSMS 60A DC 24V 1 3A Ground A Make sure to set up and wire the cable supplying DC 24V and GND to the GSC 01 so that the maximum length of cable is not longer than 2m Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com 4 Parts of the GSC 01 4 1 Front Panel o00c00 OY OptoSigma 4 2 Rear Panel POWER LED HOST LED STOP LED RUN LED RS232C Connector JOG switch STAGE Connector FG terminal I O Connector Power terminals JMP connector HM GSC 01 User s Manual E Lights up in green when powered Lights up in green during communi cations with the host Lights up in red when emergency stop Lights up in orange when the motor is operated Connect a RS232C Cable Controls movement in JOG mode Connect a Stage cable Terminal for frame ground con nection To use this controller you should connect it to ground 1 0 connector Connect to the power source
7. of firmware in this controller Command format V Example return V1 00 ROM Version Ver1 00 Command format Example return 001 Revision number 001 Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 14 O command I O Output Features Sets the status of the I O interface output ports The status of a port is set to a number from 0 15 Command format O a Parameter a 0 15 refer to follows for the parameter Output O 1 2 3 4 5 6 7 8 9 10 11 12 138 14 15 DOO OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON DO1 OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON OFF OFF ON ON DO2 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON DOS OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON Return Normal OK Error NG Example O 1 Sets the I O interface output port DOO to ON 15 command I O Input Features Returns the current status of the I O input ports The status of a port is returned in a number from 0 15 Command format l Return Input O 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 DIO OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON DI1__ OFF OFF
8. 000 Mermal Halt ena drive Version 100 O Reverse Full stap drive Pensen an FUIN MODE voa SYSTEM OFFSET ef OFV 0 O CENTER SYSTEM T MOTOR CURRENT 104 RUN CURRENT 20 ma TORE STOP CURRENT 1 m RUN RUN RUN RUN CURREN CURREN cunnan CURREN T Manual TEDA T660SA TEDA Cee Connected GS 01 BASIC CONDITION step drive Set the rotating direction of the motor and select full step drive half For SIGMA s stages the normal rotating direction means the same moving direction as the existing controllers Note that the locations of the limit sensor are reversed ORIGIN MODE Sets operational mode for homing the stage Selecting MINI SYSTEM Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E MOTOR CURRENT 5 2 2 BASIC 2 Tab the home position in the negative limit sensor LS direction Setting a numeric value in the OFFSET of ORIGIN box allows you to move a stage equal to the home position coordinate O to the reached point Selecting the CENTER SYSTEM mode will place the home position at the center point between the limit sensor OFFSET of ORIGIN is inef fective in the CENTER SYSTEM mode Set the drive current RUN CURRENT and stop current STOP CUR RENT of the motor For SIGMA s stages use an appropriate RUN CURRENT button The button also set the corresponding stop currents at the same time In
9. 6 01 Gonlicuration Ver 1 00 Copyright c 2011 SIGMA KOKI GO _ATD x 660 0 OPERATION BASIC 1 3 BASIC 2 3 BASIC 2 3 COM PORT BASIC CONDITION Serial No aOR es Mall step dive Version xxx O Reverse O full step ave Persen mu AJOIN MODE maa SYSTEM OFFSET of ORS 0 E t ret compact GOO M RUN RIN f RON RUN OURREN CURREN GUAREN CURREN T M ual T Hini Tona TOA MAILED Disconnected GS 01 Are your GSC 01 and PC connected correctly Connect with a 9 pin male female serial communications straight cable IS GSC 01 powered Connect to noise free 24 V DC 1 3 A or higher power supply as labeled on the rear panel Is this baud rate and flow control set correctly in GSC 01 Configuration Program Match setting of Baud rate and flow control of PC with GSC 01 10 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E Chapter 3 Using GSC 0O1 6 Using a PC to Position Motorized Stage This controller receives controlling commands from PC or an external control device via a RS232C to realize desired operations This controller follows the command system from the SHOT series Part of functions of the system has been extended To send a controlling command to this control ler from an external device specified command codes and parameters should be followed by the terminator characters CR LF This controller sends strings and the terminator characte
10. DITION step one step dere Fersen PIIN MODE voa SYSTEM OFFSET ef Osun a O CENTER SYSTEM E HOTOR CURRENT LOAD RUN CURRENT 30 m STORE STOP CURRENT 1 ma RUN GURREN T nA RUN RUN CURREN CURREN Tima T 0nA RUN CURREN TEA RUN CURREN T Manus f KME f Welcome G50 01 confanzotion 1 The OPERATION and COMMUNICATION tabs are provided in the Options screen Select the CHECK value writing of GSC s OPERATION EONA e 01 Option in the OPERATION tab gaara aaah 2 After that set BAUD RATE to 9600 select a port COM PORT for connecting with GSC 01 in the COMMUNICATION tab Then click OK clan CEJ e feet The settings for PC have been completed a 6 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E Next connect the power via the terminals on the GSC 01 rear panel Take great care to never connect to wrong terminals such as the terminals for different power voltages or reverse polari ties After turning the power ON make sure the power indicator LED lights up in green on the GSC 01 front panel If you do not find no problem click the CONNECT button zi GSC 01 Confleuration Ver 1 00 Gopyricht c 2011 SIGMA KOKI CO LTD Ec Falf Toot D Heri 80 01 OPERATION BASE 1 3 BASIC 2 3 BASIC 3 3 COM PORT BASIC CONDITION Serle No Holt step dive Version Full step Gi
11. S DES SUSER A SEE REDE erat ahaha ahora SER SEES EE ES VE ERE SET SSSE TERE SESESE BENE 21 Chapter 4 Specification su foetfore Tans EE E A A A E 23 8 Specification A A SEES A E N A T T 23 9 Connector pin assignment P ET AES SEES SES PER ave ELSE AE EAEE ETE T SEE SENDES T EET 24 10 Exterior Dimensions EE E A E E A E EE a aho syayavs eraymiela or lave chara CAFE NNE En 25 A Appendix List of Configurations for Applicable Automatic Stages and Factory settings AA E TEA E A PEE A A TEA ATT T ETAT ETI E PTE TETTA 26 B Appendix About Origin System RETEA E ES E EE E ELA E E E I L E A OE E 27 Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 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 A CAUTION This symbol marks warnings that should be read and This symbol indicates where caution should be used to used to prevent serious injury or death 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 indica
12. al sigma koki com 24 E GSC 01 User s Manual E 9 3 1 0 Connector No Name No Name 1 INT 24V 11 COM 2 INTGND 12 COM 3 JOG 13 JOG 4 EMGSTOP 14 5 15 6 DIO 16 DI1 7 DI2 17 DIS 8 18 _ 9 DOO 19 DO1 10 DO2 20 DOS Connector 10220 52A2PE SUMITOMO 3M 10 Exterior Dimensions E OptoSigma 25 Fax 81 3 5638 6550 Tokyo Head office Tel 81 3 5638 8228 E mail international sigma koki com HM GSC 01 User s Manual E A Appendix List of Configurations for Applicable Automatic Stages and Factory settings A 1 List of Configurations for Applicable Automatic Stages Model No Drive current Origin Rotation LS Polarity SGSP15 series 0 6 MINI Normal Normal close SGSP20 series 0 66 MINI Normal Normal close SGSP26 series 0 75 MINI Normal Normal close TSDM series 0 35 MINI Normal Normal close P OSMS40 ZF a 0 35 MINI Normal Normal close e te MINI Normal Normal close N ree 0 66 MINI Normal Normal close SGSP 60A 60B series 0 75 MINI Normal Normal close SGSP ACT series 0 35 MINI Normal Normal close HPS series 0 75 MINI Normal Normal close HDS 80 120YAW series 0 75 MINI Normal Normal close TAMM series 0 75 MINI Normal Normal close A 2 Factory Settings Homing Origin Mode MINI System Offset of Origin 0 Current settings Driving RUN Curre
13. arty other accidents and deliberate or accidental misuse If the equipment is used in a manner not specified by the SIGMAKOKI CO LTD the protection provided by the equipment may be impaired O PXWARNING i S 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 O 2 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E Chapter 1 Before You Begin 1 Check Inside the Package Purchasers of the Stage Controller should find that the package contains the items listed below Check t he package contents using the following checklist Contact your retailer as soon
14. as pos sible in the event that you should find that any item is missing or damaged GSC 01 Stage Controller 1 User s Manual This manual 1 Options Sold separately RS232C cable Model No RS232C STR AC adaptor set Model No PAT 001 POW Unnecessary if you use an external power unit you already have You can download Configuration program from stage Controllers page on our web page View our home page http www global optosigma com en jp support Fax 81 3 5638 6550 E mail international sigma koki com 3 Tokyo Head office Tel 81 3 5638 8228 HM GSC 01 User s Manual E 2 Setup Automatic Stage GSC 01 supports the SIGMAKOKI automatic stages below Use the configuration software to set adequate values to configure GSC 01 operations Translation Stages SGSP 15 20 26 series TSDM series TAMM series HPS series Z Axis Stages SGSP40 60 80 ZF series OSMS ZF Rotating Stages SGSP 40YAW 60YAW series HDS series Gonio Stage SGSP 60A B series OSMS 40A OSMS 60A Actuator SGSP ACT series See A 1 List of Configurations for Applicable Automatic Stages for the values for configura tion Use the following motor cable for the connection between GSC 01 and automatic stages Motor Cable Model No D15RP CA lt DMINIS CA A DMINIH CA A presents the length of the cable 2 3 5 m XA presents the length of the cable 1 2 3 4 5
15. be changed with the setting of Con figuration Program Delimiters CR LF 4 input points photo coupler input 4 output points open collector output Emergency stop 1point photo coupler input JOG input 2points photo coupler input Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 3 Driver Specifications Driver Mode Driving RUN current Current down function Half step Full step driving Driver Mode can be changed with the setting of Configu ration Program 0 3A phase to 0 8A phase Automatic current down 4 Electrical fast transmit burst immunity 5 Electrostatic discharge EN61000 4 4 2012 Level2 EN61000 4 2 2009 Level2 9 Connector pin assignment 9 1 STAGE Connector No Name No Name 1 Blue motor wiring 9 Reserved 2 Red motor wiring 10 3 Orange motor wiring 11 LS limit sensor 4 Green motor wiring 12 LS limit sensor 5 Black motor wiring 13 GND 6 GND 14 7 15 Sensor power 24V 8 Sensor power 24V Connector D Sub15 pin female connector Millimeters screw 9 2 RS232C Connector No Name No Name 1 6 2 TxD 7 CTS 3 RxD 8 RTS 4 9 5 SG Connector D Sub9 pin female connector Inch screw Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4 jl _ ON E mail internation
16. ch cab be used to control from an external controlling device The I O interface of GSC 01 Controller is comprised of the following signal wires DIO 3 Input General purpose input DOO 3 Output General purpose output EMGSTOP Input Emergency Stop JOG Input Jog operation input in the positive direction JOG Input Jog operation input in the negative direction COM Input common COM Output common INT 24V Internal 24V power output INTGND Internal power ground The pin assignments used for the I O interface are as follows No Name No Name 1 INT 24V 11 COM 2 INTGND 12 COM 3 JOG 13 JOG 4 EMGSTOP 14 5 15 6 DIO 16 DH 7 DI2 17 DIS 8 18 9 DOO 19 DO1 10 DO2 20 DOS GSC 01 GSC 01 Photocoupler m eK aa A Fig 7 1 1 0 Input DIO 3 JOG EMGSTOP Circuit 21 Fig 7 2 I O Output DOO 8 Circuit Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E I O signal connection example sc 01 janr piss 000 sin i mamno em Ka AK i be e J Fig 7 3 1 0 OUT DOO connection example Fig 7 4 1 0 IN JOG Internal power supply use connection example DIO 3 Input DOO 3 Output GSC 01 Controller is equipped with 4 general purpose input output signals The signals can be set or read as required by the comma
17. d Acquisition Ved Sensor Status Acquisition PIL 11 Po Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com E GSC 01 User s Manual E 6 3 Details of Commands 1 SHOT Series Compatible Commands 1 H command Return to Mechanical Origin Features This command is used to detect the mechanical origin for a stage and set that position as the origin The moving speed S 500pps F 5000pps R 200mS Running a stop command during the homing operation suspends the operation Limit sensor s detection unplanned in the sequence during the homing operation suspends the operation Any commands except the stop command or checking command are not acceptable dur ing the homing operation Deceleration is not available if the limit sensor is activated For driving in the normal rotation the limit sensors are assigned as follows 1 LSO CCW 2 LS1 CW For driving in the reverse rotation the limit sensors are assigned as follows 1 LSO CCW 2 LS1 CW If motor free an error is generated to inhibit the homing operation Command format H 1 Detect the mechanical origin H W Detect the mechanical origin Return Normal OK Error NG 2 M command Set number of pulses for relative travel Features The command to set the moving distance and direction of the stage This device runs this com mand and then runs the driving command to drive the actual stage T
18. gnal in the I O Turning the power off initializes the value specified in this command The factory set initial value is 500 PPS Set a speed in 100 PPS A value less than 100 PPS will be rounded down Command format S Jspd Parameter spd Jog speed Set a number 100 20 000 PPS Return Normal OK Error NG Example S J1000 Sets the jog speed to 1000 PPS Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 18 V N command Offset of Origin Acquisition Command Features Returns an offset value from the origin position in pulses The number to be returned 0 16 777 215 Command format VEN Return 0 16 777 215 19 V J command Jog Speed Acquisition Command Features Returns a jog speed in pps The number to be returned is 100 20 000 Command format V J Return 100 20 000 20 L command Sensor Status Acquisition Command Features Returns the status of the sensor designated with the sensor name Command format Lp Parameter p sensor name 0 LSO 1 LS1 2 1 0 JOG signal 3 1 0_JOG signal 4 1 0 emergency stop signal Return 0 OFF 1 ON Example 2 LO return 1 LSO sensor ON ji 20 Osaka branch Tel 8 TN Fax 81 6 6307 4834 E mail international sigma koki com 7 Using I O Signal E GSC 01 User s Manual E GSC 01 Controller has the photo isolated I O interface whi
19. he stage accelerates decelerates as set in the speed setting command If this command is repeated without running the driving command the last run this com mand or the Command to set number of pulses for absolute travel is effective If the re turn to mechanical Origin Command JOG Command or Stop Command is run the values set in this command are canceled A command error is generated if a coordinate after the move exceeds the specified limit 16 777 215 While motor free running this command causes a command error Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E Command format M nmPx Parameter n T or W Name of axis to operate m or 7 Moves the axis in the positive direction Moves the axis in the negative direction x Moving pulse Set a number from 0 16 777 215 Return Normal OK Error NG Example M 1 P1000 Sets 1000pulse move in the positive direction M W P5000 Sets 5000pulse move in the negative direction 3 A command Set number of pulses for absolute travel Features The command to set the moving distance and direction of the stage This device runs this com mand and then runs the driving command to drive the actual stage The stage accelerates decelerates as set in the speed setting command If this command is repeated without running the driving command the last run this command or the Co
20. ly Return Normal OK Error NG 8 R command Electronic Logical Zero set command Features Set the current coordinate to the electronic logical zero After running this command the cur rent position is set to ZERO Command format R 1 Set the electronic logical origin R W Set the electronic logical origin Return Normal OK Error NG 15 RE Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 9 D command Speed setting Features Sets the minimum maximum speeds and acceleration deceleration time for moving the stage The minimum speed is the driving speed S the speed when the stage starts The maximum speed is the driving speed F that specifies the maximum speed of the stage The unit of the speeds is PPS Acceleration deceleration time specifies the acceleration time from the driving speed S to F and the deceleration time from F to S The unit of time is mS The initial values are as follows Minimum speed S 500 PPS Maximum speed F 5000 PPS Acceleration Deceleration Time 200 mS If setting Configuration Program obey the value Be sure to set the maximum speed F higher than the minimum speed S Set the speed in 100 PPS Values less than 100 PPS are rounded down Command format D nSspd1Fspd2Rspd3 Parameter n T or W Name of axis to operate spd1 Minimum Speed S Set a n
21. mmand to set number of pulses for Relative travel is effective If the return to mechanical Origin Command JOG Command or Stop Command is run the values set in this command are canceled A command error is generated if a coordinate after the move exceeds the specified limit 16 777 215 While motor free running this command causes a command error Command format A nmPx Parameter n T or W Name of axis to operate m or 7 Moves the axis in the positive direction Moves the axis in the negative direction x Moving pulse Set a number from 0 16 777 215 Return Normal OK Error NG Example A 1 P1000 Seta move to coordinate 1000 A W P5000 Set a move to coordinate 5000 Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 01 User s Manual E 4 J command JOG Command Features Set jog operation for the stage This device runs this command and then runs the driving com mand to drive the actual stage The stage moves at a preset jog speed without acceleration deceleration The jog speed is setin the JOG Speed Set command When stop this stop by L command When there is not L command move to Limit sensor and stop in Limit sensor Running a different moving command M command etc without running the driving com mand cancels this command While motor free running this command causes a com mand error Command format Ji
22. nal sigma koki com HM GSC 01 User s Manual E 5 2 3 BASIC 3 Tab Check change the settings for driving speed on power on time for GSC 01 SPEED SETTING Set the initial speed setting used at power on The set range SPEED_S and SPEED_F is 100 20000 PPS The set range acceleration deceleration time is O 1000 mS Be sure to set the maximum speed F higher than the minimum speed S Set the speed in 100 pps Values less than 100 pps are rounded down 5 2 4 COM PORT Tab Check change the communications setup for GSC 01 Changing the communications setup for GSC 01 requires the reconfiguration of the communica tions setup on the host PC Note that if the communications setups for the GSC 01 and the host do not match the both side cannot communicate each other successfully 680 01 Confieuration Ver 100 Copyrieht c 2011 SIGMA KOKI COL TD Cho amp 350 01 OPERATION BASIO 1 3 BASIC 2 3 BASIC 2 3 COM FORT BAUD RATE Select a baud rate applied in the communications with the host PC The same baud rate as set on the host PC FLOW CONTROL Enable disable the flow control Check the ENABLE FLOW CONTROL check box to enable the flow control for the hardware Set the flow control setup to Hardware on the host PC Fax 81 3 5638 6550 9 Tokyo Head office Tel 81 3 5638 8228 E mail international sigma koki com HM GSC 01 User s Manual E 5 3 Exit the GSC 01 Configuration Program
23. nd from host PC Emergency Stop Input The GSC 01 Controller is equipped with a photo isolated emergency stop EMGSTOP input The signal is of a B contact type which if turned ON operates the device normally while EMGSTOP the device if turned OFF An EMGSTOP state stops the motor being driven and disables every operation that starts the motor To release the disabled state reset the EMGSTOP signal to ON You can enable disable the use of the EMGSTOP signal with the jumper pin of JMP of the rear panel It is disabled in the factory settings To enable the EMGSTOP signal set the jumper cable for enabling EMGSTOP of rear panel GSC 01 Open gt Short Deenergizing the motor in an emergency stop state can be enabled disabled in the Configura tion Program A Turn off a power supply in the case of the jumper setting for security JOG JOG Input The GSC 01 Controller is equipped with the JOG operating signal that allows external jog op erations Two JOG operation pins for and directions are equipped Turning ON one of the signals performs JOG operation for that direction JOG operation mode is not available while emergency stop It is produced an internal 24V power supply to I O connector to carry out JOG operation or EMGSTOP without supplying a power supply to GSC 01 from the outside When use I O input with an internal power supply connect COM and INTGND COM and INT 24V each In addi tion the in
24. nm Parameter n 1 or WwW Name of axis to operate m or 7 Moves the axis in the positive direction Moves the axis in the nega tive direction Return Normal OK Error NG Example J 1 Set jog operation in the positive direction 5 G command Driving command Features The command to perform the driving operation of the stage The stage is driven according to the M command Acommand and J command run immediately before On detecting a limit the stage being driven stops immediately without acceleration deceleration Running this command without running a moving command M command A command or J command generates a command error While motor free running this command causes a command error Command format G Drive Return Normal OK error NG Example M 1 P1000 G Moves 1000pulse in the positive direction Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E 6 L command Decelerate and stop Features When this command is executed the stage decelerates and stops Command format L 1 Decelerate and stop L W Decelerate and stop Return Normal OK Error NG 7 L E command Immediate stop Features Stops the driving of the stage without deceleration Unlike emergency stop signal input this command does not motor free Command format LE Stops immediate
25. no offset is specified sets the home position after 1000pulse movement without doing it B 2 CENTER System CCW sensor CW sensor Move 1000 pulse Move designated offset pulses Driving Speed CW sensor detection iving Speed F CCW Move 1000 pulse Dri ving Speed S CW CW sensor detection Driving Speed F CCW CCW sensor detection Driving Speed F CW Move to the intermediate position between CW Home LS middle and CCW sensor 27 SEE Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MEMO SIGMAKOKI CO LTD http www global optosigma com Tokyo Head office 1 19 9 Midori SIGMAKOKI Tokyo Head office Sumida ku Tokyo 130 0027 JAPAN Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international 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 2015 12 Fourth edition
26. nt 0 35 A Stop STOP Current 0 175 A Driving Method Driving Direction Limit Sensor setting Emergency Processing Half Step Drive Normal Rotation LS Polarity Emergency Signal Input Normal close Disabled Emergency signal setting jump er OPEN Energize in emergency stop Enable RS232C Baud Rate 9600 bps Flow Control Enable Initial Speed Minimum Speed S 500 PPS Maximum Speed F 5000 PPS Acceleration Deceleration time R 200 mS Other JOG Operation Speed 500 PPS JOG Switch Signal Enable Energize on Startup Enable i 26 Osaka branch PET Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E B Appendix About Origin System GSC 01 is equipped with two types of Origin systems as follows MINI System CENTER System The systems are described below Note that the chart is prepared for normal rotation For reverse rotation the relationship between CW and CCW is reversed The moving speeds and acceleration deceleration time in homing are as follows Driving Speed S 500 PPS Driving Speed F 5000 PPS Acceleration Deceleration time R 200 mS These parameters are not affected by the command to Set Speed D command B 1 MINI System CW sensor Driving Speed F CW CW sensor detection Driving Speed F CCW Move 1000 pulse Driving Speed S CW CW sensor detection Driving Speed F CCW Driving Speed F CCW lt p nz If
27. rs CR LF to return the execution results and requested values for a command sent from an external device Command codes and parameters given to this controller are not case sensitive This con troller always returns answers and results in upper case The commands prepared for this controller are roughly categorized as the following two groups a SHOT series compatible commands b SHOT series extended commands 6 1 SHOT Series Compatible Commands The following commands for this controller are compatible with the command system of the SHOT series Command Character Return to Mechanical Origin Set Relative Move pulse count Set Absolute Move pulse count JOG command Drive command Deceleration and stop Stop Set electronic logical origin Speed settings Motor Free Hold command Check Status1 Check Status2 Check internal information Version Check internal information Revision I O output 1 0 input Ol v y O O O Di r re jO c S ST m Note that the parameters and returns in same commands are different from the other SHOT series controller owing to the number of axes 6 2 SHOT Series Extended Commands The following commands for this controller have been added to the existing SHOT series com mand system Command Character Offset of Origin command S N JOG Speed set command Sid Offset of Origin Acquisition VIN JOG Spee
28. side power supply was prepared to drive a photo coupler of GSC 01 and cannot use it for other uses Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com Chapter 4 Specification 8 Specification 1 General specification Power source Rating current Operating temperature Storage temperature Altitude Indoor use only Installation category Pollution degree Ambient humidity External dimensions Weight 2 Performance Controlling axis Maximum driving speed F Minimum driving speed S Acceleration deceleration time R Sensor input Method of return origin Interface 1 0 Control signals E GSC 01 User s Manual E DC 24V 1 3A 5 to 40 20 to 60 up to 2000m I 2 20 to 80 RH no condensation 47WxX125DxX90H excluding projections mm 0 4kg 1 axis 100 to 20kPPS 3 Programmable in 100PPS 100 to 20kPPS 3 Programmable in 100PPS O to 1000mS CW limit CCW limit Limit sensor logic can be changed with the settings of Configuration Program MINI system CENTER system Method of return origin can be changed with the set tings of Configuration Program RS232C interface Communication parameters Baud rate 4800 9600 19200 38400bps Baud rate can be changed with the setting of Configu ration Program Data bits 8bits Parity None Stop bit 1bit Flow control Hardware RTS CTS None Flow control can
29. te 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 indicates by the symbol inside or next to the circle mark the symbol at left indicates that the product must not be disassembled nature of the action that must be performed is indicated by the symbol inside the symbol at left is e Symbols inside a black circle mark actions that must be performed to ensure safety The exact 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 A This symbol labeled on the portion calls your attention Disclaimer of Liability SIGMAKOKI CO LTD does not accept liability for damages resulting from the use of this product or the inability to use this product SIGMAKOKI CO LTD does not accept liability for damages resulting from the use of this product that deviates from that described in the manual SIGMAKOKI CO LTD does not accept liability for damages resulting from the use of this product in extraordi nary conditions including fire earthquakes and other acts of God action by any third p
30. this case the stop current set will be half the value of the run current Specify the currents within the ratings of the motor Operating the motor at higher currents than rated the motor may overheat or be damaged Check change the settings for jog switch operations and limit switch signals for GSC 01 JOG OPERATION LIMIT SENSOR SET UP EMG STOP OPERATION Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 BASI 1 31 PASI 2 3 BASIO 2 3 COM PORT DNA ver 100 ax Pers 00 OISCONNE LOAD STORE M ATION EJ ENABLE MOTOR FREE MAUZO Connected GSO 01 If the ENABLE JOG SW SIGNAL check box is checked the jog switch on the GSC 01 front panel and the jog signals via the I O connector on the rear panel are enabled The JOG SPEED box allows you to set the speed of the stage when it is operated with jog switch or a jog signal is input Note that since jog moves are not accelerated decelerated setting too high speeds may cause loss of synchronism Select an adequate speed that does not cause loss of synchronism A stage may be dam aged if you continue to move it with loss of synchronism for a long time Set the determination logic for the limit sensors Normally select Nor mal Close for SIGMA s stages Note that selecting a wrong logic may cause malfunctions Energize deenergize the motor on an emergency stop Note that a Z axis stage may fall on an emergency stop E mail internatio
31. umber from 100 20000 PPS spd2 Maximum Speed F Set a number from 100 200000 PPS spd3 Acceleration Deceleration time Set a number from 0 1000 mS Return Normal OK Error NG Example D 1S500F5000R200 Set the minimum speed to 500 PPS the maximum speed to 5000 PPS and the acceleration decel eration time to 200 mS 10 C command Motor Free Hold Command Features Deenergize OFF energize ON the motor Command format C nm Parameter n T or W Name of axis to operate m or T O free motor 1 hold motor Return Normal OK Error NG Example C 10 Free motor ji 16 Osaka branch PET Fax 81 6 6307 4834 E mail international sigma koki com HM GSC 01 User s Manual E 11 Q command Status1 Features On receipt of this command the controller returns the coordinate and the current state Command format Q Return 1000 ACK1 ACK2 ACK3 Coordinate ACK1 X Command error K Command accepted normaly ACK2 L LS stop K Normal stop ACK3 B Busy status R Ready status Coordinate value has a fixed length of ten digits including symbols symbols are left aligned coordinates value right aligned 12 command Status2 Features On receipt of this command the controller returns the stage operating status Command format iz Return B Busy status R Ready status 13 command Internal Information Features Returns the version number
32. ve Revision AOIN MOOE MAN SYSTEM OFFSET ef ORIGI 0 O CENTER SYSTEM LOAD RUN CURRENT W m STOP CURRENT 176 ma Fun RUN FUN URREN CURREN CURREN I S0nA T Oma LT ona Welcome G9C 01 confeuration z GSC 01 Configuration Ver 1 00 Gopyriett c 2011 SIGMA KOKI CO LTD k Ed 350 01 OPERATION BASIE 2 3 COM POR BASIC CONDITION Savial No 00000000 P Versen 100 Fersen a ORIGIN MODE moa SYSTEM OFFSET ef Onuat T O CENTER SYSTEM MOTOR CURRENT Limo RUN CURRENT 0 mA STORE STOP CURRENT 1 ma RUN RUN RUN RUN QURREN CURALN CURRIN CURRIN T Mie T EmA TOA T DMA manim Connected GS 01 If the communications have been established successfully the above screen is displayed the indicator turns green is displayed If an error is displayed you must check the connection and the baud rate setting again 5 2 Change Configurations The configuration program has four tabs to allow you to change the settings of the GSC 01 if necessary Clicking the INITIALIZED DEFAULT button can restore the factory set configurations completely If you change configurations you must write them to GSC 01 by click to STORE button 5 2 1 BASIC 1 Tab Check change drive parameters for the stages you are using gt G80 01 Confieuration Ver 1 00 Copyright c 2011 SIGMA KOKI COLTD A amp File E Tooth Hoi ere BASIC 1 3 RASID 2 9 BASIO 2 9 COM FORT BASIO CONDITION saris No 0000000
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