User`s Manual - OptoSigma Global Top
Contents
1. Range of setting 40 200 kHz The setting of this value must be referred to the ultrasonic motor PKA series 3 4 DEGREE Setting of pulse phase shift of each axis Range of setting 1 179 XThe setting of this value must be referred to the ultrasonic motor PKA series 8 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition Chapter 3 PKA ID 02 operation 6 Controlling the ultrasonic motor PKA series by manual operation User can simply do a manual operation to ultrasonic motor PKA series by JOG switch at front panel JOG1 Switch Turning JOG1 toward side to operate a movement of ultrasonic motor PKA series axis 1 to direction Turning JOG1 toward side to operate a movement of ultrasonic motor PKA series axis 1 to direction JOG2 switch Turning JOG2 toward side to operate a movement of ultrasonic motor PKA series axis 2 to direction Turning JOG2 toward side to operate a movement of ultrasonic motor PKA series axis 2 to direction SPDSEL switch Switching speed for manual operation HI side Coarse motion LOW side Fine motion 7 Ultrasonic motor PKA series control by PC User can control the ultrasonic motor PKA series by command string from PC 7 1 Command list Commands used with PKA ID 02 controller shown as below Command String Content Absolute travel by pulse number setting A Set an absolute travel by pulse number Rel2. Range of pulse setting O 999999 Move axis 1 to position of 1000 pulse and move axis2 to position of 3000 pulse Start moving 2 M command Set number of pulses for relative travel Description This command is to specify travel axis direction relative travel number pulse number The command must be followed by a drive G command Command format M nmPx Parameter n 1 20rW 1 represenis axis 1 2 represenis axis 2 W represents axis both axis 1 and axis 2 10 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition M 4 or represents direction represents direction x Relative travel number Range of pulse setting 0999999 Example M 1 P1000 Move axis 1 to direction by 1000 pulse G Start moving 3 G Command Drive command Description Start driving the ultrasonic motor PKA series The command must be applied after A and M command Command format G Start moving 4 N Command Return to logical origin Description Return to the ultrasonic motor to the logical origin 0 pulse position Command format N 1 Return axis 1 to logical origin N 2 Return axis 2 to logical origin N W Return both axis 1 and axis 2 to logical origin 5 L command Stop moving Description Stop moving of ultrasonic motor PKA series Command format L 1 Stop moving of axis 1 L 2 Stop moving of axis 2 L W Stop moving of both axis 1 and axis 2 L E Stop moving of both axis 1 and axi
3. series axis 1 JOG2 switch Manual control to ultrasonic motor PKA series axis 2 SPDSEL switch Switching speed for manual operation Axis1 connector Connector for connection to ultrasonic motor PKA series axis 1 Axis2 connector Connector for connection to ultrasonic motor PKA series axis 2 Earth terminal Should be grounded properly in your environment Power terminal Supply power by DC 24V 2A ZN Make sure to set up and wire the cable supplying DC 24V and GND to the PKA ID 02 so that the maximum length of cable is not longer than 2m 6 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition Chapter 2 Connection and Setting 4 PKA ID 02 connection procedure 4 1 Connecting Ultrasonic motor PKA series to PKA ID 02 controller Checking PKA ID 02 controller power off Connecting 1 axis of the ultrasonic motor PKA series to Axis1 of PKA ID 02 as the axis number 1 and Connecting 2 axis of the ultrasonic motor PKA series to Axis 2 of PKA ID 02 as the axis number 2 4 2 Connecting PKA ID 02 to PC The connection between PKA ID 02 and PC is RS232C interface RS232C interface communication setting of PKA ID 02 at PC side is shown as below Setting items Setting contents Baud rate 38400bps Delimit CR LF Parity None Data bit 8bit Stop bit 1bit Flow control Hardware RTS CTS Connection of PKA ID 02 to PC Checking PKA ID 02 controller power off RS232
4. 2B 3rd edition 9 Connector Pin Number 9 1 Axis1 and Axis2 connector No Name No Name 1 A pulse output 4 B pulse output 2 A pulse output 5 gt 3 B pulse output 6 Connector HR10G 7R 6S made by Hirose Electric Co Ltd 9 2 RS232C connector No Name No Name 1 6 DTR 2 TxD 7 CTS 3 RxD 8 RTS 4 DSR 9 s 5 SG Connector XM3B 0922 132 made by OMRON Corporation 10 Outer dimension 100 DC 24V 142 4 14 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition SIGMAKOKI CO LTD http www sigma koki com Tokyo Head Office SIGMAKOKI Tokyo Head office 1 19 9 Midori Sumida ku Tokyo 130 0021 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 Kyushu Sales office 3 17 Hie machi Hakata ku Fukuoka 812 0014 TEL 81 92 481 4300 FAX 81 92 481 4310 Technology Center 1 1Yatsukaho Hakusan shi Ishikawa 924 0838 JAPAN 15 Copyright 2014 SIGMAKOKI Co Ltd
5. C cable is a D sub9 pin straight male female inch screw cable Genuine cable RS232C STR Connecting to RS232C interface connector of PKA ID 02 with male connector of RS232C cable Female connector of RS232C cable is uses to connect to PC ZN Caution All the cable connection must be done in the status of power off 4 3 Power on Turning PKA ID 02 controller power on Supplying power DC24V to power supply terminal POWER LED at front panel will light up after power on XCaution The incorrect connection in power supply polarity may cause the malfunction 7 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition 5 PKA ID 02 Setting 5 1 Memory switch setting All setting of PKA ID 02 is done by Memory switch The edition of memory switch is done by sample software SG Sample or SG Commander SG Sample and SG Commander is available for download at Sigma Koki website http www sigma koki com 5 2 Content of Memory switch Memory switch consists of 4 items as below No Memory switch Range of setting Default value Content 1 FREO 40 200 167 Pulse frequency kHz of axis 1 2 FREQ2 40 200 167 Pulse frequency kHz of axis 2 3 DEGREE 1 179 150 Pulse phase shift of axis 1 4 DEGREE2 1 179 150 Pulse phase shift of axis 2 The setting of this value must be referred to the ultrasonic motor PKA series 5 3 Memory switch setting 1 2 FREQ Setting pulse frequency of all axes
6. Command format I Responded data format B busy status L O command can be received R Ready status All commands can be received 9 command Checking internal information Description A response of internal information of PKA ID 02 Command format N Checking system name V Checking version 12 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 10 S command Step pulse setting Description Set a speed of JOG switch Command format S 1 S 2 S 3 S 4 XPower on value is S 1 at SPDSEL LOW side of PKA ID 02 1 step is 5pulse 1 step is 15pulse 1 step is 50pulse 1 step is 100pulse Chapter 4 Specification 8 Specification 1 General specification Power reguirement Power consumption Operation temperature Storage temperature Altitude Indoor use only Installation category Pollution degree Ambient humidity Outer dimension Weight 2 Performance Controlling axis Interface 3 Fast transient Burst noise 4 Electrostatic discharge DC24V 1 8A 5 40 C 20 60 C up to 2000m I 2 20 80 no condensation 50W x 142D x 100H mm Excluding extrusion 0 53 kg 2 axis RS232C interface Communication parameter Baud rate 38400bps Data bit 8bit Parity None Stop bit 1bit Flow control Hardware RTS CTS Delimiters CR LF EN61000 4 4 2004 Level 2 EN61000 4 2 1995 A1 1998 A2 2001 Level 2 3rd edition 13 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 1100
7. UPS K10 11002B 3rd edition Users Manual Ultrasonic Motor Controller PKA ID 02 manual OptoSigma 1 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition Notes regarding these materials These materials are intended as a reference to assist our customers in the use of the SIGMAKOKI 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 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 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 eguipment or system that is used u
8. ative travel by pulse number setting M Set a relative travel by pulse number Drive command G Start moving Return to logical origin N Return to logical origin Stop L Stop moving Logical origin setting R Reset the coordinate Status Q Response by the status of current position Status2 I Response by B Busy R Ready Internal information Response by the internal information Step pulse setting S Set a speed of JOG switch at SPDSEL LOW side 9 Copyright 2014 SIGMAKOKI Co Ltd 7 2 Command format UPS K10 11002B 3rd edition PC and communication protocol can make one response format toward one command only Command string Received Response string Sent Response string will show OK when command string was received normally but response string will show NGJ when command string was not received properly Note confirmation command Q will be responded by data instead of OK 7 3 Command detail 1 A command Command for setting absolute travel by pulse number Description This command is to specify traveling axis direction absolute coordinate number pulse number The command must be followed by a drive G command Command format A nmPx Parameter n 1 20rW m Of x Absolute coordinate number Example A W P1000 P3000 1 represents axis 1 2 represents axis 2 W represents axis both axis 1 and axis 2 represents direction represents direction
9. ed Only Factory Authorized Personnel should be changes and or adjust the parts of controller The Symbols Used in This Manual NVARNING CAUTION This symbol marks warnings that should be read and used to prevent serious injury or death This symbol indicates where caution should be used to avoid possible injury to yourself or others or damage to property This symbol indicates where caution should be used to avoid possible injury to yourself or others or damage to property 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 extraordinary conditions including fi re earthquakes and other acts of God action by any third party other accidents and deliberate or accidental misuse Ifthe equipment is used in a manner not specifi ed by the SIGMAKOKI CO LTD the protection provided by the equipment may be impaired AN 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 n
10. ght 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition Chapter 1 Before you begin 1 Package contents Before you use this controller check if your package includes all the items listed below It is convenient to check in the boxes If your package does not include all the items or items are damaged please contact us UPKA ID 02 Controller O Manual The edition in memory switch of PKA ID 02 controller can be done by sample software SG Sample or SG Commander SG Sample and SG Commander is available for download from our website URL http www sigma koki com 2 Overview This controller is used for driving ultrasonic motor PKA series With the connection with user PC through RS232C interface user can send a simple command to control ultrasonic motor PKA series Beside by PC user can control manually by JOG switch as well 3 Name of each part and function 3 1 Name of each part I fo PKA 1D 02 Axis1 connector POWER 1061 e Ju 9 AN N V Jogi sarat Axis2 connector JOG DPOWER LED d ve 32320 ins JOG2 O SPD SEL HI A DC 24V SPDSEL switch Power terminal Earth terminal 5 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition 3 2 Each part function POWER LED Light up in green when powered RS232C connector A control by PC through RS232C interface JOG1 switch Manual control to ultrasonic motor PKA
11. nder circumstances in which human life is potentially at stake SIGMAKOKI CO 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 2 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition Contents For Your Safety 4 Chapter 1 Before you begin 5 1 Package contents 5 2 Overview e S 3 Name of each part and function 5 Chapter2 Connection and Setting 7 4 PKA ID 02 connection procedure 7 5 PKA ID 02 Setting 8 Chapter 3 PKA ID 02 operation 9 6 Controlling the ultrasonic motor PKA series by manual operation 9 7 Ultrasonic motor PKA series control by PC 9 Chapter 4 Specification 13 8 Specification 13 9 Connector Pin Number 14 10 Outer dimension 14 3 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition For Your Safety Before using this product read this manual and all warnings or cautions in the documentation provid
12. ot 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 sunlight or vibration Do not touch the product when your hands are wet A CAUTION 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 Copyri
13. s 2 6 R command Logical origin setting Description Reset coordinate and memorize the current position as a logical origin O pulse position Command format R 1 Set the logical origin of axis 1 R 2 Set the logical origin of axis 2 RW Set the logical origin of both axis 1 and axis 2 11 Copyright 2014 SIGMAKOKI Co Ltd UPS K10 11002B 3rd edition 7 A command Checking status command Description A response by the current position status of ultrasonic motor PKA series from PKA ID 02 controller Command format Q Responded data format Coordinate number of axis 1 Coordinate number of axis 2 ACK1 ACK2 ACK3 Coordinate number of axis 1 Coordinate number of current position of axis 1 pulse number Coordinate number of axis 2 Coordinate number of current position of axis 2 pulse number ACK1 X command error K command received normally ACK2 Ignore ACK3 B busy status L Q command can be received R Ready status All commands can be received XCoordinate number for each axis has a fixed length of ten digits including symbols symbols are left aligned and coordinate numbers right aligned Example Q Checking status K 1000 2000 K K R Returned data Coordinate number of axis 1 1000 pulse and Coordinate number of axis 2 2000 pulse Command received normally Ready status 8 command Checking status command 2 Description A response of stage status from PKA ID 02 controller with ACK3 of Q command
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