User`s Manual - OptoSigma Global Top
Contents
1. MW GSC 02 User s Manual E 9 Connector Pin Numbers and Signals 9 1 STAGE1 2 Connector No Name No Name 1 Blue motor wiring 9 GND for Brake 2 Red motor wiring 10 24V for Brake 3 Orange motor wiring 11 LS limit detection on 4 Green motor wiring 12 LS limit detection on 6 NEAR proximity detection 7 ORG mechanical origin detection 15 24V sensor power supply 8 24V sensor power supply Connector Type D sub 15pin female connector mm screw threads 9 2 RS232C Connector ooo o d e DTR 2 TxD T GIs 3 RxD 8 RTS 4 DSR 9 5 SG Connector Type D sub 9pin female connector inch screw threads 9 3 SCT602 Connector No Name No Name 1 24V 6 DTR 2 TxD T CTS 3 RxD 8 RTS 4 DSR 9 Reserved Connector Type D sub 9pin male connector mm screw threads AN Do not connect any other devices to the SCT602 connector to avoid possible damage You cannot connect to the SCT602 connector and RS232C connector at the same time Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MW GSC 02 User s Manual E 10 Exterior Dimensions 3 M3 fixing hole threaded STOP RYN STOP RYN 00 00 STAGE 2 STAGE A 16 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com SIGMAKOKI CO LTD hitp2. 4 G command Drive Features When a drive command is issued the stage starts moving moves the specified number of pulses and then stops The G command is used after M and J commands Format G Drive 5 L command Decelerate and stop Features When this command is executed the stage decelerates and stops Format L 1 First axis decelerates and stops L 2 Second axis decelerates and stops L W First and second axis decelerate and stop Note Stage does not stop even if L 1 L 2 at the time H W Stop in L W or L E 6 L E command Emergency stop Features This command stops all stages immediately whatever the conditions Format L E Stop first and second axes immediately Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MW GSC 02 User s Manual E 7 R command Set electronic logical origin Features This command is used to set electronic logical origin to the current position of each axis Format R 1 Set the electronic logical origin for the first axis R 2 Set the electronic logical origin for the second axis R W Set the electronic logical origins for the first and second axis 8 D command Speed settings Features The minimum speed S maximum speed F and acceleration deceleration time R are set according to the initialize settings when the power is turned on This command allows you to change
3. 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 A 2 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com MW GSC 02 User s Manual E Chapter 1 Before You Begin 1 Package Contents Purchasers of the Stage Controller should find that the package contains the items listed below Check the package contents using the following checklist Contact your retailer as soon as possible in the event that you should find that any item is missing or damaged GSC 02 Stage Controller 1 LISCT 602 Terminal Cap 1 User s Manual This Manual 1 You can download sample programs from our web page For the details of the samples see the manual of each program View our home page http www sigma koki com Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MW GSC 02 User s Manual E 2 Overview This controller is two axes stage controller featuring stepping motor drivers Whe
4. ae ie U As m E FA P A TA EILIA el dae lafa f a UNIDA Y A J iw UGH y ELIGU h AA Ts Two Axis Stage Controller MEZ AN 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
5. 5000PPS CW LS detection SOOPPS CCW N sensor detection O sensor detection Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 02 User s Manual E 6 2 Setting the drive current Set current values supplied from GSC 02 to stages Turn a RUN current volume provided on the side of the unit to adjust RUN current corresponding to the stages to use Use a STOP current volume to set a ratio to RUN current according to your conditions for the case where the current down function works You can make each current adjustment for Axis 1 or Axis 2 independently Note that for the STOP current adjustment is available not for current values but for a ratio to the RUN current Note Generally the ratio of the STOP current to the RUN current is approx 50 Volume Driving current settings RUN Factory set to 0 35A Phase Volume No O 1 2 3 4 5 6 T 8 9 10 RUN current A phase 0 3 0 31 0 32 0 33 0 4 0 5 0 6 0 68 0 75 0 79 0 8 Stop current settings STOP current setting to 50 for RUN current Factory set to volume No O RUN No O 1 2 3 4 5 6 T 8 9 10 STOP No 0 0 O O 1 1 2 2 3 3 3 Note Each value cited in the above table is a guide to adjust the current without instrument and may fluctuate within an allowable range 6 3 Power ON When you have completed procedures ab
6. Www sigma Koki com Tokyo Head office 1 19 9 midori SIGMA KOKI Tokyo Head office Sumida ku Tokyo 130 0021 JAPAN Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com Osaka Branch 4 9 28 nishi Nakaiima Yodogawa ku Osaka 532 0011 JAPAN Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail sales osaka sigma koki com i 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 A Technology center 1 1 Yatsukaho Hakusan sti Ishikawa 924 0838 JAPAN I mM 1111 Percentage of Waste Paper pulp 100 2014 2 Third edition
7. and Signals AE 15 10 Exterior Dimensions A ee ee ee re ee ee re rere 16 1 To 2 232S tse Tokyo Head office Tel 81 3 5038 8228 Fax 81 3 5638 09590 E mail international sigma koki com MW GSC 02 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 AN 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 indicate warnings and cautions The exact nature of the warning or caution is indicated by the symbol inside the symbol at left indicates risk of electrocution OSymbols 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 O Symbols inside a black circle mark actions that must be performed to ensure safety The exact nature of
8. or2orW Axis number 1 or 2 only one axis W both axes m 0 or 1 O motor free 1 motor hold Example C 10 Free first axis motor 10 Q command Status 1 Features On receipt of this command the controller returns the coordinates for each axis and the current state of each stage Format Q Return data 100 200 ACK1 ACK2 ACK3 First axis Second axis Three character coordinates coordinates string data ACKT acer X Command or parameter errors K Command received normally ACK2 ss L First axis stopped at LS M Second axis stopped at LS W First and second axes stopped at LS K Normal stop AGUIKO aiie B BUSY L Q and commands can be received R READY all commands can be received X Coordinate values for each axis have a fixed length of ten digits including sign Sign is left aligned coordinates values right aligned 11 command Status 2 Features On receipt of this command the controller returns the stage operating status Format l Return data B BUSY L Q and commands can be received R READY all commands can be received 12 command Request for internal information Features The command to request an internal ROM version from the controller Format V Return data example V2 00 Internal ROM version 2 00 1 active 13 A 237 CT Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com HM GSC 02 User s Manual E Chapter 4 Specificati
9. the action that must be performed is indicated by the symbol inside the symbol at left is used in cases in which the AC adapter must be unplugged to ensure safety Symbols on the product The symbol mark on the product calls your attention Please refer to the manual in the case that you operate the part of the symbol mark on the product This symbol labeled on the portion calls your attention 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 fire earthquakes and other acts of God action by any third party other accidents and deliberate or accidental misuse 4 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 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
10. which human life is potentially at stake SIGMA KOKI 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 MW GSC 02 User s Manual E Contents For Your Safety ETRE E RARAS AREA AA 2 Chapter 1 Before You Begin AAA ANS AAA AAA AAA AA 3 1 Package Contents A O eeeeeenwenessuaeaeecetuceees 3 2 Overview ius eseebe Med iaa cialis a A 4 3 The GSC 02 System ib aia eee a E EA ee eo ke wee ee E 4 4 Parts of the GSC 02 big eee e ee E E even aeGeudee geseu eet mettwsaentexewogus ceetwierees 5 Chapter 2 Basic Operations IEA AAA E AAA 6 5 GSC 02 Connection procedure E ARA AAA AAA AAA 6 6 GSC 02 Setting Pe o O A REO A ieee E E aeeaceeseas 6 Chapter 3 Using GSC 02 to position Motorized Stages 9 f USINE COMPuter to positon Motorized Stages 9 Chapter A i Specification EIA RARA E ARANA AAA 14 8 Specification ELA AAA EA 14 9 Connector Pin Numbers
11. K method MINI method 4 Input logic for the limit sensor Normal open Normal close if hether to return mechanical origin _ 5 RECI El SS A O First axis only Both axis for each axis Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com MW GSC 02 User s Manual E Switch settings and Corresponding Parameters Set to ON by turning to the down side Items Dip Switch No Descriptions SW No 2 SW No 1 ON ON 2400bps Baud rate ON OFF 4800bps ORF ON 9600bps OFF OFF 19200bps Detecting the mechanical origin ON AUS OFF MINI method l SW No 4 Input logic for the ON NN rmalondn limit sensor OFF Normal close Specify whether to SW No 5 return mechanical ON First axis only origin for each axis OFF Both axis Note Shaded areas in the list show our factory settings Tale care to handle the very small DIP Switch so as to avoid giving damage to them during the settings Use appropriate tools such as sharp tweezers for setting switches on the DIP Switch For our SGSP series stages select Normal close for the limit sensor logic and MINI for the homing method Detecting the Mechanical Origin MINI method CW sensor SOOOPPS CW CW LS detection 5000PPS CCW Move 1000 pulse SOOPPS CW CW LS detection SOOOPPS CCW Move 1000 pulse MARK method ORG sensor NEAR sensor CW sensor
12. e direction H W Detects mechanical origin for Axis 1 in the negative direction and Axis 2 in the positive direction H W Detects mechanical origin for Axis 1 in the negative direction and Axis 2 in the negative direction 2 M command Set number of pulses for relative travel Features This command is to specify the axis of travel direction and the travel number of pulses This command must always be followed by a drive G command Travel is by means of acceleration deceleration driving Format M nmPx Parameter n 1or2orW Axis number 1 or 2 Moves only one axis W Moves both axes m or Direction of move direction move direction move x moving pulse count O 16777214 Example M W P500 P200 Travel 500 pulses in the direction on the first axis and 200 pulses in the G direction on the second axis A 10 Osaka branch Tel 81 EREN Fax 81 6 6307 4834 E mail international sigma koki com MW GSC 02 User s Manual E 3 Y command JOG Features This command drives stages continuously at a constant speed at the starting speed S This command must always be followed by a drive G command The stage will stop by an L command Format J nm Parameter n 1or2or W Axis number 1 or 2 Moves only one axis W Moves both axes m or Direction of move direction move direction move Example J W Move in the direction on the first axis and in the direction on the second G axis
13. n the GSC 02 is connected to an ordinary personal computer via an RS232C interface the stage can be accurately moved to the desired position by simple commands sent from the PC 3 The GSC 02 System SGSP 15 20 26 series SGSP40ZF 60ZF series SGSP40 60YAW series a _ _ _ Pr SGSP A B series D15RP CA TSDM series Sl GSC 02 DMINIS CA PC RS232C STR Cable SGSP ACT series eae GOHTM 40 series HPS series HDS series D15RP CA DMINIH CA SJT 02 SCT 602 Cable TAMM series GOHTM 50 60 70 series You cannot connect SJT 02 SCT 602 and PC to a GSC 02 controller at the same time Note that applicable cables and drive current values are depending on the specifications of stages used Check if your controller can adequately control desired devices before forming a system You cannot connect SJT 02 SCT 602 and PC to a GSC 02 controller at the same time If you connect them in parallel GSC 02 SUT O2 SCT 602 and or PC may be damaged Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com MW GSC 02 User s Manual E 4 Parts of the GSC 02 GSC 02 EB KOKI RS232C SCT602 POWER RUN AA w oko CENA SCT 602 connector Earth terminal STAGE 1 STAGE 2 7 TT T1111 A OGY S Odo OG WS J Power terminal OStage driving connector Axis 1 Stage driving connector Axis 2 Functions POWER LED Lights up in green when po
14. on 8 Specification 1 General specifications Power source DC 24V Rating current 2A Operating temperature 5 to 40 C Storage temperature 20 to 60 C Altitude up to 2000m Indoor use only Installation category I Pollution degree 2 Ambient humidity 20 to 80 RH no condensation External dimensions 180W x125D x40H excluding projections Weight 0 7kg Controlling axis 2 axis Maximum driving speed F 1 to 20kPPS Minimum driving speed S 1 to 20kPPS Acceleration deceleration time R O to 1000ms Sensor input Origin sensor proximity sensor CW limit CCW limit Limit sensor logic can be changed with the settings of switch 4 on the DIP Switch Method of return to origin MINI method MARK method Set with switch 3 on the DIP Switch Axes to Home Axis1 both axis 1axis and 2axis Set with switch 5 on the DIP Switch Interface RS232C interface Communication Parameters Baud rate 2400 4800 9600 19200 Set with switches 1 2 on the DIP Switch Data bits 8 bits Parity None Stop bit 1bit Flow control Hardware RTS CTS Delimiters CR LF 3 Driver Specifications Driver Mode Half step driving Driving RUN current 0 3A phase to 0 8A phase Current down function Automatic current down 4 Electrical fast transmit burst immunity EN61000 4 4 2004 Level2 5 Electrostatic discharge EN61000 4 2 1995 A1 1998 A2 2001 Level2 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com
15. ove connect the power source GSC 02 is power ON and the green power LED lights up Now the setup has been done and your GSC 02 is ready to use For the details of commands applicable to GSC 02 see Chapter 3 Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com MW GSC 02 User s Manual E Chapter 3 Using GSC 02 to position Motorized Stages 7 Using Computer to position Motorized Stages The controller can be connected to a computer using an RS232C interface Motorized stages can then be precisely controlled by commands strings transmitted from the computer The RS232C interface communication parameter of the GSC 02 is described below Please set the configurations of the PC side according to the following table Items Descriptions Baud rate Baud rate set with DIP Switch Delimit CRLF Parity Non Data bit 8bit Stop bit 1bit Flow control Hardware RTS CTS 7 1 List of Commands The following is a list of available commands Command String Details Return to mechanical origin H Detect mechanical origin Set number of pulses for ve Axis of movement direction number of relative movement pulses Jog command J Move at minimum speed S Drive command G Start Stop command fis Stop Set the electronic logical origin to the Set electronic logical origin R Speed settings Be Set S F and R Free motor ee Excita
16. s Manual E Chapter 2 Basic Operations 5 GSC 02 Connection procedure 5 1 Connecting to Motorized Stages First connect GSC 02 to the motorized stages 1 Please confirm the power source is turning off Connect a standard cable DMINIS CA DMINIH CA to the connector of the motorized stage 3 Connect the stage to be controlled as the first axis to the STAGE1 connector of the GSC 02 controller Also connect the stage controlled as the second axis to the STAGE2 connector Connect GSC 02 to PC and peripherals SUT O2 SCT 602 RS232C interface is used for the connection between the PC and GSC 02 The following descriptions premise the RS232C interface 1 Please confirm the power source is turning off 2 Use a genuine cable RS232C STR or 9 pin D SUB straight cable with male female ends using inch screw threads 3 Insert the male connector of communications cable in to the RS232C connector on the GSC 02 Insert the female end into the serial port on your PC 6 GSC 02 Setting Initialize your GSC 02 to match to the target stages and host environment your PC etc The initialization includes DIP Switch settings and current adjustments RUN STOP for each axis motor 6 1 Set parameters with DIP Switch Initialize your GSC 02 by setting each switch to ON OFF as follows Parameter Assignment in the DIP Switch DIP Switch No Items Parameters 1 2 Baud rate 2400 4800 9600 19200 3 Detecting the mechanical origin MAR
17. these initial settings The initialize setting is S BOOPPS F 5000PPS R 200mS Format D rSspd11Fspd21Rspd31Sspd12Fspd22Rspd32 Parameter r lor2 Speed range 1 Low speed range 2 High speed range spd1 Minimum speed S 1 200PPS Low range 50 20000PPS High range spd2 Maximum speed F 1 200PPS Low range 50 20000PPS High range spd3 Acceleration Deceleration time R O 1000mS for both High Low range Note The maximum speed F setting should be equal or greater than the minimum speed If the minimum speed is set to equals to the maximum or the acceleration deceleration time is set to zero stages will move at a constant speed without performing acceleration deceleration logically Example D 25100F1000R2005100F1000R200 Sets speeds for Axes1 and 2 Axis1 S 100PPS F 1000PPS R 200mS Axis2 S 100PPS F 1000PPS R 200mS Acceleration and Deceleration Patterns Maximum pulse speed F Minimum pulse speed S Number of pulses moved Acceleration k gt time Rms lt Deceleration Positioning time time Rms Osaka branch Tel 81 6 6307 4835 Fax 81 6 6307 4834 E mail international sigma koki com 12 MW GSC 02 User s Manual E 9 C command Free hold motor Excitation ON OFF Features This command is used to excite the motor or to turn excitation off making it possible to move rotate stages manually Format C nm Parameter n 1
18. tion ON OFF Status 1 Q Return current position etc Status2 L Return B busy R ready Internal information Ti Check internal information 7 2 Command Format Except for some status check commands Q no response will be returned to a command input To determine whether or not a command was received normally use the Q command to check status Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MW GSC 02 User s Manual E 7 3 Commamd in Detail 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 Once the mechanical origin has been detected the value displayed will be O Each axis moves at the following constant conditions Minimum speed S 500PPS Maximum speed F 5000PPS Acceleration Deceleration time R 200mS Axes to home are depending on the DIP Switch settings Format H 1 Detects mechanical origin for Axis 1 in the positive direction H 1 Detects mechanical origin for Axis 1 in the negative direction H 2 Detects mechanical origin for Axis 2 in the positive direction H 2 Detects mechanical origin for Axis 2 in the negative direction H W Detects mechanical origin for Axis 1 in the positive direction and Axis 2 in the positive direction H W Detects mechanical origin for Axis 1 in the positive direction and Axis 2 in the negativ
19. wered RUN LED Lights up in red while driving stages 3 DIP switch Makes basic settings for GSC 02 4 RS232C connector This connector is used when the device is controlled from the computer via an RS232C interface SCT 602 connector This connector is used when controlling with the SJT 02 SCT 602 Stage driving connector Connect to the motorized stage of your choice Supports up to two axes 8 Earth terminal Should be grounded properly in your environment Power terminal Connect to the power source 24V 2A AN Turn off a power supply in the case of the connector connection for security AN Make sure to set up and wire the cable supplying DC 24V and GND to the GSC 02 so that the maximum length of cable is not longer than 2m 4dSTAGE1 STOP volume 40STAGE1 RUN volume 4ISTAGE2 STOP volume d2STAGE2 RUN volume 4 STAGE1 RUN volume Volume control adjusting the RUN current output through the stage drive connector Axis 1 4 STAGE1 STOP volume Volume control adjusting the STOP current output through the stage drive connector Axis 1 42 STAGE2 RUN volume Volume control adjusting the RUN current output through the stage drive connector Axis 2 149 STAGE2 STOP volume Volume control adjusting the STOP current output through the stage drive connector Axis 2 5 P I U Tokyo Head office Tel 81 3 5638 8228 Fax 81 3 5638 6550 E mail international sigma koki com MW GSC 02 User
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