GE-S Series Motion Controller User Manual
Contents
1. controller 2 3 3 Step 3 Establish the Communication between the Host and the Motion Controller If there 1s a prompt of communication successful the user can run the system Otherwise refer to Appendix D Troubleshooting to find the problems and re test after the troubleshooting If necessary contact with Googol Technology by the approaches on the manual cover Chapter 2 Quick Start 2 3 4 Step 4 Connect the Motor with the Driver It is suggested to remove the motor from the load when you use the card firstly for the safety Don t connect the motor with any mechanical device before the installation and debug of control system has been finished Only after the parameters of the card and the driver can be adjusted to control the motor then the system can be connected or else it may result in serious results Connect the driver with the motor before it 1s connected with the motion controller Please read the instruction of driver and connect it rightly Test the drive and the motor according to the instruction of driver and ensure the normal work 2 3 5 Step 5 Connect the Motion Controller with the Terminal Board Understand the interface signals of motion controller and the interface definition AN of motor drive carefully Connect properly and avoid plugging unplugging the Jotice interface in live working Otherwise the system can not work due to the positive feedback of system and the damage of2. 31 Appendix B Typical Wiring B 14 Wiring with Mitsubishi MELSERVO J2 Super Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CNIB OGND 5G ALM EJ ALM ENABLE ie SUN avec COM RESET RES EMG LSP 18 LSN ES Terminal Block of Driver GAD 10 LG DIK Ea PP DIR EZ PG PULSE NF PULSE 11 NG 2 GND GND GND GND MELSERVO J2 Super Series Driver in Position Control Mode 32 Appendix B Typical Wiring B 15 Wiring with Fuji FALDIC W Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CNI OGND M24 ALM OUTS Alarm for b parameter value is 4 ENABLE CONT 1 Servo started parameter value is 1 FFA A FFA Bt FFB B FFB C FFZ C FFZ DAC Vref GND M5 DIR CA DIR CA PULSE CB PULSE CB GND OVCC P24 RESET CONT2 Reset parameter value is 2 CONT3 Manual forward rotate parameter value is 15 GND M24 GND GND Fuji FALDIC W Series Driver in Velocity Control Mode 33 Appendix B Typical Wiring B 16 Wiring with Fuji FALDIC W Series Driver in Position Control Mode Terminal Board of Motion Controller CN1 CN2 CN3 OGND ALM ENABLE 3 EJ 5 6 ES GND DIR 8 DIR PULSE PULSE GND OVCC RESET GND GND GND Terminal Block of Driver M24 OUT3 Alarm for b parameter value is 4 CONTI Servo started parameter value is 1
3. Fe 8 2 A a Motor Motor Figure 1 3 Control System with GE 400 SX SF Motion Controller Driver Motor Driver Auxiliary Encoder Motor Chapter 2 Quick Start Chapter 2 Quick Start 2 1 Open for Checkup Before the package is opened please check whether the product model indicating on the package is consistent with your order After the package is opened please check firstly whether the surface of the motion controller has mechanical damage and then check carefully whether all the accessories are submitted following the package list or the order contract If the surface of motion controller is damaged or the product is not complied please do not use and immediately contact with Googol Technology or the product suppliers Product list of GE S Series Motion Controller One GE S series controller one terminal board ACC One 62 PIN cable Two fusing resistors two screws one antistatic glove One warranty card One product CD To prevent the motion controller from static damage please touch the effectively grounded metal object to release the static charge carried by the body before Notice contact with the controller circuit or plug unplug the controller and wear the anti static gloves 2 2 Overall Structure of GE S Series Motion Controller The overall structure of GE S Series Motion Contro
4. GOOGOL TECH Googol Technology Shenzhen Co Ltd Add W211 2 F West Building SZHK Industry Education and Research Base South Area High tech Industry Park Shenzhen PRC Tel 86 755 26970823 26970824 26970835 26970817 Fax 86 755 26970821 Email support googoltech com Web _http www googoltech com cn Googol Technology HK Co Ltd Add Room 3639 Annex Building The Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Tel 4852 2358 1033 Fax 852 2719 8399 GE S Series Motion Controller User Manual Be sure to hand over this manual to the user Thank you for the purchase of GE S Series Motion Controller Please read this manual carefully to guarantee the correct operation before the controller is used Please keep this manual carefully for reading and referring at any time Copyright Statement Copyright Statement Googol Technology Shenzhen Co Ltd All rights reserved Googol Technology Shenzhen Co Ltd Googol Technology hereafter reserves the right to modify the products and the product specifications described in this manual without advance notice Googol Technology is not responsible for any direct indirect special incidental or consequential damage or liability caused by the improper use of this manual or this product This product is not designed and manufactured for using in the machinery and systems involved
5. N O General output l channel General output 2 channel General output 3 channel U N General output 4 channel General output 5 channel U K General output 6 channel General output 7 channel General output 8 channel General output 9 channel General output 10 channel General output 11 channel K General output 12 channel General output 13 channel K XO General output 14 channel K U General output 15 channel P K General output 16 channel 24V output AIA N Nn gt LW Go W Go Go 0S wI w OIII Nn oS External power ground 24V output AJA o N External power ground For GE 300 SG DM Motion Controller other interfaces CN8 CN9 and CN10 are reserved For GE 300 SG ENG Motion Controller CN9 and CN10 are reserved CN8 is handwheel interface which definition can be seen in Table 2 7 Table 2 7 Pin Definition of Handwheel Interface CN8 on Terminal Board of GE 300 SG ENG Pin Signal Description i Description 4 A Encoder input of A 17 A Encoder input of A 5 B Encoder input of B 18 B Encoder input of B 6 C Encoder input of C 19 Cr Encoder input of C I 5V 9 5V power output 20 GND Digital ground 10 For GE 400 SX LASER Motion Controller CN9 is reserved CN8 is the control interface of 4 axis which interface definition is same with CN5 CN6 CN7 in Table 2 5 CN10 is laser control interface Chapter 2 Quick Start which def
6. Step 6 Connect the driver system I O with the terminal board 2 3 1 Step 1 Insert the Control System into the Computer Please be careful to handle To prevent the motion controller from static damage please touch the effectively grounded metal object before contact with the controller circuit or plug unplug the controller and wear the anti static gloves 2 3 4 5 Close the power of computer Open the computer case select a free PCI slot and remove the baffle of this slot with screwdriver Insert the motion controller into this slot firmly Tighten the screw on it Close the computer case open the power of PC and start the computer 2 3 2 Step 2 Install the Drivers of Motion Controller only for Windows OS 1 After the hardware has been installed and the computer has been started Windows Operation System will detect the motion controller automatically and start Add New Hardware Wizard In the wizard click Next In the prompt of What do you want Windows to do select Search the device driver recommended and click Next Put the product CD into the CD ROM Select Specified Location use Browse to select the dictionary of your operation system in CD ROM Windows Setup Follow Add New Hardware Wizard and click Next until the installation is finished Check the device attributes of computer system and there will be a new device of GoogolTech
7. 1 F OGND CoM ALMO ALM ENABLEO SRV ON Ag Oat 40 OA BO OB B0 0B Co OC co 6 0z ALM Daco 8 SPR TROR 9 ii GND CND i i GND igi OVCC CON RESETO A CLR i CND itz CND iE 1g iied CND E iil Panasonic MSDA Series Driver in Velocity Control Mode 19 Appendix B Typical Wiring B 2 Wiring with Panasonic MSDA Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 Cy LE OGD E COM ALMO 37 ALMH ENABLEO 29 SRV ON AO 21 OAt A0 122 DA BO 48 OB BO 49 OB CO 23 OC c 24 oz 36l ALM i GND 15 GND DTRO 9 15 SIGNI DIRO 16 SIGN2 PULSEO 3 PULSI PULSEO PULS2 GND OVCE COM RESETO 31 A CLR i GND GND i GND t im Panasonic MSDA Series Driver in Position Control Mode 20 Appendix B Typical Wiring B 3 Wiring with SANYO DENKI PV1 Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CH 1 OGND CON ALMO ALM ENABLEO 8 son AOt A A0 A Bot B B0 B CO C CoH c ALM DACO VOMD GND gG SON OVCE a ARST RESETO ARST a SANYO DENKI PV1 Series Driver in Velocity Control Mode 21 Appendix B Typical Wiring B 4 Wiring with SANYO DENKI PV1 Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CN 1 OGND ALMO ENABLEO AQ F A0 28
8. BO 29 B0 C0 31 CO 32 E GND DIRO FF DIRO 4 PULSEO 5 PULSEO GND avec E RESETO 10 GND E GND E GND SANYO DENKI PVI Series Driver in Position Control Mode 22 Appendix B Typical Wiring B Wiring with SANYO DENKI PY0 PY2 Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CH 1 OCHD DC12 to 247 COM ALMO ALMI ENABLEO SON AO A A0 A Bit B K l B CoH C CoH Ley gs a DACO YOND Lal GND SC 2 La DC12 te 24V OVCE DC12 to 247 RESETO RST a nw a i ea a m SANYO DENKI PY0 PY2 Series Driver in Velocity Control Mode 23 Appendix B Typical Wiring B 6 Wiring with SANYO DENKI PY0O PY2 Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CH 1 F ao Daa tear oon amo 2 3 ALI ao il Ag LT 3 4 Co i ao i BO 8 T B a oe sf fs i e G a p a co eo XxX H CHE oc en U ee ter PPC OEE CF y an Es i eE CE mo GND 48 DC12 to 24 RESETO RST CHD m zH a GND a L M SANYO DENKI PY0 PY2 Series Driver in Position Control Mode 24 Appendix B Typical Wiring B 7 Wiring with SANYO DENKI PU Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CH 1 OCND COM ALMC ALM ENABLEO 6 SON Ag re h0 Bit E Ki K CO C co 6 E iE D
9. for the motion controller and the driver If the analog output function of GE X00 SV XXX Motion Controller is used velocity control mode should be selected for the motor driver If you have any questions please refer to your motor suppliers or contact with Googol Technology To control step motor Two kinds of control signals are provided by the motion controller positive negative pulse and pulse direction When the step motor is controlled the control mode is open loop control and the feedback signal of encoder is not required The encoder is defaulted as closed when the motion controller is in the pulse output mode If the encoder is connected to monitor the actual position from the external the interrelated functions can be called to open the encoder during the programming The typical connection of control system with GE 300 SG XXX Motion Controller can be seen in Figure 1 1 Motion Controller CH 10 24 V Power Driver Driver Driver Figure 1 1 Control System with GE 300 SG XXX Motion Controller Chapter 1 Overview The typical connection of GE 400 SX LASER Motion Controller can be seen in Figure 1 2 Motion Controller 24 V Power Driver Driver Driver CH 10 Driver Laser Figure 1 2 Control System with GE 400 SX LASER Motion Controller The typical connection of GE 400 SX SF Motion Controller can be seen in Figure 1 3
10. hardware resulted by the signal connection error or the live working Close the power of computer and take out the accessory 62 PIN shielded cable Connect CN1 on the motion controller with CN1 on the terminal controller board 2 3 6 Step 6 Connect the Driver System I O with the Terminal Board 1 Connect the power of terminal board CN3 on the terminal board is connected with the external power provided by the user The port marked with 24 V on the board is connected with 24V The port marked with OGND is connected with the external power ground As for the voltage value of external power supply it depends on the external sensors and the power requirements of the actuators The power supply should be selected according to the actual requirements default as 24 V 3A The connection can be seen in Figure 2 4 Terminal Board Use Inside Figure 2 4 Connection of Terminal Board Power 2 Connection of special input and special output Special input include drive alarm signal home signal and limit signal The special inputs are connected with the driver and external switch by CN5 CN6 CN7 and CN12 on the terminal board The definition of CN5 can be seen in Table 2 5 The definition of CN12 can be seen in Table 2 6 Special output include drive enable and drive alarm reset The special outputs are connected with the driver by CN5 CN6 and CN7 on the terminal board CN5 is corresponding to l axis CN6 8
11. input Note If single ended input is used by the user please contact with Googol Technology Maximum Frequency 4 MHz I O 56 channels TTL compatible no Pull up Resistance Special Input LIMIT Positive 4 channels LIMIT Negative 4 channels HOME Home 4 channels General Input 16 channels General Output 16 channels Drive Capability Maximum 30 mA 17 Appendix A Technical Specification Optical Coupler I O Input Isolation Voltage 5000 V RMS Input Voltage 24 V DC Input Current 3 7 mA 7 6mA Transfer Lag H gt L 5 us L H 3 us Output Isolation Voltage 5000 V RMS Collector Open Circuit Output no Pull up Resistance Veeo lt 50 V Voto V I lt 30 mA Average Output Delay 8 us Duty Ratio Output GE 400 SX LASER Laser Power Control Level Standard TTL Duty Ratio Range 0 100 512 grades Drive Capability Maximum 30 mA Reset Level Low level Analog Output GE 400 SX LASER Laser Power Control Output Range 0 V 5 V 4096 grades Resolution 12 bit Reset Status 0 V Laser Switch Output GE 400 SX LASER Level Standard TTL Drive Capability Maximum 30 mA Reset Level Low level Power Supply Voltage 24 V Current 3 A above Dimension 122 mmx185 mm 18 Appendix B Typical Wiring Appendix B Typical Wiring B 1 Wiring with Panasonic MSDA Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CH
12. input 8 channel General input 9 channel General input 10 channel General input 11 channel General input 12 channel General input 13 channel General input 14 channel General input 15 channel tf EXO General input l channel 2 EXU General input 2 channel gt 3 EXP General input 3 channel _ 4 EXB General input 4 channel 5 EX4 General input S channel 6 EXIS General input 6 chanmel gt 7 EX6 General input 7 channel 8 EX7 General input 8 channel _ 9 EX8 General input 9 channel 10 EX9 General input 10 channel gt H EXTIO General input 11 channel gt EXU General input 12 channel 13 f EX2 General input 13 channel 14 EXU3 General input 14 channel 15 EXII4 General input 15 channel gt t6 EXIS General input 16 channel General input 16 channel Chapter 2 Quick Start HOMEO HOME HOME2 HOME3 LIMITO LIMITO LIMIT1 LIMITI LIMIT2 LIMIT2 LIMIT3 LIMIT3 EEOO EEO1 EEO2 EEO3 EEO4 EEOS5 EEO6 EEO7 EEO8 EEO9 EEO10 EEO11 EEO12 EEO13 EEO14 EEO15 24V OGND 24V OGND Home input of l axis Home input of 2 axis Home input of 3 axis N Home input of 4 axis Positive limit of l axis NO NO Negative limit of l axis Positive limit of 2 axis Xo K Negative limit of 2 axis Positive limit of 3 axis NIIN N Nn Negative limit of 3 axis Positive limit of 4 axis NIN o N Negative limit of 4 axis
13. interpolation Interpolation 7 l J J J J Circular interpolation Program Buffer Pretreatment of motion trajectory PID _ Velocity feedforward Filter l J Acceleration feedforward Index signal of encoder re eee eee Hardware Capture Home signal of origin vty y S o o Set the following error limit Safety Precaution Set the acceleration limit ez ae a a a a Set the output voltage saturation limit a oe a ae Laser Switch Enable 1 channel Differential output TTL level J J Control 30 mA 2 channels PWM Output Laser power Control J J 2 channels DA Output Laser Machining Support scanning mode and vector mode J J Process CO and other gas laser Supportable Laser Type J J YAG laser Q pulse 1 4 Components of GE S Control System 1 A set of motion controller 2 Host with PCI interface 3 Step motor or servo motor and its driver 4 Power of driver Chapter 1 Overview 5 24V DV power for terminal board 6 Home switch and positive negative limit switch optional as needed Both AC and DC servo motors can be selected To control servo motor If GE X00 SG XXX Motion Controller is used position control mode should be selected for the motor driver and the setting of pulse mode should be same for the motion controller and the driver If the pulse output function of GE X00 SV XXX Motion Controller is used position control mode should be selected for the motor driver and the setting of pulse mode should be same
14. with the required data processing interface display user interface and other application modules to create the special control system for meeting the requirements of various applications The programming experience of C language or dynamic link library DLL in Windows should be possessed by the user when the motion controller is used 1 2 Signification of GE S Series Models GE X00 XX XXX Series of Motion Controller GE Economy Special Function Custom Code Number of Current Axis SF DM ENG LASER 300 3 axes 400 4 axes SG Continuous Path Motion Pulse Output Control Mode SV Continuous Path Motion Analog Pulse Output Control Mode 1 3 Function List of GE S Series Motion Control y Included Excluded Optional Features DM ENG SG LASER SV LASER C lt P Quadruple mode incremental encoder of Encoder Input 2 3 4 8 channels J J N J Max Frequency 4 MHz Chapter 1 Overview Features DM ENG SG LASER SV LASER Quadruple mode incremental encoder of 1 Auxiliary Encoder channel J Max Frequency 4 MHz Positive and negative limit Limit Signal Input 2 J J J J opticalcoupler of each axis Home Signal Input 1 channel opticalcoupler of each axis Driver Alarm Signal 7 1 channel opticalcoupler of each axis Input Driver Enable Signal 1 channel opticalcoupler of each axis Output Driver Reset Signal 1 channel opticalcoupler of each axis Output General Digital Signal Input General Digital Signal Output Linear
15. A SGDM DRIVER IN VELOCITY CONTROL MODE ccceeceeeeeeees 29 B 12 WIRING WITH YASKAWA SGDM DRIVER IN POSITION CONTROL MODE cccccecceeeseeees 30 B 13 WIRING WITH MITSUBISHI MELSERVO J2 SUPER SERIES DRIVER IN VELOCITY CONTROL MIODE oee E E E EAE A E E A E R 31 B 14 WIRING WITH MITSUBISHI MELSERVO J2 SUPER SERIES DRIVER IN POSITION CONTROL MODE serer A E E A E 32 B 15 WIRING WITH FUJI FALDIC W SERIES DRIVER IN VELOCITY CONTROL MODE 006 33 B 16 WIRING WITH FUJI FALDIC W SERIES DRIVER IN POSITION CONTROL MODE 0000 34 APPENDIX C TROUBLESHOOTING seeoseesseesseessecsseosseossecssesosesosesssesssesssesssesseesseesssesssesseeo 35 Chapter 1 Overview Chapter 1 Overview 1 1 Introduction GE S Series Motion Controller produced by Googol Technology can implement not only the coordinated motion of multi axis but also the different special functions due to the various types of motion controllers The motion controller can be used in many industries such as drilling and milling engraving laser control and so on The core of GE S Series Motion Controller is composed of DSP and FPGA for realizing the high powered computation IBM PC and its compatible computer is the host of GE S Series Motion Controller and the standard PCI bus is provided Windows dynamic link library DLL is provided to implement the complex control functions by the motion controller These control functions can be integrated
16. Chapter 2 Quick Start is corresponding to 2 axis CN7 is corresponding to 3 axis The pin definition of CN5 CN7 is same as seen in Table 2 5 The usage of these signals is determined by the requirement of the driver Based on the safety standard 1 Driver alarm input signal is normally closed 2 Limit switch of system must be normally closed 3 Home switch is normally open Table 2 5 Pin Definition of Control Interface CN5 CN6 CN7 on Terminal Board Pin Signal Description Pin Signal Description l OGND External power ground 14 OVCC 24V output 2 ALM Drive alarm 15 RESET Reset driver 3 ENABLE f Drive enable signal 16 Reserved Reserved 4 A Encoder input of A 17 A Encoder input of A 5 B Encoder input of B 18 B Encoder input of B 6 C Encoder input of C 19 CH Encoder input of C 7 5V 5V power output 20 GND Digital ground 8 Reserved Reserved 21 Reserved Reserved 9 DIR Step direction output 22 DIR Step direction output 10 GND Digital ground 23 PULSE f Step pulse output 11 PULSE Step pulse output 24 GND Digital ground Reserved Reserved 25 Reserved Reserved 2 Table 2 6 Pin Definition of General Special Input output Interface CN12 on Terminal Board z Description General input 1 channel General input 2 channel General input 3 channel General input 4 channel General input 5 channel General input 6 channel General input 7 channel General
17. ND L YASKAWA SGDE Series Driver in Position Control Mode 28 Appendix B Typical Wiring B 11 Wiring with YASKAWA SGDM Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CNI pr pe oe ei 7 a ae ENABLE 3 IS ON ae HTL _11 fas pao a y ha aaa ERO B 18 ji PBO 4 F T 8 ee C 19 PCO a a C H eo 7 ig DAC le V REF eno OL Ye i Z aT GND 13 7a Ne Lr OOOO RESET 15 IALM RST Te d GND is GND E GND YASKAWA SGDM Driver in Velocity Control Mode 29 Appendix B Typical Wiring B 12 Wiring with YASKAWA SGDM Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CNI OGND ALM ALM ALM ENABLE S ON GND SG DIR SIGN DIR ISIGN PULSE PULS PULSE PULS GND OVCC 24 RESET ALM RST GND GND GND YASKAWA SGDM Driver in Position Control Mode 30 Appendix B Typical Wiring B 13 Wiring with Mitsubishi MELSERVO J2 Super Series Driver in Velocity Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 CNIB OGND SG ALM ALM ENABLE 3 SON OVCC COM RESET RES Fe EMG 3 LSP 11 LSN 8 YC GND EEJ Terminal Block of Driver 20 GND 21 GND LG l LA A 4 LAR B 18 LB Bo 5 LBR C 19 LZ p LZR 22 GND 27 Mitsubishi MELSERVO J2 Super Series Driver in Velocity Control Mode
18. O interface Table 2 3 Definition of Terminal Interface of GE 400 SX LASER Motion Controller Channel Definition Connection to Motion Controller 24 V external power interface Current axis interface X axis Current axis interface Y axis Current axis interface Z axis Current axis interface A axis Reserved Laser control interface Special I O interface General I O interface Table 2 4 Definition of Terminal Interface of GE 400 SX SF Motion Controller Channel Definition CNI Connection to Motion Controller CN3 24 V external power interface CN5 Current axis interface X axis CN6 Current axis interface Y axis CN7 Current axis interface Z axis CN8 Current axis interface A axis Extend module interface Auxiliary encoder interface High speed I O interface Special I O interface General I O interface The terminal board is connected with the motion controller by the 62 PIN cable with the interface of CNI Chapter 2 Quick Start 2 3 Installation Procedures Please setup the control system according to the following steps Step 1 Insert the motion controller into the computer Step 2 Install the drivers of the motion controller only for Windows OS Step 3 Establish the communication between the host and the motion controller Step 4 Connect the motor with the driver Step 5 Connect the motion controller with the terminal board
19. P24 CONTA Reset parameter value is 2 CONT3 Manual rotate forward parameter value is 15 M24 Fuji FALDIC W Series Driver in Position Control Mode 34 Appendix C Troubleshooting Appendix C Troubleshooting Trouble Reason Handling The installation of MOLON Reinstall the motion controller controller has not finished hardware work abnormally after the Change to another PCI slot and retry motion controller has PCI bus interface is damaged Change to another computer and retry been installed Change to another motion controller and retry cat hip of i ller 1 N Communicatioi error j CUP Or moton contoler 1s Replace the motion controller between the host and damaged the motion controller Unmatchable of the hardware and the software of motion controller The host can not be started or other Replace the motion controller or the supporting software The positive negative limit switches are all the triggering status The setting of limit Reset the trigger level of limit switch switch trigger level is not right Call the command GT AxisOn and enable the drive Check the control mode of driver to ensure the mode setting matching with motion controller Check the reason of motor driver alarm Reset the motor driver If the driver has no alarm Motor is out of control signal output connect the pinl with pin2 of CN5 CN8 or call the related command to Alarm of m
20. aco 8 SPEED EI Ll GND SG A ml De12 to 24 over DC12 to 24 RESETO RST W 2 i a o m M SANYO DENKI PU Series Driver in Velocity Control Mode 25 Appendix B Typical Wiring B 8 Wiring with YASKAWA SERVOPACK Series Driver in Velocity Moment Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 1CH OGND SC COM ALMO ALM ENABLEO o ON AQ PAO A0 21 PAC RO PEO EQ PEO Co FCO co 6 PCO ALN SC Daco el Y REF 9 Ld GND g Zz La a occ 244 RESETO ALN RST a isi a ha E E YASKAWA SERVOPACK Series Driver in Velocity Moment Control Mode 26 Appendix B Typical Wiring B 9 Wiring with YASKAWA SERVOPACK Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1 CN2 CN3 icy OND ols LOM ALMO ALM EN ABLEO ov ON A Pag AQ PAC RO PEO E0 FEQ C PCO U PCO ALM SG GND Sly CY DITRO SIGN DIRO SIGN PULSEQ PULS PULSEO PULS GND OVCE 24 RESETO ALN RatT NT CHD CHD YASKAWA SERVOPACK Series Driver in Position Control Mode 21 Appendix B Typical Wiring B 10 Wiring with YASKAWA SGDE Series Driver in Position Control Mode Terminal Board of Motion Controller Terminal Block of Driver CN1I CN2 CN3 iCH om fk ae ALO Br ENABLEO Sv ON Jt e o ALM SG A GNI EN S a E are ee PULSEO 23 PULS tr a a aan GND over 244 RESETO ALN EST GND ie GND if G
21. and 12 Chapter 2 Quick Start eS EEE a SSSA GT_StepPulse can be called to switch to positive negative pulse mode and the command GT StepDir also can be called to switch to pulse direction mode The pulse direction output signal is outputted by the pins 9 22 23 11 of CN5 CN6 CN7 in the motion controller GND is the pin of digital ground In pulse direction output mode the pins 23 and 11 output the differential pulse control signal and the pins 9 and 22 output the differential motion direction control signal In positive negative pulse mode the pins 9 and 22 output the differential forward pulse control signal and the pins 23 and 11 output the differential reverse pulse control signal If the drive doesn t need the differential signal connect the signal to the positive port of differential signal output pin 9 and 23 and the negative port is disconnected The signal connection of pulse control output is showed in Figure 2 6 The output wave of different pulse direction is showed in Figure 2 7 Controller Driver Controller Driver Direction Signal DIRO DIR DIRO Sees Cn E exe ical lt a Pulse signal Reverse Pulse Signal ns i nn AE oe o gt PULSEO PULSE ee ccR OHO OHO ALO ALAU Forward Pulse Signal Po cet Pulse Dir Double Ended Mode i Puke Double Faded Mode Driver Controller aver Controller Public COM Public COM 51 E COM VCC 5 COM VCC DIR D
22. discharging the counter Electromotive Prompt Force 14 Chapter 2 Quick Start Switch EI ee SE ve Daca CEMF Sensor Drive Dera ake e Drive Indicator Fi eis Power Supply Figure 2 9 Connection of General Input Output Signal 15 Chapter 3 System Debug Chapter 3 System Debug The system debug can be done by simple commands after the system hardware has been set and connected properly In system debug the correction of system wiring and the normal working of control system can be confirmed and some simple trajectory can be implemented It is suggested that the motor is disconnected with any mechanical device in the AN process of system debug for the safety Please check the motor without any load Notice Close the laser output or turn off the laser power in system debug for avoiding any accidents 16 Appendix A Technical Specification Appendix A Technical Specification Electrical Specification of GE S Series Motion Controller Bus PCI Control Cycle 200 us Pulse Output Number of axis 3 4 axes Maximum Frequency 256 KHz 1 MHz Level Standard TTL Drive Capability 30 mA Duty ratio 50 Nonlinear lt 1 Reset level low level Analog Output Output Range 10V 10V Resolution 16 bit Encoder Input Signal Standard TTL compatible quadrature signal of A and B Input Mode double ended or single ended input The standard is double ended
23. in human life If you plan to use this product for this type of machinery and systems please contact with Googol Technology If this product is used in the equipment which may endanger the personal life or cause the significant loss the appropriate safety devices should be installed Googol Technology owns the patent copyright and related intellectual property of this product and its software No duplication reproduction processing using of this product and its related parts directly or indirectly is granted without the authorization by Googol Technology It is dangerous of the machinery in moving It is the responsibility of the AN user to design the effective error handling system and security protection Notice as the part of the machinery Googol Technology has no obligation or responsibility for any incidental or consequential damages Foreword Foreword Thank you for using Googol Motion Controller Your own control system will be established supported by our first class motion controller perfect after sale service and high efficiency technical support More information about Googol products The web of Googol Technology is ttp Awww googoltech com cn More information about Googol Technology and its products can be obtained on the web including the introduction of Googol Technology products technical support latest products and so on You can also call 86 0755 26970839 26970817 to consult more infor
24. inition can be seen in Table 2 8 Table 2 8 Pin Definition of Laser Control Interface CN10 on Terminal Board of GE 400 SX LASER Pin Signal LASER PWMI PWM2 i D g Description Default laser switch control signal also can be as used to enable signal output of CO Radio Tube Low level after reset Frequency Laser power control signal Duty Ratio Frequency output default as Duty Ratio a channel output or output Low level after reset Laser power control signal Duty Ratio Frequency output default as Duty Ratio Oo channel output or output Low level after reset Laser power control signal 1 channel 0 V after reset Laser power control signal 2 4 channel 0 V after reset Pin Signal LASER Description LASER inverted output High reset Same to level after PWMI inverted output High reset Same to level after PWM2 inverted output High reset Same to level after Digital ground For GE 400 SX SF Motion Controller CN9 is extended module interface CN10 is auxiliary encoder interface which pin definition can be seen in Table 2 9 Table 2 9 Pin Definition of Handwheel Control Interface CN10 on Terminal Board of GE 400 SX SF Description Description A B C Reserved 5V Encoder input Encoder input Encoder input Encoder input Encoder input Encoder input Reserved Digi
25. irection Signal DIRO Forward Pulse Signal DIRO ENE DIE DIT RO T A a FULSEO Pulse Signal EES t Reverse Pulse Signal FPULSEQ Foo en PULSE PULSEO Bae OCHO O 0H ALO ALO Pulse Dir Single Ended Mode Pulse Single Ended Mode Figure 2 6 Signal Connection of Pulse Control Output Pulse Pulse Pulse Direction Figure 2 7 Output Wave of Different Pulse Direction 13 Chapter 2 Quick Start a b Connection of analog output The analog output is outputted by Pin 8 of CN5 CN6 CN7 The reference ground is digital ground The pin definition of CN5 CN6 CN7 can be seen in Table 2 5 The electrical connection can be seen in Figure 2 8 Driver Terminal Board _DACO VCMD l uF GND SG Figure 2 8 Electrical Connection of Analog Output 4 Connection of General Digital Input Output The general digital input is connected by CN12 on terminal board The pin definition of CN12 can be seen in Table 2 6 and its connection can be seen in Figure 2 9 The general digital output is connected by CN12 on terminal board The pin definition of CN12 can be seen in Table 2 6 and its connection can be seen in Figure 2 9 The power supply of general output can be led from CN12 When the general I O output is connected with the inductive load it should be considered to connect the diode for
26. ix Relevant Documents Please refer to GE S Series Motion Controller Programming Manual provided together with the product about the programming of GE S Series Motion Controller Contents Contents CHAPTER OD TR VW oia E E E T 1 LWIR OTST GOIN eenaa EE AEE EESE A A E l 1 2 SIGNIFICATION OF GE S SERIES MODELS cccccccceccceccceccescccsccesccesceescsescceescsessseeeceesseuueceuecs l 1 3 FUNCTION LIST OF GE S SERIES MOTION CONTROL ccccccsecccessccesccecesceeecseeecscensesensseeeseueuss l 1 4 COMPONENTS OF GE S CONTROL SYSTEM ccsccccssscccsccccsccccsscceuscccesceessceuseccuuecesuscceescseuseceusess 2 CHAPTER 2 QOUICK START cnain Ea Aa aE araa 4 2 1 OPEN FOR CHECKUP sriccadiibitnceciseitr esse beset aE r aae EENS Pee seer Tana EEE A AA TERE EE EErEE 4 2 2 OVERALL STRUCTURE OF GE S SERIES MOTION CONTROLLER cccccsccceesccsscceeccessceesceeesseeeees 4 2 3 INSTALLATION PROCEDURES orriren eden an ar ee a ee nee ne ee 7 2 3 1 Step 1 Insert the Control System into the Computer cccccccccsssecccccccccccceasssesseeeceeeeaaesseeseees 7 2 3 2 Step 2 Install the Drivers of Motion Controller only for Windows OS cccccssseeeeeeeeees 7 2 3 3 Step 3 Establish the Communication between the Host and the Motion Controller 7 2 3 4 Step 4 Connect the Motor with the Drive ccccccccsscccccccccccccsesscceeeceeeeeeaaaesssseeeeeeeeaaaaansseeeees S 2 3 5 Step 5 Connect the Motion Controller with the Ter
27. ller is showed in Figure 2 1 Figure 2 1 Schematic Diagram of the Structure of GE S Motion Controller The terminal interface of GE X00 SX DM ENG LASER Motion Controller is showed in Figure 2 2 Chapter 2 Quick Start Figure 2 2 Schematic Diagram of Terminal Interface of GE X00 SX DM ENG LASER The terminal interface of GE 400 SX SF Motion Controller is showed in Figure 2 3 ONE CN12 Va oe D Z Z Z e Q Q Figure 2 3 Schematic Diagram of Terminal Interface of GE 400 SX SF CNI CNI CNIO CN9 CN6 The definitions of terminal interface for GE S Series Motion Controllers are showed in the following tables from Table 2 1 to Table 2 4 Table 2 1 Definition of Terminal Interface of GE 300 SG DM Motion Controller CNI Connection to Motion Controller CN3 24 V external power interface CNS5 X axis interface CN6 Y axis interface CN7 Z axis interface l CN8 Reserved CN9 Reserved CN10 Reserved Special I O interface General I O interface Chapter 2 Quick Start EEE a U U SSS Say Table 2 2 Definition of Terminal Interface of GE 300 SG ENG Motion Controller Channel Definition CNI Connection to Motion Controller CN3 24 V external power interface CNS5 Current axis interface X axis CN6 Current axis interface Y axis CN7 Current axis interface Z axis CN8 Handwheel interface CN9 Reserved CN10 Reserved Special I O interface CN12 General I
28. mation about Googol Technology and its products Technical Support and After sale Service You may get our technical support and after sale service through the following approaches Email support googoltech com Tel 86 755 26970823 26970824 26970835 26970817 Add Googol Technology Shenzhen Co Ltd W211 2 F West Building SZHK Industry Education and Research Base High tech Industry Park Shenzhen PRC Post 518057 Purpose of this Programming Manual By reading this manual you can understand the basic structure of GE S Motion Controller learn the installation of motion controller and study the connection of motion controller motor control system and laser control system Finally you can complete the debug of motion control and laser control system User of this Programming Manual This manual is applicable for those engineering staff with the basic knowledge of hardware and certain understanding of control Contents of this Programming Manual There are three chapters and appendix in this manual The first chapter is overview which introducing GE S Series Motion Controller and how to buildup the electromechanical control system The second chapter is quick start which introducing the installation and wiring of motion controller the installation of drive program The third chapter is system debug And the technology specification of motion controller typical wiring and troubleshooting are provided in append
29. minal BOArd ccccccccce cee neeneeeeeeeees S 2 3 6 Step 6 Connect the Driver System I O with the Terminal Board ccccccccccccccceceeeeeeeee eee S CHAPTER 3SYSIEM DEBUG asec becpc ces geen ste cca ceaiieaeieactecescesccossecatanessacdeossescivccodsescsaves stuacossetes 16 APPENDIX A TECHNICAL SPECTFICATION ccsssccsscccscscccsccccsscccsccccscccccccccscccscccescces 17 APPENDIX B TYPICAL WIRING vcstecensscisctececcecescacuiscsdestecsanacsaseedexsesseadevsaseonacsasesdectessonscisseasests 19 B 1 WIRING WITH PANASONIC MSDA SERIES DRIVER IN VELOCITY CONTROL MODE 006 19 B 2 WIRING WITH PANASONIC MSDA SERIES DRIVER IN POSITION CONTROL MODE 0005 20 B 3 WIRING WITH SANYO DENKI PV 1 SERIES DRIVER IN VELOCITY CONTROL MODBE 21 B 4 WIRING WITH SANYO DENKI PV 1 SERIES DRIVER IN POSITION CONTROL MODE 22 B 5 WIRING WITH SANYO DENKI PYO0 PY2 SERIES DRIVER IN VELOCITY CONTROL MODE 23 B 6 WIRING WITH SANYO DENKI PY0 PY2 SERIES DRIVER IN POSITION CONTROL MODE 24 B 7 WIRING WITH SANYO DENKI PU SERIES DRIVER IN VELOCITY CONTROL MODE 25 B 8 WIRING WITH YASKAWA SERVOPACK SERIES DRIVER IN VELOCITY MOMENT CONTROL MIODE see ee cess A E seers stem E A A E E E th 26 B 9 WIRING WITH YASKAWA SERVOPACK SERIES DRIVER IN POSITION CONTROL MODE 27 B 10 WIRING WITH YASKAWA SGDE SERIES DRIVER IN POSITION CONTROL MODBE 000 28 B 11 WIRING WITH YASKAW
30. otor driver close the alarm signal input Abnormal work of motion Check the status of motion controller and controller correct it Incorrect of the motor wiring Check the wiring according to the instruction Incorrect of grounding Check the grounding according to the instruction Too small of the motor moment Check the motor driver As the motor driver is Motion controller is in the electrified without uncertain status at the moment servo on signal the of power on and power off motor runs suddenly but the motor is in working when it is power on status No external power supply Check the external power supply encd of Error of grounding Reconnect the ground wire input output signal Te apur on aee er Replace the motion controller motion controller is damaged The fusing resistor of 5 V or 24 V is burnout Replace the fusing resistor 35 Before the power on of the host ensure that the motor driver is power off Electrify the light current first then the heavy current Trouble Error of general I O output No output of laser Appendix C Troubleshooting B Eee R Reason Check whether the interface of corresponding I O device is matched with the interface of GE S Series Motion Controller Check whether the required drive current of external I O device is matched with the load capability provided by GE S Series Motion Controller Maybe the laser is damaged Error of
31. tal ground Power output The circuit diagram of special input output signal described in Table 2 5 and Table 2 6 can be seen in Figure 2 5 The electrical definition of the input output signals must be understood before the implement of accurate connection 11 Chapter 2 Quick Start Driver Terminal Board 51 Tii Limit Switch LIMITO d l gt Home Switch ALARMU wu Driver Alarm Driver Enable Driver Alarm Clear 4 HHE I a EHARLE1I un tt ett n Special Output for other axes DGH OGHD OTCE E i IC 240121 External Power Provided by User Figure 2 5 Circuit Diagram of Special Input Output Signal 3 Connection of Control Output Signal For GE X00 SG XXX Motion Controller it only can be used in pulse output mode By default each current axis outputs the value of pulse For GE X00 SV XXX Motion Controller it can be used in pulse output mode or analog output mode By default each current axis outputs the value of analog When it is used to control the step motor or the servo motor is controlled by position mode the output of current axis can be set as pulse output with the output setting command GT_CtrlMode 1 provided by the controller system a Connection of Pulse Output There are two modes of pulse output One is pulse direction mode and the other is positive negative pulse mode The pulse direction mode of output is defaulted The comm
32. the laser control signal interface No output of GE 400 SX LASER Motion Controller 36 Handling Because I O output of GE S Series Motion Controller is collector open circuit output the interface of I O device must be matched with it If the load capability of motion controller is not enough it is suggested to replace the terminal board of power output Check whether the laser is damaged Maybe the laser tube is damaged The reference ground of laser control signal is digital ground Don t take the OGND on the terminal board as the reference ground Check the output of laser control signal of GE 400 SX LASER Motion Controller Googol Technology Shenzhen Co Ltd Add W211 2 F West Building SZHK Industry Education and Research Base South Area High tech Industry Park Shenzhen PRC Tel 86 755 26970823 26970819 26970824 Fax 86 755 26970821 Email support googoltech com Web http www googoltech com cn Googol Technology HK Co Ltd Add Room 3639 Annex Building The Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Tel 4852 2358 1033 Fax 852 2719 8399 Email info googoltech com Web http www googoltech com
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