Canon GALVANO GC-251 User manual

CANON Digital Galvano Scanner System
GC-251
KP-1SM30 、 SM100
Users Manual
Rev. 1.00
Be sure to read this guide before using the product.
Keep this guide carefully for future use.

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
2
For Safe and Correct Use
To prevent injury to the user or damage to property, this guide gives information for the safe and correct use of this
product.
Before installation, operation, maintenance, or inspection, be sure to read this guide.
Markings
This guide uses the following markings:
Warning
This indicates the possibility of death or serious injury by a fire or electric shock.
Caution
This indicates the possibility of injury or damage to property.
Warning
・Do not use the product in an atmosphere of inflammable or explosive gas or vapor.
・Use the product at the specified voltage.
・Connect the power supply line correctly.
・Do not install, operate, maintain, or inspect the product with wet hands.
・Do not disassemble or alter this product.
・Do not drop or cause impact to the product.
Caution
・Before installation, operation, maintenance, or inspection, thoroughly check that the device is safe.
・When connecting a connector, check the pin numbers with the power off.
・When connecting oscilloscope probes to the test pins, be careful not to apply tension to them.
・Since this product is a precision device, use it under the specified environmental conditions.
・Do not store or transport this product in a place exposed to direct sunlight, moisture, dust, or temperature of 60ºC
or higher.

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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Contents
1. Product Outline
1.1···Features··········································································································· 5
1.2···Configuration ·································································································· 5
2. Specifications
2.1 Galvano Motor (KP-1SM30, SM100)······························································ 6
2.2 Controller (GC-251)························································································ 7
2.3 Outline Drawing ······························································································ 8
2.4 Power Supply································································································ 10
2.5 Connections·································································································· 10
2.6 Connector Pin Arrangement········································································ 11
2.7 Control Specifications·················································································· 15
2.7.1 RS-232C command ·············································································· 16
2.7.2 High Speed Serial Communication······················································ 20
2.8 Heat Radiation and Installation···································································· 26
3. Software (GALILEO)
3.1 Supported PC Environment········································································· 27
3.2 Installation····································································································· 27
3.3 Activation······································································································· 30
3.4 Control Screen ······························································································ 32
4. Operating Procedure (Quick Start)
4.1 Controller Activation ···················································································· 34
4.2 Step Movement ····························································································· 36
4.3 Raster Scan··································································································· 37
4.4 Position Command Input by High-speed Serial Communication ············· 38
5. Monitor Output and Digital Input Functions
5.1 Connector Pin Arrangement········································································ 39
5.2 Analog Monitor Output Switching······························································· 42
5.3 Digital Input-Output Function ······································································ 45

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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6. Other - Operation Setting
6.1 Setting Controller Activation Mode····························································· 46
6.2 Operation that synchronizes with external trigger Signal input··············· 48
7. Commands
7.1 List of Commands························································································· 50
7.2 Details of Commands ··················································································· 52
8. Parameters
8.1 List of Parameters························································································· 64
8.2 Details of Parameters ··················································································· 67
8.3 Modifying Parameters··················································································· 82
8.4 Writing Parameters into ROM······································································ 83
8.5 Saving a Parameter File················································································ 84
9. Safety Functions
9.1 Safety Functions··························································································· 85
9.2 Errors············································································································· 86

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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1. Product Outline
1.1. Features
The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision
optical encoder on the galvano motor and a high-speed digital signal processor (DSP) on the
controller.
This system has the following features:
・High positioning precision
・Low temperature drift
・Fast and stable operation by a unique control system
・Easy tuning by parameter setting
1.2. Configuration
This system supports various applications by the combination of a galvano motor and a controller.
Galvano motor: Encoder-mounted galvano motor
KP-1SM30 ････ Beam diameter: φ10 to φ20 mm
KP-1SM100 ････ Beam diameter: φ20 to φ30 mm
Controller: Digital servo-controller
GC-251 ････ Controller for two-axis control
IF board: IF board for high-speed serial communication
GC-422 ････ IF board for 5V-TTL (RS-422)
GC-LVDS ････ IF board for LVDS level
Extension cable: Extension cable for galvano motor and controller connection
GM-EC ････ Encoder extension cable
GM-MC ････ Motor extension cable
Controller IF Board
Galvano Motor
Encode
r
Extension Cable
Moto
r
Extension Cable
Encoder Signal
Board

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2. Specifications
2.1. Galvano Motor (KP-1SM30, KP-1SM100)
Performance and shape
KP-1SM30 KP-1SM100
Conforming
beam diameter
Φ10 to φ20 Φ20 to φ30
Scan angle ±20 deg ±20 deg
Number of encoder
pulses
83328 pulses/rotation 83328 pulses/rotation
Command resolution 0.036 μrad 0.036 μrad
Torque constant 0.041 Nm/A 0.093 Nm/A
Weight 0.95kg 1.65kg
(Reference) Command resolution
The controller of this system divides one encoder cycle into 2048.
KP-1SM30,SM100 is controlled by the following command resolution:
83328 pulses × 2048 divisions = 170655744 pulses/rotation (360°)
360°/ 170655744 = 0.000002109°= 0.036urad
Environmental conditions
Operating temperature and humidity 23℃±10℃, 80% RH or less (No condensation)
Storage temperature and humidity –20 to 60ºC, 90% RH or less (No condensation)
Note: The above operating temperature and humidity conditions depend on the operating and heat
radiation conditions.

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.2. Controller (GC-251)
Performance and shape
GC-251
Number of control axes 2
Control sampling 100 kHz
Maximum drive current 10 A (each axis)
Interface High-speed serial communication for position input (XY2-100)
Control RS-232C
Notch filter
Digital notch filter ×2
Digital low-pass filter ×1
Analog notch filter ×3
Weight 500 g
Environmental conditions
Operating temperature and humidity 0 to 50ºC, 90% RH or less (No condensation)
Storage temperature and humidity -20 to 60ºC, 90% RH or less (No condensation)
Note: The above operating temperature and humidity conditions depend on the operating and heat
radiation conditions.
Section names
Heat radiation
frame
Mounting screw
hole (M3 × 4)
Digital board (upper) Analog board (lower)
IF board
Mounting screw
hole (φ3.5 × 4)

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.3. Outline Drawing
KP-1SM30
KP-1SM100
（126.2）
37 11.5 7.5
φ56
0
φ6.35 -0.01
φ34
φ36h7
Motor CableEncorder Cable
Φ 48
Thermistor Cable
3-M4 Depth 8
TBD

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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GC-251
120
125
5
38
7
118
5
80 88
33
10
4-φ3.5
4-M3

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.4. Power Supply
Power supply specifications
+24 V ± 10% 10 A (max) × 2 axes (For motor drive)
+5 V ± 5% 2.8 A (For control circuit)
2.5. Connections
IF board
Encoder Signal
Board
Axis1
Axis2
+24V power
+5V power
High Speed serial
Communication
RS-232C
Digital
Input/Output
Galvano motor

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.6. Connector Pin Arrangement
(Connector types)
① Axis 1 motor encoder
② Axis 2 motor encoder
③ +5 V power supply
④ +24 V power supply
⑤ RS-232C
⑥ High-speed serial communication
⑦ Digital input/output
⑧ Analog monitor
⑨ Fan power supply (+24 V)
④
③⑤
⑥
⑦
⑧
⑨
① ②

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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(Pin arrangement)
③+5 V power supply
Connector model number
Connector Model No. Manufacturer
Board side S2P-VH JST
Cable side VHR-2N JST
Connector pin arrangement
Pin No. Signal Description
1 +5 V
2 GND
④+24 V power supply
Connector model number
Connector Model No. Manufacturer
Board side S4P-VH JST
Cable side VHR-4N JST
Connector pin arrangement
Pin No. Signal Description
1 +24 V input for Axis 1
2 +24 V input for Axis 2
3,4 GND
⑤RS-232C
Connector model number
Connector Model No. Manufacturer
Board side S03B-PASK-2 JST
Cable side PAP-03V-S JST
Connector pin arrangement
Pin No. Signal Description
1 Send data (Signal level complying with RS-232C)
2 Receive data (Signal level complying with RS-232C)
3 GND

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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⑥High-speed Serial Communication
Connector model number
Connector Model No. Manufacturer
Board side SM12B-PASS-1-TB JST
Cable side PAP-12V-S JST
Connector pin arrangement
Pin No. Signal
Name
Signal Description
1 CLK- Clock (-)
2 CLK+ Clock (+)
3 FS- Frame sync (-)
4 FS+ Frame sync (+)
5 XD- Axis 1 data (-)
6 XD+ Axis 1 data (+)
7 YD- Axis 2 data (-)
8 YD+ Axis 2 data (+)
9 STS- Status (-)
10 STS+ Status (+)
11 GND System GND
12 FG Frame GND
The signal levels depend on the IF board.
GC-422 - Receiver: AM26LV32C (TI), Driver: SN75179B (TI)
GC-LVDS - Receiver: SN65LVDS32 (TI), Driver: SN65LVDS179 (TI)
⑦Digital I/O
See 5-1 , “Connector Pin Arrangement”
⑧Analog Monitor
See 5-1 , “Connector Pin Arrangement”

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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⑨Fan Power Supply
Connector model number
Connector Model No. Manufacturer
Board side S04B-PASK-2 JST
Cable side PAP-04V-S JST
Connector pin arrangement
Pin No. Signal Description
1 +24 V Output
2 GND
2 Fan Rotation Error (Open collector Input)
3 (No connection)

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.7. Control Specifications
The controller (GC-201, GC-101) is operated by:
•RS-232C command input
•High-speed serial communication
In addition, either the internal clock or external clock (high-speed serial communication) can be
selected for operation.
Internal Clock External Clock
(High-speed serial communication)
Clock input Clock pulses generated by the
controller internal circuit
High-speed serial communication
clock pulses
Target position
command
RS-232C command High-speed serial communication
command
(When RS-232C command input
mode is set, a high-speed serial
communication command is
ignored.)
Operation setting
parameter setting
RS-232C command RS-232C command
With the default settings at shipping, power-on activates the controller with the internal clock.
The parameter can be set so that the controller starts with the external clock after power-on.
For activation with the external clock, however, signal input by high-speed serial communication is
necessary at power-on.

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.7.1 RS-232C command input
RS-232C command input allows the following:
•Operation setting
•Parameter setting
•Error processing
•Status check
(For details, see 7, “Commands.”)
If position data send by high-speed serial communication is disabled, RS-232C command input is
enough for the following:
•Step movement
•Raster scan (Continuous oscillation of a certain angle at a fixed frequency)
(Communication specifications)
Wiring Cross wiring
Communication rate 38400 bps
Data length 8 bits
Stop bit 1
Parity None
Data format ASCII code
Delimiter code LF (0x0a) or CR (0x0d)

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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(Command specifications)
In response to command send, the controller returns a reply with data.
The data contents depend on the command. (For details, see 7-2, “Command Details.”)
Command send
AAxisNo. C CommandID / Data Delimiter
E.g. Servo ON ID = 4 Data = 1
A1C004 / 1 (LF)
(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a)
A 1 C 0 0 4 / 1 (LF)
Command reply
AAxisNo. C CommandID / Data Delimiter
E.g. Servo ON ID = 4 Data = 1
A1C004 / 1 (LF)
(ASCII code: 0x41 0x31 0x43 0x30 0x30 0x34 0x2f 0x31 0x0a)
A 1 C 0 0 4 / 1 (LF)
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7-1 for details)
Data
Added to command as
required (decimal )
Command Delimiter
LF or CR
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7.1 for details)
Return value
0 or 1
Command Delimiter
LF or CR

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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Parameter of controller can be changed by the following sending method to controller.
Also in response to parameter send, the controller always returns a reply with data.
The data contents depend on the command. (For details, see 7-2, “Command Details.”)
When changed a parameter of it, to start it by the same setting in power supply on at the next
time; the parameter that changed, it is necessary to write in it at ROM.
Parametersend
AAxisNo. P CommandID / Data Delimiter
E.g. LQ gain parameter ID = 6 Data = 4500
A1P006 / 4500 (LF)
(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)
A 1 P 0 0 6 / 4 5 0 0 (LF)
Parameter reply
AAxisNo. P CommandID / Data Delimiter
E.g. LQ gain parameter ID = 6 Data = 4500
A1P006 / 4500 (LF)
(ASCII code: 0x41 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)
A 1 P 0 0 6 / 0 (LF)
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7-1 for details)
Parameter setting
Decimal
Parameter Delimiter
LF or CR
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7-1 for details)
Parameter setting
successful / unsuccessful
0 or 1
Parameter Delimiter
LF or CR

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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For the ROM Write of the parameter, a reply with data has been sent by all means by a controller.
The content of data is different by a parameter. (For details, see 7-3, “Parameter Details.”)
（Note）Please make the ROM write of the parameter after enough confirmation. Depending on
value for change, the controller may not start normally.
Parameter ROM Write send
EAxisNo. P CommandID / Data Delimiter
E.g. LQ gain parameter ID = 6 Data = 4500
E1P006 / 4500 (LF)
(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x34 0x35 0x30 0x30 0x0a)
E 1 P 0 0 6 / 4 5 0 0 (LF)
Parameter ROM Write reply
EAxisNo. P CommandID / Data Delimiter
E.g. LQ gain parameter ID = 6 Data = 4500
E1P006 / 4500 (LF)
(ASCII code: 0x45 0x31 0x50 0x30 0x30 0x36 0x2f 0x30 0x0a)
E 1 P 0 0 6 / 0 (LF)
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7-1 for details)
Parameter setting
Decimal
Parameter Delimiter
LF or CR
Axis No.
1 or 2
Command ID
Decimal, 3-digit
(See 7-1 for details)
Parameter setting
successful / unsuccessful
0 or 1
Parameter Delimiter
LF or CR

CANON Digital Galvano Scanner System
 KP-1SM Series + GC-251
Users Manual 1.00
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2.7.2 High-speed serial communication
To control the mirror to an arbitrary position by Marking or any other application, target position data
updated as required can be given to the controller by using high-speed serial communication.
By setting, the controller can be activated in the mode of tracking a target position specified by
high-speed serial communication. (For details, see 6-1, “Setting Activation Mode.”)
(Communication specifications)
Base clock (CLK) 2 MHz
Frame sync (FS) 100 kHz
Data (DAT) 20 bits (Position data: 16 bits)
Status (STS) 20 bits
Transmission system Differential signal
Signal level 5V-TTL, LVDS
(Selectable by the optional IF board)
For the support of other communication specifications, contact the Sales Department.
TimingDiagram
1234567891011121314151617181920
CLK
FS
XDAT XData-1 XData XData+1
YDAT YData-1 YData YData+1
STS Status-1 Status Status+1
(Bit) 1234567891011121314151617181920
XDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P
YDAT C2 C1 C0 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 P
STS S19S18S17S16S15S14S13S12S11S10S9S8S7S6S5S4S3S2S1S0
(Bit) 1234567891011121314151617181920
XDAT D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
YDAT D19 D18 D17 D16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
STS S19S18S17S16S15S14S13S12S11S10S9S8S7S6S5S4S3S2S1S0
CLK Frequency : 2MHz
XDAT,YDA
T
(16bitData) C2..C0 : Header(un-used)
D15..D0 : PositionData(SignedIntegerdata)
P : Parity(un-used)
(20bitData) D19..D0 : PositionData(SignedIntegerdata)
STS S19..S0 : (StatusTable)
InputsignalfromPC : CLK,FS,XDAT,YDAT
OutputsignalfromDRIV
E
:STS
2MHz
16bit
Data
20bit
Data