Kohzu Precision KOSMOS series User manual

User's Manual
operation
manual
Rev1.37
Read this manual before using this product.
Keep in a convenient place for future reference.
MontBlanc stage compliant
Stepping motor controller
Kohzu Precision Co., Ltd.
KOSMOS series
Model: CRUX/CRUX-A

1
Introduction
In this document, information and operation method for the stepping motor controller,
"CRUX" and "CRUX-A", are explained.
Read this manual carefully and understand the functions thoroughly before using
"CRUX" or "CRUX-A".
In addition, keep this document in a convenience place for future reference.
Symbols Identifications
In this document, noted items that should be followed to prevent danger to people
and damage to the device are divided as shown next.
Prohibited
This symbol indicates prohibited items. Do not conduct actions specified under
this symbol.
Warning (Caution)
This symbol indicates items that require warning (caution). If operation is
conducted ignoring noted contents, it may cause injury or physical damage.
Note/Remarks
This symbol indicates items to provide further understanding or useful
information.
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2
Safety Precautions
Do not apply severe shock to the product and
avoid using in a place with vibration.
Liquid or chemical splashes on this device
are dangerous and cause failures.
Never use this device that these specified
above may occur.
Use 90-240V AC (50/60Hz) as a power supply.
*Confirm ratings of the power cable.
*Always earth FG (Frame Ground).
This product is precision electronic
equipment. Because malfunction may occur
near large motors, high voltage electric
devices or device that generates strong
magnetism, do not use this product under
these environment.
Do not disassemble or modify the product.
Pay close attention when connecting the
motor driven stage or a motor other than
those specified by us.
When the controller's power supply is turned
ON, do not pull out or insert cables.
KOSM OS
KOSMOS
×
×
KOSM OS
KOSM O S
AC90V～AC240V
×
KOSM O S
KOSMOS
？
KOSM OS
×
KOSMOS
×
S
N
！
！
！

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Introduction ………………...……………….. 1
Symbols Identifications ……………...…….. 1
Safety Precautions ..................................... 2
Table of Contents ....................................... 3
1. Product Summary ................................ 4
1-1. Features of this Product .................. 4
1-2. List of Functions .............................. 5
1-3. Attachments and Options ................ 6
2. Installation and Preparation ............... 8
2-1. Proceeding with Installation and
Preparation ...................................... 8
2-2. Parts Name of CRUX ...................... 9
2-3. Parts Name of CRUX-A ................. 10
2-4. Driver Settings Procedures of
CRUX-A .................................................... 11
2-5. Connecting Method of CRUX ........ 12
2-6. Connecting Method of CRUX-A ..... 13
2-7. Rotary Switch for Communication
Settings ........................................... 14
3. Functions ............................................ 15
3-1. Speed Setting ................................ 15
3-2. Trapezoidal Drive .......................... 16
3-3. Driving Current (CRUX) ................. 16
3-4. Setting No. of Divisions of
Micro-Step (CRUX) .........................16
3-5. Micro-Step Division Switch
(CRUX-A) .......................................17
3-6. Setting No. of Divisions of
Micro-Step (CRUX-A) ..................... 17
3-7. Setting of Drive Current
(CRUX-A) ....................................... 17
3-8. Setting of Current Down
(CRUX-A) ....................................... 17
3-9. Emergency Stop Function ............. 18
3-10. Origin Return Method .................. 19
3-11. EEPROM Save Data Error .......... 26
3-12. Powering OFF ............................. 27
4 Jog Box for Easy Control ................... 28
4-1. Description for INCOM Operation .. 28
4-2. List of Driving Patterns .................. 28
5 Remote Control ............................................. 29
5-1. Proceeding with Installation and
Preparation ......................................................... 29
5-2. Command List........................................... 32
5-3. Command Details .................................... 33
5-4. Simple Command Details ........................ 51
5-5. Error Code ............................................... 60
5-6. System Settings ....................................... 62
5-7. Installation Procedures of USB Driver ..... 65
6 Specification .................................................. 67
6-1. Specification ............................................ 67
6-2. Connector ................................................ 68
6-3. Circuit Diagram of Emergency Stop and
Sensor ...................................................... 69
6-4. Dimensions of CRUX ............................... 70
6-5. Dimensions of CRUX-A ........................... 70
7 Maintenance and Service .............................. 71
7-1. Troubleshooting ....................................... 71
7-2. Maintenance ............................................ 72
7-3. Warranty and Service .............................. 73
7-4. Contacts.................................................... 73
Ex Revision History ............................................ 74
Table of Contents

4
■Out of product scope
This product does not offer the following items.
・CRUX cannot drive motors besides 5-phase stepping motors.
・Not compatible with motors with an electromagnetic brake.
・No automatic operation possible with CRUX only.
*For automatic operation, connect a computer with CRUX
and conduct remote control.
*With the jog box, “INCOM”(Sold separately), a part of functions can be
performed.
・Not compatible with remote controls (Sequencer connection, etc.) except for
RS-232 and USB communication.
1-1. Features of this product
1 Product Summary
Thank you for purchasing our stage controller, “CRUX”/“CRUX-A”.
(Hereinafter, both "CRUX" and "CRUX-A" are referred to as "CRUX").
CRUX consists of the reconfigured conventional small-size stage controller SC-
021, and is significant high cost performance equipment actualizing low price while
featuring high level functions satisfying needs of customers.
●Completely supports our motor drive precision stage <MontBlanc Series>.
●Micro-step motor driver with 250 divisions at maximum equipped as standard.
●Compact size.
●Lineup of "CRUX" equipped with DC driver and "CRUX-A" equipped with AC driver.
●Supports rectangular and trapezoidal drives.
●Origin return method selectable from 10 kinds (+ORG OFFSET).
●Remote control by USB communication is possible.
●Remote control by RS-232C communication is possible.
●Control is possible through application for stage drive, "Chamonix".
Please download from our company's HP.
http://www.kohzu.co.jp/

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1-2. List of Functions
Relative Position
Movement
(2 axes simultaneous
start possible)
Moves toward the specified direction from the present position by a set
moving value.
Absolute Position
Movement
(2 axes simultaneous
start possible)
Moves to the specified target position.
Origin Return
Movement
Performs origin return with the specified origin return method.
Continuous Drive
Mode
(Optional)
Moves continuously with the free drive mode of the easy control jog box
"INCOM".
Relative Position Drive
Mode
(Optional)
Moves for the specified moving amount with the relative position drive
mode of the easy control jog box "INCOM".*
*Moving amount is set from PC.

6
1-3. Attachments and Options
1-3-1. Attachments
The following items are included to the product. Make sure to check that all items are included.
Immediately contact your retainer or our sales department if there are missing or damaged parts.
1-3-2. Optional products (Required)
A motor cable for KOSMOS series necessary to drive the MontBlanc product, RS-232C (cross)
communication cable and USB cable used to control from a computer are not included in the
product.
Purchase a motor cable separately.
Also, purchase a communication cable or USB cable available on the market.
Motor cable list for KOSMOS series
①Power cable (3P)
Power cable (3P) for AC100 V is included usually.
In addition, a 3P->2P conversion plug comes as an option.
*A power cable for AC200 V must be prepared by customers or contact our sales
department.
②Emergency stop short plug
A short plug to connect when not using the
emergency stop signal comes as attachment.
Stage side
Connector shape Fixed cable Moving cable
3m CB1503 RCB1503
5m CB1505 RCB1505
10m CB1510 RCB1510
Length
Round type
connector
Cable type
*Other types of cable (for 10-lead and square connector) can also be manufactured.
For details, see our company’s website.

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1-3-2. Optional products (Convenient tools)
The following optional products are available to make this product easier to use.
Purchase or download as necessary.
For questions about the following products, please contact your retainer or our sales department.
①Jog box "INCOM" for easy control
②Stage control application, "Chamonix"
Easy jog box that can control the basic operation functions of CRUX.
For details, see "4 Easy Control Jog Box" (Page 28).
Application that can control all functions of CRUX from PC.
Please download from our company's HP.

8
2 Installation and Preparation
2-1. Proceeding with Installation and Preparation
It takes about 3 second for starting to complete, after the
power is turned ON.
Check attachments and necessary items.
Always follow the sequence specified next to install the product.
Install in a place where it is used.
Connect cables while the power is OFF (See "2-5.
Connecting Method of CRUX" (Page 12) or "2-6.
Connecting Method of CRUX-A" (Page 13).
When controlling with communication, communication
settings should be performed on this device and host
computer. (See "2-7. Rotary Switch for
Communication Settings" (Page 14))
Check all connections, and then turn the power ON.
Drive current settings, micro-step division switching,
etc. need to be performed depending on the stage
type. (See "3-3. Driving Current" to "3-8. Setting of
Current Down" Page 16).
Depending on the type of stages, the origin return
method needs to be changed. For details, see "3-10.
Origin Return Method" (Page 19).
Operation Preparation
completion
→"Return to Origin"
*Some models of our standard stages cannot perform
origin return normally unless you change the setting.
This adjustment is required when this controller is
purchased as a single unit, and shipped with factory
settings.
→ "Micro-step Division Switch"
*Change if necessary depending on your usage
purposes.
→ "Current Settings"
*Current settings may need to be changed for a part of
models of our company's standard stages.
If you notice abnormalities such as noise and smell after
turning the power ON, turn the power OFF immediately,
and investigate its cause.
Make sure the power is OFF.
Cables used for connection are a power cable, motor
cable, communication cable, etc.
Make sure the power is OFF.
Cables used for connection are a power cable, motor
cable, communication cable, etc.
*Always earth FG (Frame Ground).
Do not install in a place with high temperature, low
temperature, high humidity and loud noise.
Contact your retailer or our sales department immediately
if any attachment is missing.
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9
①Motor connecting connector
Stage driving output, and sensor input
②Rotary switch for communication mode
selection
Selects USB or RS-232C (including baud rate
setting), selects Normal/Simple command
③RS-232C connector
Connector 9-pin for RS-232C communication
line
④USB connector
For USB communication line
⑤Emergency stop signal output connector
⑥Emergency stop signal input connector
⑦Heat discharging fan
Never block exhaust by placing objects behind
the fan.
⑧Power connector
⑨Power switch
Turns power ON/OFF.
①Limit and position sensor display LED
Position sensor and driving states are displayed.
BUSY: Turns ON yellow during motor driving.
CWLS: When the CW limit sensor is in the
detection state, it turns ON yellow.
CCWLS: When the CCW limit sensor is in the
detection state, it turns ON yellow.
NORG: When the NORG sensor is in the detection
state, it turns ON yellow.
ORG: When the ORG sensor is in the detection
state, it turns ON yellow.
②Emergency stop LED
When the emergency stop is ON, it turns ON
red.
③Connector for "INCOM" connection
④Power light
Turns ON green when the power is ON.
2-2. Parts Name of CRUX
POWER
BUSY CWLS CCWLS NORG ORG
EMG
INCOM
PM1
PM2
CRUX
②
③
④
①
⑤
①②③ ④
⑥ ⑦ ⑧ ⑨