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.
！

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
！
！
！

3
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/

5
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.

7
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.
！
！
！
！
！
！

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

10
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.
⑩Fuse
Fuse for CRUX-A circuit protection is included.
2-3. Parts Name of CRUX-A ①Limit and position sensor display LED
Displays the position sensor state and driving
state.
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.
JOG
POWER
BUSY CWL S CCWLS NORG ORG
EMG
PM1
PM2
CRUX-A
①
③
④
②
0
1
2
3
4
5
6
7
8
9
F5010AP-05PCW
USBRS-232CPM2PM1
COMM
EMG OUT
EMG IN
AC IN
90-240V
50/60Hz
POWER
FUSE
製造元
MAKER
型 式
MODEL
定 格
RATING
神津精機株式会社
KOHZU PRECISION CO.,LTD.
AC90-240V 50/60Hz
400VA MAX
製造番号
SERIAL No. 1307178-001
CRUX-A 製造年月
DATE 2013.10
⑦
①
④
②
⑤
⑥
⑨
⑩
⑧
③

11
PM1 driver
PM2 driver
Steps
*Turn the power OFF when performing settings.
①Remove the side panel cover.
②Set a driver per axis.
For details on settings, see "3-5. Micro-step
Division Switch" to "3-8. Setting of Current
Down" (Page 17).
③Attach the side panel cover.
4
C
0
8
4
C
0
8
4
C
0
8
1 2 3
O
N4
4
C
0
8
5
STOP RUN
M1
C.D
2/1CK
TEST
L/HV
M2
N/S
2-4. Driver Settings Procedures of CRUX-A
CRUX-A driver settings table
Setting of Current Down → (see Page 17)
Setting of Drive Current → (see Page 17)
Number of Micro-step Divisions Switch (M2)
→ (see Page 17)
Number of Micro-step Divisions Switch (M1)
→ (see Page 17)
*(DO NOT change)
Close-up of driver setting part
M1, M2
SW No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Number of
divisions 1 2 4 5 8 10 20 40 80 16 25 50 100 125 200 250
RUN
SW No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current
value (A) 0.35 0.42 0.50 0.58 0.66 0.75 0.81 0.88 0.96 1.03 1.11 1.18 1.26 1.33 1.40 1.48
STOP SW No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
% 12 19 23 30 37 44 48 55 57 64 68 75 81 87 92 98

12
【Rear Panel】
2-5. Connecting Method of CRUX
ﾄﾞﾗｲﾊﾞ
ｿｹｯﾄ ｿｹｯﾄ
0
5
USBRS-232CPM2PM1
EMG OUT EMG IN
COMM AC IN
90-240V
50/60Hz
Power cable
With 5-phase stepping motor
Precision stage (sold separately)
RS-232C cable (cross)
(Commercial product)
USB cable
(Commercial product)
Emergency stop
signal (Input)
Emergency stop
signal (Output)
Motor cable (sold separately)
Motor cable (sold separately)
For details, see "3-9. Emergency Stop Function" (Page
18), "6-4. Connector" (Page 68), and "6-5. Circuit
Diagram of Emergency Stop and Sensor" (Page 69).
*Always earth FG (Frame
Ground).
When pulling out or inserting a connection wire, make sure the power of main body is OFF.
Connection/connecting wires between CRUX and external equipment are explained.
【Front Panel】
POWER BUSY CWLS CCWLS NO RG ORG EMG
INCOM
PM1
PM2
CRUX
H L 1P
INCOM
REL ORG SPD
INCOM
！

13
0
5
F5010AP-05PCW
USBRS-232CPM2PM1
COMM
EMG OUT
EMG IN
AC IN
90-
240V
50/60H
z
POWER
FUSE
製造元
MAKER
型 式
MODEL
定 格
RATING
神津精機株式会社
KOHZU P RECI SION CO.,LTD.
AC90-240V 50/60Hz
400VA MAX
製造番号
SERIAL No.
1307178-001
CRUX-A 製造年月
DATE 2013.10
Power Cable
Precision stage with 5-phase
stepping motor (sold separately)
RS-232C cable (cross)
(Commercial product)
USB cable
(Commercial product)
Emergency stop signal (Input)
Emergency stop signal (Output)
【Rear Panel】
2-6 Connecting Method of CRUX-A
【Front Panel】
Motor cable (sold separately)
Motor cable (sold separately)
For details, see "3-9. Emergency Stop
Function" (Page 18), "6-4. Connector" (Page
68), and "6-5. Circuit Diagram of Emergency
Stop and Sensor" (Page 69).
*Always connect FG
(Frame Ground).
When pulling out or inserting a connection wire, make sure the power of main body is OFF.
Connection/connecting wires between CRUX-A and external equipment are explained.
JOG
POWER
BUSY CWLS CCWLS NORG ORG
EMG
PM1
PM2
CRUX-A
DS1DS2DS3DS4
SW6 SW7 DW5
SW1 SW2
SW3
SW4
Kohzu Precision Co.,Ltd.
LFNC-JOG
KZ-0022-01-Rev01 H L 1P
INCOM
REL ORG SPD
INCOM
！

14
2-7. Rotary Switch for Communication Setting
*For the USB driver, use "CRUX_USB_DRIVERxx" in the disk that comes with the product.
(For driver installation steps, see "5-7. Installation Procedures of USB Driver" (Page 65)).
CRUX can set or change communication conditions with the rotary switch (COMM) in the rear panel.
Default setting is Communication mode 4 (Normal command USB mode).
*Settings of RS-232C communication except for speed (baud):
Parity : NON
Word length : 8bit
Stop bit : 1
The settings are fixed.
■Position of Rotary Switch
Settings are as shown in the table below.
(Mode 0 to 4 are General command specification, and 5 to 9 are Simple command specification)
■Settings
Rear panel (CRUX) Rear panel (CRUX-A)
Communication
mode
Communications settings
RS-232C speed USB
0 38400 *
General
Command
1 57600 *
2 19200 *
3 9600 *
4 * USB
5 38400 *
Simple command
6 57600 *
7 19200 *
8 9600 *
9 * USB

15
3-1. Speed Setting
3-1-2. Speed Change in Remote Control
In remote control, specify a speed table No. in each moving command.
For settings on the speed table No.0 to 9, use RTB WTB command.
For details, see RTB (Page 44) and WTB (Page 50) in "5-3. Command Details".
3 Functions
3-1-1. Speed Table
Speed setting of CRUX is possible in the range of 1 to 500,000 (pulse/second). However, because
few cases generally require to define speed change in detail, CRUX adopts a method to select from
the 10 patterns speed table.
Also, since each speed table can be set freely, necessary drive speed can be set to 10 patterns.
■Speed table *Setting values in the table below are default values
(Table No.0 is only for rectangular drive)
Command
example → RPS 1/0/1000/0 (RPS command example)
Set the speed table No.0
！
STX
CR LF
Speed
Table No.
Start speed
pps
Maximum speed
pps
Accelerating Time
x 10 msec
Decelerating time
x 10 msec
0 500 500 1 1
1 500 2,000 20 20
2 500 3,000 24 24
3 500 4,000 28 28
4 500 5,000 32 32
5 500 6,000 36 36
6 500 7,000 40 40
7 500 8,000 44 44
8 500 9,000 48 48
9 500 10,000 52 52

16
When moving an object, it cannot be moved in high speed abruptly due to inertial force.
In case of the stepping motor also, it normally starts in low speed, and then achieve the maximum
speed after gradual acceleration.
3-2 Trapezoidal Drive
By setting the start speed (Low speed), top speed, and acceleration time (Deceleration time),
CRUX performs internal calculation on the acceleration/deceleration rate and series of
acceleration/deceleration operation are conducted automatically.
CRUX can control 2 types of stepping motors, 0.75A/phase and 0.35A/phase rated current.
According to a target stage, set the applicable phase.
The setting becomes effective by writing to system No.67 with the WSY command (System setting
writing). (Standard setting is "0" 0.75A/phase)
3-3. Driving Current (CRUX)
CRUX can select a number of motor step divisions from 16 types.
The setting becomes effective by writing to system No.66 with the WSY command (System
setting writing). (Standard setting is "2" Number of divisions 1/2)
3-4. Setting No. of Divisions of Micro-Step (CRUX)
最高速度
スタート速度
(低速速度)
加速時間 減速時間
加速 等速 減速
Setting No. 0 1
Current 0.75 0.35
Setting No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Resolution 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250
Deceleration
Constant
velocity
Acceleration
Top speed
Start speed
(Low speed)
Accelerating time Decelerating time

17
Set the current when the motor is running with the digital switch with RUN display.
Perform setting by opening the side panel, and using the [RUN] rotary switch.
(Standard setting is "5" 0.75A/phase)
3-7. Setting of Drive Current (CRUX-A) - (See Page 11)
When the automatic current is set (C.D switch OFF), current down is executed in set ratio while the
motor is stopped.
Perform setting by opening the side panel, and using the [STOP] rotary switch.
(Standard setting is "6", 48%)
3-8. Setting of Current Down (CRUX-A) - (See Page 11)
CRUX-A can remotely switch the micro-step setting 1 (M1) and the micro-step setting 2 (M2).
The setting becomes effective by writing to system No.65 with the WSY command (System setting
writing).
(Standard setting is "0" M1)
3-5. Micro-Step Division Switch (CRUX-A)
CRUX-A can select a number of motor step divisions from 16 types.
Perform setting by opening the side panel, and using the [M1 or M2] rotary switch.
(Standard setting is M1 = "1" (resolution 1/2), M2 = "6" (No. of divisions 1/20))
3-6. Setting No. of Divisions of Micro-Step (CRUX-A) - (See Page 11)
Setting No. 0 1
MS selection M1 M2
Setting No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Number of
divisions 1 2 4 5 8 10 20 40 80 16 25 50 100 125 200 250
Setting No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current
value (A) 0.35 0.42 0.5 0.58 0.66 0.75 0.81 0.88 0.96 1.03 1.11 1.18 1.26 1.33 1.4 1.48
Setting No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
% 12 19 23 30 37 44 48 55 57 64 68 75 81 87 92 98

18
3-9. Emergency Stop Function
ﾄﾞﾗｲﾊﾞ
0
EMG OUT EMG IN
CRUX can execute an emergency stop during driving when
the emergency stop signal becomes active. (Normal close
method)
・EMG IN (Emergency stop signal input)
Connect the emergency stop signal (Normal close
method) between 2-3 pin on EMG IN.
At emergency stop operation: Between 2-3 pin OPEN
At emergency stop release: Between 2-3 pin CLOSE
(Short)
*When not using the emergency stop, make sure to connect the short connector that
comes with this product.
・EMG OUT (Emergency stop status signal output)
Signal output port of open connector method
At emergency stop operation: Output signal OPEN
At emergency stop release: Output signal CLOSE (Short)
・Emergency Stop Release
After resolving causes of emergency stop, release the prepared emergency stop
switch.
(Performing origin return is recommended, because pulse shift may happen after an
emergency stop is executed).

19
3-10. Origin Return Method
Origin return method can be selected in CRUX according to the
combination of sensor of the positioning device used.
Sensor Configuration
Though our standard stages can support the default
setting, Method 4, for most models, it is necessary to
change to Method 3 for the models that equip an origin
sensor (S1) in a part of motor axis.
Based on the set origin return method, after moving near
the specified sensor at the maximum speed of the
specified speed table, it moves to the origin at the same
speed with the starting speed of the speed table (Default:
500pps) and stops.
！
Setting with System No.1 ORG OFFSET
After executing each origin return operation, it moves just as much as the set value in System
No.1 "ORG_OFFSET" and the position is set as 0 coordinate value. (For details, see "5-6-2
System Setting Details" (Page 63))
*In Method 10, "ORG OFFSET" is invalid.
Method Sensor
Configuration Description
1 S1,S3 The zone sensor (DATUM) determines return direction and the edge of initial
origin sensor (ORG) becomes the origin position within the zone sensor.
2 S3 The edge of zone sensor (DATUM) is the origin position.
3 S1,S2,L- The edge of origin sensor (ORG) located in the near origin sensor (NORG) is the
origin position.
4 S2,L- The edge of near origin sensor (NORG) is the origin position. (Our standard
method)
5 S1,L+ Origin sensor (ORG) in proximity of CW limit is the origin position.
6 S1,L- Origin sensor (ORG) in proximity of CCW limit is the origin position.
7 L+ The edge of CW limit is the origin position.
8 L- The edge of CCW limit is the origin position.
9 S1 The edge of origin sensor (ORG) is the origin position.
10 None Present position is the origin position. (No driving)
Near origin sensor
(NORG)