OptoSigma GSC-02A User manual

User's Manual
Intelligent Driver
Two-AxisStageController
GSC-02A
https://jp.optosigma.com/en_jp/
User's Manual
Intelligent Driver
GSC-02A
https://jp.optosigma.com/en_jp/
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･These materials are intended as a reference to assist our customers in the use of the SIGMA-
KOKI CO., LTD. Product best suited to the customer’s application; they don’t convey any
license under any intellectual property rights, or any other rights, belonging to SIGMAKOKI
CO., LTD. or a third party.
･SIGMAKOKI CO., LTD. assumes no responsibility for any damage, or infringement of any
third-party’s rights, originating in the use of any product data, diagram, charts, programs, or
algorithms contained in these materials.
･All information contained in these materials, including product data, diagrams, charts, programs
and algorithms represents information on products at the time of publication of these materials,
and are subject to change by SIGMAKOKI CO.,LTD. without notice due to product improve-
ments or other reasons.
･When using any or all of the information contained in these materials, including product data,
diagrams, charts, programs, and algorithm, please be sure to evaluate all information and
products. SIGMAKOKI CO., LTD. assumes no responsibility for any damage, liability or other
loss resulting from the information contained herein.
･SIGMAKOKI CO., LTD. products aren’t designed or manufactured for use in equipment or
system that is used under circumstances in which human life is potentially at stake. SIGMAKO-
KI CO., LTD. products can’t be used for any specific purposes, such as apparatus or systems
for transportation, vehicular, medical, aerospace, nuclear, or undersea repeater use.
･The prior written approval of SIGMAKOKI CO., LTD. is necessary to reprint or reproduce in
whole or in part these materials.
･If these products or technologies are subject to the Japanese export control restrictions, they
must be exported under a license Japanese government and can’t be imported into a country
other than the approved destination.
Any diversion or re-export contrary to the export control laws and regulations of Japan and/ or
the country of destination is prohibited.
Notes regarding these materials

■ GSC-02A User's Manual ■
Contents
For your safety ………………………………………………………………… 2
Chapter 1: Before you begin ……………………………………………… 3
1. Package contents …………………………………………………………………… 3
2. Overview ………………………………………………………………………………… 4
3. The GSC-02A System ……………………………………………………………… 4
4. Parts of the GSC-02A ……………………………………………………………… 5
Chapter 2 Basic Operations ……………………………………………… 6
5. GSC-02A Connection procedure ………………………………………………… 6
6. GSC-02A Setting ……………………………………………………………………… 7
Chapter 3: Using GSC-02A to position Motorized Stages …… 9
7. Using Computer to position Motorized Stages ………………………………… 9
Chapter 4: Specication ………………………………………………… 23
8. Specication ………………………………………………………………………… 23
9. Connector Pin Numbers and Signals ………………………………………… 25
10. Exterior Dimensions ……………………………………………………………… 26
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■ GSC-02A User's Manual ■
For your safety
Before using this product, read this manual and all warnings or cautions in the documentation provided.
Only Factory Authorized Personnel should be changes and/or adjust the parts of controller.
The symbols used in this manual
WARNING CAUTION
This symbol marks warnings that should be read and
used to prevent serious injury or death.
This symbol indicates where caution should be used to
avoid possible injury to yourself or others, or damage to
property.
The above indications are used together with the following symbols to indicate the exact nature of the warning or
caution.
Examples of Symbols Accompanying Warnings and Cautions
△Symbols enclosed in a triangle indicate warnings and cautions. The exact nature of the warning
or caution is indicated by the symbol inside (the symbol at left indicates risk of electrocution).
○Symbols enclosed in a circle mark indicate prohibitions(actions that must not be performed).
The exact nature of the prohibition is indicated by the symbol inside or next to the circle mark (the
symbol at left indicates that the product must not be disassembled).
●Symbols inside a black circle mark actions that must be performed to ensure safety. The exact
nature of the action that must be performed is indicated by the symbol inside (the symbol at left is
used in cases in which the AC adapter must be unplugged to ensure safety).
Symbols on the product
The symbol mark on the product calls your attention. Please refer to the manual, in the case that you operate the
part of the symbol mark on the product.
This symbol labeled on the portion calls your attention.
Disclaimer of liability
① SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product or the inability
to use this product.
② SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product that deviates
from that described in the manual.
③ SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product in extraordinary
conditions, including re, earthquakes, and other acts of God, action by any third party, other accidents, and
deliberate or accidental misuse.
④ If the equipment is used in a manner not specied by the SIGMAKOKI CO., LTD., the protection provided by the
equipment may be impaired.
● Don’t use this product in the presence of ammable gas, explosives, or corrosive substances, in areas exposed to high levels
of moisture or humidity, in poorly ventilated areas, or near ammable materials.
● Don’t connect or check the product while the power is on.
● Installation and connection should be performed only by a qualied technician.
● Don’t bend, pull, damage, or modify the power or connecting cables.
● Don’t touch the products internal parts.
● Connect the earth terminal to ground.
● Should the product overheat, or should you notice an unusual smell, heat, or unusual noises coming from the product, turn o󱐯
the power immediately.
● Don’t turn on the power in the event that it has received a strong physical shock as the result of a fall or other accident.
● Don’t touch the stage while operation.
● Use dry clothes only for cleaning the equipment.
WARNING
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■ GSC-02A User's Manual ■
Chapter 1: Before you begin
1. Package Contents
Purchasers of the Stage Controller should nd that the package contains the items listed below.
Check the package contents using the following checklist. Contact your retailer as soon as
possible in the event that you should nd that any item is missing or damaged.
You can download sample software from our web page.
WEB https://jp.optosigma.com/en_jp/software__sample
□GSC-02A Stage Controller :1
□User’s Manual (This Manual) :1
□SJT-02 Terminal Cap :1
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■ GSC-02A User's Manual ■
2. Overview
This controller is two axes stage controller featuring stepping motor drivers.
When the GSC-02A is connected to an ordinary personal computer via an RS232C interface, the
stage can be accurately moved to the desired position by simple commands sent from the PC.
In addition, manual operation is possible by connecting SJT-02 (an optional product).
3. The GSC-02A System
Note that applicable cables and drive current values are depending on the
specications of stages used. Check if your controller can adequately control desired
devices before forming a system.
PC
TAMMseries
OSMS-60series
HPSseries
HDSseries
GSC-02A
OSMS40ZF/60ZFseries
SGSP40/60YAWseries
OSMS40/60YAWseries
SGSP-A/Bseries
TSDMseries
SGSP-ACTseries
OSMS-40series
SJT-02
RS232C/STR
Cable
D15RP-CA
Cable
D15RP-CA
Cable
OSMS20/26series
D15D15A-CA
Cable
Figure3-1: The GSC-02A system
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■ GSC-02A User's Manual ■
4. Parts of the GSC-02A
Make sure to set up and wire the cable supplying DC+24 [V] and GND to the GSC-
02A so that the maximum length of cable isn’t longer than 2 [m].
Turn o󱐯 a power supply in the case of the connector connection for security.
Functions:
①POWER LED : Lights up in green when powered.
②RUN LED : Lights up in red while driving stages.
③DIP switch : Makes basic settings for GSC-02A.
④RS232C connector: : This connector is used when the device is controlled from the computer via an
RS232C interface.
⑤SJT-02 connector : This connector is used when controlling with the SJT-02.
⑥, ⑦ Stage driving connector : Connect to the motorized stage of your choice. Supports up to two axes.
⑧Earth terminal : Should be grounded properly in your environment.
⑨Power terminal : Connect to the power source (+24 [V], 2 [A]).
⑩STAGE1 RUN volume Volume control adjusting the RUN current output through the stage drive connector. (Axis 1)
⑪STAGE1 STOP volume Volume control adjusting the STOP current output through the stage drive connector. (Axis 1)
⑫STAGE2 RUN volume Volume control adjusting the RUN current output through the stage drive connector. (Axis 2)
⑬STAGE2 STOP volume Volume control adjusting the STOP current output through the stage drive connector. (Axis 2)
①POWERLED
③DIPswitch ④RS232Cconnector ⑤SJT-02connector
②RUNLED
SJT-02
⑧Earthterminal
⑨Powerterminal
⑥Stagedrivingconnector(Axis1) ⑦Stagedrivingconnector(Axis2)
Figure4-2: GSC-02A rear panel
Figure4-3: GSC-02A side panel
Figure4-1: GSC-02A front panel
⑩STAGE1RUNvolume
⑪STAGE1STOPvolume
⑬STAGE2STOPvolume ⑫STAGE2RUNvolume
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■ GSC-02A User's Manual ■
Chapter 2 Basic Operations
5. GSC-02 Connection procedure
5-1. Connecting to Motorized Stages
First, connect GSC-02A to the motorized stages.
① Please conrm the power source is turning o󱐯.
② Connect a standard cable (D15RP-CA / D15D15A-CA) to the connector of the motorized stage.
③ Connect the stage to be controlled as the rst axis to the STAGE1 connector of the GSC-02A
controller. Also connect the stage controlled as the second axis to the STAGE2 connector.
5-2. Connecting to PC and peripheral device
Connect GSC-02A to PC and peripherals (SJT-02).
RS232C interface is used for the connection between the PC and GSC-02A.
The following descriptions premise the RS232C interface.
① Please conrm the power source is turning o󱐯.
② Use a genuine cable RS232C/STR, or 9-pin, D-SUB straight cable with male/female ends using
inch screw threads.
③ Insert the male connector of communications cable into the RS232C connector on the GSC-
02A. Insert the female end into the serial port on your PC.
Connect to the peripheral device (SJT-02) using the SJT-02 dedicated accessory cable.
① Please conrm the power source is turning o󱐯.
② Connect the attached cable for SJT-02 to the SJT-02 connector on GSC-02A. Connect the
female side to the SJT-02.
③ Set the baud rate of the GSC-02A by adjustment on the DIP switch. SJT-02 can’t use on the
baud rate set to 2400 [bps].
Note) For more information about SJT-02, refer to the instruction manual attached to SJT-02.
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6. GSC-02A Setting
Initialize your GSC-02A to match to the target stages and host environment (your PC, etc.). The
initialization includes DIP Switch settings and current adjustments (RUN/STOP) for each axis
motor.
6-1. Set parameters with DIP Switch
Initialize your GSC-02A by setting each switch to ON/OFF as follows:
Parameter Assignment in the DIP Switch:
Table6-1-1: DIP switch setting items
DIP Switch No. Items Parameters
1,2 Baud rate 2400 / 4800 / 9600 / 19200
3 Detecting the mechanical origin MARK method / MINI method
4 Input logic for the limit sensor Normal open/ Normal close
5Specify whether to return mechanical origin
for each axis First axis only/ Both axis
Switch settings and Corresponding Parameters (Set to ON by turning to the downside)
Table6-1-2: DIP switch setting list
Items Dip Switch No. Descriptions
Baud rate
SW No.1 SW No.2
ON ON 2400 [bps]
OFF ON 4800 [bps]
ON OFF 9600 [bps]
OFF OFF 19200 [bps]
Detecting the
mechanical origin
SW No.3
ON MARK method*
OFF MINI method*
Input logic for the
limit sensor
SW No.4
ON Normal open
OFF Normal close
Specify whether to
return mechanical
origin for each axis
SW No.5
ON First axis only
OFF Both axis
Note) Shaded areas in the list show our factory settings. Tale care to handle the very small DIP
Switch so as to avoid giving damage to them during the settings. Use appropriate tools
such as sharp tweezers for setting switches on the DIP Switch. For our OSMS series
stages, select MINI method and Normal close.
*) For details on the method of return to origin, see page 20.
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6-2. Setting the drive current
Set current values supplied from GSC-02A to stages. Turn a RUN
current volume, provided on the side of the unit, to adjust RUN current
corresponding to the stages to use. Use a STOP current volume to set a
ratio to RUN current according to your conditions for the case where the
current down function works. You can make each current adjustment for
Axis 1 or Axis 2 independently.
Note that for the STOP current, adjustment is available not for current
values, but for a ratio [%] to the RUN current.
Note) Generally the ratio of the STOP current to the RUN current is approx. 50 [%].
Driving current settings (RUN)
Factory-set to 0.35 [A/Phase]
Table6-2-1: Driving current settings
Volume No. 0 1 2 3 4 5 6 7 8 9 10
RUN current
[A/phase] 0.25 0.26 0.3 0.34 0.44 0.53 0.6 0.67 0.75 0.78 0.8
Stop current settings (STOP current setting to 50 [%] for RUN current)
Factory-set to volume No.0
Table6-2-2: STOP current settings
RUN No. 0 1 2 3 4 5 6 7 8 9 10
STOP No.00001223333
Note) Each value cited in the above table is a guide to adjust the current without instrument, and
may uctuate within an allowable range.
6-3. Power ON
When you have completed procedures above, connect the power source. GSC-02A is power ON
and the green power LED lights up.
Now the setup has been done, and your GSC-02A is ready to use. For the details of commands
applicable to GSC-02A, see Chapter 3.
Volume
0
2
4 6
8
10
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Chapter3: Using GSC-02A to position Motorized Stages
7. Using Computer to position Motorized Stages
The controller can be connected to a computer using an RS232C interface.
Motorized stages can then be precisely controlled by commands (strings) transmitted from the
computer.
The RS232C interface communication parameter of the GSC-02A is described below. Please set
the congurations of the PC side according to the following Table7-1.
Table7-1: RS232C communication settings
Items Descriptions
Baud rate Baud rate set with DIP Switch
Delimit CR+LF
Parity none
Data bit 8 [bit]
Stop bit 1 [bit]
Flow control Hardware (RTS/CTS)
7-1. List of Commands
The following is a list of available commands:
Table7-1-1: Command list
Command String Details
Return to mechanical origin H： Detect mechanical origin
Set number of pulses for
relative movement M： Axis of movement, direction, number of pulses
Set number of pulses for
absolute movement A： Absolute coordinates
Jog command J： Move at minimum speed (S)
Drive command G： Start
Stop command L： Stop
Set electronic (logical) origin R： Set the electronic (logical) origin to the current
position
Speed settings D： Set S, F and R
Free motor C： Excitation ON/OFF
Status1 Q： Return current position etc.
Status2 !： Return B(busy)/R(ready)
Internal information ?： Check internal information
System switching SYS： Switching between System Types A and B
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The following commands are available only when System Type B is set.
(The settings are retained even when the power is turned o󱐯.)
Table7-1-2: Command list (System Type B)
Direction of travel DR： Select the + direction
Input logic for the limit sensor LSL： Select the detection logic for the limit sensor
Input logic for the ORG sensor OSL： Select the detection logic for the ORG sensor
Input logic for the NEAR sensor NSL： Select the detection logic for the NEAR sensor
Method of return to origin ORG： Select the method of return to origin
Switch number of steps S： Switch number of steps
Communication protocol ACK： Select the communication protocol
ORG speed settings B： Set S, F and R of ORG
Note) When stage operating status is Busy, if you send other command of L:, Q:, !:, ?:, command
status is NG.
7-2. Command Format
Except for some status check commands (Q:, !:, ?:), no response will be returned to a command
input. To determine whether or not a command was received normally, use the Q command to
check status.
System Type B can select use ACK or not use ACK, when send command for computer to
controller. If select use ACK, then OK will return when accept command. NG will return when
can’t accept command.
All commands are in single-byte characters.
1. When COMM/ACK is set to MAIN:
Response string of OK or NG will send when receive for each command.
Command string ………… receive
Response string ………… send
The response string when a command is received normally is OK, that when the command wasn’t
correct, NG. In some cases, for example in response to confirmation commands, data will be
returned instead of OK. Commands should only be sent after checking the internal status of the
controller.
2. When COMM/ACK is set to SUB:
A protocol is used in which the controller does not respond to each command. you can't get
response OK or NG. Data will however be returned in response to some commands, such as
conrmation commands. To determine whether or not a command was received normally, use the
Q command to check status.
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7-3. Command in detail
(1) H command: Return to mechanical origin
Features:
This command is used to detect the mechanical origin for a stage and set that position
as the origin. Once the mechanical origin has been detected, the value displayed will
be 0. In System Type A, each axis moves at the following constant conditions: Minimum
speed (S):500 [pps], Maximum speed (F): 5000 [pps], Acceleration/ Deceleration time (R):
200 [ms].Method of return to origin is depending on the DIP Switch settings. In System
Type B, when after power on, the stage will move at the speed (S, F, R) specied in the B
command. And it’ll move with the method of return origin specied in the ORG command.
・Command format
H：nm
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
m: + or － +: + direction, －: － direction
(If n is set to W, m needs to be set for two)
Ex1) H：1+ Detects mechanical origin for Axis 1 in the positive direction.
Ex2) H：2－ Detects mechanical origin for Axis 2 in the negative direction.
Ex3) H：W+－ Detects mechanical origin for Axis 1 in the positive direction, and Axis
2 in the negative direction.
Ex4) H：W Detects mechanical origin for Axis 1 in the negative direction, and Axis
2 in the negative direction.
Note) If there is no parameter: m, the operation is determined as - and is executed.
Note) During stage operating status is Busy, the command status is NG.
Note) During motor excitation o󱐯 by C command, motorized stages can't move, and the command
status is NG.
(2) M command: Set number of pulses for relative travel
Features:This command is to specify the axis of travel, direction, and the travel (number of
pulses).
This command must always be followed by a drive (G) command.
Travel is by means of acceleration/deceleration driving. The distance traveled is
specied in pulses.
・Command format
M：nmPx
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
m: + or － +: + direction, －: － direction
(If n is set to W, m needs to be set for two)
x: moving pulse count 0-16777214.
Ex) M：W+P500－ P200 Travel 500 [pulse] in the + direction on the rst axis and 200 [pulse] in
the – direction on the second axis
G： Drive
Note) During stage operating status is Busy, the command status is NG.
Note) During motor excitation o󱐯 by C command, motorized stages can't move, and the command
status is NG.
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(3) A command: Set number of pulses for absolute travel
Features:This command is to specify the-axis of travel, direction, and the travel (number of
pulses).
This command must always be followed by a drive G command.
Travel is by means of acceleration /deceleration driving.
・Command format
A：nmPx
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
m: + or － +: + direction, －: － direction
(If n is set to W, m needs to be set for two)
x: moving pulse count 0-16777214.
Ex1) A：1+p10000 Travel to the 10000 [pulse] position in the + direction on the rst-
axis
G： Drive
Ex2) A：W+P1000－ P100 Travel to the 1000 [pulse] position in the + direction on the rst-
axis and the 100 [pulse] position in the － direction on the second-
axis
G： Drive
Note) During stage operating status is Busy, the command status is NG.
Note) During motor excitation o󱐯 by C command, motorized stages can't move, and the command
status is NG.
(4) J command: JOG
This command drives stages continuously (at a constant speed) at the starting speed(S). This
command must always be followed by a drive G command. The stage will stop by an L command.
When nothing L command, until get limit sensor signal continue this moving.
・Command format
J：nm
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
m: + or － +: + direction, －: － direction
(If n is set to W, m needs to be set for two)
Ex) J：W－ + move in the － direction on the rst-axis and in the + direction on the
second-axis
G： Drive
Note) During stage operating status is Busy, the command status is NG.
Note) During motor excitation o󱐯 by C command, motorized stages can't move, and the command
status is NG.
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(5) G command: Drive
Features: When a drive command is issued, the stage starts moving, moves the specied number
of pulses, and then stops. The G command is used after M, A, and J commands.
・Command format
G： Drive
G Drive (It works with just G without the colon)
Note) During stage operating status is Busy, the command status is NG.
Note) During motor excitation o󱐯 by C command, motorized stages can't move, and the command
status is NG.
(6) L command: Decelerate and stop
Features: When this command is executed, the stage decelerates and stops.
・Command format
L：n
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
Ex1) L：1 First-axis decelerates and stops
Ex2) L：W First- and second-axis decelerate and stop
(7) L: E command: Emergency stop
Features: This command stops all stages immediately, whatever the conditions.
・Command format
L：E Stop rst and second-axis immediately
(8) R command: Set electronic (logical) origin
Features: This command is used to set electronic (logical) origin to the current position of each-
axis.
・Command format
R：n
・parameter
1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
Ex) R：1 Set the electronic (logical) origin for the rst-axis
Note) During stage operating status is Busy, the command status is NG.
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(9) D command: Speed settings1
Features: The minimum speed (S), maximum speed (F), and acceleration/deceleration time (R)
are set according to the initialize settings when the power is turned on. This command
allows you to change these default settings. The default settings are (S): 500 [pps], (F):
5000 [ps], (R): 200 [ms].
・Command format
D：nSspdsFspdfRspdr
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
spds: Minimum speed (S) 1 to 30000 [pps]
spdf: Maximum speed (F) 1 to 30000 [pps]
spdr: Acceleration/deceleration time (R) 1 to 1000 [ms]
(If n is set to W, two spds, two spdfs, and two spdrs are needed each.)
Note) The maximum speed(F) setting should be equal or greater than the minimum speed. If the
minimum speed is set to equals to the maximum or the acceleration/ deceleration time
is set to zero, stages will move at a constant speed without performing acceleration/
deceleration logically.
Ex1) D：1S200F2000R100
Adjust speed settings for the rst-axis (S=200 [pps] ／ F=2000 [pps] ／ R=100 [ms])
Ex2) D：WS100F1000R10S300F3000R20
Adjust speed settings for the rst-axis (S=100 [pps] ／ F=1000 [pps] ／ R=10 [ms])
and second-axis (S=300 [pps] ／ F=3000 [pps] ／ R=20 [ms])
Note) During stage operating status is Busy, the command status is NG.
(10) D command: Speed settings2
Features:The minimum speed (S), maximum speed (F), and acceleration/deceleration time (R)
are set according to the initialize settings when the power is turned on. This command
allows you to change these default settings. The default settings are (S): 500 [pps], (F):
5000 [pps], (R): 200 [ms].
・Command format
D：rSspds1Fspdf1Rspdr1Sspds2Fspdf2Rspdr2
・parameter
r：Speed range 1: Low speed range, 2: High speed range
spds1,2：Minimum speed (S) 1-200 [pps](Low Range) 50-30000 [pps](High Range)
spdf1,2：Maximum speed (F) 1-200 [pps](Low Range) 50-30000 [pps](High Range)
Spdr1,2：Acceleration/ Deceleration time (R) 0-1000 [ms] (for both High/Low range)
Note)
The maximum speed(F) setting should be equal or greater than the minimum speed. If the minimum
speed is set to equals to the maximum or the acceleration/ deceleration time is set to zero, stages
will move at a constant speed without performing acceleration/ deceleration logically.
Ex) D：2S100F1000R200S100F1000R200
Adjust speed settings for the rst-axis (S=100 [pps] ／ F=1000 [pps] ／ R=200 [ms])
and second-axis (S=100 [pps] ／ F=1000 [pps] ／ R=200 [ms])
Note) During stage operating status is Busy, the command status is NG.
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Acceleration and Deceleration Patterns
Number of
pulses moved
Positioning time
Maximum pulse
speed (F)
Minimum pulse
speed (S)
Deceleration
time (R) [ms]
Acceleration
time (R) [ms]
Figure7-3-1: Acceleration and Deceleration Patterns
(11) C command: Free/ hold motor (Excitation ON/OFF)
Features: This command is used to excite the motor or to turn excitation o󱐯, making it possible
to move (rotate) stages manually.
・Command format
C：nm
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
m: 0 or 1 0: electromagnetic current o󱐯, 1: electromagnetic current on
(If n is set to W, m needs to be set for two)
Ex1) C：10 Free rst-axis motor
Ex2) C：W01 Free rst-axis motor, and Hold second-axis motor.
Note) During stage operating status is Busy, the command status is NG.
Note) During all of electromagnetic current o󱐯 by C command, motorized stages can't move and
the command status is NG.
(12) Q command: Status 1
Features: On receipt of this command, the controller returns the coordinates for each-axis and
the current state of each stage.
・Command format
Q：Return data: － 1000, － 20000, ACK1, ACK2, ACK3
ACK1： X：Command or parameter errors.
K ：Command received normally.
ACK2： L ：First-axis stopped at LS
M：Second-axis stopped at LS
W：First and second axes stopped at LS
K ：Normal stop
ACK3： B：(BUSY) L, Q, !, and ?, commands can be received
R：(READY) all commands can be received
Note) Coordinate values for each-axis have a xed length of ten digits, including symbols
(Symbols are left-aligned, coordinates values right-aligned).
First-axis
coordinates
Second-axis
coordinates
Three-character
string data
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(13) ! command: Status 2
Features: On receipt of this command, the controller returns the stage operating status.
・Command format
!：Return data: B B：(BUSY) L, Q, !, and ?, commands can be received
R R：(READY) all commands can be received
(14) ? command: Request for internal information
Features: This command returns controller settings.
・Command format
?：pn
・parameter
p：Parameter watch below the table
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
When you use (V,-,N,ACK) parameter, n don’t need.
Parameter Data returned Examples
V Version numbers Ex)?:V→ V1.00
－ Sub version numbers Ex)?:－→ 001
N Device name Ex)?:N→ GSC-02A (System Type A)
GSC-02B (System Type B)
DR Direction of travel 0 or 1 Ex)?:DRW → 0,0 Ex)?:DR2 → 0
0: POS,1：NEG
LSL Input logic for the limit sensor 0 or 1 Ex)?:LSLW→ 0,0 Ex)?:LSL2 → 0
0: Normal Close,1: Normal Open
OSL Input logic for the ORG sensor 0 or 1 Ex)?:OSLW → 0,0 Ex)?:OSL2 → 0
0: Normal Close,1: Normal Open
NSL Input logic for the NEAR
sensor
0 or 1 Ex)?:NSLW→ 1,1 Ex)?:NSL2 → 1
0: Normal Close,1: Normal Open
ORG Method of return to origin
0,1,2,3,4 or 5
Ex)?:ORGW→ 1,1 Ex)?:ORG2 → 1
0: Not return origin,1: MINI method
2: CENTER method,3: ORGS method
4: NORM method,5: MARK method
S Division Ex)?:SW→ 2,2 Ex)?:S2 → 2
1: Full step、2: Half step
ACK Communications protocol 0 or 1 Ex) ?:ACK→ 0
0: SUB (No response), 1: MAIN (Response)
D Travel speed [pps] ?:D1→ S100F1000R200
B ORG speed [pps] ?:B2→ S500F5000R200
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(15) SYS command: Switching systems
Features: This command is used to set the System Type A or B. The default setting is 0.
System Type A： Set method of return to origin, input logic for the limit sensor, specify
whether to return mechanical origin for each axis with DIP switches.
System Type B： Set method of return to origin, input logic for the limit sensor, specify
whether to return mechanical origin for each axis with the commands.
(These items can’t be set from the DIP switches.)
・Command format
SYS：a
・parameter
a: 0 or 1 0: System Type A (?:N Device name: GSC-02A)
1: System Type B (?:N Device name: GSC-02B)
Ex) SYS：1 Set to System Type B
Note) The power must be turned on again to reect the system type change settings.
Note) When changing the System Type, the settings made in System Type B will be initialized.
Note) During stage operating status is Busy, the command status is NG.
(16) DR command: Select the direction of travel Enabled only for System Type B
Features: This command sets the direction of travel for each axis of the stage to the + side.
The default setting is 0.
・Command format
DR：na
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
a: 0 or 1 0: POS (Set the motor direction to the + direction.)
1: NEG (Set the reverse direction of the motor to the + direction.)
Ex1) DR：11 Set the direction of travel for Axis 1 to NEG.
Ex2) DR：W01 Set the direction of travel for rst-axis to POS, and set the direction of
travel for second-axis to NEG.
Note) During stage operating status is Busy, the command status is NG.
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(17) LSL command: Detection logic for the limit sensor (Enabled only for System Type B)
Features: Select the conditions (input logic) for the limit sensor for each-axis. The default setting
is 0.
・Command format
LSL：na
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
a: 0 or 1 0: Normal close (switches OFF from the default value of ON when limit
sensor is detected)
1: (switches ON from default value of OFF when limit sensor is
detected)
(If n is set to W, m needs to be set for two)
Ex1) LSL：11 Set the limit sensor input logic of rst-axis to Normal Open.
Ex2) LSL：W01 Set the limit sensor input logic of rst-axis to Normal Close, and set the
limit sensor input logic of second-axis to Normal Open.
Note) During stage operating status is Busy, the command status is NG.
(18) OSL command: Detection logic for the ORG sensor (Enabled only for System Type B)
Features: Select the conditions (input logic) for the ORG sensor for each-axis. The default setting
is 0.
・Command format
OSL：na
・parameter
n: 1 or 2 or W 1: rst-axis, 2: second-axis, W: both rst-axis and second-axis
a: 0 or 1 0: Normal close (switches OFF from the default value of ON when limit
sensor is detected)
1: (switches ON from default value of OFF when limit sensor is
detected)
(If n is set to W, m needs to be set for two)
Ex1) OSL：11 Set the ORG sensor input logic of rst-axis to Normal Open.
Ex2) OSL：W01 Set the ORG sensor input logic of rst-axis to Normal Close, and set the
ORG sensor input logic of second-axis to Normal Open.
Note) During stage operating status is Busy, the command status is NG.
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