OptoSigma SHOT-102 User manual

Joy Stick Operation
Two-AxisStageController
SHOT-102
User's Manual
2015.12.Fourthedition
http://www.global-optosigma.com
Tel:[phone]Fax:[phone]E-mail:[e-mail]
4-9-28,Nishi-Nakajima,Yodogawa-ku,Osaka532-0011,JAPAN
1-19-9,Midori,SIGMAKOKITokyoHeadoffice,Sumida-ku,Tokyo130-0021,JAPAN
Tel:[phone]Fax:[phone]E-mail:[e-mail]
3-17,Hie-machi,Hakata-ku,Fukuoka-shi,Fukuoka812-0014,JAPAN 
Tel:[phone]Fax:[phone]E-mail:[e-mail]
Kyushu Sales office
Osaka Branch
1-1Yatsukaho,Hakusan-shi,Ishikawa924-0838,JAPAN

Table of Contents
For your safety  1
Section 1: Before Using Your SHOT-102 2
1-1. Check Inside the Package ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 2
1-2. Outline ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 3
1-3. SHOT-102 System Diagram ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 3
1-4. Names and Functions of Parts ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 4
Section 2: Basic Operations  7
2-1. Initialize SHOT-102 ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 7
2-2. Set Parameters with DIP Switch ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 7
2-3. Adjust Drive (RUN, STOP) Current ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 10
2-4. Connection between SHOT-102 and Motorized Stage ‥‥‥‥‥‥‥‥‥‥ 10
2-5. Manual Operation of Stage with SHOT-102 ‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 11
2-6. Connection between SHOT-102 and Host (PC, etc) and Control ‥‥‥‥‥ 12
2-7. Environment Settings of Host ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 12
2-8. Power ON ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 13
Section 3: Commands for SHOT-102 ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 14
3-1. Command List ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 14
3-2. Function and Format of Command ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 14
Section 4: Specifications ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 19
4-1. General Specifications ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 19
4-2. Performance Specifications ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 20
4-3. SHOT-102 Case Drawing ‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥‥ 20

1
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■ SHOT-102 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 indicates 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.
Symbols Used in This Manual
The following symbols are used in this manual.
This symbol is used to indicate cross-references to relevant information in this manual or other documentation.
This symbol marks items that should be confirmed before an operation (or action) is performed.
This symbol marks definitions of terms and other useful information.
（Note）This symbol marks supplementary information.
Disclaimer of Liability
①SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product or the inability to use this product.
②SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product that deviates from that described in
the manual.
③SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product in extraordinary conditions, including
fire, earthquakes, and other acts of God, action by any third party, other accidents, and deliberate or accidental misuse.
④If the equipment is used in a manner not specified by the SIGMAKOKI CO., LTD., the protection provided by the equipment may be
impaired.
WARNING CAUTION
◦Do not use this product in the presence of flammable gas, explosives,
or corrosive substances, in areas exposed to high levels of moisture or
humidity, in poorly ventilated areas, or near flammable materials.
◦Do not connect or check the product while the power is on.
◦Installation and connection should be performed only by a qualified
technician.
◦Do not bend, pull, damage, or modify the power or connecting cables.
◦Do not 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 off the power immediately.
◦Do not turn on the power in the event that it has received a strong physical
shock as the result of a fall or other accident.
◦Do not touch the stage while operation.
◦Use dry clothes only for cleaning the equipment.
◦Do not leave the product in an enclosed area or in areas in which it would
be exposed to direct sunlight or vibration.
◦Do not touch the product when your hands are wet.
◦When unplugging the product, pull on the plug rather than the cord.
◦Because some electrical change remains after the power has been cut, do
not touch the input or output terminals for ten seconds after the product
has been turned off.
◦When connecting peripherals to the product, adjust the product's initial
setting (parameter settings) to suit the peripheral.
◦Turn off the power before connecting the product to other devices.
Connection should be performed following the connection diagram.
◦Before turning the equipment on (or when beginning operations), be
sure that you can turn the power off immediately in the event that an
abnormality should occur.
◦Do not obstruct the product's air vents or other openings.
◦For continued protection against risk of fire, replace only with same type
and rating fuse. Fuse replacement is done by a qualified technician.

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2
■ SHOT-102 User’s Manual ■
Section 1: Before Using Your SHOT-102
1-1 Check Inside the Package
Before you use this controller, check if your package includes all the items listed below. It is
convenient to check in the boxes: If your package does not include all the items, or items are
damaged, please contact us.
□SHOT-102 Stage Controller Unit : 1
□AC power cable : 1 □User'sManual (This Manual) : 1
J o y S t i c k Op e r a t i o n
Two-AxisStageController
S H O T-1 0 2
U s e r ' s M a n u a l
2014 .10.Thirdedition
http://www.sigma-koki.com
Tel:
+
81-3-5638-8228Fax
:
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81-3 -5638- 6550E-mail:[e-mail]
4-9- 28,Nishi-Nakajima,Yodogawa-ku,Osaka532- 0011, JAPAN
1-19-9, Midori,SIGMAKOKITokyoHeadoffice,Sumida-ku,Tokyo130-00 21,JAPAN
Tel:
+
81-6-6307-4835Fax
:
+
81-6 -6307- 4834E-mail:[e-mail]
3-17 ,Hie-machi,Hakata-ku,Fukuoka-shi,Fukuoka812-00 14,JAPAN

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81-92-481-4300Fax
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K y u s h u S a l e s o f f i c e
O s a k a B r a n c h
1-1Yatsukaho,Hakusan-shi,Ishikawa9 24-083 8,JAPAN

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■ SHOT-102 User’s Manual ■
1-2 Outline
SHOT-102 is a twin-axis stage controller featuring stepping motor drivers.
Keeping compatibility with existing models, SHOT-102 features versatility that can support wide
variety of your needs at a delightfully low price.
Connect the unit to your standard PC via RS-232C or GP-IB interface, and you can send simple
commands from PC for moving motorized stages precisely to target positions and configure a
controlling system of considerable scale comfortably.
This also allows you to operate the stage with a joystick.
1-3 SHOT-102 System Diagram
SHOT-102 incorporates stepping motor drivers, which enables you to design a low cost, space-
efficient system with our SGSP series or other motorized stages driven by stepping motors, using
standard cables for the connection.
Applicable cables and drive current values are depending on the specifications of stages you
want to use. Check if your controller matches to desired devices satisfactorily before forming a
system.
ACT
OSMS
SGSP YAW
OSMS

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■ SHOT-102 User’s Manual ■
1-4 Names and Functions of Parts
Upper Panel
Functions
①Indicates each axis coordinate value, controller's motion mode and so on.
②Moves the stage to its machine home position in manual mode The LED indicator lights up when both axes are at
the home position.
③Switches host and manual modes. The LED built-in the button lights up during host mode. Host mode is selected
immediately after power ON.
④Operates each stage in manual mode.
⑤Selects HIGH/LOW for the stage traveling speed in manual mode. The LED in the button lights up in HIGH state.
⑥Zeroclears the indicated coordinates to set the position as home.
⑦Stops the stage in both host/manual modes. However, this is not the Emergency Stop button. Manual mode is
selected after the stage halts.
The controller radiates heat generated inside the enclosure. Though you may feel the enclosure warmed up,
that is not necessarily failure.

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■ SHOT-102 User’s Manual ■
⑧Connect the cable when using your PC for controlling via the GP-IB interface.
⑨Connect the cable when using your PC for controlling via RS-232C interface.
⑩Makes basic settings for your SHOT-102.
⑪Makes basic settings for your SHOT-102.
⑫Insert the attached power cord to supply AC power.
⑬Should be grounded properly in your environment.
⑭Power switch. Turn ON to indicate mode, interface, etc on the display.
⑮Changes voltages supplied to the stage 2 sensor.
⑯Changes voltages supplied to the stage 1 sensor.
⑰Volume control adjusting the STOP current output through the stage drive connector (Axis 2).
⑱Volume control adjusting the RUN current output through the stage drive connector (Axis 2).
⑲Volume control adjusting the STOP current output through the stage drive connector (Axis 1).
⑳Volume control adjusting the RUN current output through the stage drive connector (Axis 1).
Rear Panel

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■ SHOT-102 User’s Manual ■
Connect the stage used as Axis 1.
Connect the stage used as Axis 2.
Right Side Panel
①Displays either of host (displayed as "H")/manual ("M") modes.
②and ⑦For Axis 1 and Axis 2.
③and ⑧Displays stage positions as positive (+)/negative (-) from the home position for each axis.
④and ⑨Displays the stage positions for each axis.
⑤and ⑩Displays when the limit sensor for each axis is activated.
⑥Displays mode as LOW ("1") or HIGH ("2").
Display (example display for explanations and not representing actual operational status)

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■ SHOT-102 User’s Manual ■
Section 2: Basic Operations
2-1 Initialize SHOT-102
Initialize your SHOT-102 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.
2-2 Set Parameters with DIP Switch
Make basic settings of your SHOT-102 by setting switches on the DIP switches to ON/OFF. The side
marked with " ･ " is switch 1.
Parameter assignment in DIP Switch 1
DIP switch No. Items Parameters
1,2 Delimiter CR+LF(EOI)/CR(EOI)/LF(EOI)/EOI*
3 Interface GP-IB/RS232C
4,5 Baud rate 38400/19200/9600/4800
6,7 GP-IB address 8/9/10/11
8 Control axis First axis only/ Both axis
9,10 Speed Speed select
＊Note: EOI is effective only when GP-IB interface is used.
Parameter assignment in DIP Switch 2
DIP switch No. Items Parameters
1,2 Stage1 unit 0.5μm/1μm /2μm /pulse
3,4 Stage2 unit 0.5μm/1μm /2μm /pulse
5 Stage1 origin detection Enabled/Disabled
6 Stage2 origin detection Enabled/Disabled
7 Mode SHOT-102/MINI-5P
8 Divide Full step/Half step
Setting Voltage Selection Switches for Sensors
SW Indication Applicable Stage Setting Item
24V SGSP Series +24V output via 1.1k ohm
5V MINI Series +5V output via 100 ohm
Make sure to set the supply voltage for Axis 1 and 2 matching to the stages you want to
use.
Shaded areas in the list show our factory settings. Wrong settings may damage the
controller. Take care to handle those very small DIP switches so as to avoid giving
damage to them during the settings.

8
■ SHOT-102 User’s Manual ■
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List of DIP Switch Settings (Set to ON by turning to the number-marked side on the switch body)
DIP Switch 1
Items DIP switch No. Descriptions
Delimiter
SW2 SW1
ON ON CR+LF(EOI)
ON OFF CR(EOI)
OFF ON LF(EOI)
OFF OFF EOI
Interface
SW3
ON GP-IB
OFF RS232C
Baud rate
SW5 SW4
ON ON 38400
ON OFF 19200
OFF ON 9600
OFF OFF 4800
GP-IB address
SW7 SW6
ON ON 8
ON OFF 9
OFF ON 10
OFF OFF 11
Control axis
SW8
ON First axis only
OFF Both axis
Speed
SW10 SW9 F S R
ON ON 10 ｋ1ｋ200
ON OFF 5 ｋ500 200
OFF ON 500 50 0
OFF OFF 50 5 0
Note: Shaded areas in the list show our factory settings. Take care to handle those very small DIP switches
so as to avoid giving damage to them during the settings. Use appropriate tools such as sharp
tweezers for setting each switches on the DIP switches.
DIP Switch 2
Stage1 unit
SW2 SW1 Descriptions
ON ON Pulse
ON OFF 2μ ｍ/pulse
OFF ON 1μ ｍ/pulse
OFF OFF 0.5μ ｍ/pulse
Stage2 unit
SW4 SW3
ON ON Pulse
ON OFF 2μ ｍ/pulse
OFF ON 1μ ｍ/pulse
OFF OFF 0.5μ ｍ/pulse
Stage1 origin detection
SW5
ON Enabled
OFF Disabled
Stage2 origin detection
SW6
ON Enabled
OFF Disabled
Mode
SW7
ON SHOT-102
OFF MINI-5P
Divide
SW8
ON Full step
OFF Half step
Note: Shaded areas in the list show our factory settings. Take care to handle those very small DIP switches
so as to avoid giving damage to them during the settings. Use appropriate tools such as sharp
tweezers for setting each switches on the DIP switches

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■ SHOT-102 User’s Manual ■
Differences between SHOT-102/MINI-5P modes
SHOT-102 can select SHOT-102 or MINI-5P mode by DIP switch settings.
Operations and commands/parameters vary depending on modes.
SHOT-102 mode (factory settings)
･ On turning ON the power,“SHOT” is displayed on the LCD.
･ H/M (Host/Manual) and“LOW (1)/HIGHT (2)” (manual speed) are displayed on the LCD.
･ The speed in homing is the value set by switches 9 and 10 on DIP switch 1, or the D command.
･ Against a command sent from the host, the controller returns OK/NG to the host.
･ The speed settings for Axis 1 only, Axis 2 only or both axes can be made by the D command.
･ The format of the G command is“G:”
MINI-5P mode
･ On turning ON the power,“MINI”is displayed on the LCD.
･ Only the coordinate value and limit sensors for each axis are displayed on the LCD.
･ Against a command sent from the host, the controller does not return OK/NG to the host.
･ The speed in homing is fixed to (S)500(F)5000(R)200 and can not be changed.
･ With the D command, speeds should be set for both axes at once. When you want to use only one of the
axes, set dummy parameters for the other axis.
･ The format of the G command is“G”(colon“:”is not necessary).

10
■ SHOT-102 User’s Manual ■
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2-3 Adjust Drive (RUN, STOP) Current
Set current values supplied from SHOT-102 to the stages. Turn the RUN volume being provided
on the rear side of the unit to adjust the RUN current matching to the stage you want to use. Then
Use a STOP Volume to set a ratio to the 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. Turn the volumes clockwise to increase the current values.
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 %.
(Example) Volume setting
Driving current settings (RUN)
Volume No. 0 1 2 3 4 5 6 7 8 9 10
Amperage
〔A〕0.17 0.25 0.33 0.40 0.47 0.54 0.61 0.67 0.73 0.79 0.85
Stop current settings (Stop current setting to 50% for RUN current)
RUN volume No.
012345678910
STOP volume No.
01111122222
Note: Each value cited in the above table is a guide to adjust the current without instruments, and may
fluctuate within an allowable range. Shaded values in the list are factory settings.
2-4 Connection between SHOT-102 and Motorized Stage
Connect SHOT-102 and motorized stages.
Procedure:
①First, make sure that the power plug of SHOT-102 is removed from the receptacle, and its power switch is turned
OFF. Follow this step exactly to avoid possible electric shocks or damage to your unit.
②Connect the cable to motorized stages. Select cables correctly matching to your SHOT-102 and stages. MINI-CA
or MINIS-CA series cables are applicable to SHOT-102.
③Connect the cable from the stage for Axis 1 to STAGE 1 connector on SHOT-102. Connect the cable from the Axis
2 stage to STAGE 2.
If you want to use only one axis, use STAGE 1.
(Set to “5” in this figure).

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■ SHOT-102 User’s Manual ■
2-5 Manual Operation of Stage with SHOT-102
Operate a stage manually through the SHOT-102 operation buttons or joystick. Complete any
settings and the connections for SHOT-102 with the stages to use and the operation conditions
before turning ON the power to move the stages.
Procedure:
①Turn ON the power switch (turn to "|" mark):
Typical display of SHOT mode
SHOT RS232C 9600
DELIMITER ＝ CR+LF
Typical display of MINI-5P mode
MINI RS232C 9600
DELIMITER ＝ CR+LF
SHOT-102 is turned ON and the opening message like above is displayed on the LCD for about three seconds
(the contents of the message vary depending on the settings). Then the LEDs of the HOST/MANUAL and
ORIGIN switches light up and the coordinate values of the Stage 1 and 2, etc. are displayed on the LCD.
②Press the HOST/MANUAL switch to select manual mode. The LED turns off and the switch joystick on the panel
is enabled. While you are using this button, do not operate the other operation buttons and joysticks.
When the controller status is“B”(busy), switching operations cannot be accepted.
③The joystick corresponds with each axis as follows:
Axis No. Turning Direction of Stick
Stage 1 Left (-)/Right (+) direction
Stage 2 Top (+)/Bottom (-) direction
One move of the stick (for 0.5 sec or shorter) moves the stage by one pulse. A move of the stick for longer than
0.5 sec moves the stage continuously and releasing the stick stops the movement. The stage moves constantly
at the minimum speed set by switches 9 and 10 on DIP switch 1 (it does not accelerate/decelerate).
④Press the HIGH/LOW switch and operate the joystick with the LED lit. The stage makes acceleration/
deceleration drive at the maximum speed set by switches 9 and 10 on DIP switch 1. Setting at the host side
using the“D”command enables changing the minimum and maximum speeds.
⑤Pressing the ORIGIN switch turns OFF the LED and starts to detect the machine home position. In SHOT-102
mode, traveling speeds to detect depend on the speed settings by the DIP switch and the D command,
and the settings of HIGH/LOW switch. In MINI-5P mode, the speed is fixed to the home return speed
(S)500(F)5000(R)200 and cannot be changed. The operation is the same as that of“H:W”when“CCW-”is
instructed by the H command.

12
■ SHOT-102 User’s Manual ■
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⑥Operate the RESET switch to reset the coordinate to and light up the ORIGIN switch LED. The motion is the
same as that of“R:W”of the R command.
⑦The STOP switch is not the Emergency Stop switch. Turn OFF the power switch in an emergency.
(Note 1)Do not send any commands from your PC during manual operation.
Otherwise, the controller and/or stage may malfunction.
(Note 2)Carry out single step (pulse-by-pulse) operation per axis.
(Note 3)The traveling speeds with the joystick can be changed through the“D”command. Immediately after power
ON, the stage moves at the speed set with switches 9 and 10 on the DIP switch.
2-6 Connection between SHOT-102 and Host (PC, etc) and Control
Connect SHOT-102 to Host (PC, etc) that sends/receives controlling commands. The applicable
communications interfaces are RS232C and GP-IB.
Procedure (RS232C):
①Use a genuine cable RS232C/STR, or a 9-pin, D-SUB straight cable with male/female ends using inch screw
threads.
②Make sure the power is turned OFF on both PC and SHOT-102.
③Set the baud rate interface (selecting RS232C for this explanation) and delimiter (selecting CR+LF(EOI) for this
explanation) by DIP switch 1 on the body.
④Insert the male connector of the communications cable into the RS232C terminal on the SHOT-102.
⑤Insert the female end into the serial port on your PC.
Procedure (GP-IB):
①Use a genuine cable GP-IB or a standard cable.
②Make sure the power is turned OFF on both PC and SHOT-102.
③Set the baud rate interface (selecting GP-IB for this explanation) and delimiter address by DIP switch 1 on the
body.
④Connect the GP-IB terminal on the SHOT-102 and your PC with the communications cable.
2-7 Environment Settings of Host
This describes how to connect with your PC using the RS232C interface.
Configure communications environment on the host for communicating with SHOT-102.
Set Communications Environment:
Items Descriptions
Baud rate Baud rate set with DIP switch
Data bit ８bits
Parity None
Stop bit 1bit
Flow control Hardware
Delimiter CR+LF

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■ SHOT-102 User’s Manual ■
2-8 Power ON
When you have completed procedures above, connect firmly the power cord attached to SHOT-102,
and insert the power plug into the receptacle. Turn ON the power switch (turn to
“|”
mark). SHOT-
102 turns ON and the opening message is displayed on the LCD for about three seconds.

14
■ SHOT-102 User’s Manual ■
Osaka branch
Tel: [phone]
Fax: [phone]
E-mail：[email protected]
Section 3: Commands for SHOT-102
3-1 Command List
Listed below are all the commands used with SHOT-102:
Some commands have several formats and parameters to be selected depending on the operation
mode. See Differences between MINI-5P/SHOT-102 in 2-2.
Command String Details
Return to mechanical origin H：Detect mechanical origin
Set electronic(logical)origin R：
Set the electronic(logical)origin to the current position
Speed settings D：Set S, F, and R
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
Absolute coordinates J：Move at minimum speed (S)
Drive command G：＊Start
Stop L：Stop or reduce speed
Free motor C：Excitation ON/OFF
Status1 Q：Return current position etc.
Status2 ！： Return B (Busy)/R (Ready)
Internal information ？： Check internal information
：Note that in MINI-5P mode, only the "G" command does not have a colon (":") at the end.
3-2 Function and Format of Command
SHOT-102 uses upper-case, one-byte characters. Some commands need parameters. Some have
several formats and parameters to be selected depending on mode selection.
1) Control (drive system) Command 1
(1) H Command: Machine Home Return Command
Function: Detects the machine zero on the stage, and define the position as the home position. Detection of a machine zero sets
the display to "0."
In SHOT-102 mode, axis traveling speed is depending on the speed settings by switches 9 and 10 on DIP Switch 1
and the "D" command. In MINI-5P mode, each axis moves at the following constant conditions: minimum speed (S):
500 pps, maximum speed (F): 5000 pps, acceleration/deceleration time (R): 200 ms. In both modes, axes to home
depend on the DIP switch settings.
Format: H: [Axis number to home][Direction of the Axis] : Returns only one axis to home position.
H:W[Specifies direction of LS to use] : Returns both axes to home position.
Use parameters "1" or "2" to specify each axis. For both axes, write "W." Use "+" or "-" as direction parameters. Do not insert a space, etc. between
parameters.
[Example 1] H:1+ : Detects machine zero for Axis 1 in the positive direction.
[Example 2] H:1- : Detects machine zero for Axis 1 in the negative direction.
[Example 3] H:2+ : Detects machine zero for Axis 2 in the positive direction.
[Example 4] H:2- : Detects machine zero for Axis 2 in the negative direction.
[Example 5] H:W+ : Detects machine zero for both axes in the positive direction.
[Example 6] H:W- : Detects machine zero for both axes in the negative direction,
Note: While executing "H:W," sending "L:1" or "L:2" will practically equal to sending an "L:E."

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■ SHOT-102 User’s Manual ■
(2) M Command: Command to Set Relative Move Pulse Count
Function: A command to specify axes to move, moving directions and relative moving distances. After executing this command, make sure to
add the driving command,
“G:”
The movement is acceleration/deceleration drive. Set a pulse count for a relative moving distance (a
pulse count should be +/- 16777214).
When the H, R, M, A J, L, E or C command is executed before the G command execution, the latest settings specified by the M
command immediately before are canceled.
Format:
M:[Axis number to move][Direction of move]P[Pulse count for moving] : Moves only one axis.
M:W[Direction of Axis 1]P[moving pulse count for Axis 1][Direction of Axis 2]P[moving pulse count for Axis 2] : Moves both axes.
Note: If you set a pulse count exceeding the movable range of the stage, the stage will be forced to stop once it is detected by the
limit sensor. Valid ranges of pulse counts are depending on stage specifications. Check for the specifications of each stage.
[Example 1] M:1+P1000 : Moves Axis 1 1000-pulse in the positive direction.
G: : Starts driving
[Example 2] M:2-P9000 : Moves Axis 2 9000-pulse in the negative direction.
G: : Starts driving
[Example 3] M:W+P500-P200 : Moves Axis 1 500-pulse in the positive direction, and Axis 2
200-pulse in the negative direction.
G: : Starts driving
[Example 4] M:W+P50-P20 : Moves Axis 1 50-pulse in the positive direction, and Axis 2
20-pulse in the negative direction.
G: : Starts driving
――――――――――――――＜Detecting the Mechanical Origin ＞――――――――――――――
MINI system
When the command is given to detect the mechanical origin, the
stage begins moving clockwise (i.e., in the -direction) at the
operating speed (F) specified in the memory switches, stopping
when the clockwise (-) limit sensor is detected. It then moves
counter-clockwise (i.e., in the + direction) at the operating speed (F)
for 1000 pulses. After stopping, it begins moving clockwise (i.e., in
the direction) once more at the starting speed (S), stopping
when the clockwise (-) limit sensor is reached. It then moves
counter-clockwise (i.e., in the + direction) at the operating speed (F)
for 1000 pulses. This position is taken as the mechanical origin
(SGSP series).
Stage
Operating speed （Ｆ）
CW (–) limit sensor
CCW(+)
CCW(+)
CW(−)
CW(−)
Starting speed （Ｓ）
Move 1000 pulses at operating speed （Ｆ）
Move 1000 pulses at operating speed （Ｆ）

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■ SHOT-102 User’s Manual ■
Osaka branch
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(3) A command: Absolute Value Moving Command
Function: A command that specifies stage movement destination with a coordinate absolute value. After executing this command, make sure to
add the driving command,
“G.”
When the H, R, M, A J, L, E or C command is executed before the G command execution, the latest
settings specified by the A command immediately before are canceled.
Format: A:[Axis number to move][Direction of move]P[Coordinate of destination] : Drives only one axis.
A:W[Direction of Axis 1]P[Coordinate of destination][Direction of Axis 2] P[Coordinate of destination] : Drives both axes.
[Example 1] A:1+P1000 : Axis 1 will move to the 1000-pulse coordinate position in the positive direction.
G: : Starts driving
[Example 2] A:2-P9000 : Axis 2 will move to the 9000-pulse coordinate position in the negative direction.
G: : Starts driving
[Example 3] A:W+P5000-P200 :
Axis 1 will move to the 500-pulse coordinate position in the positive direction, and
Axis 2 will move to the 200-pulse coordinate position in the negative direction.
G: : Starts driving
[Example 4] A:W+P50-P20 :
Axis 1 will move to the 50-pulse coordinate position in the positive direction, and
Axis 2 will move to the 20-pulse coordinate position in the negative direction.
G: : Starts driving
(4) J command: Jogging Command
Function: A command that moves stages in continuous (constant speed) driving mode at the minimum speed (S).
After executing this command, make sure to add the driving command,
“G:”
The stage will stop by an L command.
For MINI-5P mode, the command is
“G.”
Format: J:[Axis number to move][Direction of move] : Drives only one axis in jogging mode.
J:W[Direction of Axis 1][Direction of Axis 2] : Drives both axes in jogging mode.
[Example 1] J:1+ : Axis 1 will jog in the positive direction.
G: : Starts driving
[Example 2] J:2- : Axis 2 will jog in the negative direction.
G: : Starts driving
[Example 3] J:W-+ :
Axis 1 will jog in the negative direction, and Axis 2 will jog in the positive direction.
G: : Starts driving
(5) G Command: Driving Command
Function: Executing a driving command starts stages, which will stop after moving a preset pulses. An M, A or J command should be followed
by a G command. A colon (
“:” ) is not necessary for a G command in MINI-5P mode.
G: : Starts to drive stages.
(6) R command: Electronic (Logical) Zero Return
Function: Set the stopping position as the origin of the coordinate system. On turning ON the power, the position then will become the origin
(displayed
“0”). Executing this command will set the display value to “0.”
R:1 : Sets Electronic (logical) zero for Axis 1.
R:2 : Sets Electronic (logical) zero for Axis 2.
R:W : Sets Electronic (logical) zero for both Axes 1 and 2.
(7) L Command: Slow Stop Command
Function: Executing the L command will decelerate and stop stages. Deceleration time is the acceleration/deceleration time being set by
switches 9 and 10 on DIP Switch 1, or by the
“D”
command.
L:1 : Decelerates and stops Axis 1.
L:2 : Decelerates and stops Axis 2.
L:W : Decelerates and stops both Axes 1 and 2.
Note: While executing the H: command, sending
“L:1”
or
“L:2”
will practically equal to sending an
“L:E.”
(8) L: E: Emergency Stop Command
Function: Stops stages in any states. The stopped stage position does not coincide with the coordinate value being displayed.
L:E : Terminates the movement of both Axes 1 and 2 in emergency stop mode.

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■ SHOT-102 User’s Manual ■
(9) D Command: Command to Set Speed
Function: On turning ON the power, SHOT-102 will default a minimum speed (S), maximum speed (F), and acceleration/deceleration time (R),
all set by switches 9 and 10 on DIP Switch 1 for each speed range. If you want to change these initial settings, use the D command.
The methods of parameter settings vary depending on mode selection.
Effective parameter ranges are as follows:
Minimum speed (S) 1-20000 pps
Maximum speed (F) 1-20000 pps
Acceleration/Deceleration time (R) 0-5000 ms
Note: The maximum speed (F) setting should be equal to or greater than the minimum speed (S). If the (S) is greater than the (F), an error
occurs and you can not change parameters. 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. When the minimum speed (S)
is smaller than 50 pps and the maximum speed (F) is equal to or greater than 200 pps, the starting speed is set to 50 pps forcibly.
In MINI5P mode
Format: D:[Dummy] S [Minimum speed] F [Maximum speed] R [Acceleration/Deceleration time] S [Minimum speed for Axis 2]
| -
------------------------------------ Axis 1 parameters --------------------------------- | - ------------------------------------------
F [Maximum speed] R [Acceleration/Deceleration time]
------------------------ Axis 2 parameters --------------------- |
If you want to use Axis 1 only, input parameters for Axis 2 as dummy data.
In MINI-5P mode, input dummy parameter of
“1”
or
“2”
(Refer to [Example 1]) after
“D:”
to set each parameter.
[Example 1] D:1S100F1000R200S100F1000R200 : Sets speeds for Axes 1 and 2 in MINI-5P mode.
(1 : Dummy data, Axis 1: S = 100 pps/ F = 1000 pps/ R = 200 ms, Axis 2: 2S = 100 pps/F=1000 pps/R = 200 ms)
In SHOT-102 mode
Format: D:[Specified Axis] S [Minimum speed] F [Maximum speed] R [Acceleration/Deceleration time] S [Minimum speed for Axis 2]
| -
------------------------------------- Axis 1 parameters ------------------------------ | - ----------------------------------- -
F [Maximum speed] R [Acceleration/Deceleration time]
------------------------ Axis 2 parameters---------------------- |
[Example 1] D:1S100F1000R200 : Sets speeds for Axis 1 in SHOT-102 mode.
(Axis 1: S = 100 pps/F = 1000 pps/ R = 200 ms)
[Example 2] D:2S100F1000R200 : Sets speeds for Axis 2 in SHOT-102 mode.
(Axis 2: S = 100 pps/F = 1000 pps/ R = 200 ms)
[Example 3]
D:WS100F1000R200S100F1000R200 : Sets speeds for Axes 1 and 2 in SHOT-102 mode.
(Axis 1: S = 100 pps/F = 1000 pps/ R = 200 ms, Axis 2: 2S = 100 pps/F=1000 pps/R = 200 ms)
Acceleration and Deceleration Patterns
Number of
pulses moved
Positioning time
Deceleration
time (Rms)
Maximum pulse
speed (F)
Minimum pulse
speed (S)
Acceleration
time (Rms)