SURUGA SEIKI DS102 Series User manual

Stepping Motor Controller
DS102 Series/DS112 Series Operation Manual
Ver 1.05 (12.10.2020)
SURUGA SEIKI CO., LTD.
For customers who have purchased DS102NR/DS102NR-IO/DS112NR/DS112NR-IO
We will inform you of the change of the built-in motor driver.
Please be sure to check the contents of P165 before use.

２
Index
１．INTRODUCTION................................................................................................................................................................................. ５
1.1 FOR YOUR SAFETY.............................................................................................................................................................................. ５
1.2 PRODUCT OUTLINE /FEATURES ................................................................................................................................................... ７
1.3 SYSTEM CONFIGURATION EXAMPLE.............................................................................................................................................. ９
1.3.1 CONTROL WITH PLC................................................................................................................................................................. ９
1.3.2 CONTROLLED BY PC.............................................................................................................................................................１０
1.4 ACCESSORIES.................................................................................................................................................................................... １１
２．SET-UP AND EXAMPLE OF USE................................................................................................................................１１
2.1 SET UP BEFORE USE....................................................................................................................................................................... １１
2.1.1 CONNECTING ............................................................................................................................................................................ １２
2.1.2 USB DRIVER INSTALL......................................................................................................................................................... １５
2.1.3 INSTALLATION FOR CONTROL SOFTWARE DS102/112(DSCONTROL-WIN).....................................１９
2.1.4 ADJUSTMENT SYSTEM PARAMETER...............................................................................................................................２３
2.1.5 OPERATION CHECK ................................................................................................................................................................ ２５
2.2 SYSTEM ARCHITECTURE ...............................................................................................................................................................２７
2.2.1 MOVEMENT BETWEEN EACH TEACHING POSITION..................................................................................................... ２７
2.2.2 EASY RETURN TO ORIGIN POSITION..................................................................................................................................３４
2.2.3 CONTROL BY EXTERNAL SIGNAL...................................................................................................................................... ４３
2.2.4 EXTERNAL DEVICE CONTROL WITH GENERALＩ/Ｏ..................................................................................................５４
2.2.5 MOVE TO ARBITRARY COORDINATE ................................................................................................................................５６
2.2.6 CONTROLLED OVER 3AXES ..............................................................................................................................................５８
３．SPEC AND FUNCTION........................................................................................................................................................... ５９
3.1 BASIC SPEC......................................................................................................................................................................................５９
3.2 PART NAME AND FUNCTIONS .....................................................................................................................................................６０
3.3 SETTING..................................................................................................................................................................................................63
3.4 EXTERNAL INTERFACE......................................................................................................................................................................64
3.4.1 LINK CONNECTION（LINK）...................................................................................................................................................64
3.4.2 CONTROL INPUT/OUTPUT（CNT-I/O）........................................................................................................................65
3.4.3 GENERAL I/O（I/O）（ OPTION）........................................................................................................................................68
3.4.4 EMERGENCY STOP INPUT（EMS）....................................................................................................................................70
3.4.5 STAGE INTERFACE.....................................................................................................................................................................70
3.5 DRIVER DIVISION NUMBER SETTING..............................................................................................................................................71
3.5.1 OPEN AND SHUT ........................................................................................................................................................................71
3.5.2 SETTING DIVISION NUMBER.....................................................................................................................................................71
3.6 SMOOTH DRIVE FUNCTION（ONLY MS TYPE）......................................................................................................................72
3.7 UNITS SETTING FUNCTION...............................................................................................................................................................73
3.8 SPEED SETTING（SPEED TABLE）..............................................................................................................................................74
3.9 FUNCTION OF ORIGIN RETURN........................................................................................................................................................77
3.10 LINEAR INTERPOLATING FUNCTION...........................................................................................................................................83
3.10.1 LINEAR INTERPOLATING（RELATIVE VALUE）...........................................................................................................83
3.10.2 LINEAR INTERPOLATING（ABSOLUTE VALUE）........................................................................................................83
3.11 TEACHING FUNCTION.....................................................................................................................................................................84
3.12 PROGRAM FUNCTION .....................................................................................................................................................................84

３
４．OPERATION AND CONTROL METHOD..................................................................................................................85
4.1 OPERATION BY THE HANDY TERMINAL......................................................................................................................................85
4.1.1 INITIAL SCREEN ............................................................................................................................................................................85
4.1.2 TRANSITION MODE.....................................................................................................................................................................86
4.1.3 DRIVING MODE SELECT（JOG KEY）.............................................................................................................................87
4.1.3.1 CONTINUOUS DRIVING MODE（CNT：CONTINUE MODE）............................................................................87
4.1.3.2 UNIFORM PULSE DRIVING MODE（STP：STEP MODE）................................................................................87
4.1.3.3 ABSOLUTE VALUE DRIVING MODE（ABS：ABSOLUTE MODE）...............................................................88
4.1.3.4 ORIGIN RETURN MODE（ORG：ORIGIN MODE）...............................................................................................88
4.1.3.5 HOME POSITION RETURN MODE（HOM：HOME）..........................................................................................88
4.1.4 MENU SELECT（MENU KEY）..............................................................................................................................................89
4.1.4.1 PARAMETER MODE（PRM）.......................................................................................................................................89
4.1.4.2 PROGRAM DRIVING MODE（PRG）.........................................................................................................................98
4.1.4.3 TEACHING MODE （TCH）.........................................................................................................................................99
4.1.4.4 GENERAL MONITOR（IN）.......................................................................................................................................102
4.1.4.5 GENERAL OUTPUT CONTROL（OUT）..............................................................................................................102
4.1.5 OTHER FUNCTION ..................................................................................................................................................................103
4.1.5.1 CHANGE THE SPEED TABLE（SPD KEY）.......................................................................................................103
4.1.5.2 CHANGE THE AXIS（LINK KEY）............................................................................................................................103
4.1.5.3 CHANGES CURRENT POSITION（POS KEY）...................................................................................................103
4.1.5.4 VERSION CONFIRMATION,PARAMETER RESET..................................................................................................104
4.2 DS102/112 CONTROLLED SOFTWARE（DSCONTROL-WIN）......................................................................105
4.2.1 DSCONTROL-WIN START-UP...................................................................................................................................105
4.2.2 PARAMETER SET-UP ............................................................................................................................................................105
4.2.3 JOG DRIVING.............................................................................................................................................................................107
4.2.4 TEACHING .................................................................................................................................................................................110
4.2.5 DRIVING PROGRAM ................................................................................................................................................................112
4.2.6 Ｉ／Ｏ MONITOR.....................................................................................................................................................................118
4.3 USER PROGRAM PROCESSING...................................................................................................................................................119
4.3.1 RS232C ................................................................................................................................................................................119
4.3.2 USB...........................................................................................................................................................................................120
4.3.3 DELIMITER..................................................................................................................................................................................122
4.3.4 TYPES OF COMMUNICATION COMMAND........................................................................................................................123
4.3.5 DETAILS OF COMMUNICATION COMMAND ..................................................................................................................135
4.3.5.1 AXIS SPECIFICATION COMMAND..............................................................................................................................135
4.3.5.2 PARAMETER SETTING COMMAND...........................................................................................................................135
4.3.5.3 MEMORY SW SETTING COMMAND........................................................................................................................139
4.3.5.4 SPEED TABLE SETTING COMMAND ......................................................................................................................140
4.3.5.5 WRITE COMMAND .........................................................................................................................................................141
4.3.5.6 DRIVING COMMAND......................................................................................................................................................141
4.3.5.7 STOP COMMAND...........................................................................................................................................................142
4.3.5.8 PARAMETER SETTING REQUEST COMMAND ....................................................................................................143
4.3.5.9 MEMORY SW SETTING REQUEST COMMAND ..................................................................................................145
4.3.5.10 SPEED TABLE SETTING REQUEST COMMAND..............................................................................................147
4.3.5.11 STATUS REQUEST COMMAND.............................................................................................................................147
4.3.5.12 GENERAL I/O COMMAND.......................................................................................................................................152
4.3.6 PROGRAM DRIVING DEDICATED COMMAND...............................................................................................................153
4.3.7 ERROR CODE ...........................................................................................................................................................................156

４
５．CHECKOUT.....................................................................................................................................................................................157
６．FAULT DIAGNOSIS AND SOLUTION......................................................................................................................157
７．WARRANTY & CUSTOMER SERVICE....................................................................................................................158
●APPENDIX...............................................................................................................................................................................................159
■DIP SWITCH SET .............................................................................................................................................................................................159
■DS102 EXTERNALS....................................................................................................................................................................................160
■DS112 EXTERNALS....................................................................................................................................................................................161
■CONTROL I/O CABLE（MODEL：DS100-CNT-2）...............................................................................................................162
■GENERAL I/O CABLE（MODEL：DS100-IO-2）...................................................................................................................163
■SELECTION OF A PROGRAM NUMBER BY CNT-IO ........................................................................................................................164
■SELECTION OF A TEACHING NUMBER BY CNT-IO ........................................................................................................................164
＜CONTACT INFORMATION＞.................................................................................................................................................168

５
１．INTRODUCTION
Thank you for purchasing this series Stepping Motor Controller.
The latest manual is distributed on our website.
1.1 For Your Safety
For Proper use, please read this operation manual thoroughly prior to using this product.
means the PROHIBITATION.
Please look after instructions shown here by all means.
Failure to use controller, may be hurt or suffer material damage.
・Basic cautions
・Connect a power cable to a power outlet which comes with protective earth terminal, In case of
using an extension cable without protective earth terminal, protective earth will be of no effect.
・Cable
・When you unplug a power cable, turn off a power switch.
・When it supplies DS112 Series with a power supply, please be careful not to make a mistake in
polarity.
・Operating Environment
・To avoid as follows.:
－Areas that have much dust or metallic particles
－Directly under sunlight
－Near fire
－Much vibration
－Watery or oily place
－Wonky place
－Place with Corrosive Gas and Flammable Gas
・Storage
Please unplug a power from the outlet when
It doesn’t use for a long time, and you move this product.
A fire and the accident of the electric shock etc. are prevented.
Cautions
！

６
・Power Source
・Please DO NOT connect the DS102 series besides the power supply outlet of interchange 100～
240V (AC100～２４０V 50/60Hz)
・Please supply direct 24V（DC24V±10%）power supply for DS112 series.
In order to avoid damage to controller, DO NOT use any input voltage or frequency over
the specifications.
・Resolution of the product/Remodeling
・Please DO NOT perform the resolution of the product, remodeling, the
unfair repair.
・Please contact us for correct information if needed.
・Repair Service
・In the case of the following, please disconnect the plug promptly and then
contact our OVERSEAS SALES GROUP
－When there are some strange sound, smelling and smoke.
－When a power supply cable damaged.
－When spilled water on the equipment and foreign materials entered
inside.
－When dropped the equipment and was damaged with a cabinet.
Caution
！

７
1.2 Product Outline / Features
Product Outline
DS102/DS112 series is stepping motor controller with 2 axes for not only R&D but also units and
manufacturing you can use what you want.
Computer
PLC
DC24V
AC100V
X
Y
DS112
Stepping Motor Controller
DS112
Stepping Motor Controller
DS102/DS112 series
AC100～240V DC24V
Motorized stage
DS102/112
Controlled software：
DSCONTROL-WIN
DS102
Stepping Motor
Controller
DS102
Suruga Seiki
Standard
DT100
Handyterminal
DT100
I/O for
controlled
USB
or
RS232C

８
Features
1. Controlled
・5 phase stepping motor is controlled by 2 axes
・Linear interpolation of 2 axes
・2 types motor driver with normal(FULL/HALF) and micro-step(16 levels)
As a microstep type, it is possible to highly positioning control and low vibration with
Smooth drive function.
・It is possible to control 6 axes with link function.
Up to 24 axes can be controlled with USB Hub.
2. Drive
・Teaching point movement
・Program Drive
・Jog Drive
・It is possible to memorize teaching point 64 points and 8 of programs.
3. Interface
・Connected USB、RS232C
・DS102/112 controlled software：DSCONTROL-WIN
・Handy terminal：DT100
・I/O for controlled
・General I/O：Input16points、output12points (Option)
・2 types of PS/V AC100～240V、DC24V
【Line up products】
Type
Input PS
Type of Drive
General I/O
DS102NR
AC100～240V
±10%
50/60Hz
Normal (FULL/HALF)
-
DS102NR-IO
Input16 points, Output 12 points
DS102MS
Microstep (16levels)
-
DS102MS-IO
Input16 points, Output 12 points
DS112NR
DC24V ±10%
Normal (FULL/HALF)
-
DS112NR-IO
Input16 points, Output 12 points
DS112MS
Microstep (16levels)
-
DS112MS-IO
Input16 points, Output 12 points
【Option Cable】
Type
Cable length
Recital
DS100-LINK2-0.5
0.5ｍ
For 2 links
DS100-LINK3-0.5
0.5ｍ
For 3 links
DS100-CNT-2
2m
For control I/O(one end loose)
DS100-IO-2
2m
For general I/O(one end loose)
D100-R9-2
2m
RS232C cable
DS100-USB-1.8
1.8m
USB Cable
【Other Option】
Type
Article name
DT100
Handy Terminal
DSCONTROL-WIN
DS102/112 controlled software

９
1.3 System configuration example
1.3.1 Control with PLC
Stages can be controlled with I/O units of PLC.
No need positioning units.
Former System
CPU Unit
I/O Unit
X Axis Stage
Y Axis Stage
PLC
X
Y
DS112
Stepping Motor Controller
DS112NR
Move the teaching point/Switch the program
drive
Teaching point number selected
Program number selected
Start/Stop
DS102/112
Controlled SoftWare：
DSCONTROL-WIN
・Move the teaching point/Switch the program drive.
・Teaching Point Number Selected.
・Program Number Selected
・Start
・Stop
・Set up the system parametor
・Memorized teaching points
・Programming and editing
・Operation check
・Back up data
PC
DT100
Handy Terminal
DT100
・Set up the system parametor
・Memorized teaching points
・Operation check
USB or RS232C

１０
1.3.2 Controlled by PC
Easily controlled external machine by software.
No need motion control board and I/O board.
Former set-up
Sensor Actuator
USB
or
RS-232C X axis stage
Y axis stage
PC General Input：
16points
General Output：
12points
DS102
Stepping Motor
Controller
DS102NR-IO
Use virtual COM port (Ex.:VB)
RS-232C communication application
MSComm1.Settings = "9600,N,8,1" ' Set up the port
MSComm1.CommPort = 1 ' Set up the port add.
MSComm1.PortOpen = True ' Open the port
' Move to 100 X axies
MSComm1.Output = "Axis1:Selsp 0:Goabs 100"
Original software
・Set up the system
parametor
・Operation check
・Cotrolled stage
・ControlＩ I/Ｏ
DS102/112
Control Software：
DSCONTROL-WIN

１１
1.4 Accessories
This included following goods. Please check when you open. If some parts missing, please let us
know.
・DS102/DS112：1 PCS
・Power cable（2m）：1 PCS（Only case of DS102）
・CD-R（data of this Manual , USB Device driver）：1PCS
・Manual（this documents）：1PCS
The power cable of DS102 attachment is exclusively for this machine.
Please use the AC code that are suitable for power supply specifications of your country.
２．Set-up and example of use
2.1 Set up before use
Shows flow before use DS102/DS112.
Operation check
・DS102 or DS112
・X axis stage ・Y axis stage
・Motor cable
・RS232C cable：DS100-R9-2
・USB cable：DS100-USB-1.8
・Power cable
・PC
※You must have another power supply and
power cable if you use DS112.
・USB driver CD-R
・DSCONTROL-WIN CD-R (Option)
Conecting
Install USB driver
Set up the system parametor
DS102/112
Control soft ware：
Install DSCONTROL-WIN

１２
2.1.1 Connecting
Shows how to connect DS102/DS112
DS102
I/O connector for
control
RS232C
X axis stage connector
General I/O
Connector
X Y
I/O
CNT-I/O EMS SW1 LINK USB RS232C
USB Connector
AC Inlet
Y axis stage connector
I/O
CNT-I/O
USB
RS232C
XY
TERMINAL
DS102
Stepping Motor Controller
Power
Connector for
Handy terminal
TERMINAL

１３
①Connect X axis motor connector to X axis stage.
②Connect Y axis motor connector to Y axis stage.
③Connect AC inlet and AC100～240V.
④Connect USB connector to USB port of PC.
(Connect RS232C connector to PC if use RS232C)
DS102
St eppi ng Motor
Contro ller
X axis stageY axis stage
AC 100 V
AC100
～240V
USB Cable：
DS100-USB-1.8
USBRS232C
RS232C Cable：
D100-R9-2 or
XY
Stage Cable
16 pins series stages：
D214-1- E，D214-1- R
12 pins series stages：
D214-2- E，D214-2- R
D214-2- EA，D214-2- RA
Attached
Power Cable

１４
Use DS112
①Connect X axis motor connector to X axis stage.
②Connect Y axis motor connector to Y axis stage.
③Connect terminal for power of DC24V to power supply(DC24V)
※Must have DC24V power supply and cable
④Connect USB connector to PC USB port.
(Connect RS232C connector to PC if use RS232C )
X
Y
TERMINAL
POWER +24V
CNT-I/O EMS SW1 LINK USB RS232C
DS112
GND
FG
I/O
Y axis motor
connector
Terminal block for
power
General I/O
connector
Handy terminal
for connector
RS232C
connector
USB
connector
I/O connector for
control
Stepping Motor Controller
I/O
CNT-I/O
USB
RS232C
X
Y
TERMINAL
X axis motor
connector
X axis stage
Y axis stage
XY
DS11 2
Stepping Mot or
Cont r oll er
X
Y
USB cable：
DS100-USB-1.8
USB
RS232C
RS232C cable：
D100-R9-2
or
Stage Cable
16 pins series stages：
D214-1- E，D214-1- R
12 pins series stages：
D214-2- E，D214-2- R
D214-2- EA，D214-2- RA
DC 24V
DC24V

１５
2.1.2 USB Driver Install
Shows how to install USB driver to PC(for XP).
(The latest USB driver can be downloaded from our HP.)
①Switch on a computer and start Windows.
②Set up DS102/112 USB driver CD-ROM to computer drive.
③Switch on DS102/112 and wait 5 seconds.
④Connect computer USB port and DS102/112 USB connector.
When computer recognize to connect DS102/112, shows following messages.
⑤At the detecting wizard of new hardware, choose [No, not this time]
and click [Next].
⑥Select [Install from list or specific location (Advanced)] and click [Next].

１６
⑦Check the [included this location in the search], push [Browse] and select [Win2KXP] then,
click [next].
Start the driver install.
⑧Click the [Continue Anyway] when displays Hardware Installation.

１７
⑨Click [finish]
Display the found new hardware wizard.
⑩Select [No, not this time] and click [Next].
⑪Select [Install from a list or specific location (advanced)] and click [Next].

１８
⑫Check the [included this location in the search], push [Browse] and select [Win2KXP] then,
click [next].
Start the driver install.
⑬Click the [Continue Anyway] when displays Hardware Installation.

１９
⑭Click [finish]
Display the found new hardware wizard.
2.1.3 Installation for control software DS102/112(DSCONTROL-WIN)
Show how to install software (DS CONTROL-WIN) to control DS102/112 by PC.
①Insert CD-ROM of DSCONTROL-WIN inside PC drive.
②Double click on setup.exe in CD-ROM.
DSCONTROL-WIN installer start.s.
③Click [next]
The screen below appears on PC.

２０
④Select folder of installation then click {Next}
The screen shows folder selection
※On initial setting, installation folder is：\Program Files\SURUGA\DSControlWin.
Click [Next] in case of no required folder