Canon GC-251 - page 67

CANON Digital Galvano Scanner System KP-1SM Series + GC-251

Users Manual 1.00

Parameter ID 3 Parameter

Name In-position Width

Data In-position width (Unit: pulse)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation The end of movement is judged when a difference from the target value (number of

pulses) enters this range.

Note: The relationship between the number of pulses and the angle depends on the motor.

Command

/Parameter

Bit 2 “Settlement in In-position Width” becomes 1 in status read (Command ID = 14).

Parameter ID 4 Parameter

Name Settling Check Time

Data Settling check time (Unit: 10 μs)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation The completion of movement is judged if the position remains within the In-position

Width (Parameter ID = 3) for the set time after movement.

Note: The unit is 10 us. For 1 ms, set 100.

Command

/Parameter

Bit 8 “Moving” becomes 0 in status read (Command ID = 14).

Parameter ID 5 Parameter

Name In-position Overtime

Data In-position overtime (Unit: sec)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation If the position remains beyond the number of pulses set by “Parameter ID = 3:

In-position Width” from the target position for a time longer than this setting, an alarm is

issued and the servo is turned OFF.

When this parameter is set to 0, judgment is disabled.

Command

/Parameter

Bit 2 “Moving” becomes 0 in error read (Command ID = 15).

Parameter ID 6 Parameter

Name LQ Control Gain

Data LQ control gain (Unit: none)

Return Value 0: Parameter setting successful

1: Parameter setting unsuccessful

Explanation This parameter is used to set the LQ control gain.

Command

/Parameter

LQ control related parameters:

Total Inertia (Parameter ID = 8)

Torque Constant (Parameter ID = 7)