MISUMI MSCTL102 Series Operation Manual
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MISUMI MSCTL102 Series Operation Manual

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MSCTL102 Series/MSCTL112 Series Operation Manual
Remarks
MSCTL102/112 Series(MISUMI products) are same as DS102/112 Series that are made by Suruga Seiki.
All of DS102/112 series that are mentioned in the operation manual indicate MSCTL102/112.
Stepping Motor Controller
Ver 1.01 (02.13.2015)
MISUMI CO., LTD.
SURUGA SEIKI CO., LTD.

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  • Page 1 MSCTL102 Series/MSCTL112 Series Operation Manual Ver 1.01 (02.13.2015) Remarks  MSCTL102/112 Series(MISUMI products) are same as DS102/112 Series that are made by Suruga Seiki.  All of DS102/112 series that are mentioned in the operation manual indicate MSCTL102/112. MISUMI CO., LTD.

  • Page 2: Table Of Contents

    Index １．INTRODUCTION ....................................５ ....................................５ 1.1 F AFETY ..............................７ 1.2 P RODUCT UTLINE EATURES .............................. ９ 1.3 S YSTEM CONFIGURATION EXAMPLE ................................. ９ 1.3.1 ONTROL WITH ................................１０ 1.3.2 C ONTROLLED BY ....................................１１ 1.4 A CCESSORIES ２．SET-UP AND EXAMPLE OF USE ..........................１１ ..................................
  • Page 3 ４．OPERATION AND CONTROL METHOD ........................85 ............................85 4.1 O PERATION BY THE HANDY TERMINAL .................................... 85 4.1.1 I NITIAL SCREEN ..................................86 4.1.2 T RANSITION MODE ..........................87 4.1.3 D （JOG KEY） RIVING MODE SELECT ................87 4.1.3.1 C （CNT：C ）...
  • Page 4 ５．CHECKOUT ..................................... 157 ６．FAULT DIAGNOSIS AND SOLUTION ........................157 ７．WARRANTY & CUSTOMER SERVICE........................158 ● A ....................................... 159 PPENDIX ......................................159 ■ DIP S WITCH ....................................160 ■ DS102 E XTERNALS ....................................161 ■ DS112 E XTERNALS ....................... 162 ■ C （M ：DS100-CNT-2）...

  • Page 5: １．Introduction

    １．INTRODUCTION Thank you for purchasing this series Stepping Motor Controller. 1.1 For Your Safety For Proper use, please read this operation manual thoroughly prior to using this product. means the PROHIBITATION. ！ Cautions Please look after instructions shown here by all means. Failure to use controller, may be hurt or suffer material damage.
  • Page 6 ！ Caution ・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.

  • Page 7: Product Outline / Features

    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. Suruga Seiki Standard Handyterminal DT100 DS102/112 DT100 Controlled software： DSCONTROL-WIN Stepping Motor Controller DS102/DS112 series...
  • Page 8 ・ 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】 SURUGA Type MISUMI Type Input PS Type of Drive General I/O DS102NR MSCTL102 Normal (FULL/HALF) AC100～240V...

  • Page 9: System Configuration Example

    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. ・Move the teaching point/Switch the program drive. ・Teaching Point Number Selected. ・Program Number Selected ・Start ・Stop DS112NR CPU Unit Move the teaching point/Switch the program DS112 drive...

  • Page 10: Controlled By Pc

    1.3.2 Controlled by PC Easily controlled external machine by software. No need motion control board and I/O board. Original software Use virtual COM port　(Ex.:VB) RS-232C communication application MSComm1.Settings = "9600,N,8,1" ' Set up the port ・Cotrolled stage MSComm1.CommPort = 1 ' Set up the port add.

  • Page 11: Accessories

    ・ Manual（this documents） ：1PCS The power cable of DS102 attachment is exclusively for this machine. ２．Set-up and example of use 2.1 Set up before use Shows flow before use DS102/DS112.（MISUMI Type: MSCTL102/MSCTL112） ・DS102 or DS112 Conecting ・X axis stage ・Y axis stage ・Motor cable...

  • Page 12: Connecting

    2.1.1 Connecting Shows how to connect DS102/DS112  DS102 TERMINAL DS102 Connector for Handy terminal Stepping Motor Controller TERMINAL Power General I/O USB Connector Connector CNT-I/O RS232C RS232C I/O connector for control CNT-I/O LINK USB RS232C Y axis stage connector X axis stage connector AC Inlet １２...
  • Page 13 DS100-USB-1.8 RS232C DS102 Stepping Motor Controller Attached Motor Cable Power Cable 16 pins series stages： 　D214-1-□E，D214-1-□R AC100V （MISUMI：SRCB□，SRCB□-R） 12 pins series stages： 　D214-2-□E，D214-2-□R AC100 （MISUMI：MSCB□，MSCB□-R） ～240V 　D214-2-□EA，D214-2-□RA （MISUMI：MS4CB□，MS4CB□-R） Y axis stage X axis stage ① Connect X axis motor connector to X axis stage.
  • Page 14  Use DS112 RS232C DS112 RS232C Stepping Motor Controller connector X axis motor connector connector Y axis motor connector General I/O connector CNT-I/O Terminal block for power I/O connector for TERMINAL control Handy terminal for connector Motor cable 16pin series stage： 　D214-1-□E，D214-1-□R 12pin series stage：...

  • Page 15: Usb Driver Install

    2.1.2 USB Driver Install Shows how to install USB driver to PC(for XP). ① Switch on a computer and start Windows. ② Set up DS102/112 USB driver CD-ROM to computer drive. ③ Switch on DS102/112 and wait 5 seconds. ④ Connect computer USB port and DS102/112 USB connector. When computer recognize to connect DS102/112, shows following messages.
  • Page 16 ⑦ Check the [included this location in the search], push [Browse] and select [Win2KXP] then, click [next]. Start the driver install. ⑧ Click the [Continue Anyway] when displays Hardware Installation. １６...
  • Page 17 ⑨ Click [finish] Display the found new hardware wizard. ⑩ Select [No, not this time] and click [Next]. ⑪ Select [Install from a list or specific location (advanced)] and click [Next]. １７...
  • Page 18 ⑫ Check the [included this location in the search], push [Browse] and select [Win2KXP] then, click [next]. Start the driver install. ⑬ Click the [Continue Anyway] when displays Hardware Installation. １８...

  • Page 19: Installation For Control Software Ds102/112(Dscontrol-Win)

    ⑭ Click [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. ① Insert CD-ROM of DSCONTROL-WIN inside PC drive. ② Double click on setup.exe in CD-ROM. DSCONTROL-WIN installer start.s.
  • Page 20 ④ Select 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 ２０...
  • Page 21 ⑤ To prepared Program Shortcut, you need to select folder from list on START MENU then click [Next] The drawing below appears on PC screen ※On initial setting, Startmenu folder is DSControlWin. Click [Next] in case of no required folder ⑥...
  • Page 22 ⑦ Click [YES] ※ No pop-up message appears if you already select folder Installation begins Installation complete. ⑧ Click [Finish] Installing DSCONTROL-WIN completed. ２２...

  • Page 23: Adjustment System Parameter

    2.1.4 Adjustment system parameter Shows how to set up system parameter by DSCONTROL-WIN ① Starts DSCONTROL-WIN ② Select [Parameter setting] in [Action] Parameter setting appears on screen ③ Click on Tab you sellect ２３...
  • Page 24 ④ Select stage model you use from [Stage Model] Initial value appears when you select stage model. ※ input direct value if we want to change initial value. ⑤ Select axis parameter by repeating ③～④ again. ⑥ Click [Apply]. Screen shows folder storing parameter. ⑦...

  • Page 25: Operation Check

    2.1.5 Operation check Shows how to check operation. ① Starts DSCONTROL-WIN. ② Click [JOG] in [Action] on main menu JOG dialog appears on screen. ③ Click [Origin] [Org],[Home] appears. ④ Click [Org] on X axis X stage return origin position. Make sure X stage moves origin position.
  • Page 26 ⑥ Click [Contiue] [+],[-]appear on screen. ⑦ Keep clicking [+] on X axis X stage moves toward CW direction. Stage stops when it reachs to CWLS then indicator leftside [+] becomes RED. ⑧ Keep clicking [-] on X axis X stage moves toward CCW direction. Stage stops when it reachs to CCWLS then indicator rightside [-] becomes RED.

  • Page 27: Movement Between Each Teaching Position

    2.2 System architecture 2.2.1 Movement between each teaching position Show how to set up position inside memory of DS112 (MISUIMI Type: MSCTL112)and move its position by PLC. Exporting Posi (2000，3000) Working posi (1000，1500) STEP1 ： Moving to waiting position (50，100) STEP2 ：...
  • Page 28 2) Movement summary Waiting, working and exporting position memorized inside DS112 as teaching points, 00, 01, 02, PLC appoints each points then make state move to each points. ① Set up 00 among T_BIT0～5, press P/T_START <STEP1> ② Set up 01 among T_BIT0～5, press P/T_START <STEP2> ③...
  • Page 29 4) Memory of teaching point Memorizing teaching point inside DS112 ① Start DSCONTROL-WIN ② Select [Teaching] on main menu in DSCONTROL-WIN. Screen below appears. ③ Push direction key on handy terminal unitl stage moves to specific positon. DT100 Handy Terminal Menu Y stage CW direction ↑...
  • Page 30 ④ Click [00] CELL on the teacing screen 00 CELL gets to be Red. ⑤ Click [Set] Current stage position as 00 is memorized to DS112. ⑥ Repeat ③～⑤ so memorize 01 as working position and 02 as exporting position to DS112. ３０...
  • Page 31 5) Save teaching file Teaching points memorized are saved as teaching file in PC. ① Click [Save] Save As appears on screen. ② Clcik [Save] after you determine [Save location] and [File name] Teaching file is saved in PC. ※ tdf is added to your file name as extension. ３１...
  • Page 32 6) Operation check Checking movememt to the memorized position. ① No interference affects stage movement. ② Click [00] CELL on teaching screen. 00 CELL gets to be Red. ③ Click [Go to]. Stage moves to teaching point [00] (Waiting point). ④...
  • Page 33 7) Execution of movement Execute movement to teaching position by PLC. Timing chart Function Move to wait posi Move to Target Working Move to expt posi Working PRG/TCH T_BIT5-0 P/T_START P/T_RUN READY X_DRIVE Y_DRIVE ※ All stages stop when making signal [STOP] [ON] ３３...

  • Page 34: Easy Return To Origin Position

    2.2.2 Easy return to origin position Shows how to set [Origin] program in DS112 and execute [Origin return] by PLC. 1) Configuration DS112 I/O cable DS100-CNT-2 CPU unit DS112 Stepping Motor Controller CNT-I/O X axis stage P_BIT0～2 P/T_START STOP I/O unit PRG/TCH Y axis stage RS232C...
  • Page 35 3) Connection Connection of DS112 PC (DSCONTROL-WIN) is connected only when creating or editing program. ① Connect USB connector to USB port in PC (Connect RS232C to PC when using RS232C) ② Connect X axis stage connector to X axis stage ③...
  • Page 36 ③ Click [Add] The display below appears on display. ④ Click [Speed] on command menu “Speed Setup” appears on display. ⑤ Check axis X and input speed value then click [OK]. Command appears on the program drive screen. ⑥ Click [Add] on Program drive Drive menu appears on display.
  • Page 37 ⑦ Click [Single Axis Drive] Single Axis Drive appears on display. ⑧ Single Axis Drive display [Mode] = “ORG” [Axis] = “X” [Wait until finish] = “Enable” Click [OK] [Origin] of X axis command appears on the first line. ⑨ Repeat ③～⑧ for Y axis ⑩...
  • Page 38 ⑪ Click [Speed] Speed Setup display appears display. ⑫ Check [Axis] X and input drive speed value then click [OK]. Speed command appears on the fourth line. ⑬ Repeat ⑩～⑫ to set up Y axis speed. ３８...
  • Page 39 5) Writing program Writing program to DS112 ① Click [Write] Write Program appears on display. ② Select [0] then click [Transfer] Program is forwarded to Program#0. ３９...
  • Page 40 6) Save program Save program at PC program drive file. ① Click [Save] on program drive display The display below appears on display. ② Select [location] and [file name] then click [Save]. Program is saved as Program drive file. ※ prg is automatically added as extension. ４０...
  • Page 41 7) Operation check Checking movement to origin return. ① No interference affects stage movement. ② Click [Start] Start Program appears on display. ③ Select program [0] then click [Start]. ４１...
  • Page 42 8) Practice of movement Movement to [Origin] position by PLC. Timing chart X axis origin Y axis origin 動作 Function return return Setting data Unit Parametor Axis PRG/TCH H P X 0 . 0 0 0 5 0 0 0 m P_BIT2-0 5 .

  • Page 43: Control By External Signal

    2.2.3 Control by external signal Shows how to stop stage by external signal that DS112 outputs. X sensor Y sensor X guide work work work Y guide Y motor X motor STEP1 ： Set both X and Y stages at starting position (50，100) STEP2 ：...
  • Page 44 2) Operation summary Setting up [Detecting sensor program] at program #1 in DS112 then executing movement by PLC addressing program #1. ① Settting up 1 among P_BIT0～2 then press [ON] on P/T_START (Executing program #1). Program #1 ① Setting up address speed on both X and Y axes ②...
  • Page 45 4) Creating program Creating the program that stopping axis in response to external sensor. ① Starts DSCONTROL-WIN. ② Click [Action]→[Program drive] on main menu. ③ Click [Add] Command menu appears on display. ４５...
  • Page 46 ④ Click [Speed] on command menu. ⑤ Check Axis X and input speed value then click. Drive speed value appears on the line [0] on program drive display. ⑥ Click [Add] on. Command menu appears on display. ４６...
  • Page 47 ⑦ Click [Single Axis] Single Axis Drive appears on display.. ⑧ Single-Axis Drive. [Mode] = “POS” [Axis] = “X” [Destination] = “50” [Waiiting until finish] = “Enable” Click [OK] Movement command on X axis appears. ⑨ Repeat ③～⑧ then input speed drive and movement command on Y axis. ⑩...
  • Page 48 ⑪ Click [Single Axis]. Single-Axis Drive appears on screen. ⑫ Single-Axis Drive [Mode] = “STEP” [Axis] = “X” [Diistance] = “１0” [Direction] = “CW” [Wait until finish] = “Enable” Click [OK]. Program command on X axis appears on fourth line. ⑬...
  • Page 49 ⑮ Input [0] at Input Port No, [OFF] at State and [4] at jump to Line then click [OK]. Repeat Command on fourth line while State of input0 is [OFF] . Conditional Jump command appears on fifth line on Program Command display. ※...
  • Page 50 5) Writing Program Writing program in DS112. ① Click [Write] on Program Drive. Write Program appears on display. ② Select Program #1 then click [Transfer]. Program is forwarded to Program #1. ５０...
  • Page 51 6) Save Program Save Program in Program drive file. ① Click [Save] on Program drive display. Saving display of Program drive appears. ② Confirm save location and its name then click [Save]. Program is saved in Program drive. ※ .prg is automatically added as extension. ５１...
  • Page 52 7) Operation check Checking stage movement by external signal. ① No interference affects stage movement. ② Click [Start]. Start Program appears on display. ③ Select 1 at Program No.: then click [Start]. ５２...
  • Page 53 8) Operating Stop the axes due to input external signal. Timing chart X axis Y axis Move to the Move 10pulse Move 10pulse Operating sensor sensor start position to X axis CW to Y axis CW Output state detector detection PRG/TCH P_BIT2-0 P/T_START...

  • Page 54: External Device Control With Generalｉ/Ｏ

    2.2.4 External device control with generalＩ/Ｏ. Shows to make a program that means to control general I/O and to control the external device. In00 Out00 Press-in Press-in Actuator operating operating Input the signal to start Completed Start signal pressure operating. signal Completed pressure operating, output the completed pressure...
  • Page 55 2) Operation outline ① Execute the computer program. Programming ① Set up driving speed of X, Y stages. ② Move X, Y stages to operation position. <STEP1> ③ Start actuator operation. <STEP2> ④ Pick up operation completed signal of actuator. <STEP3>...

  • Page 56: Move To Arbitrary Coordinate

    2.2.5 Move to arbitrary coordinate Shows how to move the stage base on data, which is downloaded, from external. X,Y direction positioning correction Xrv，Yrv Camera Unit Camera Unit Shooting point Output positioning correction of X,Y (2000，3000) direction from shooting center to subject Waiting point STEP1 ：...
  • Page 57 2) Operation Outline Program for stage is moved to arbitrary position to DS102 with the computer. ① Run the program from the computer. Program contents ① Set up operation speed of X stage, Y stage. ② Move X stage, Y stage to shooting point. <STEP1>...

  • Page 58: Controlled Over 3 Axes

    2.2.6 Controlled over 3 axes Can be controlled max.6 axes using link cable, and max.24 axes using USB hub. 1axis DS102 Computer DS102 Stepping Motor Controller 2axis Controlled max.6 axes Using link cable 1axis DS102 Computer DS102 Stepping Motor Controller 2axis DS102 3axis...

  • Page 59: ３．Spec And Function

    ３．SPEC and FUNCTION 3.1 Basic SPEC 【Motor Controller DS102/DS112 (MISUMI Type: MSCTL102/MSCTL112)】 Type DS102□□ DS102□□-IO DS112□□ DS112□□-IO Dimension 140(W)×300(D)×90(H)mm 70(W)×165(D)×155(H)mm (Projection such as connector no included Weight 2.2kg 1.2kg Usage environment 0～40℃ 20～80%RH（No condensation） Storage environment -20～60℃ 20～80%RH（No condensation） Power supply input AC100-240V ±10% 50/60Hz...

  • Page 60: Part Name And Functions

    3.2 Part name and functions 【DS102 (MISUMI Type: MSCTL102) Front panel】 DS102 Stepping Motor Controller TERMINAL 【DS102 Rear panel】 CNT-I/O LINK USB RS232C FUSE(250V 4A) 　Normal Blow 　5.2×20.0mm Voltage 　AC100-240V Wattage 　max 70W Frequency 　50/60Hz ① Power ：Power switch ② LED ：LED lights up when switch on...
  • Page 61 【DS112 (MISUMI Type: MSCTL112) Front panel】 DS112 Stepping Motor Controller ① Terminal block for power ：For input(DC24V、M3 screw) ② POWER LED ：LED lights up when power on ③ TERMINAL ：Connector for handy terminal DT100 ④ RS232C Connector ：Connector for RS232C communications（Dsub9P male）...
  • Page 62 【DT100 (MISUMI Type: HDT100)】 LCD：16 digit X 2 lines DT100 Handy Terminal Menu Click emboss 12 keys Link Stop /ESC Enter 1.5m DS102/DS112 Key name Function Jog/7 Operation mode(CNT/STP/ABS/ORG/HOM)transit to selection screen/7-key Menu/8 Menu(PRM/PRG/TCH/IN/OUT)transit to selection screen /8-key Set/9 (STP/ABS/ORG/HOM)、...

  • Page 63: Setting

    3.3 Setting 【DS102 (MISUMI Type: MSCTL102)series】 Please set DS102 on the level and vibration-free, and open the space over 20mm because of eradiation on top of this unit. No need to open the space in between controllers when line up the few units in one row sideways.

  • Page 64: External Interface

    In case of controlled over 3 axes, can be operated max.6 axes operations connected with original link cable (DS100-LINK2-0.5 (MISUMI Type: MSLINK2-0.5) or DS100-LINK3-0.5 (MISUMI Type: MSLINK3-0.5) between 2 units or 3 units of DS102/DS112. (MISUMI Type: MSCTL102/MSCTL112) 【Link connector】...

  • Page 65: Control Input/Output（Cnt-I/O

    By connecting I/O of PLC and CNT-I/O, can be controlled the motorized stages easily. 【CNT-I/O connector】 Connector type ： 10226-52A2PL （3M） Matched connector（ex.） ： 10126-3000PE （3M） 【Option cable（2m） 】 type ： DS100-CNT-2 (MISUMI Type: MSCNT2) 【CNT-I/O pin assign】 Name of Function number signal X_DRIVE...
  • Page 66 【CNT-I/O Circuit】 PS2801-4 CNT-I/O X_DRIVE X_CWLS X_CCWLS X_ORG Y_DRIVE PS2801-4 Y_CWLS Y_CCWLS Y_ORG READY (Reserved) P/T_RUN -COM1 PS2801-4 P/T_BIT0 P/T_BIT1 P/T_BIT2 T_BIT3 1.5k 4.7k T_BIT4 T_BIT5 1.5k 4.7k P/T_START STOP 1.5k 4.7k PRG/TCH -COM0 1.5k 4.7k N.C. DC+24V PS2801-4 1.5k 4.7k 1.5k 4.7k...
  • Page 67 【Timing Chart】 ①Program operated by CNT-I/O（Ex.：Program No.5） ①Normal operation ②Suspend >5s PRG/TCH P/T_BIT0 P/T_BIT1 P/T_BIT2 T_BIT3 T_BIT4 >30ms >30ms T_BIT5 P/T_START STOP READY P/T_RUN Operating Stop ↑Start ↑Start ↑PowerON ※Documentation, transfer and delete of program (No.0～7) is started from computer. ②Teaching position moved by CNT-I/O(Ex.：Teaching No.21) ①Nomal operation ②Suspend...

  • Page 68: General I/O（I/O） （Option

    【I/O connector】 General I/O（I/O） （Option） Connector type ： 10236-0200 （3M） Adaptive connector（Ex.） ： 10136-3000PE （3M） 【Option cable（2m） 】 Type ： DS100-IO-2 (MISUMI Type: MSGP2) 【I/O pin assign】 Pin No. Function Signal name In_00 General input00...
  • Page 69 【I/O Circuit】 1.5k 4.7k 1.5k 4.7k 1.5k 4.7k 24V+ TLP281-4 1.5k 4.7k 1.5k 4.7k IN_00 1.5k 4.7k IN_01 IN_02 4.7k 1.5k IN_03 TLP281-4 1.5k 4.7k IN_04 IN_05 IN_06 1.5k 4.7k IN_07 IN_08 1.5k 4.7k IN_09 IN_10 1.5k 4.7k IN_11 TLP281-4 1.5k 4.7k IN_12...

  • Page 70: Emergency Stop Input（Ems

    3.4.4 Emergency stop input（EMS） Can be emergency stopped all axes operating to open 1 pin and 2 pin of EMS connector. (At the link connected, 3～6 axes that connected to Link No.1,2 is emergency stopped to open EMS signal of Link No.0) ※...

  • Page 71: Driver Division Number Setting

    3.5 Driver division number setting Different how to set the division number normal type and micro-step type. Driver type Division number setting Normal driver Can be switched FULL/Half from handy terminal(DT100),control software (DSCONTROL-WIN), communication command. Micro step driver Need to open the cover and set the rotary switch of micro-step driver. 3.5.1 Open and shut ①In case of DS102, take out 10 screws from side of cover, in case of DS112, take out 6 screws from side of cover with cross screwdriver.

  • Page 72: Smooth Drive Function（Only Ms Type

    There are 2 division number setting switch ［DATA1］［DATA2］, use [DATA1]here. Can be used [DATA2] at the only use communication command. Please refer to 4, 3, 5, 2 paragraph. In case of change the division number, change [DATA1]. Default setting： [DATA1 : 0] [DATA2：0］...

  • Page 73: Units Setting Function

    Default setting：[SD：Operate smooth drive] Smooth drive changing-over switch • When operate smooth drive function、set ［SD］side.（Initialization） • When no operate smooth drive function, set ［OFF］side. ・Smooth drive function will not work when set over 10 divide division number. Might be ignored to set［SD］.（Same as［OFF］operation） 3.7 Units setting function No need difficulty change from pulse to actual displacement.

  • Page 74: Speed Setting（Speed Table

    3.8 Speed setting（Speed table） This equipment memorized 10 speed table from 0 to 9. Each 2 axes（Max6 axes at Link） speed is selected from speed table 0 to 9. How to set the speed as shown bellows.: ① Select speed table from 0 to 9 as needed. ②...
  • Page 75 （Ｓ＝50％） F(pps) L(pps) S=50% S=50% R(msec) R(msec) （Ｓ＝100％） F(pps) L(pps) S=100% S=100% R(msec) R(msec) In case of bellows, set S acceleration and deceleration rate over 0 which helps to lessen the impact and vibration for stages.  In case of under heavy load on the stages ...
  • Page 76 Speed table each level 0～9 as bellows.: Contents Setting range Default Start-up speed（Ｌ） １～９９９９ｐｐｓ １０ｐｐｓ Speed table Driving speed（Ｆ） １～９９９９９９ｐｐｓ １０ｐｐｓ Ｎｏ．０ （Ｒ） １～９９９９msec １msec Acceleration and deceleration rate （Ｓ） 0～１００％ 0％ Acceleration and deceleration rate Start-up speed（Ｌ） １～９９９９ｐｐｓ ５０ｐｐｓ Speed table Driving speed（Ｆ）...

  • Page 77: Function Of Origin Return

    3.9 Function of origin return This equipment has built-in 12 types origin return pattern. Please select origin returning type according to the part number of stage you use. ＜List of origin return types＞ TYPE OPERATION APPLIED SENSOR PAGE Type０ Origin return is not implemented（default） 。 －...
  • Page 78 The Origin return sequence is shown as below.: 【Type０】 No origin return（default） 【Type１】 CW side edge (a point) of NORG signal is detected in CCW direction, then CCW side edge (b point) of ORG signal. ＣＣＷＬＳ ＣＷＬＳ point a ＜Near origin detection process＞...
  • Page 79 【Type２】 CCW side edge (a point) of NORG signal is detected in CW direction, then CW side edge (b point) of ORG signal is detected. ＣＣＷＬＳ ＣＷＬＳ point a ＜Near origin detection process＞ ＮＯＲＧ Ｆspeed Ｌspeed Start Start Ｌspeed position２ position１...
  • Page 80 【Type３】 CCW side edge (a point) of ORG signal is detected in CCW direction ＣＣＷＬＳ ＣＷＬＳ ａpoint ＜Origin detection process＞ ＯＲＧ Ｆspeed Ｌspeed Start Start position Ｌspeed position２ １ Ｌspeed ＪＯＧ ※ Ｆspeed Ｌspeed ※ Start position３ Ｆspeed Ｌspeed Solid-line shows emergency Ｌspeed stop setting.
  • Page 81 【Type５】 CW side edge (a point) of CCWLS signal is detected in CCW direction. ＣＣＷＬＳ（ａ point） ＣＷＬＳ ＣＣＷＬＳ ※ Ｆspeed Ｌspeed Start Start Ｌspeed position１ position２ ※ ※Solid-line shows Ｌspeed emergency stop setting. Dot-line shows slowdown stop setting. ＪＯＧ Ｆspeed Ｌspeed Start Ｌspeed...
  • Page 82 【Type７】 After the Type1 is performed, CCW side edge (c point) of TIMING signal is detected. ＣＣＷＬＳ ＣＷＬＳ ｂpoint ＜Origin detection process＞ ＯＲＧ ＪＯＧ ｃpoint ＜Excitation timing detection process＞ ＴＩＭＩＮＧ ＪＯＧ 【Type８】 After the Type2 is performed, CW side edge (c point) of TIMING signal is detected. ＣＣＷＬＳ...

  • Page 83: Linear Interpolating Function

    3.10 Linear interpolating function Use linear interpolating function when want to move from current point to specified point as the shortest distance. Linear interpolation of Max. 6 axes are available at the link connecting. Linear interpolation is available with control software（DSCONTROL-WIN）or communication command usage.

  • Page 84: Teaching Function

    3.11 Teaching function This equipment has built-in the teaching function for arbitrary coordinate registration of XY table, point control simply. The number of points has 64points（00～63）, 6 axes are registered on each points. Movement , registration, delete and edit to teaching point is available to use optional handy terminal, control software or user program with communication command.
  • Page 85 ４．Operation and Control method 4.1 Operation by the handy terminal 4.1.1 Initial screen Connect handy terminal DT100(MISUMI Type: HDT100) and power on, display initial screen as below（Continue Mode）in 5 seconds. Status Speed table number Operation mode Axis 1 2 3 4 5 6 7 8 p < 0 Y - 9 8 7 6 5 .
  • Page 86 4.1.2 Transition mode Handy terminal DT100 Transition mode as bellows.: Enter CNT Mode Initial screen Select driving Speed table POWER ON (Continuous (CNT Mode) mode select drive) Enter STP Mode (Step driving) Link Axis select ABS Mode Change current XY, ZU, VW (Absolute driving) value Enter...
  • Page 87 4.1.3 Driving mode select（JOG KEY） Select each driving mode when each axis operation stop. Press Jog key, it start to display driving mode select. Select the function by using the arrow key and press ENTER key, then move to each driving mode.
  • Page 88 4.1.3.3 Absolute value driving mode（ABS： Absolute Mode） Display as below when selects ABS. Operation mode ＡＢＳ mode 1 2 3 4 5 6 7 8 p < 0 Y - 9 8 7 6 5 . 4 3 2 u > 1 ←、→、↑、↓...
  • Page 89 4.1.4 Menu select（Menu key） Select each menu at not <Remote Mode>. Press Menu key, display as bellows. Show each mode screen when press ENTER key after select mode with arrow key. P R M P R G T C H Menu O U T 4.1.4.1 Parameter mode（PRM）...
  • Page 90 ①Pulse(STP) （Uniform pulse driving, Set up distance value） Set up distance at uniform pulse driving（Step Mode） Select“Pulse(STP)”, shows as below.: Press ↑,↓ key, select a setting axis. Return to parameter select screen with ESC key. Parametor Setting data unit Axis P S X 1 0 0 .
  • Page 91 ③Speed Table（Set up speed table） Set up starting speed(L), driving speed(F), acceleration and deceleration rate(R ) and S acceleration and deceleration rate(%). Display each (L)(R)(S) setting data and speed table number when select “Speed Table” shown as below.: At this time, “*” shows on left-lateral of setting item. Be moved “*”with ←、→...
  • Page 92 Move cursor to the side of setting item that want to be set with ↑、↓key. Shows “distance per 1pulse (RE) and “Set up drivers division number (DR)” when press ↓key for 2 times. Setting axis Carsor Item Setting data D R 1 / 2 0 .
  • Page 93 Setting axis Setting item Setting data X + E O F F 1 0 0 0 0 p Cursor Setting data Move cursor to the left-lateral of setting item that set with ↑,↓ key. Press ↓ key 2 times, display Software Limit setting screen of (CCW) side as bellows.: Setting axis Setting Item Setting data...
  • Page 94 After axis selected, press Enter key, display the cursor on left lateral of setting data. Can be input the setting data with numeric keypad. Please input –key first when input the code. ※ “+”no displayed After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis ※During input the setting data, continue to press ESC key（1 sec.）...
  • Page 95 ⑨Limit Sensor（Limit Sensor Logic Setting） Set up each axis Limit Sensor Logic Setting. When select the “Limit Sensor”, to be Limit Sensor Logic setting screen. Display the cursor on left lateral of setting axis Move cursor to the left-lateral of axis that set with ↑,↓ key. Parametor Axis Setting data...
  • Page 96 ⑪Near Origin（Near Origin Sensor Logic setting） Set up each axis Near Origin Sensor Logic Setting When select the “Near Origin”, to be Near Origin Sensor Logic setting screen. Display the cursor on left lateral of setting axis. Move cursor to the left-lateral of axis that set with ↑,↓ key. Setting data Axis Parametor...
  • Page 97 ⑬Stop Type（Motor Stop Setting） Set up each axis Motor Stop Setting When select the “Stop Type”, to be Motor Stop setting screen. Display the cursor on left lateral of setting axis. Setting data Parametor Axis S T X F a s t - S t o p Y S l o w - S t o p Cursol position for selected axis Cursol position for input data...
  • Page 98 4.1.4.2 Program Driving Mode（PRG） Downloaded from computer program（8Programs(0～7)、100Steps/1Program）is driven and stopped. If select “PRG”, shows bellows screen and cursor is displayed on left-lateral. Return to Menu selection screen with ESC key. Move cursor to the left-lateral that selected driving mode with ↑、↓key. P R G R U N S T E P...
  • Page 99 4.1.4.3 Teaching mode （TCH） If select “TCH”, shows bellows screen and cursor is displayed on left-lateral. Move cursor to the left-lateral that selected teaching mode with ←、→key. M O V S E T D E L E D T After select the teaching mode, press ENTER key, jump to following each driving screen. Return to Menu selection screen with ESC key.
  • Page 100 （1）CNT Mode Teaching Point Number C N T S E T 1 2 Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressed over 1sec.) Press ENTER key with displaying teaching number, then jump to following screen. Driving mode Cursol 1 2 3 4 5 6 7 8 p <...
  • Page 101 ＜DEL: Teaching point delete＞ Select “DEL”, shows as bellows.: （ Return to teaching mode selection screen when press ESC key） . Mode Teaching point number D E L 6 3 Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressed over 1sec.) Press ENTER key with displaying teaching number, then jump to following screen.
  • Page 102 Setting data Unit Mode Axis T E X 1 0 0 0 p 1 5 Y - 0 . 1 2 3 4 m Teachng point number After select axis with ↑、↓ key, press ENTER key, cursor will move to left-lateral of setting data. Can be edited teaching point directly.
  • Page 103 4.1.5 Other function 4.1.5.1 Change the Speed Table（SPD Key） Press SPD key at the driving mode, display as bellows.: axis Speed table number X S p e e d ( ) : 2 Y S p e e d ( ) : 3 ←：...
  • Page 104 4.1.5.4 Version confirmation, Parameter reset Can be confirmed version of controller and terminal under the each axis driving is off and no <Remote Mode>. Also return to before shipping condition each parameter setting. Hold STOP key and press Enter key, the controller and terminal version displays as bellows.: D S 1 0 2 V e r 1 .
  • Page 105 DS102/112 Controlled software（DSCONTROL-WIN） Use DSCONTROL-WIN(MISUMI Type: MSSOFT), can be parameter setting, JOG driving, registered and moved of teaching point and edited and started of program driving easily. 4.2.1 DSCONTROL-WIN start-up According to routine ２．１．３, when install DSCONTROL-WIN, can be started DSCONTROL-WIN from Windows start menu.
  • Page 106 ii. Click any selection you want. iii. Select stage model number you use among stage list. Selecting stage model number, its Initial value of stage appears. ※ When need different value, input any value you want directly. Repeat ⅱ～ⅲ, select any axis and value. v.
  • Page 107 Confirn Save location and its name then click [Save]. Parameter file is saved in PC and selected parameter is forwarded to DS102/112. ※ spf is automatically added as extension. 4.2.3 Jog driving Move each stages to any optional location. ＜Basic operation＞ [Action]→[Ｊog] on main menu then screen below appears.
  • Page 108 Position ： Click Position so screen below appears. ⑧ When you change movement position, double click ⑧, input movement position directly. After set up any value and position, click GO so stage moves to position you set up. Click 0, so stage move to “0“position. Origin ：...
  • Page 109 When you set or change Home position, double click ⑧. Screen below appears and you can set up any optional position. After setting, push Home, so stage moves to home position. Stop ： While stage moves, click Stop so stage stops（Fast stop or Slow stop）. ＜Direct speed input＞...
  • Page 110 4.2.4 Teaching ＜Basic operation＞ i. Main menu→[Action]→[Teaching]. Screen below appears. Set ： Selected teaching points 6 axes (Red cells) are forwarded to DS102 or 112.（PC→DS） Once memoried, positions of 6 axes are displayed. (No stage connected, ”N” is displayed) Remove ： Selected teaching points 6 axes are removed and forwarded to DS102 or112 （PC→DS）.
  • Page 111 iv. Repeat ⅱ～ⅲ to memorize point you need. v. Select memorized teaching Cell# then push Go to and make sure memorized position is correct. vi. If memorized position is correct, click Set to save 64 teaching points in PC. ＜How to back up teaching points memorized in DS102 or 112＞ Click Read to read and display memorized 64 teaching points inside DS.
  • Page 112 4.2.5 Driving program Making program by using DSCONTROL-WIN and forward it to DS102 or 112. DS can control stage movement by I/O control. Also I/O inside PLC can control stage movement easily. ＜Basic Operation＞ i. Main menu→[Action]→[Program drive] ： Making new program Open ：...
  • Page 113 Click Add so display below appears on screen. ※Making program by programming following command. ● Speed setup Setting up each axis speed. Speed should be within parameter maximum speed. ● Position setup Setting up or changing current position of each axis to optional position.
  • Page 114 ● Single axis drive Driving single axis. Set up Drive mode, axis and destination. If you can not go forward until drive is done, please select enable at wait until finish. ● Interpolation Drive Implement interpolation Drive (Absolute value) of double axes. Select axis, destination and click disable at wait until finish.
  • Page 115 ● Jump Jump to appointed line unconditionally. ● Conditional jump With monitoring general input condition, jump to appointed line. ● Repeat Repeat same movement until 999,999 times. ● Wair Do not go forward during time you set up. Maximum time is 999,999 ms. ●...
  • Page 116 ● Direct input Input command directly without using command menu. iii. After making commands, list of command appears on screen（Sample）. When program is done, click [Writing]. Select program# then click [Transfer] so program is forwarded to DS. Click Save to save program in PC（Recommended）. v.
  • Page 117 ＜How to back up program in DS＞ i. Click Read Select program No. then click [Transfer] so selected program is forwarded to PC and display its program on screen. Click Save so displayed program is saved into PC. ＜To transfer program data saved inside PC to DS＞ Click Open to display program data inside PC.
  • Page 118 4.2.6 Ｉ／Ｏ monitor The monitor of general input and forced output of general output can be performed. i. Main menu→[Action]→[Ｉ／Ｏ monitor], then Ｉ／Ｏ monitor display appears. ●Input：White→OFF, Green→ON ●Output：Check to output ii. On linked, click Next Port to see another linked monitor （General Ｉ／Ｏ is not optional setting, Input value is uncertainly）...
  • Page 119 4.3 User program Processing Can be controlled free motorized stage or general I/O by sent/received PC and communication command with RS232C or USB. 4.3.1 RS232C Set-up the baud rate with dip switch on rear side, and connect RS232C interface and RS232C of computer interface connector with RS232C cross cable (D100-R9-2).
  • Page 120 4.3.2 In case of control from PC, it is easy to use USB. Install attached USB device driver, then connect to PC and recognized as COM port. Recommend using our original USB cable (DS100-USB-1.8). ※See ２．１．２ paragraph how to install USB device driver. 【USB Connector】...
  • Page 121 Hub connected Max. 4 USB ID 0～3（Set up due to DIP switch） Set up separately USB ID , then connect USB Hub and USB cable. Be assigned a number from 0 order to power on. ＜Relative COM port number and USB ID＞ To confirm relative of Com port number and USB ID, send to 「SURUGA SEIKI DS102 USB Serial Port(COM?)」...
  • Page 122 【Set-up DIP switch】 Set-up 5 bit and 6 bit of ＳＷ1. １ ２ ３ ４ ５ ６ ７ ８ ● Set-up USB ID USB ID 0（default） ※Setting OFF before shipping. 4.3.3 Delimiter Delimiter comes to the end of the communication command and response data. Interface Delimiter ＲＳ２３２Ｃ...
  • Page 123 4.3.4 Types of communication command Command Description Motion control Command to control motion; Driving command, Stop command etc. command Data Setting Command to set parameter, Memory SW setting etc. command *When the selected axis is in motion, the command is no effect. Inquiry Command Command to read setting data or status of controller.
  • Page 124 Program Type Command Function Data Default Remarks driving Driver division number Normal： 0, 1 ○ setting Microstep： 0～15 0⇒1/1(Full) division 1⇒1/2(Half) division 2⇒1/2.5 division 3⇒1/4 division 4⇒1/5 division 5⇒1/8 division :DRiverDIVision_□ 6⇒1/10 division Data range must be （:DRDIV_□） 7⇒1/20 division changed due to driver 8⇒1/25 division 9⇒1/40 division...
  • Page 125 Program Type Command Function Data Default Remarks driving Memory switch 0 setting 0～12 × (Origin return setting) 0⇒Pattern of ORG return 0 1⇒Pattern of ORG return 1 2⇒Pattern of ORG return 2 3⇒Pattern of ORG return 3 4⇒Pattern of ORG return 4 :MEMorySWitch0_□...
  • Page 126 Program Type Command Function Data Default Remarks driving :Lspeed2_□ Start up speed（Lspeed2） 1～9999 ○ （:L2_□） setting Unit⇒pps :Fspeed2_□ Drive speed（Fspeed2） 1～999999 ○ （:F2_□） setting Unit⇒pps Acceleratin and 1～9999 ○ :Rate2_□ deceleration（Rate2） （:R2_□） setting Unit⇒msec 0～100 ○ :Srate2_□ S rate (Srate2) setting （:S2_□）...
  • Page 127 Program Type Command Function Data Default Remarks driving :Lspeed9_□ Start up speed（Lspeed9） 1～9999 ○ （:L9_□） setting Unit⇒pps :Fspeed9_□ Drive speed（Fspeed9） 1～999999 50000 ○ （:F9_□） setting Unit⇒pps Acceleratin and 1～9999 ○ :Rate9_□ deceleration（Rate9） （:R9_□） setting Unit⇒msec 0～100 ○ :Srate9_□ S rate（Srate9）setting （:S9_□）...
  • Page 128 Program Type Command Function Data Default Remarks driving Relative position driving X+、X-、Y+、Y-、Z+、Z-、 Relative distance is to ○ (GOLineI_X+Y-Z+U-V+W-) U+、U-、V+、V-、W+、W- be specified X+ ⇒ X axis specified on :PULSe_□ to plus X- ⇒ X axis specified to minus Y+ ⇒ Y axis specified to plus Y- ⇒...
  • Page 129 ＜ I n qui r y Command＞ Command Function Range of response Remarks Type 0～1 :CWSoftLimitEnable? Request softlimit setting value on CW （:CWSLE?） 0⇒No effect／1⇒Effective :CWSoftLimitPoint? -99999999～99999999、 Data range must be changed due Request softlimt value on CW （:CWSLP?） -9.9999999～9.9999999 to point position 0～1 :CCWSoftLimitEnable?
  • Page 130 Command Function Range of response Remarks Type Request Memory switch 0 0～12 (Origin return pattern setting) 0⇒ Origin return 0 1⇒ Origin return 1 2⇒ Origin return 2 3⇒ Origin return 3 4⇒ Origin return 4 :MEMorySWitch0? 5⇒ Origin return 5 （:MEMSW0?）...
  • Page 131 Command Function Range of response Remarks Type 1～9999 :Lspeed0? Request start up （Lspeed0）setting （:L0?） value Unit⇒pps Request drive speed（Fspeed0）setting 1～999999 :Fspeed0? value （:F0?） Unit⇒pps Request acceleration and deceleration 1～9999 :Rate0? （Rate0）setting （:R0?） Unit⇒msec 0～100 :Srate0? Request Srate（Srate0）setting （:S0?） Unit⇒％ 1～9999 :Lspeed1? Request start up（Lspeed1）setting （:L1?）...
  • Page 132 Command Function Range of response Remarks Type 1～9999 :Lspeed7? Request start up （Lspeed7） setting （:L7?） Unit⇒pps :Fspeed7? Request drive speed（Fspeed7）setting 1～999999 （:F7?） Unit⇒pps Request acceleration and deceleration 1～9999 :Rate7? （Rate7）setting （:R7?） Unit⇒msec :Srate7? Request S rate（Srate7）setting 0～100 （:S7?） Unit⇒％ 1～9999 :Lspeed8? Request start up （Lspeed8）...
  • Page 133 Command Function Range of response Remarks Type Status 1 request 0～255 Bit1⇒Motion direction Bit2⇒Detected machine limit Bit3⇒Detected soft limit :StatusBinary1? Bit4⇒Suspended （:SB1?） Bit5⇒Detected origin Bit6⇒Detected home position Bit7⇒In motion Bit8⇒Driving program Status 2 request 0～63 Bit1⇒Detected CW limit Bit2⇒Detected CCWl limit Bit3⇒Detected CW soft limit :StatusBinary2? Bit4⇒Detected CCW soft limit...
  • Page 134 Command Function Range of response Remarks Type 0～4095 I/O output status(12bit) Request each board（ID0～2） Out OUTP0?～OUTP2? 0⇒ All bits no output 12 points at the 1 command 4095⇒ all bits output DS102_0.00～DS102_9.99 Controller version request command DS102VER? DS102_0.00⇒Version 0.00 DS102_9.99⇒Version 9.99 SURUGA,DS102,0,VER0.00～...
  • Page 135 4.3.5 Details of Communication Command 4.3.5.1 Axis Specification command （1） ＡＸＩｓ＜Data＞ Request set up, driving, stopping and setting value of each axis parameter/memory switch. Command Content ＜Data＞ AXIs□ １～６ or （or AXI□） Axis selection Ｘ、Y、Ｚ、Ｕ、Ｖ、W or ＡＬＬ ※ Need no space between command and setting data ※...
  • Page 136 （2） ＣＷＳｏｆｔＬｉｍｉｔＰｏｉｎｔ＿＜Data＞ Command to set CW side Software Limit of each axis. Setting data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９. *In case of continuing 0 after the decimal point., can be skippable.（Ex.：１．２３０００００＝１．２３） *In case of data is not a multiple of the travel distance per pulse, corrects it as shown below. １）Multiple＝Data／Travel distance per pulse ２）Omit the figures after the decimal point of Multiple ３）Data＝Travel distance per pulse×Multiple...
  • Page 137 ・ Setting of Constant Step Pulse ・ Setting of Soft Limit ・ Setting of Home Position ・ Current Position In this case, adjust those parameters with the following process.: １）Multiple＝Data／Travel distance per pulse ２）Omit the figures after the decimal point of Multiple ３）Data＝Travel distance per pulse×Multiple （Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）...
  • Page 138 （10） ＰＵＬＳｅＡ＿＜Data＞ Command to set Absolute Position Driving of each axis. Data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９. *In case of continuing 0 after the decimal point., can be skippable.（Ex.：１．２３０００００＝１．２３） *In case of data is not a multiple of the travel distance per pulse, corrects it as shown below. １）Multiple＝Data／Travel distance per pulse ２）Omit the figures after the decimal point of Multiple ３）Data＝Travel distance per pulse×Multiple...
  • Page 139 4.3.5.3 Memory SW Setting Command This command sets Memory SW 0(Origin Return type), 1(Mechanical Limit Sensor Input Logic), 2(Origin Sensor Input Logic), 3(Near Origin Sensor Input Logic), 4(Current Down), 5(Motion Direction Switching), 6(Stop processing) and 7(Origin Return 0 Reset). ※ Connecting Axis Selection command is available. ※...
  • Page 140 （5） ＭＥＭｏｒｙＳＷｉｔｃｈ４＿＜Data＞ Command to set Memory SW4 (Current Down Control) ＜Data＞ Content Control Current Down (Motor current value at stop) ０ ※Control heat up when current value will be 0.75A/Phase during motor driving, will be 0.375A/Phase(-50%) at the stop. Set in the preparation of current stopping（NR Type） １...
  • Page 141 （1） Ｌｓｐｅｅｄ□＿＜Data＞ Command to set Start Up Velocity (L) □ is a choice of 0～9 (Speed Table No. 0～９) ＜Data＞ is １～９９９９. Unit is ｐｐｓ. （2） Ｆｓｐｅｅｄ□＿＜Data＞ Command to set Driving Speed (F) □ is a choice of ０～９ (Speed Table No. ０～９) ＜Data＞...
  • Page 142 （1） ＧＯ＿＜Data＞ Driving Commands for each axis. ＜Data＞ Content ０ （or ＣＷ） Drive Parameter’s Constant Step Pulse distance in the CW direction １ （or ＣＣＷ） Drive Parameter’s Constant Step Pulse distance in the CCW direction ２ （or ＯＲｉＧｉｎ） Conducted Origin Return by following a type of Origin Return set of Memory SW ３...
  • Page 143 Stop Command is configured as shown below.: ・ When selecting axis and stopped it. Axis Selection Command＜Data＞：Stop Command＿＜Data＞ ・ When stop axis during drive Stop Command＿＜Data＞ ＜Data＞ Content ０ （or Ｅｍｅｒｇｅｎｃｙ） Emergency stop １ （or Ｒｅｄｕｃｔｉｏｎ） Slow down stop ※When <Data>is omitted, it automatically selects “0" 4.3.5.8 Parameter Setting Request Command This command requests settings of CW &...
  • Page 144 （5） ＤＲｉｖｅｒＤＩＶｉｓｉｏｎ？ Command to request for setting of a dividing number of drivers for each axis. <Response Data> Content ０ In the process of setting “１／１” １ In the process of setting“１／２” ２ In the process of setting“１／２．５” ３ In the process of setting“１／４” ４...
  • Page 145 （11） ＳＥＬｅｃｔＳＰｅｅｄ？ Command to request for setting of Speed Table of each axis. Content <Response Data> ０～９ Number of Speed Table in selection process （12） ＳＴＡＮＤＡＲＤｒｅｓｏｌｕｔｉｏｎ？ Command to request for standard resolution of motorized stage (travel distance per pulse at full step) for each axis.
  • Page 146 （1） ＭＥＭｏｒｙＳＷｉｔｃｈ０？ Command to request for setting of Memory SW 0 (Origin Return Type) for each axis. <Response Data> Content <Response Data> Content ０ Selecting Origin Return Type 0 ７ Selecting Type 7 １ ８ Selecting Origin Return Type 1 Selecting Type 8 ２...
  • Page 147 （8） ＭＥＭｏｒｙＳＷｉｔｃｈ７？ Command to request for setting of Memory SW 7 (0 reset at Origin Return) Content <Response Data> ０ Reset the setting 0 １ Not reset the setting 0 4.3.5.10 Speed Table Setting Request Command This command requests for settings of Speed Table. On receipt of request command, controller sends response back to the requester.
  • Page 148 （1） ＣＯＵＲＳＥ？ Status Request Command for Motion Direction for each axis. Content <Response Data> ０ In motion in the CW direction or at halt after driving １ In motion in the CCW direction or at halt after driving ※ This is the same as Bit 1 of StatusBinary1? (See (12)) (The logic is oppsite.). （2）...
  • Page 149 （7） ＬＩＭＩＴ？ Status Request Command for Mechanical Limit Detection for each axis. <Response Data> Content ０ Mechanical Limit is not detected １ Detecting Mechanical Limit in the CW direction ２ Detecting Mechanical Limit in the CCW direction ３ Detecting Mechanical Limit in the CW & CCW direction （8）...
  • Page 150 ＜Response Data＞ Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Home Mechanica Program in Origin Dis- Soft Limit １ position Limit Driving Motion Detected continuation Detected Detected Detected ０ At Halt At Halt In motion in the CW direction or at halt after driving Bit 1 CW / CCW...
  • Page 151 （14） ＳｔａｔｕｓＢｉｎａｒｙ３？ Status Request Command for One byte Binary Code for each axis. *This binary code is output as ASCII code which is converted from the numbers between 0～3. ＜Response Data＞ Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1...
  • Page 152 ＜Ex.: Response Data＞ SURUGA, DS102, 0, VER1.00 ※In case of DS112, “DS102” is returned too. 4.3.5.12 General I/O Command （1） IN00？～IN47？ Status Request Command for General I/O Request 1/bit Content ＜Response Data＞ ０ Input OFF １ Input ON （2） INP0？～INP2？ Status Request Command for General Input.
  • Page 153 4.3.6 Program Driving Dedicated Command This program driving can use main command without request command. Also control any types of sequence with following for program driving command. ＜Program Driving Customized Command List＞ Command Content Wait_□ Wait Time Command（premature ending of a program） Wait_[1～999,999] （ms）...
  • Page 154 ＜Procedure example of Program Download＞ DS102/DS112 DELPRG 0 ⇒ Delete range ofProgram No.0 ← ＞ （after 500ms） SETPRG 0, 0, AXI1:PULS_1000 ⇒ Store to step 0 of Program No.0 ← ＞ （after 30ms） SETPRG 0, 1, LoopS_10 ⇒ Store to step 1 of Program No.0 ←...
  • Page 155 ＜Program Number Selection Command＞ Select a Program that driven ＳＥＬＰＲＧ＿＜Data＞ ＜Data＞ is 0～7. ＜Program Start Command＞ Start a Program that selected ＰＲＧ＿＜Data＞ ＜Data＞ Content ０ （or RUN） Start a selection program（sequence motion） １ （or STEP） Start a selection program（step driving） ＜Program Number Request Command＞...
  • Page 156 4.3.7 Error Code In case of command response function is effect, if communication command doesn’t match, send back the following code by ASCII. Code Function Cause Stage is not connected Driving Command starts to stage is unconnected axis. Sensor logic setting error In Motion Send a driving type command to motor in motion, or start the command during program driving, teaching or setting handy terminal...
  • Page 157 ５．Checkout We recommend to checkout constantly after driving. If something abnormal signal showed, please stop the work and call us immediately. （Checkout Item） ・ Is there some damaged, stress or loosing on cable? ・ Is there some dust or clogging on controller airflow? ・...
  • Page 158 ７．Warranty & Customer Service ●Warranty At time of contacting MiSUMi in your area, please refer to the serial number of product that is indicated on the side of product or enclosed warranty or quality assurance cetificate. MiSUMi will refer to the date of purchase and registration according to the serial number. The warranty period is one year from the time of purchase.
  • Page 159 ● Appendix ■ DIP Switch Set RS232C Baud rate (2bit)、Link Number(2bit)、USB ID(2bit)、Command response(1bit) set １ ２ ３ ４ ５ ６ ７ ８ ● RS232C Baud rate Baud rate 4,800bps 9,600bps 19,200bps 38,400bps（Default） ● Link Number Link Number 0（Default） ● USB ID USB ID 0（Default）...
  • Page 160 ■ DS102 Externals 94.6 89.6 139.2 17.8 10.4 21.7 97.6 DS102 Stepping Motor Controller TERMINAL...
  • Page 161 ■ DS112 Externals 41.2 DS112 Stepping Motor Controller...
  • Page 162 ■ Control I/O cable（Model：DS100-CNT-2） Connector：10126-6000EL [3M] Connector Case：10326-3210-000 [3M] UL20276　AWG28　13P　Navy ＋50mm L=2000mm -　0mm Signal Orange/Black1 X_DRIVE Gray/Black1 X_CWLS White/Black1 X_CCWLS Yellow/Black1 X_ORG Pink/Black1 Y_DRIVE Orange/Black2 Y_CWLS Gray/Black2 Y_CCWLS White/Black2 Y_ORG Yellow/Black2 READY Pink/Black2 Orange/Black3 Gray/Black3 P/T_RUN White/Black3 -COM1 Orange/Red1 P/T_BIT0 Gray/Red1 P/T_BIT1 White/Red1...
  • Page 163 ■ General I/O cable（Model：DS100-IO-2） Connector：10136-6000EL [3M] Connector case：10336-3210-000 [3M] UL20276　AWG28　18P Navy ＋50mm L=2000mm -　0mm Signal Orange/Black1 In_00 Gray/Black1 In_01 White/Black1 In_02 Yellow/Black1 In_03 Pink/Black1 In_04 Orange/Black2 In_05 Gray/Black2 In_06 White/Black2 In_07 Yellow/Black2 In_08 Pink/Black2 In_09 Orange/Black3 In_10 Gray/Black3 In_11 White/Black3 In_12 Yellow/Black3 In_13...
  • Page 164 ■ Selection of a program number by CNT-IO PRG/TCH : OFF program number CNT-IO P/T_BIT0 P/T_BIT1 OFF OFF OFF OFF P/T_BIT2 OFF OFF OFF OFF ■ Selection of a teaching number by CNT-IO PRG/TCH : ON teaching number 10 11 12 13 14 15 CNT-IO P/T_BIT0 P/T_BIT1...
  • Page 165 ＜Revision history＞ Date Revised contents Version DS102/112 DT100 DScontrol-Win Ver1.00 04.09.2009 First edition Ver1.00～1.05 Ver1.01 Ver1.01～1.03 P59 Correction of DT100 outside dimension P74 Correction of S rate Ver1.00～1.08 Ver1.01 02.13.2015 P77 Addition of ORG type(KXT,KRE,KHE) Ver1.01 Ver1.01～1.05 Ver2.00～2.05 P81 Correction of stop procedure for ORG5, 6 P154 Addition of download procedure...

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