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SIGMAKOKI OptoSigma PGC-04-U Manual

Pulse-generating controller
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2nd
SC40401-K10-15002A
Pulse-Generating Controller
PGC-04-U
1
Copyright 2018, SIGMAKOKI Co.,Ltd.

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Summary of Contents for SIGMAKOKI OptoSigma PGC-04-U

  • Page 1 SC40401-K10-15002A Pulse-Generating Controller PGC-04-U Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 2 ・ The prior written approval of SIGMAKOKI CO., LTD. is necessary to reprint or reproduce in whole or in part these materials. ・ If these products or technologies are subject to the Japanese export control restrictions, they must be exported under a license Japanese government and cannot be imported into a country other than the approved destination.

  • Page 3: Table Of Contents

    Chapter 4: Feature ......................38 4-1.Command ........................ 38 4-2. Program functions ....................55 4-3.Emergency STOP ....................59 Chapter 5: Rotation Stage ....................60 Chapter 6: Specifications ....................61 6-1.Specifications ......................61 6-2.Connector Pin Assignments .................. 62 6-3.Outlines ........................64 Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 4: For Your Safety

    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. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 5 SC40401-K10-15002A Disclaimer of Liability ① SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product or the inability to use this product. ② SIGMAKOKI CO., LTD. does not accept liability for damages resulting from the use of this product that deviates from that described in the manual.

  • Page 6: Chapter 1: Before You Begin

    When PGC-04-U connected to an ordinary personal computer via an USB, LAN interface, the stage can be accurately moved to the desired position by simple commands sent from the PC. Can be manually operated by a Handy Terminal (JS-300, JB-400, JD-100). Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 7: 1-3.Pgc-04-U System Diagram

    HUB please use straight cable. 1-4.Parts and Functions PGC-04-U Front Panel 9) DRIVER1～4 Connector 8) Power Supply Terminal 7) FG Terminal 1) POWER LED 5) OPTION Connector 3) USB Connector 6) I/O Connector 4) ETHERNET Connector 2) Emergency STOP Connector Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 8 2m. Power supply, use a DC power supply with primary side and the secondary side is reinforced insulation. In addition, wire the power supply separate from the motor drivers and servo -pack. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 9: Chapter 2: Connection Flow

    ※ ※ ※ ※ ) Setting the jumper pin except theabove is unnecessary. Do not change it. Example) When changing AXIS1 to the AC servo setting, it becomes like Fig.2-2. AX2(AXIS2) AX4(AXIS4) AX1(AXIS1) AX3(AXIS3) Fig.2-1 for setting the jumper pin Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 10: 2-2.Connection With Various Drivers

    / STEP2-signal output (STEPNG setting) CCM/STEP1 CCM-signal output (ALPHA setting) / STEP1-signal output (STEPNG setting) FREE/H.O FREE-signal output (ALPHA setting) / H.O-signal output (STEPNG setting) #RES Power_ON_Reset-signal output Auto_Config Auto_Config-signal input output (for only sigmakoki products.) ALARM_IN(Driver) ALARM-signal input Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 11 When you connect various drivers, please use a standard cable (option) or please connect various driver connection of P12 – P14 after reference. Coution Use a shield-cable for a connection cable. Coution Use less than 2m of connection cable. In addition, wire it to become as short as possible. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 12 ※ ※ ※ ※ ) When use an AC servo pack, AM side setting, please while referring to a 2-1 clause. ※ ※ ※ ※ )When use an AC servo pack, please make setting of the memory switch(Axis:29 - 32) AC SRV setting. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 13 ※ ※ ※ ※ ) When use an α_STEP, AM side setting, please while referring to a 2-1 clause. ※ ※ ※ ※ ) When use anα_STEP, please make setting of the memory switch(Axis:29 - 32) ALPHA setting. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 14 ※ ※ ※ ※ ) When use an MC-S0514ZU, please make setting of the memory switch(Axis:29 - 32)STEPNG setting. *1) PGC-04-U 13pin is ALARM_IN, so when using MC-S0514ZU, please be sure to connect with GND. When being open, it'll be a driver alarm. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 15: 2-3.Connection Between Pgc-04-U And Stage's Sensor

    (Sensor:1-12), according to the sensor you use. ※ ※ ※ ※ ) Please use a limit sensor(LS+, LS-) of each axis by identical logic. It isn’t possible to use LS+, LS- by different logic (polarity). Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 16: 2-4.Setting Of Drivers And Servopack

    Please connect a PC in which Sigma Win+ is installed and a servopack. Please connect by a USB cable (the servopack side: Micro-B type). And, please connect a servopack and a servomotor (stage). (A SIGMAKOKI’s standard motor is SGMMV-A1E2A21. A SIGMAKOKI’s standard servopack is SGDV-2R9EP1A.) Encoder Cable...
  • Page 17 When the connection is confirmed, connected servo pack and servomotor are indicated. After choosing the servo pack you’d like to set, please click “Connect”. Next, please choose“Edit Parameters(U)” in Sigma Win+ screen.A parameter editing screen is indicated. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 18 SC40401-K10-15002A Please set the following parameter in parameter edit. ○Pn002 ： Default(0000H) ⇒ Change(0100H) Uses absolute encoder as an incremental encoder. ○Pn200 ： Default(0000H) ⇒ Change(2001H) Input filter(～4Mpps)and order pulse form are CW+CCW、positive logic. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 19 Screw lead：p(mm), The amount of transfer per 1 pulse ：u(um) Electronic Gear Ratio (Denominator) = (p×1000)/u (※ ※ ※ ※ Please make electronic gear ratio an integer.) example) When SGMV26-100(screw lead:2mm) made of SIGMAKOKI is set as amount of transfer 0.1µm per pulse. Electronic Gear Ratio (Denominator) = (2×1000)/0.1 = 20000 ※...
  • Page 20 ※ ※ ※ ※ ) Please set memory switch (axis: 9-12) PLS_RATE according to the above. ○Please use pulse input system by default:2 pulse input system. Please confirm details of α_STEP driver by manual,etc.from ORIENTAL MOTOR Co. , Ltd. WEB(http://www.orientalmotor.co.jp/products/stepping/ar_dc/features/). Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 21: 2-5.Connection Between Pgc-04-U And Motoried Stage/ Driver

    2-5.Connection between PGC-04-U and motoried stage/ Driver First, please connect PGC-04-U and various driver, motorized stage. The example which connects motorized stage (SGMV series：made by SIGMAKOKI) and servopack(SGDV:made by YASKAWA Electric Corporation) with 1Axis of PGC-04-U is indicated here. ① A standard cable (PGC-ACS-1) is connected to ”DRIVER1” connector in the front panel of PGC-04-U.Please connect the connecter(D-sub9P：male) in which 2cable are included).

  • Page 22: 2-6.Connection Between Driver And Motorized Stage (At The Time Of Standard Cable Use)

    255.) and Subnet Mask [255.255.255.0] in order for PC to be able to communicate with PGC-04-U. With regard to LAN settings for PGC-04-U, please refer to「3-3.LAN Settings」. Caution) Default setting is USB. In the case of LAN connection, change the Memory Switch or send the command “?:N” at the start communication. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 23: 2-8.Driver Installation Method

    Power supply should be done as instructed below. Use DC24V for PGC-04-U. 1. First, switch External Driver on. 2. Next, switch PGC-04-U on. Power LED on PGC-04-U will show. *Note) They can also be switched on at the same time. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 24: Chapter 3: Settings

    SPD 4 F 1～999999999 1000000 SPD 4 R 1～1000 IO_LVL ACT HIGH/ACT LOW ACT HIGH 1) SPD SEL：Speed selection at Power ON Select the initial setting Speed No. at Power ON. [Setting Range] 1 ~ 4 Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 25 USB： USB(Serial communication) Interface Ethrnet： Ethrnet Interface 2) BAUDRATE：Baudrate setting Set the data communication speed for the USB (Serial communication) Interface. [Select item] 4800： 4800bps 9600： 9600bps 19200： 19200bps 38400： 38400bps 57600： 57600bps 128000： 128000bps 230400： 230400bps Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 26 ORG OFFSET2 0～999999999 ORG OFFSET3 0～999999999 ORG OFFSET4 0～999999999 EMG EXT1 ON/OFF EMG EXT2 ON/OFF EMG EXT3 ON/OFF EMG EXT4 ON/OFF DRIVER1 STEPNG/ALPHA/AC SRV/LINEAR/EZI_STEP STEPNG DRIVER2 STEPNG/ALPHA/AC SRV/LINEAR/EZI_STEP STEPNG DRIVER3 STEPNG/ALPHA/AC SRV/LINEAR/EZI_STEP STEPNG DRIVER4 STEPNG/ALPHA/AC SRV/LINEAR/EZI_STEP STEPNG Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 27 17～20) ORG1 SEL～ORG4 SEL：Origin reset method setting Set Origin reset method for each axis. [Select item] OFF： Origin reset OFF MINI： ORG1 CENTER： ORG2 ORGS： ORG3 NORM： ORG4 ZPM： ORG5 ZPP： ORG6 *) Regarding each method, please refer to “Origin Rest Method”. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 28 STEPNG：5-phase Stepping motor Driver（Equivalent MC-S0514ZU） 2-phase Stepping motor Driver (Equivalent A8576-0415Y) ALPHA：α_step Driver (ORIENTAL MOTOR Co.,Ltd.） AC SRV：AC ServoPack （SGDV series ：YASUKAWA ELECTRIC CORPORATION） ） LINEAR：Linear Servo-Driver（ SGDV series ：YASUKAWA ELECTRIC CORPORATION EZI_STEP：Ezi Step（2-phase Stepping motor ）Driver (Fastech Co., Ltd.) Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 29 ORG OFFSET default value: 0.5mm. CW (CCW) Sensor ORG reset speed F Detect CW limit sensor ORG reset speed M Move 0.5mm ORG reset speed S Detect CW limit sensor ORG reset speed M Move to offset position Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 30 4-1) In case that ORG sensor is set on the inside of CW(CCW) sensor ORG sensor CW (CCW) Sensor ORG reset speed F Detect ORG sensor ORG reset speed M Move 0.5mm ORG reset speed S Detect ORG sensor Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 31 5-1) In case that NEAR ORG sensor is on the inside of CW(CCW) sensor. NEAR ORG sensor ORG sensor CW (CCW) sensor ORG reset speed F Detect NEAR ORG sensor ORG reset speed S Detect ORG sensor Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 32 6, ORG5 (for 3 sensor use (LS+ORG(Z phase))) ORG sensor (Z phase) CW (CCW) sensor ORG reset speed F Detect CW limit sensor ORG reset speed M Move to offset position ORG reset speed S Detect ORG sensor (Z phase) Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 33 ORG reset speed F Detect CW limit sensor ORG reset speed M Move to offset position ORG reset speed S After detect ORG sensor, move to 0.5mm position ORG reset speed S Detect ORG sensor (Z phase) Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 34 Select NEAR ORG sensor detecting level (Input logic level) for each axis [Select item] NM Open：(Normally switch ON by detecting NEAR ORG sensor from OFF condition) NM Close：( Normally switch OFF by detecting NEAR ORG sensor from ON condition Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 35 *) Regarding Speed setting, minimum speed S should be set smaller than maximum speed F and ORG-reset speed M. 17～20) ACC CNT1～4: Speed –acceleration profile setting Set speed –acceleration profile for each axis [Select item] LINEAR： Trapezoidal control S CURVE： S curve control Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 36: 3-3.Lan Settings

    Please adjust the host name and a port to setting of PGC-04-U connected at present.Please make the host name and the port setting PGC-04-U setting connected at present. Factory default is host name(IP adress)： ： ： ： 192.168.0.1 port： ： ： ： 9004. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 37 6. Click OK after setting IP address on Figure 3-4 LAN settings in accordance with PC condition. Fig.3-3：Communication settings Fig.3-4：LAN settings *) Redo PC settings according to new LAN settings when any changes have been made in settings. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 38: Chapter 4: Feature

    ‘acceptance refused for an incorrect command’ respectively. When other commands except Q, ?, L, !, I, O commands are issued to an engaged slave in busy condition, ‘NG’ sign will be responded for incorrect commands, which will result in the whole command not being executed. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 39 Return by internal information I/O output command Output data to OUT terminal of I/O connector I/O input check Return data to IN terminal of I/O connector Alarm reset Driver alarm reset Program control Internal program command Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 40 (Note: The above limitation is conflicted when a high microstep is set.) (2) Example A:, 0,-20000,30000 means to return to origin (0), -0.2mm and 0.3mm of absolute position to axis number 2,3 and 4 respectively. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 41 ) y：Position coordinate value Specifies the positioning complete position you want to change. (Unit 0.01µm) Y:1,-200000 Change to move the positioning completion position of the first axis of the move to the position of -2mm. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 42 Due to operation by calculation, there is a calculation error to the ended point of E： ： ： ： 1 command (Arc interpolation movement command 1) and E： ： ： ： 2command (Arc interpolation movement command 2). Please check the actual stage. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 43 E： ： ： ： 0,1,3,0,0,0,5000,-5000 A center point coordinate is based on a relative coordinate of the current position (0.05mm,-0.05mm) and move stages of axis No1, axis No3 one round clockwise until the current position. Axis 3 Axis 1 0.05mm -0.05mm Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 44 A center point coordinate is based on a relative coordinate of the current position (0.05mm,-0.05mm) and move stages of axis No3、axis No4 90°from current position to degree of ended point position clockwise. Axis4 0.05mm Axis 3 90° -0.05mm Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 45 Pass point coordinate and ended point coordinate are based on a relative coordinate of the current position (+0.05mm, +0.03mm) and (+0.08mm, +0.12mm). Then, stages of axis No1、 axis No4 move circularly. Axis 4 0.12mm 0.03mm Axis 1 0.05mm 0.08mm Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 46 (unit of setting 0.01µm unit) K： ： ： ： 1,4,,+10000,20000 Ended point coordinate is based on a relative coordinate of the current position (+0.1mm, +0.2mm) and move stages of axis No1、 axis No4 linearly. 4 axis 0.2mm 1 axis 0.1mm Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 47 To decelerate and stop stage of the axis No3 and 4. 4-1-10 L:E command (Emergency stop (Immediate stop) command) (1) Function This command indicates to stop stages of all axis immediately. (2) Example L： ： ： ： E means to stop stages of all axis immediately. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 48 0.01µm/s unit), OK will be returned, but it will be treated as speed of 4000000(pulse/s). D： ： ： ： 3,10000,200000,200 means Start-up speed : 0.1mm/s, 2mm/s : Maximum speed, 200ms : Acceleration / deceleration time to axis No3. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 49 *) Maximum speed (calculated by pulse) is 4000000(pulse/s). In case of over speed setting (travel： 0.01µm/s unit), OK will be returned, but it will be treated as speed of 4000000(pulse/s). D： ： ： ： D,1,5000000,200000,200 means Immediately change the axis1 of the speed of running to 50mm / sec. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 50 0 is an Excitation OFF (Servo OFF) to the stage of the axis number. The abbreviation is NOP（No Operation） C： ： ： ： 0,0,1 Excitation ON(Servo ON) to the motor of the axis No3, and OFF to motor of axis No1,2. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 51 0 or 1 0 or 1 0 or 1 Example of returned data 00,01,02,40,01 means controller accepted the received command. Detect –LS by axis No1 and 4, detect +LS by axis No2 and detect Driver-alarm by axis No3. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 52 Example of returned data Device name PGC-04-U Version V1.01-001 Travel speed 100,1000,200 Returning origin speed 500,5000,200,2500 Status of program operation ProgNo、ProgRun、LineNo、Count of remaining Loop (Example)2,1,13,4 13 row of program No.2 is running and count of remaining Loop is 4. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 53 4-1-20 I command （ （ （ （ Input data command） ） ） ） (1) Function This command indicates iput the data to the input terminal of I/O connector (4 bit). Data (2) Example I： ： ： ： Returned data Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 54 Stop program temporarily. When the the command is accepted, it will temporarily stop after the under operating program in the current Line No. (Example)P： ： ： ： U0 U1： ： ： ： Restart program. The temporary stop of program can be restarted by P： (Example)P:U1 Copyright 2015, SIGMAKOKI Co.,Ltd.

  • Page 55: 4-2. Program Functions

    (unit 0.01µm) as positioning parameter. Please be aware of that when PLS_RATE in Memory Switch is unset, it may interfere with correct positioning. In case of ? / F, please set 3 only and omit 4 to 6. In case of N/Y, please omit 3 to 6. Copyright 2015, SIGMAKOKI Co.,Ltd.
  • Page 56 ◎ － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － － Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 57 CW direction with keeping OUT1 and waiting 0.4seconds after completion of circular interporation. Wating input signal, if INPUT is 3 execute next step. Repeating 1000 times 1 micron move at speed 1 at 1 axis with keeping OUT1. Quit. Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 58 Status・ ・ ・ ・ Read series ：Command O, Command I I/O control series ：Command L Stopping command ：Command P (P:E and P:U0) Program control command Commands unmentioned above will be treated as fault commands. If they are issued, NG will show. Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 59: 4-3.Emergency Stop

    For each axes, the motor excitation ON/OFF status during activation of the EMG STOP is selectable. (Use memory switch (No.25) to (No.28) “EMG EXT” for this setting.) Emergency Stop Switch (B type) Switch Close ⇒ Normal Switch Open ⇒ Stop Fig. 4-3-1： An Example of “EMG_STOP Switch” connection Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 60: Chapter 5: Rotation Stage

    (Memory-SW)：Set the display position units to “DEGREE” for each axis. PLS_RATE (Memory-SW)：Set the travel Rotaly angle per 1 step pulse for each axis. (Setting Unit： 0.000001° ) Case of sigmakoki’s rotation stage: ORG_OFFSET (Memory-SW)：Set the ORG offset value to “25000(2.5°)” for each axis. 5-1-2 Command/ Status A command, M command: Set a rotary angle with the integer of the 0.0001 degrees unit.

  • Page 61: Chapter 6: Specifications

    ・Parity None ・Stop Bit 1bit ・Flow Control Hardware ・Delimiters CR+LF Ethernet Interface ・Data Rate 10/100Mbps(Full duplex) ・Maximum Data Length 256Byte Input 4-pin (Photo-coupler Input, Internal Resistance 2.2kΩ) Output 4-pin (Open-collector Output Maximum Use Conditions DC24V 20mA) Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 62: 6-2.Connector Pin Assignments

    When using the I / O signal, please supply the 24V_EX (pin 1) and GND_EX (pin 2) than external. Figure 6-2-1：IN1～4 Input Circuit Diagram Figure 6-2-2：OUT1～4 Output Circuit Diagram 6-2-2 USB Connector Description Description DATA+ DATA- Connector XM7B-0442 (By Omron) used Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 63 CLR (ERC) Servo_ON/STEP4 P_Reset/STEP3 NEAR ALM_RST/STEP2 CCM/STEP1 FREE/H.O #RES 5V (with180Ω) Auto_Config ALARM_IN(Driver) Connector 10226-52A2PE (by 3M Company) used 6-2-5 OPTION Connector Description Description RXD+ RXD- TXD+ TXD- STOP CONNECT Connector 10214-52A2PL (by 3M Company) used Copyright 2018, SIGMAKOKI Co.,Ltd.

  • Page 64: 6-3.Outlines

    SC40401-K10-15002A 6-3.Outlines Copyright 2018, SIGMAKOKI Co.,Ltd.
  • Page 65 SC40401-K10-15002A SIGMAKOKI CO., LTD. http://www.global-optosigma.com Tokyo Head Office SIGMAKOKI Tokyo Head office 19-9, Midori 1 chome, Sumida-ku, Tokyo 130-0021, JAPAN TEL+81-3-5638-8228 FAX+81-3-5638-6550 E-mail:international@sigma-koki.com Osaka office 9-28 , Nishi-Nakajima 4 chome, Yodogawa-ku, Osaka 532-0011, JAPAN TEL+81-6-6307-4835 FAX+81-6-6307-4834 E-mail:sales.osaka@sigma-koki.com Kyushu office 3-17, hiemachi, hakata-ku, Fukuoka 812-0014 TEL+81-92-481-4300 FAX+81-92-481-4310 E-mail:sales.kyushu@sigma-koki.com...

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