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Harmonic Drive LSA-10A-30-D-130 Technical Document

Galvanometer scanner system
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Galvanometer Scanner System
LSA-10A-30-D-130
(Scanner: LSA-10A-30/Driver: PSM-130)
●
We thank you for purchasing the Galvanometer Scanner LSA Series
System.
●
Any mishandling or misuse of this product may result in unexpected
accidents and shorten the life of the product.
document thoroughly and use accordingly to ensure safe prolonged
use.
●
Product specifications are subject to change without notice for
improvement purposes.
●
Keep this manual in a convenient location and refer to it whenever
necessary in operating or maintaining the units.
●
The end user of the actuator should have a copy of this manual.
Technical Document
Please read this
ISO14001
ISO9001

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Summary of Contents for Harmonic Drive LSA-10A-30-D-130

  • Page 1 Galvanometer Scanner System LSA-10A-30-D-130 Technical Document (Scanner: LSA-10A-30/Driver: PSM-130) ● We thank you for purchasing the Galvanometer Scanner LSA Series System. ● Any mishandling or misuse of this product may result in unexpected accidents and shorten the life of the product.
  • Page 2 LSA-10A-30-D-130 Technical Document For Safe Use of the LSA and PSM Series Servo Systems Warning: Caution: Indicate anything that may cause Indicate anything that may cause loss human life or serious serious physical injury or cause physical injury if mishandled.

  • Page 3: Table Of Contents

    LSA-10A-30-D-130 Technical Document Table of Contents Chapter 1 Overview of LSA Series ......................... 4 1-1 Main Characteristics ........................4 1-2 Example of Equipment Configuration ................... 4 1-3 Scanner System LSA Series Model ....................5 1-4 Scanner Model ..........................5 1-5 Driver Model ..........................5 Chapter 2 System Specifications ...........................

  • Page 4: Chapter 1 Overview Of Lsa Series

    LSA-10A-30-D-130 Technical Document Chapter 1 Overview of LSA Series The LSA and PSM series are Galvanometer Scanner systems that can optically scan with quick response and high accuracy. Main characteristics of the systems based on compact motor technology and independently developed optical sensor technology, so the following applications are available: measurement devices, laser processing equipment, laser displays, shutters, laser markers, etc.

  • Page 5: Scanner System Lsa Series Model

    LSA-10A-30-D-130 Technical Document 1-3 Scanner System LSA Series Model The model name and symbols of the Galvanometer Scanner System are as follows. LSA-10A-30 - D - 130 - □□ Scanner Model System Notation Combined Driver Model Specification Symbol No Symbol: Standard Specification...

  • Page 6: Chapter 2 System Specifications

    LSA-10A-30-D-130 Technical Document Chapter 2 System Specifications The specifications of the LSA-10A-30-D-130 scanner system are as follows. The angles within these specifications are all “mechanical angles”, unless specified otherwise. 2-1 System Configuration The product configuration of the LSA-10A-30-D-130 is as follows.

  • Page 7: Main Specifications

    LSA-10A-30-D-130 Technical Document 2-2 Main Specifications Items Specifications Repeatability Positioning ±5 [μrad] Testing Conditions Positioning seven times from arbitrary forward and backward positions respectively, and take the maximum deviation. Divide this by half and place a ± sign. Utilize an auto-collimator and measure in a room temperature environment.

  • Page 8: Response During Rectangular Wave Drive

    LSA-10A-30-D-130 Technical Document 2-3-1 Response during Rectangular Wave Drive The responses of the rectangular or trapezoid wave operations are important for utilizing the positioning operation. Generally, the trapezoid wave drive settles easier and is better for applications of fluctuating amplitudes, than the rectangular wave drive.

  • Page 9: Triangular Wave Drive Response

    LSA-10A-30-D-130 Technical Document emphasized adjustment amplitude decreases. [3] Settling Time (Unit: [ms] or [μs]) A completion of positioning is judged by the positioning error signal that is within the range of the convergence criteria. The Settling Time is the time from a command input to a completion of positioning Generally, adjustments are made ensuring the shortest Settling Time being satisfied within the other operating conditions .

  • Page 10: Triangular Wave Drive Response

    LSA-10A-30-D-130 Technical Document 2-3-2 Triangular Wave Drive Response Dynamic characteristics of keeping positioning error within the definite range are important for scanning operations. In the operations, the response characteristics of the saw-tooth wave drive or the triangular wave drive are important. It is necessary to adjust the conditions during the steep section of saw-tooth wave drive.
  • Page 11 LSA-10A-30-D-130 Technical Document This indicates the width of the allowable positioning error for following the positioning command signal. Generally, necessary and sufficient conditions of positioning accuracy are considered convergence criteria. The device is adjusted to the conditions that a range of constant speed is maximized.
  • Page 12 LSA-10A-30-D-130 Technical Document ♦ Triangular Wave Drive Response Characteristics Example 2 (range of constant speeds vs. frequencies with moment of inertia as the parameter) Load (J ): Mirror for Our Test Equipment (1.0g-cm ,2.2g-cm ,3.5g-cm )/Amplitude: 30° Convergence Criteria: 0.06° (0.2% Amplitude)/Power Source Capacity: ±24V, 240W...

  • Page 13: Optical Scanner Operating Conditions Form

    LSA-10A-30-D-130 Technical Document 2-4 Optical Scanner Operating conditions Form Requested Date: Company Name Position/Title Name Address TEL/FAX TEL: /FAX: E-mail Applications Classifications Details  Please check the Laser Processing  appropriate classification. Measurements  In addition, please enter Image Processing ...

  • Page 14: Supplementary Explanation Of Optical Scanner Operating Conditions Form

    LSA-10A-30-D-130 Technical Document 2-4-1 Supplementary Explanation of Optical Scanner Operating conditions Form [10] Load Moment of Inertia (Unit: [g-cm This indicates the moment of inertia of the load device attached to the output shaft of the mirror, shutter, etc. ・ The possibility of reducing settling time increases as the load moment of inertia decreases.

  • Page 15: Chapter 3 Scanner Specifications

    LSA-10A-30-D-130 Technical Document Chapter 3 Scanner Specifications The specifications of the scanner (LSA-10A-30) are as follows. 3-1 Main Specifications Items Specifications Maximum Swing Angle (Control Range) (*1) [°] ±15 Output Shaft Rotation Range (Stopper Range) [°] Rotor moment of inertia...

  • Page 16: Dimensions (Third Angle Method)

    LSA-10A-30-D-130 Technical Document 3-3 Dimensions (Third Angle Method) The dimensions of the LSA-10A-30 are as follows. Unit: mm Note 2 Unifying Tube 2 Locations Note 1: Please confirm the details of the dimension with the supplied specification diagram published by our company.

  • Page 17: Output Shaft Precision

    LSA-10A-30-D-130 Technical Document 3-5 Output Shaft Precision The output shaft precision of the LSA-10A-30 is as follows. Measurement Precision [mm] Remarks Point Output shaft run-out (range of maximum swing angle: ±15°) 0.004 (Estimated value from a whole rotation measurements) Parallelism of attachment area (φ30) and φ0.03...

  • Page 18: Caution When Attaching Scanner And Load Equipment

    LSA-10A-30-D-130 Technical Document 3-7-3 Caution When Attaching Scanner and Load Equipment If the attachments to the scanner device or to the output shaft of the mirror’s load device are inappropriate, the scanner will not sufficiently perform and may cause the device to malfunction. Please be cautious when attaching this device to the equipment.

  • Page 19: Chapter 4 Driver Specifications

    LSA-10A-30-D-130 Technical Document Chapter 4 Driver Specifications The specifications of the driver (PSM-130) are as follows. 4-1 Main Specifications Items Specifications Power Source Voltage DC ±24±10% Continuous Output Current Instantaneous Maximum Output Current - Position command input (±10V, differential input, impedance: 10kΩ)

  • Page 20: Dimensions (Third Angle Method)

    LSA-10A-30-D-130 Technical Document 4-3 Dimensions (Third Angle Method) The dimensions of the PSM-130 are as follows. Unit: mm Product Label Adjustment Label Heat Release Note: Please confirm the details of the dimension with the supplied specification diagram issued by our company.

  • Page 21: Connector Specifications

    LSA-10A-30-D-130 Technical Document 4-5 Connector Specifications The specification of each of the driver’s connectors is as follows. 4-5-1 Input Power Source Connector (CN1) Power Supply Connector [Driver Connector Model: B3P-VH(JST)] Pin.No. Input Voltage [V] ＋24 －24 Errors in connecting the power may damage the driver or significantly shorten the life of the device.

  • Page 22: Input/Output Interface Specifications

    LSA-10A-30-D-130 Technical Document 4-6 Input/Output Interface Specifications 4-6-1 Positioning Command Signal Input [SIG IN(+)/SIG IN(-)] The differential input of the input impedance is 10k [Ω]. The scanner rotates in the direction of CW when looking from the output shaft when SIG IN (+) is a positive voltage and SIG IN (-) is a negative voltage.

  • Page 23: Enable Input (Enable)

    LSA-10A-30-D-130 Technical Document 4-6-2 Enable Input (ENABLE) The signal input of GND level will turn on the servo loop (motor maintains positioning) and the equipment is ready for operation. The servo loop will turn off (motor becomes free) while the signal input is high level (open).

  • Page 24: Positioning Command Signal Monitor Output (In-Mon)

    LSA-10A-30-D-130 Technical Document 4-6-3 Positioning Command Signal Monitor Output (IN-MON) This monitors the positioning command signal input to the driver. The motor voltage for the input voltage signal is the voltage value converted by scale (VR.1) adjustments and the angle/voltage ratio is the same value as the sensor angle sensitivity indicated in the scanner specifications.

  • Page 25: Alarm Output (Alm)

    LSA-10A-30-D-130 Technical Document 4-6-6 Alarm Output (ALM) The alarm output is the logical sum of the two outputs below. Please have the sequence configuration to be Enable OFF during alarm output. a) Over Position Alarm Output (OP-ALM) The output status based on the absolute values of the sensor angles is indicated in the following table.

  • Page 26: Trimmer Function And Adjustable Range

    LSA-10A-30-D-130 Technical Document 4-7 Trimmer Function and Adjustable Range The driver is adjusted according to the following trimmer functions. VR.No. Function Adjustable Range Name change input Adjusts the ratio between command, it is possible to adjust in input command the range of 2.2V (corresponds to VR.1...

  • Page 27: Status Display

    LSA-10A-30-D-130 Technical Document ♦ Caution When Adjusting Trimmer The drivers are shipped after they have been adjusted by our company. The various trimmers have been adjusted to meet the response characteristics (adjustment specifications) requested by the customers. If the customer has rotated the trimmers, aside from the scale (VR.1) and offset (VR.2), the response characteristics adjusted before shipping cannot be maintained.

  • Page 28: Power Source Connection

    LSA-10A-30-D-130 Technical Document 4-10 Power Source Connection Please pay attention to the following points regarding the connection of the power source. 4-10-1 Measures to Avoid Voltage Drop in Power The following diagrams are examples of connections when utilizing switching power sources.

  • Page 29: Caution Regarding Driver Installation

    LSA-10A-30-D-130 Technical Document 4-11 Caution Regarding Driver Installation The driver needs to release heat in response to operating conditions. Please secure the heat sink attachment of the radiator plate to one of the two surfaces in the diagram below. Furthermore, it is recommended that silicon grease is applied to the attachment surface when securing.

  • Page 30: Driver Accessories

    LSA-10A-30-D-130 Technical Document 4-12 Driver Accessories The accessories of the driver are as follows. Name Model Quantity Remarks Housing for CN1 VHR-3N（JST） Applicable Wire Diameter: Connect for CN1 BVH-21T-P1.1（JST） AWG 22-18 Housing for CN3 ZHR-8（JST） Applicable Wire Diameter: AWG 28-26 Connect for CN3 SZH-002T-P0.5（JST）...

  • Page 31: Chapter 5 Options

    LSA-10A-30-D-130 Technical Document Chapter 5 Options The options of the LSA-10A-30-D-130 scanner system are as follows. 5-1 Extension cable The Extension cable that extends the distance between the LSA-10A-30 (scanner) and PSM-130 (driver). Product Name Model Cable Length Extension cable...

  • Page 32: Chapter 7 Warranty

    LSA-10A-30-D-130 Technical Document Chapter 7 Warranty The warranty period and scope of the LSA-10A-30 and PSM-130 products as listed in this specification document are as follows. 7-1 Warranty Period The warranty period is for one year after delivery, under the condition that the device is utilized in the normal installed state, as listed in this specification document.
  • Page 33 〒399-8305 Harmonic Drive SE : Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn, Germany TEL+49-6431-5008-0 FAX+49-6431-5008-119 Harmonic Drive L.L.C. : 42 Dunham Ridge, Beverly, Massachusetts 01915, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 Harmonic Drive ® is a registered trademark of Harmonic Drive Systems Inc.

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