Canon GM-1000 ユーザーズマニュアル

 

CANON  Digital Galvano Scanner System  GM-1000 Series 
Users Manual 1.20 
 
 

111

3 

In-position Range 

In-position range (Unit: pulse) 

Return Value  0: Parameter setting successful 

1: Parameter setting unsuccessful 

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.

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

4 

Settling Check Time 

Settling check time (Unit: 10 μs) 

Return Value  0: Parameter setting successful 

1: Parameter setting unsuccessful 

The completion of movement is judged if the position remains within the In-position 
Range (Parameter ID = 3) for the set time after movement. 

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

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

 

6 

LQ Control Gain 

LQ control gain (Unit: none) 

Return Value  0: Parameter setting successful 

1: Parameter setting unsuccessful 

This parameter is used to set the LQ control gain. 

LQ control related parameters: 
    Total Inertia (Parameter ID = 8) 
    Torque Constant (Parameter ID = 7) 

 

7 

Torque Constant 

Torque constant (Unit: gf

・

cm / A) 

Return Value  0: Parameter setting successful 

1: Parameter setting unsuccessful 

This parameter is used to set the torque constant of the motor. 

Note: Do not change this parameter. A unique value is available depending on the 
motor model. This is set at shipping. 

LQ control related parameters 
    LQ Control Gain (Parameter ID = 6) 
    Total Inertia (Parameter ID = 8)