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Canon GM-1000 Bedienungsanleitung

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Inhaltsverzeichnis der Gebrauchsanleitungen

  • Seite 1

    CANON Digital Galvano Scanner System GM-1000 Series GC-201 Users Manual Rev. 1.20 Be sure to read this guide before using the product. Keep this guide carefully for future use.[...]

  • Seite 2

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 2 For Safe and Correct Use To prevent injury to the user or damage to pr operty, this guide gives information for the safe and correc t use of this product. Before installation, operation, maintenance, or inspection, be sure to read this guide. Markings This guide uses the follow[...]

  • Seite 3

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 3 Contents 1. Product Outline ............................................................................................................................. 5 1.1. Feat ures ...........................................................................................................[...]

  • Seite 4

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 4 5. Monitor Output and Di gital Input Functions ............................................................. 62 5.1. Connector Pi n Assignm ent ................................................................................................. ............. 62 5.2. Analog Monitor[...]

  • Seite 5

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 5 1. Product Outline 1.1. Features The Canon Digital Galvano Scanner System is fully digitally controlled with a high-precision optical encoder on the galvano motor and a high -speed digital signal processor (DSP) on the controller. This system has t he following features: z High[...]

  • Seite 6

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 6 2. Specifications 2.1. Galvano Motor (GM-1 010, GM-1015, and GM-1020) Performance and shape GM-1010 GM-1015 GM-1020 Conforming beam diameter Φ 8 to φ 10 φ 10 to φ 15 φ 15 to φ 30 Scan angle ±20 deg ±20 deg ±20 deg Encoder cycle number 1000 pulses/rotation 1500 pulses/r[...]

  • Seite 7

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 7 2.2. Controller (GC-201) Performance and Dimensions GC-201 Number of control axes 2 Control sampling 100 kHz Maximum drive current Peak 10 A (each axis) Interface RS-232C , High-speed serial communication(XY2-100) Notch filter Digital notch filter ×2 Digital low-pass filter ×[...]

  • Seite 8

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 8 2.3. Dimensions GM-1010 GM-1015 36 36 6 32 (Clamp area) -0.005 φ 5 -0.015 φ 33 0 φ 22 -0.03 Motor cable Encoder cable 36 46 6 42 (Clamp area) -0.005 φ 6 -0.015 φ 33 - 0 φ 28 -003 Encoder cable Motor cable[...]

  • Seite 9

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 9 42.7 56 7.5 51.4 (Clamp Area) -0.005 φ 7 -0.015 φ 43 - 0 φ 36 -003 Encoder Cable Motor Cable GM-1020[...]

  • Seite 10

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 10 GC-201 120 125 5 38 7 11 8 5 80 88 33 10 4- φ 3.5 4-M3[...]

  • Seite 11

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 2.4. Power Supply Power supply specifications +24 V ± 10% (For motor drive) Peak 10 A × 2 axes RMS 2.5 A × 2 axes (RMS value differs according to operating conditions, the above condi tions GM-1010, Y mirror 、 ±5°, 200Hz) +5 V ± 5% (For control circuit) 2.8 A 2.5. Conn[...]

  • Seite 12

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 12 Note: Connecting the power +24 V , and GND in reve rse will damage the GC- 201 controller . T ake caution when connecting. Connecting the power +5 V , and GND in reve rse will dam age the GC-201 controller . T ake caution when connecting. +5V +24V + － － ＋ ＋ －[...]

  • Seite 13

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 13 2.6. Connector and Pin Assignment (Connector types) ① Axis 1 motor encoder connector ② Axis 2 motor encoder connector ③ +5 V power supply ④ +24 V power supply ⑤ RS-232C ⑥ High-speed serial communication ⑦ Digital input/output ⑧ Analog monitor ⑨ Fan power supp[...]

  • Seite 14

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 14 (Connector model number & pin assignment) ③ +5 V power supply (Connector model number) Connector Model No. Manufacturer Board side S2P-VH JST Cable side VHR-2N JST (Connector pin assignment) Pin No. Signal Description 1 +5 V 2 GND ④ +24 V power supply (Connector model [...]

  • Seite 15

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 15 ⑥ High-speed Serial Communic ation (Connector model number) Connector Model No. Manufacturer Board side SM12B-PASS-1-TB JST Cable side PAP-12V-S JST (Connector pin assignment ) Pin No. Signal Name Signal Description 1 CLK- Clock (-) 2 CLK+ Clock (+) 3 FS- Frame sync (-) 4 FS[...]

  • Seite 16

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 16 ⑨ Cooling Fan Power Supply (Connector model number) Connector Model No. Manufacturer Board side S04B-PASK-2 JST Cable side PAP-04V-S JST (Connector pin arrangem ent) Pin No. Signal Description 1 +24 V Output 2 GND 3 (No connection) 4 (No connection)[...]

  • Seite 17

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 17 2.7. Optional Cables Optional cables are prepared for power and communications cables. Connector pin assignment for each cable as follows. V erify details with your sales representative. Option cables ① Power cable (+5 V) ② Power cable (+24 V) ③ RS-232C cable ④ High-sp[...]

  • Seite 18

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 18 ③ RS-232C Cable PC side (D-sub 9 pin) Pin Signal 2 RX 3 TX 5 GND ④ High-Speed Serial Communication Cable PC side (D-sub 25pin) Pin Signal Pin Signal 1 Clock - 14 Clock + 2 FS - 15 FS + 3 Data (Axis 1) - 16 Data (Axis 1) + 4 Data (Axis 2) - 17 Data (Axis 2) + 5 Do not conne[...]

  • Seite 19

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 19 2.8. Control Specifications The controller (GC-201) is operated by: • RS-232C command input • High-speed serial communication RS-232C communication command input High-speed serial communication Features - Raster scan and step movement etc. can be performed easily . - In or[...]

  • Seite 20

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 20 - With the default settings at shipping, power-on st arts up the controller with in RS-232 Communication Command Input mode. - The parameter can be set to deter mine which mode the controller star ts after power-on. (See 6.1. “Setting Controller Start Up Mode”) Note: For s[...]

  • Seite 21

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 21 2.8.1. Number of Encoder Pulses This section explains the re lationship between the galvano sc anner motor rotating angle and the number of encoder pulses. Control commands and some of the parameter an gle settings use the number of encoder pulses. The controller divides one e[...]

  • Seite 22

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 22 2.8.2. RS-232C command input RS-232C command input allows the following: • Operation setting • Parameter setting • Error processing • Status check (For details, see 8. “Commands”) In case not using high-speed serial communica tion, RS-232C communication command inp[...]

  • Seite 23

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 23 (Command specifications) In response to command send, the cont roller returns a reply with data. The data contents depend on the command. (For details, see 8.2. “Command Details”) Command send A A x i s No. C C o m m a n d I D / D a t a D e l i m i t e r E.g. Servo ON ID =[...]

  • Seite 24

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 24 Parameters of the GC-201 can be changed by t he following sending method to the controller. Also in response to parameters sent, the c ontroller always returns a reply with data. The data contents depend on the command. (For details, see 9.2. “Parameter Details”) When a pa[...]

  • Seite 25

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 25 Writing p arameters to ROM is also possible with commands via RS-232C. When writing parameters to ROM, a reply that defin itely cont ains data will be sent by a controller . The content of data is diff erent by a parameter . (For details, se e 9.2. “Parameter Details”) (No[...]

  • Seite 26

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 26 2.8.3. High-speed serial communication To control the mirror to an arbitrary position by ma rking or any other applicat ion, target position data updated as required can be given to the controller by using hi g h-speed serial communication. By setting, the controller can be st[...]

  • Seite 27

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 27 (T arget Position Dat a) DA T (AXIS1), DA T (AXIS 2) It is possible to switch the length of data used as target position data from the DA T (AXIS1), DA T (AXIS 2) 20 bit (every 100 kHz) signals. Please set appropri ately to match the signal specifications of the scanner contro[...]

  • Seite 28

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 28 Examples of the se ttings are as follows. (Example 1) Parameter ID = 67 16 P a r a m e t e r I D = 6 8 1 XY2-100 specific ation compatible Note: The above N bit data is n ot used. It does not matter if it is either 1 or 0. (Example 2) Parameter ID = 67 16 P a r a m e t e r I D[...]

  • Seite 29

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 29 This section explains the motor rotating angle for the high-speed serial communication data. Default settings have the following relationships. Data 1 = 1 pulse (factory setting) See 2.8.1. “Numbe r of Encoder Pulses" for the relationship betw een the motor rotating ang[...]

  • Seite 30

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 30 Parameter ID Data 13 (High-speed serial communication conversion gain parameter) Magnification ×1000 E.g. For x2 (p arameter ID = 13 setting: 2000), the following angle can be specified: -1.44 × 2 deg ~ 1.44 × 2 deg (GM-10 10) -0.96 × 2 deg ~ 0.96 × 2 deg (GM-1015, 1020) [...]

  • Seite 31

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 31 • In the case of 20 bit dat a Usually data 1 = 1 pulse. (GM-1010) High-speed communication T arget position data value 20bit Motor Number of pluses Motor rotating angle Maximum position 0xFFFFF － 524287 pulses － 23.04 deg 0 pulse position 0x80000 0 0 Minimum position 0x0[...]

  • Seite 32

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 32 2.8.3.1. Origin Offset It is possible to change the origin position of high-speed serial communications. Parameter ID Data 15 High-speed serial communication offset Unit: pulse Unit is pulse. High-speed serial communication offset is not infl uenced by the parameter ID = 13 hi[...]

  • Seite 33

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 33 2.8.3.2. High-speed serial co mmunication motor drive timing The following diagram indicates actual motor dr ive signal output timing w hen the high-speed serial communication position command is received. COMMA ND XY- 2 CO M MAN D FRAME SYNC DSP Sampling Clock Ou tput to MOT [...]

  • Seite 34

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 34 2.8.4. Status (High-speed Serial Communication STS) The controller status is sent by the high-speed seri al communication STS line. The contents of status se nt from a contro ller can be changed by the following parameter . Note: S tatus output will only be out put when contro[...]

  • Seite 35

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 35 • Mode-0 : Controller condition 1 Outputs the status of the controller . POW OK : No problem with the power supply TEMP OK : No problem with the internal temperature Axis2 INPOS : Axis 2 in-position signal Axis1 INPOS : Axis 1 in-position signal (When current position moves [...]

  • Seite 36

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 36 • Mode-3: Current position dat a (Axis 2) Outputs the Axis 2 encoder position. Data length: 20 bits. • Mode-4: Current position dat a (Axis 1, Axis 2) The encoder position of Axis 1 and Axis 2 is output alternately . Data length: 19 bits. The first 1 bit indicates the axis[...]

  • Seite 37

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 37 2.8.5. RS-232C Communi cation Command Input and High-Speed Communication Swit chin g A position command input can be switched with a RS-232C com munication command. Command ID Data 23 0: RS-232C command communication 7: High-speed serial communication Note: In the case of two [...]

  • Seite 38

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 38 2.9. Heat Radiation and Installation Since the controller and motor generate heat, their heat radiation should be considered carefully. Generated heat depends on the opera ti ng conditions. Determine a heat radiation method according to the operating conditions. The controller[...]

  • Seite 39

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 39 3. Software The controller (GC-201) bundles the dedicated control software. Using the control software makes the following controller operations easy: z Parameter setting z Operation setting (Step movement and raster scan) z Status check z Servo tuning (Frequency c haracterist[...]

  • Seite 40

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 40 3.3. Control Software Installation ・ Insert the bundled control software in stallation CD into the CD drive. ・ Execute Setup.exe in the Control Software folder. ・ Press the Next button. D ： ¥[...]

  • Seite 41

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 41 ・ Specify an installation folder and press the Next button. (Recommendation: Usually this is not changed.) ・ Press the Next button.[...]

  • Seite 42

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 42 ・ Press the Close button. This completes installation.[...]

  • Seite 43

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 43 Connection status 3.4. Software Start Up ・ Connect the controller and the PC with the optional RS-232C cable. ・ Select Windows “START” - “Programs” - “Canon Scanner” - “Control Software”. ・ Setting the COM port Select the connected RS-232C po rt and press[...]

  • Seite 44

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 44 ・ When the power to the controller is tur ned on, communication automatically starts. When communication starts, the connection status at the upper left changes to “CONNECT” in green. The control software can be started up after power to the controller has been turned on[...]

  • Seite 45

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 45 3.5. Control Screen This section explains the buttons and other items on the control screen. ① Connection display The status of RS-232 connection to the controller is displayed. Connected: CONNECT (green) Not connected: DISCONNECT (gray) ② Position display The encoder posi[...]

  • Seite 46

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 46 ⑤ Servo ON/O FF Start or stop servo control. ⑥ High-speed serial communication selection Select the high-speed serial communication command or RS232C command input for positi on specification. (For details, see 4.4. Positi on Command Input by High-speed Serial Communicatio[...]

  • Seite 47

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 47 4. Operating Procedure This chapter explains how to use the system. Operations by [Control Software] and by [RS-232C command] are explained together. 4.1. Controller Start Up When the power (+5 V, +24 V) is turned on, t he controller execute the following automatically: ・ Re[...]

  • Seite 48

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 48 RS-232C command Sends RS-232C command ID=14 “Status read” and checks the following status: SRVON, SYNC, INPOS = High ORGN = Low (For details, see 8.2. “Command Details”)[...]

  • Seite 49

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 49 4.2. Step Movement Execute step movement for a fixed angle. Cont rol Sof tw are ・ Select the Step Move tab. ① ・ Select an axis for step movement. ② ・ Specify the displacement (angle or pulse count) for relative position (STEP) and absolute position. ③ ・ Press the[...]

  • Seite 50

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 50 RS-232C command ・ Target value setting mode (Command ID = 10) ・ Target position setting (Command ID = 20) ・ Movement start (Command ID = 8)[...]

  • Seite 51

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 51 4.2.1. Step Movement Responce Time Measurement Control Software has a function that measures th e step movement re sponse time. This function is can only be executed by the control software. It cannot be executed by a RS-232C command. • Put a check in the Enable Scope checkb[...]

  • Seite 52

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 52 (Scope and Measurement window explanation) ① S tep response waveform Displays the step response wavefo rm by the deviation from the target position. 0 usec (left edge) position is the movement start time. ② Cursor location (S tep response waveform) ① Displays the cursor [...]

  • Seite 53

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 53 ③ Reference data (Save, display , hide) Measured step response waveform s can be saved temporary as reference data. The next measured data can be overwritten and compared. (See 4.2.1.2 “the Referenc e Data Comparison Method.”) ④ Displays the difference of MAIN and refe[...]

  • Seite 54

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 54 4.2.1.1. Measurement Da ta Display Zoom Method A zoomed display is possible in order to confirm measurement data details. (Specify horizont al (time) zoom) • Drag the step response display cursor (red) to the width you want to display enlarged ① (Adjust while looking at t [...]

  • Seite 55

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 55 (Specify vertical (angle) zoom) • Drag the step response display cursor (green) to the width you want to display enlarged ① (Adjust while looking at t he Y Cursors display below) • Press the V ertical ZOOM button ② ① ②[...]

  • Seite 56

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 56 4.2.1.2. Reference Dat a Comp arison Method This displays step response waveforms with tw o different measurement conditions, and makes a comparison possible. • Display the step response waveform with the first measurement conditi on, and press the “Save MAIN to REF” but[...]

  • Seite 57

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 57 • The step response waveform displays (blue). (The above display is the measurement resu lts for 0.12 deg (Mechanical) step movement.) • Press the REF button. ② • The response waveform (gray) saved in reference data is overwritten. MAIN REF ②[...]

  • Seite 58

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 58 • Press the following button when you want to delet e the waveform display for each of MAIN (blue) and REF (gray). MAIN button ③ -> Wfm OFF button ⑤ REF button ④ -> Wfm OFF button ⑤ T o display again, press the MAIN, or OFF buttons. ③ ④ ⑤[...]

  • Seite 59

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 59 4.3. Raster Scan Execute oscillation of a fix ed angle at a fixed frequency. Cont rol Sof tw are ・ Select the Raster Scan tab. ① ・ Select an axis for raster scan. ② ・ Specify the operation parame ters (Scan Time, Scan Angl e, Duty, and Interval). ③ ・ Press the Sc[...]

  • Seite 60

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 60 RS-232C command ・ Raster scan interval setting (Parameter ID = 26) ・ Raster scan duty ratio setting (Parameter ID = 27) ・ Raster scan oscillation angle se tting (Parameter ID = 28) ・ Scan start (Command ID = 23 Data = 3) ・ Scan stop (Command ID = 23 Data = 0)[...]

  • Seite 61

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 61 4.4. Position Command Input by High-speed Serial Communication In order to carry out a vector scan, target positi on data is given to the cont roller by high-speed serial communication, and the data is updated as required. It is possible to change the mode of the controller to[...]

  • Seite 62

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 62 5. Monitor Output and Digital Input Functions The controller has an analog monitor output connector for monitoring t he operation status and a digital I/O connector for external signal input. 5.1. Connector Pin Assignment The controller is equipped with the following: Analog m[...]

  • Seite 63

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 63 Evaluation Monitor Board Pin Assignment Pin Assignment of the optional monito r board for evaluation is as follows. A1 A2 A3 A4 A5 A6 A7 A8 D1 D2 D4 D5 D9 D10 D15 D16 D3 D6 D1 1 D12 D1 D18 GND GND Digit al I/O Analog Monitor[...]

  • Seite 64

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 64 Analog monitor output connector Connector model number Connector Model No. Manufacturer Board side XG4C-1034 OMRON Cable side XG4M-1030-T OMRON Connector pin assignment Pin No. Monitor Board for Evaluation Signal Name Signal Description 1 A1 Axis 1 current command value 2 A2 A[...]

  • Seite 65

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 65 Digital I/O connectors Connector model number Connector Model No. Manufacturer Board side 8931E-020-178L KEL Cable side 8925E-020-179 KEL Connector pin assignment Pin No. Monitor board for evaluation Signal Name I/O Signal Description Logic Remarks A1 D1 Output Axis 1 error 1 [...]

  • Seite 66

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 66 5.2. Analog Monitor Output Selecting The analog monitor output can be switched to m onitor various operation and signal statuses. This switching can be executed from [Control Softw are] or [RS-232C command send] . Output contents Terminal Monitor Boar d Signal Name Power-on Se[...]

  • Seite 67

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 67 Cont rol Sof tw are ・ Select the Monitor tab. ① ・ Select the Monitor tab. ① ・ Select an axis for monitor output switching. ② ・ Select the monitor item of each output terminal. ③ ・ Select an output signal magnification. ④ ・ Press the SET button. ⑤ ① ?[...]

  • Seite 68

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 68 Note: ・ The analog monitor output is from the D/A converter of the controller. Since the output range of the D/A converter is from -3 to +3 V, output is repeated by the magnification setting if it exceeds this range. ・ The relationship between encode r pulse and ang le dif[...]

  • Seite 69

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 69 5.3. Digital Input-Output Function The controller has a digital input -output function for checking the status of the controller. Pin No. I/O Signal Description Logic Explanation A1 Output Axis 1 Error 1 (Priority high) High: Error If an error occurs, the corresponding error s[...]

  • Seite 70

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 70 6. Other - Operation Setting 6.1. Setting Controller Start Up Mode Clock selection With the default settings at shi pping, a parameter is set to st art up the controller in RS-232C communication command input mode (internal clock) . When assembling the device, however, the mod[...]

  • Seite 71

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 71 Axis 1 SW1-2 Terminal A6 Auto EEPROM Read Auto Homing OFF 0 Disabled Disabled OFF 1 or open Enabled Disabled ON 0 Enabled Disabled ON 1 or open Enabled Enabled Axis 2 SW2-2 Terminal A6 Auto EEPROM Read Auto Homing OFF 0 Disabled Disabled OFF 1 or open Enabled Disabled ON 0 Ena[...]

  • Seite 72

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 72 6.2. Controller LED Display The controller (GC-201) is equipped with an LED that indicates the controller status. After turning on the power , when the controller start s up normally , the display will be as follows. Meaning of each LED LED No. Meaning Remarks LED1 DSP1 operat[...]

  • Seite 73

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 73 A response is necessary after confirming the error details with the control sof tware, or RS-232C command ID = 15 error read. LED5 ALARM display (for Axis 2) This LED (red) is lit when a malfunction occurs with the controller . A response is necessary after confirming the erro[...]

  • Seite 74

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 74 6.3. Operation that Synchronizes with Exte rnal T rigger Signal input (Raster Scan) “4.3. Raster Scan” can be operated in sync hronization with an external trig ger signal. The Movement Pattern There are two kinds of movement patterns. ① (The raster scan of one coming an[...]

  • Seite 75

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 75 Input the external trigger signal The external trigger signal is input from the digital I/O connector . (See 5-1 ‘Connector Pin Arrangement) Connector pin arrangement Pin No. Monitor Board Signal Name I/O Signal Description Logic Remarks B5 Ｄ 10 Input External T rigger Sig[...]

  • Seite 76

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 76 7. Tuning 7.1. T uning At the time of shipping, with the combination of the galvano motor and controll er (GC-201), appr opriate servo tuning has been completed. The following tools have been prepared to check malfunctions during use, and handling trouble such as mirror damage[...]

  • Seite 77

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 77 7.2. Frequency response (FFT) Measurement The control software includes a function to m easure the frequency response of the galvano scanner motor . Frequency response measur ement is used in the following situations. Initial frequency responses are sa ved, and these are compa[...]

  • Seite 78

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 78 • The frequency characterist ic measurement window appears • Set the frequency range and number of points to measure ① (The above is with defaults of 1 kHz ~ 50 kHz and 150 points input) • Press the BODE button ② (Press the Abort button to stop while measuring) ① ?[...]

  • Seite 79

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 79 • The frequency characteristic measurement results display . • By dragging the cursor (point where red lines intersect), specified fr equency detailed information (measured frequency points, gai n, and phase) will display ② • Press the File Save button to save measur e[...]

  • Seite 80

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 80 Saved data can be compared with the curr ent measurement results in the window . • Read and display saved data by pressing the File Open button (blue) ① • Register reference data with the Save MAIN to REF button ② • Measure with the BODE button ③ • Data (blue) me[...]

  • Seite 81

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 81 7.3. Auto T uning Servo tuning of galvano scanner moto rs and controllers are set appropriat ely by Canon at the time of shipping, however , an auto tuning f unction is incl uded in the controller software in the following situations for tuning again. - When you want to replac[...]

  • Seite 82

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 82 Operations • Need to change the mechanical settin g so that can operate in a range ± 15 ° (Mechanical Angle) , when excute the auto tuning. Be cause that auto tuning program operate the motor in a range ± 15 ° (Mechanical Angle) . • T urn OFF high-spee d serial ① •[...]

  • Seite 83

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 83 • Display of the Auto T uning screen • Select the setting file (Definition File). ④ Setting files will be provided by Canon. • When necessary , select parameter files to load in the controller prior to tuning. ⑤ Check the “Load Parameter File before start” ch eck[...]

  • Seite 84

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 84 • Input the serial number . ⑧ A folder with the same name as the number inp ut here is generated in the saved r esults folder , and tuning results are saved. Usually the controller ’s serial number is input, however , any number that is easy for the user to manage may be[...]

  • Seite 85

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 85 • When tuning is completed the following mess age displays, and tuning results are saved to EEPROM. Saved Results Folder The saved results folder is composed as follows. Results File The following files are saved in the axis number folders after tuning. • LOWGAIN.CSV Frequ[...]

  • Seite 86

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 86 Parameters Changed During Auto T uning The following parameters are adjus ted or changed by the auto tuning. ID Meaning 2 Max V elocity 6 LQ Control Gain 7 T orque Constant 8 T otal Inertia 9 Current Limit 10 Encoder Periodicity 1 1 Origin Clear T iming (Head 1) 12 Sampling Ti[...]

  • Seite 87

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 87 7.4. X and Y Axis Matching It is possible to match the step response waveform s of the X axis (Axis #1) and Y axis (Axis #2). (Summary of Operations) • Matching the frequency response This operation matches t he frequency response of both axes at 1 kHz. Gain is adjusted with[...]

  • Seite 88

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 88 Operations • T urn OFF high-spee d serial ① • Select the Servo Setting tab ② • Press XY Ma tching ③ ② ③ ①[...]

  • Seite 89

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 89 • Display of the X and Y Matching screen • Select the axis side with no margin for tuni ng (phase margin, gain margin) as the Reference. Usually a large mirror load is attached to the Axis #2 (Y axis) side, Axis #2 will be the Reference. With X and Y matching, th e frequen[...]

  • Seite 90

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 90 • By pressing the SETUP button, operating conditi ons during FULL AUT O can be set. Usually default parameter settings will operate correctly . • Frequency Freque ncy when measuring the frequency respon se • GAIN Max Change Permissible change rate from the original gain [...]

  • Seite 91

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 91 • Press the FULL AUTO and tuning start s. • Operation details display in the log messages while operating. • The gray waveform is the Reference waveform.[...]

  • Seite 92

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 92 • Adjusting the frequency response. • Adjusting the amount of overshoot.[...]

  • Seite 93

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 93 • When the overshoot amount adjustment is complet ed, the waveforms match. • Save the tuning results to EEPROM. Refe r to 9.4. Writing Parameters into ROM.[...]

  • Seite 94

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 94 Individual parameters can be adjusted by the user . • Press the MANUAL button. ① • It will display like the diagram to the right. • Press INITIALIZE fir st. ② ③ • Pressing MEASURE BODE carries out the frequency response measurement, and displays the waveforms. ?[...]

  • Seite 95

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 95 8. Commands The controller has a monitor output (analog outp ut) terminal for monitoring the RS-232C command operation status and an external signal input terminal for controller operation. 8.1. List of Commands ID Command Name Data Data Return Value 0 Soft Reset Yes 0: Auto h[...]

  • Seite 96

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 96 ID Command Name Data Data Return Value 40 Monitor Output Selection A2 (A8) Yes 0: Head1 A phase signal 1: Head2 A phase signal 2: Corrected A phase signal 3: Deviation signal 41 Monitor Output Selection A3 (A9) Yes 0: Current position signal 1: Velocity signal 2: Corrected enc[...]

  • Seite 97

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 97 8.2. Command Details Command ID 0 Command Name Soft Reset Data 0: Reset + Automatic homing 1: Reset only Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command resets the system to th e initial status after start up. However, th[...]

  • Seite 98

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 98 Command ID 7 Command Name Control Mode Specification Data 0: PI control 1: LQ control Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation LQ control is usually used. Command ID 8 Command Name Movement Start Data 0: Step movement start 6: [...]

  • Seite 99

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 99 Command ID 10 Command Name Target Value Setting Mode Data 0: Absolute position 1: Relative position Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command is used to spec ify a position coordinate syst em for setting by “Comma[...]

  • Seite 100

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 100 Command ID 12 Command Name Current Position Read Data 0: Current position 1: Current target value (Program origin) 2: Current target valu e (Absolute position) Return Value Position (Pulse) Explanation Command ID = 30: Program Coordinate System Command ID 13 Command Name Vers[...]

  • Seite 101

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 101 Command ID 15 Command Name Error Read Data - Return Value Error (16 bits) Explanation Each status can be checked by each bit after conversion into 16-bit display. For details about errors , see 9.2, “Errors.” Bit Abbreviation Meaning Hex Format 0 STRK Stroke over 0x0001 1[...]

  • Seite 102

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 102 Command ID 20 Command Name Target Position Setting Data Target position (Pulse) Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command is used to set a target position by step movement. Related Command Step movement procedure C[...]

  • Seite 103

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 103 Command ID 23 Command Name Operation Mode Selection Data 0: Raster scan stop or Internal Clock mode 3: Raster scan start 7: High-speed serial communication mode 8: Raster scan started by the exter nal trigger signal input (one way scan) 9: Raster scan started by the external [...]

  • Seite 104

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 104 Command ID 26 Command Name Parameter Value Check Data Parameter ID Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation This command returns the paramet er setting of Parameter ID. Command ID 30 Command Name Program Coordinate System Data[...]

  • Seite 105

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 105 Command ID 42 Command Name Monitor Output Selection A4 (A10) Data 0: Head1 B p hase signal 1: Head2 B phase signal 2: Corrected B phase signal 3: Target position signal Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation The output signa[...]

  • Seite 106

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 106 Command ID 46 Command Name Monitor Magnification Setting A3 (A9) Data Magnification : N (×2 N ) Return Value 0: Command execution successful 1: Command execution unsuccessful Explanation Magnification is specified by an exponent of the power-of-two. E.g. D a t a = - 2 2 -2 =[...]

  • Seite 107

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 107 Command ID 161 Command Name Counter Clear Timing Data 0: Head 1 1: Head 2 Return Value Timing 0 or 1 Explanation It is necessary to set the re turn value as follows. Head 1 Parameter ID = 1 1 Head 2 Parameter ID = 14 These values have the standalone motor uniqu e values, and [...]

  • Seite 108

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 108 9. Parameters 9.1. List of Parameters ID Parameter Name 0 CW Limit 1 CCW Limit 2 Max Velocity 3 In-position Range 4 Settling Check Time 5 In-position Overtime 6 LQ Control Gain 7 Torque Constant 8 Total Inertia 9 Motor Current Limit 10 Encoder Wave per Rotation 11 Origin Clea[...]

  • Seite 109

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 109 48 VR head1 AB offset 49 VR head1 A gain 50 VR head1 B gain 51 VR head2 A gain 52 VR head2 A gain 53 VR head2 B gain 64 DSP Operation Setting 66 High Speed Serial Status Format 67 High Speed Serial Data Length 68 High Speed Serial Data LSB Position[...]

  • Seite 110

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 0 9.2. Parameter Details Parameter ID 0 Parameter Name CW Limit Data Movable range (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation Specify the limit of the clockwise movable range viewed from the axial direction of the m[...]

  • Seite 111

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 111 Parameter ID 3 Parameter Name In-position Range Data In-position range (Unit: pulse) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation The end of movement is judged when a differenc e from the target value (number of pulses) enters thi[...]

  • Seite 112

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 2 Parameter ID 8 Parameter Name Total Inertia Data Total inertia (Unit: 0.01 gf ・ cm 2 ) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the inertia due to the motor rotation shaft and the mirror. Note:[...]

  • Seite 113

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 3 Parameter ID 11 Parameter Name Origin Clear Timing (Head 1) Data Origin clear timing (0 or 1) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is related to origin detection. The value checked by “Command ID = 101: C[...]

  • Seite 114

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 4 Parameter ID 14 Parameter Name Origin Clear Timing (Head 2) Data Origin clear timing (0 or 1) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is related to origin detection. The value checked by “Command ID = 101: C[...]

  • Seite 115

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 5 Parameter ID 17 Parameter Name #1 Digital Notch Filter Q Data Q value of the first digital notch filter (Unit: ×100) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the Q va lue of the first di gital n[...]

  • Seite 116

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 6 Parameter ID 20 Parameter Name #2 Digital Notch Filter Q Data Second digital notch filter Q value (Unit: ×100) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the Q va lue of the second digital notch f[...]

  • Seite 117

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 7 Parameter ID 23 Parameter Name #1 Analog Notch Filter Frequency Data Central frequency of the firs t analog notch filter (Unit: Hz) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the central frequency [...]

  • Seite 118

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 8 Parameter ID 26 Parameter Name Cycle Time of Raster Scan Data Scan Time (Unit: See Explanation.) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This command is used to set the rast er scan time (operation by command). The scan time[...]

  • Seite 119

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 11 9 Parameter ID 28 Parameter Name Scan Angle of Raster Scan Data Raster scan angle (Unit: degree × 10000) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the angle of raster scan (operation by command). ([...]

  • Seite 120

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 120 Parameter ID 31 Parameter Name Start Position of Raster Scan Data Raster scan start position (Unit: 0 or 1) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the start of raster scan (operation by command)[...]

  • Seite 121

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 121 Parameter ID 34 Parameter Name Deceleration Time Data Deceleration time (Unit: ms) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the decelerat ion time for a stop by “Command ID = 9: Forced Stop.” [...]

  • Seite 122

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 122 Parameter ID 45 Parameter Name Loop Gain Fine Adjustment Data Loop Gain Fine Adjustment (Unit: Multiple × 1000) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter makes fine adjustments to t he servo's loop gain (in[...]

  • Seite 123

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 123 Parameter ID 51 Parameter Name VR head2 AB offset Data A/B-phase offset of encoder VR adjustment head 2 (Unit: none) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to adjust the offset of the encoder signal. N[...]

  • Seite 124

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 124 Parameter ID 64 Parameter Name DSP Operation Setting Data DSP operation setting (Unit: none) Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation This parameter is used to set the st art up mode. Each bit has a meaning. Bit 0 0: No automa[...]

  • Seite 125

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 125 Parameter ID 68 Parameter Name High Speed Serial Data LSB Position Data High Speed Serial Data LSB Position (Unit: bit) Rang e = 0 ~ 4 Return Value 0: Parameter setting successful 1: Parameter setting unsuccessful Explanation The least significant bit pos ition of the target [...]

  • Seite 126

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 126 9.3. Modifying Parameters This section explains how to modify parameters. Cont rol Sof tw are ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Modify the parameter values as required. [...]

  • Seite 127

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 127 9.4. Writing Parameters into ROM All parameters are written in the controller ROM. At Start up, the parameters are automatically read and set in the controller. If parameters are modified, they should be written into ROM for start up with the same settings at the next power-o[...]

  • Seite 128

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 128 9.5. Saving a Parameter File All parameters can be saved into a PC file. Save a parameter file as follows: ・ Select the All Parameter tab. ① ・ Select an axis for parameter settings. ② ・ The current parameter values are displayed. ③ ・ Press the Save to File butto[...]

  • Seite 129

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 129 10. Safety Functions This system has various safety functions to ensure safe use. 10.1. Safety Functions The safety functions can be classified into hardware monitoring and software monitoring. Hardware monitoring ・ Power supply fuse +24 V line (each axis) + 5 V l i n e ・[...]

  • Seite 130

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 130 10.2. Errors Priority: High Error He x Monitor Item Error Condition Setting Change Possible /Impossible (Parameter) System status after error Digital Output Recovery Method Stroke over 0x0001 Encoder pulse count The encoder count is outside the range set by parameters P00 (CW[...]

  • Seite 131

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 131 Priority: Low Error He x Monitor Item Error Condition Setting Change Possible /Impossible (Parameter) System status after error Digital Output Recovery Method Clock lack 0x0008 High-speed serial commu nications clock The clock is no longer input Impossible Input the clock nor[...]

  • Seite 132

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 132 11. Appendix 11.1. Firmware Up date The GC-201 controller is equipped with two DSP’s (Digit al Signal Processor) for Axis 1 and for Axis 2, and the same firmware is written in each DSP . When firmware is upgraded for the addi tion of functions and fixing problem s, it is po[...]

  • Seite 133

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 133 11.1.1. Writing Procedure Carry out operations accord ing to the following procedure. It will be necessary to operate DIP switc hes and jumper switch es on the controller . Please follow this procedure. 1. Preparation - T urn off power to the GC-201 controller - Connect a RS-[...]

  • Seite 134

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 134 2. Updating the DSP of Axis 1 With the GC-201 controller ’s power turned off, se t the jumper switches and DIP switches as follows. SW1 : 1-ON JP1 : 1-2 short JP2 : 1-2 short 3. T urn on the power . 4. S tart-up GCFlash.exe on the firmware update CD. 5. The GCFlash window w[...]

  • Seite 135

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 135 Usually , settings in the window d o not need to be changed, however , need to change when the connected COM port differs. When writing fails frequently , change the baud rate (default value of 57600) to a smaller value and try again. 6. When Write Complete displays in t he l[...]

  • Seite 136

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 136 SW1 : 1-OFF SW2 : 1-OFF JP1 : 1-2 Short JP2 : 1-2 Short JP1 1 2 3 JP2 1 2 3 According to the controller settings, the defaul t state of "2" of SW1 or SW2 will differ . This is regardless of a firmware updat e. Do not change from the default state. SW1 1 2 OFF ON SW2[...]

  • Seite 137

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 137 11.2. Parameter Changes from the Number of Encoder Divisions As explained in 2.8.1 Number of Encoder Puls es, the scanner motor encoder signal is divided into 8,192 divisions generating encoder pulses within the GC-201 controller . Firmware versions prior to DSP V er . XXXXXX[...]

  • Seite 138

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 138 Select the following values from t he list box in the RESOLUTION area. ② GM-1010 22,756 (pulse / degree) GM-1015,1020 34,133 (pulse / degre e) Press the Change button. ③ Parameter changes necessary for using with 8,192 divisions will be carried out. It is also possible to[...]

  • Seite 139

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 139 NOTE[...]

  • Seite 140

    CANON Digital Galvano Scanner System GM-1000 Series Users Manual 1.20 140 Canon Inc. Canon Marketing Japan Inc. 2-16-2, Konan, Minato-ku, Tokyo 108-8011 CB Sales Department Tel. 03-3740-3336 ･ The contents of this document are subject to change without notice. ･ If you find any question, error, or omissi on in this document, please contact Cano[...]