ＤCX5-103
Ver. 0.2
Sep, 2018

Galvanometer Scanner Servo Driver
GVD2 Series
Instruction Manual

CITIZEN CHIBA PRECISION CO., LTD.

Contents
1.

Product Overview................................................................................................................................................................................ 3
1-1. Standard Accessories ............................................................................................................................................................ 3
1-2. Main Features .............................................................................................................................................................................. 3
1-3.
1-4.

Details of Model Type and Serial Numbers ............................................................................................................... 4
Name Plate ..................................................................................................................................................................................... 4

1-5.

Specifications .............................................................................................................................................................................. 5

1-6. Optional Cable ............................................................................................................................................................................. 7
2. Settings...................................................................................................................................................................................................... 7

3.

2-1.

Outline and Name of Each Part......................................................................................................................................... 7

2-2.

Setting Jumpers for Main Board ...................................................................................................................................... 8

Installation and Wiring ..................................................................................................................................................................... 9
3-1. Installation ..................................................................................................................................................................................... 9
3-2.
3-3.

Example of Connection ......................................................................................................................................................... 9Connectors ................................................................................................................................................................................. 10

3-4. Input / Output Interfaces .................................................................................................................................................... 12
4. Adjustment ........................................................................................................................................................................................... 14
4-1. Volumes for Adjustments.................................................................................................................................................... 14
4-2. Check Terminal………………………………………………………………………………….........................................................15
5. Product Warranty ............................................................................................................................................................................. 16
6. Contact Information ........................................................................................................................................................................ 16

1

Preface
Thank you very much for purchasing our GVD2 Series Galvanometer Scanner Driver.
This Instruction Manual explains the specifications, input/output interfaces, and importantnotes concerning GVD2 Series Galvanometer Scanner Driver. Please read this manual carefully
to use this product properly.
Failure to follow the instructions may make our product not to perform fully but also may cause
damages and accidents. For your safety, please keep this manual accessible even after read itall.
The definitions of signal words next to this symbol
follow. Please be sure to follow them to avoid any danger.

in this Instruction Manual are as

This is the symbol used for notification of any general cautions, warnings, and dangers.

DANGER:
This signal word indicates direct hazards. Failure to follow this caution may result in death,serious injury and critical damage to property such as total loss of equipment or fire.

WARNING:
This signal word indicates indirect hazards. Failrure to follow this caution may result in death,serious injury and critical damage to property such as total loss of equipment or fire.

CAUTION:
This signal word indicates potential hazards. Failure to follow this caution may result in minor
or moderate injury or partial damage to equipment.

NOTE:
All rights reserved. This Instruction Manual may not be photocopied or reproduced
without our prior written permission.
The contents of this Instruction Manual are subject to change without prior notice.

2

1. Product Overview
Our GVD2 Series is a set of servo drivers of one-axis mirror positioning system which is
exclusively designed for Citizen Chiba Precision’s galvanometer scanners. With its highprecision, high controllability, and compactness, the servo drivers are suitable for small
galvanometer scanners.

CAUTION

This product is the driver exclusively for Citizen Chiba Precision’s galvanometerscanners.
It cannot control any galvanometer scanners made by other manufacturers.
This product is a driver exclusively for small galvanometer scanners, supporting

CAUTIONCAUTION

GVM0930S, GVM0930L, GVM1445S, and GVM1445L. For our scanners other thanthese, please use GVD0 or GVD1 Series.
Do not use this product without the bracket.
Failure to follow this caution may result in a damage.

1-1.Standard Accessories
GVD2 package contains the following items besides the main unit. Please make sure that all items arecontained in the package before use. If any item is missing or damaged, please contact our Sales
representatives by “Section 6: Contact Information”.
№

Accessories

Model

Manufacturer

QTY

1Connector Housing for CN1

DF1B-4DS-2.5RC

HIROSE ELECTRIC CO., LTD.

1

2

Contact Pin for CN1

DF1B-2022SCAHIROSE ELECTRIC CO., LTD.

4

3

Connector Housing for CN3

DF1B-2S-2.5R

HIROSE ELECTRIC CO., LTD.

1

4

Contact Pin for CN3

DF1B-2428SCAHIROSE ELECTRIC CO., LTD.

21-2. Main Features
Our GVM Series Galvanometer Scanners are developed based on the small servomotor technology that
we have developed and improved over a long time, and our newly developed small high-precision optical
position sensor. The following are the features of the system conbining GVM Series Galvanometer Scanners
and the driver:●●●

Fast response / Low inertia / High torqueHigh linearity and positioning accuracy
Excellent temperature characteristics

3

1-3. Details of Model Type and Serial Numbers
The model types of GVD2 Series drivers vary according to the specifications.
The relationship between driver model number and each specification are as follows:

GVD2
GVD1 -

0

0

0

0

0

0

-

* *

Power 電源電圧
source voltage

0：±15V
1：±18～30V

カスタム登録番号
Customized
number
振れ角(機械角)無期号：標準ラインナップ品
Only used for customized products
0：±10°
Beam
diameter (mirror size)
1：±5°
ビーム径(ミラーサイズ)
2：±7.5°0：φ3mm3：±12.5°
1：φ5mmScanner
type
4：±15°
スキャナ種類2：φ7.5mm
5：±20°
0：0930S
3：φ10mm
1：0930L
4：φ12.5mm
Customized
C：カスタム2：1445S
5：φ15mm3：1445L
6：φ20mm5：2260
7：φ30mm
6：2280
Customized
7：2510
C：カスタムScan angle (mechanical degrees)

Control
Method制御方式

0：P制御
P control
1：PI制御PI control
Commandvoltage
指令電圧0：±10V
1：±3V
2：±5V
Customized
C：カスタム1-4. Name Plate
The name plate is attached to the power operational amplifier as shown in the picture below.

Name Plate

Details of Serial Numbers:
18
X

0001

Shipping Year Shipping Month Sequence Number*The shipping year indicates last two digits of the year
*Following months are indicated as follows: October: X, November: Y, December: Z
This product is adjusted and inspected in a system by pairing GVM Series galvanometer scanner andthe optical mirror. The name plate of scanner indicates serial numbers of compatible driver. Pleasebe sure to use this product with the scanner which has same serial numbers.
41-5. Specifications
1-5-1. Main Specifications for Drivers
Power Source Voltage: DC ±15 V to DC±30 V
Driving System: Linear Drive

Power Source Current: Approx. (+) 150 mA / Approx. (-) 130 mA(at DC ±15 V and servo lock): Electrical output: 150 W, Peak current: 10 A

*Maximum Output*By using GVM1445S under power source voltage of DC ±15 V

1-5-2. Input Signals
Position Command Input : Voltage range: ±3.0 Vp-p or ±5.0 Vp-p or ±10.0 Vp-p (Differential)*(Single-ended inputs referred to ground are available.)* Please specify the command voltage spacification when ordering the product. Please see“1-3. Details of Model Type and Serial Numbers” for details.
Control Input: Servo OFF input (Active LOW)

1-5-3. Output Signals(1) Analog Signal Output
Position Signal Output: Voltage range: ±1.5 Vp-p or ±2.5 Vp-p or ±5.0 Vp-p
(Single-ended inputs referred to ground)* Please specify the command voltage spacification when ordering the product. Please see“1-3. Details of Model Type and Serial Numbers” for details.
* The position signal output is equivalent to half (1/2) of the position command input scale.
Speed Signal Output: Voltage range: ±10 Vp-p

(Single-ended inputs referred to ground)

Current Signal Output: Voltage range: ±10 Vp-p

(Single-ended inputs referred to ground)

Position Error Signal Output : Voltage range: ±10 Vp-p

(Single-ended inputs referred to ground)*The position error signal output is equivalent to half (1/2) of the positional command input scale.

(2) Digital Signal Output
Ready Output: Output voltage: +12 V to 0 V (12 V when Servo OFF; 0 V when Servo ON)51-5-4. Storage and Operating Environment
Storage Environment:
Ambient temperature range: (-) 10°C to (+) 80°C

Humidity range: 10% to 80% RH (No condensation)

Operating location: Indoor under clean atmosphere

Operating Environment
Ambient temperature range
Humidity range: 0°C to (+) 50°C
: 10% to 80% RH (No condensation)

Operating location: Indoor under clean atmosphere1-5-5. Dimension and Weight
Structure
External Dimension
Weight: Open frame: 58.6 mm × 54 mm × 31.6 mm (including bracket): 55g (including the main unit with bracket and optional board)

External Layout Drawing (when mounted to optional board for PI Control specification)

6

1-6.

Optional Cable

GVM-0930 Series and GVM-1445 Series scanners need the cable shown below to connect with driver.
Please specify the cable length when ordering the product. The cable lengths and the models are as follows:

Model

Cable length (mm)

GC00

250

GC10

300

GC20

500

GC30

1000

GC40

3000

GC50

2000

2. Settings
2-1. Outline and Name of Each Part
Connectors, volume for adjustment, jumpers for various settings, and check terminals for monitoring areplaced as shown below. This drawing is for PI Control specification which is mounted on the optional board.
Optionalboard(PI （PI
Control)
オプ シ ョン
ボ ード
制御）

TP3
TP4

TP5
f1
LFD
SG
EL

W2

f2
EG
SRL

J1
TP1

HFZ
HFD

ア
ル ミブ ラbracket
ケッ ト
Aluminum

TP2

W1

PO

L IN

PS
IS

C N3

CN1 to CN3J1
W1 and W2
TP1 to TP5

C N2

CN1

: Connectors: Monitoring or input / output terminals: Jumpers for various settings: Check terminals*The functions of Volumes for adjustment are indicated by abbreviations.
72-2. Setting Jumpers for Main Board
The functions of the jumpers and settings are as follows. Please set them up by all power off.
2-2-1. Setting for Position Command Input W1
Position command input voltage for CN3 and scanning direction will be changed by this setting.

Input Method

Setting for W1

Differential

1–2

When CN3-2 > CN3-1, CCW

3–4

Differential
When CN3-2 > CN3-1, CW

1–3
2–4

Single-ended

1–2

When CN3-2 > CN3-1, CCW

3–4

Single-ended

1–3

When CN3-2 > CN3-1, CW

2–4<- Initial Setting<- Initial Setting

As for the single-ended, please set potential of Imput Signal on GND side equivalent to Power Source
GND externaly.

2-2-2. Setting for Second Notch Filter Circuit W2 (For PI Control Only)
Because PI Control driver has optional board, 2nd notch filter for removing resonace can be used. This
2nd notch filter works effectively to second resonance which would inhibit the control under unusual load.
W2 should be disabled normally.
2nd Notch Filter Circuit

W2

Enabled1 and 2 Short-Circuited

Disabled

2 and 3 Short-Circuited

8<- Initial Setting3. Installation and Wiring3-1. Installation
It is necessary to cool the driver according to the driving condition of scanner.
Since driver bracket attached at shipment alone cannot provide sufficient heat radiation, please be sure tocool the driver when driving the scanner.
To mount the driver on a heat sink, please fix it by using three mounting holes and screw as shown in thedrawing below. Also, to ensure sufficient heat radiation, please apply silicon grease with high thermal
conductance to the mounting surface.

3-2. Example of Connection
For a system with multiple axes, we recommend toconnect the ground securing terminal.

Power supply input: ±15 to ±30

To galvanometer scanner

Command input* When command input is single ended, please make sure to set the potential of GND on thecontroller side equivalent to GND of this product.
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3-3. Connectors
The specifications for connectors of the driver are as follows:
3-3-1. Connector for Input Power Source CN1
Manufactured by HIROSE ELECTRIC CO., LTD.
Pairing Connector : DF1B-4DS-2.5RC
Contact: DF1B-2022SCA (Applicable wires: AWG22 to 20)
Terminal No.

Signal Name / Function

1

DC (-) Return (GND)

2

DC (+) Return (GND)

3

DC (-) Voltage IN

4

DC (+) Voltage IN

The input range of power source voltage is ± 15V to ± 30V.

3-3-2. Connector for Galvanometer Scanner CN2
Manufactured by HIROSE ELECTRIC CO., LTD.
Pairing Connector : DF1B-10DS-2.5RC
Contact: DF1B-2428SCA (Applicable wires: AWG28 to 24)
Terminal No.

Signal Name / Function

Terminal No.

Signal Name / Function

1

Positional Signal Output 1

2

Positional Signal Output 2

3

GND

4

GND

5

AGC

6

GND

7

GND

8

GND (Motor Cable Shield)

9Motor Winding (-)

10Motor Winding (+)*Connectors are assembled into galvanometer scanner cables or exclusive cables before shipping.

3-3-3. Connector for Position Command Signal Input CN3
Manufactured by HIROSE ELECTRIC CO., LTD.
Pairing Connector : DF1B-2S-2.5R
Contact: DF1B-2428SCA (Applicable wires: AWG28 to 24)
Terminal No.

Signal Name / Function

1(-) Position Command Input

2(+) Position Command Input*Make sure to connect unnecessary terminal to GND when input by single-end.

103-3-4. Connector for Monitoring or Input / Output J1
Input or output the signals by 8-pin pin header.

3-3-5.

Terminal No.

Signal Name/Function

1

Speed Monitoring

2

Position Monitoring

3

GND

4

Position Error Monitoring

5

Current Monitoring

6

Positional Sensor AGC Monitoring

7

Ready Output

8

Servo-OFF Input

Jumpers to Connect Optional Board J2, J3, and J4
It is not necessary to set by customer normally.
For PI Control, the optional board is connected by using J2, J3, and J4.
For P Control, J2, J3, and J4 are set as OPEN in appropriate position by jumpers.
(The settings vary according to the specifications when ordering the product.)3-3-6.

Ground Matching Terminal
When operating by two axes, a sudden motion of one axis would shake GND and affect theother scanner. To ease the impact of such case, Ground Matching Terminal which makes GNDs
equivalent is provided.
M3 tapped hole is also provided. Connecting Ground Matching Terminal to each other by using
a thick wire with crimping terminal enhances the GNDs.

It is mounted on the soldered surface.

Do not use this M3 tapped hole to secure the board to a chassis, etc.
Failur to follow this caution may result in the terminal to be removed.

113-4. Input / Output Interfaces
3-4-1. Position Command Signal Input CN3

The input impedance is 20 kΩ.
Command Input is enabled by Error Input orSingle-Ended Input.
Thescanning

direcition

accordingtothecommand is defined by setting W1 Jumper.

3-4-2. Digital Input (Servo-OFF) J1-8
It is pulled up to 12 V by 100 kΩ.
Setting the voltage LOW makes the scanner axis
Servo-OFF. The Ready Output also becomes
LOW at the same time.
*If desire to operate Servo-ON / Servo-OFF
repeatedly, please leave 10 seconds between
Servo-ON / Servo-OFF.

3-4-3. Digital Output (Ready Output) J1-7
When power is supplied appropriately to the positive and negativesides of the power source input and Power Operational Amplifier
Output becomes ON, Ready Signal will be output by High (+12 V).

123-4-4.

Analog Monitoring Signals
The analog monitoring signals from J1 are output
through 1 kΩ protective resistor.

J-1 pin: Speed Monitoring
It outputs a voltage proportional to the scanner speed. The output scale varies according to driver
specifications for it outputs the speed signal of internal servo circuit.
J1-2 pin: Position Monitoring
It outputs a voltage proportional to the angle of scanner.
The scale is the setting value of position command input scale [V/°] times (*) 0.5 V.
J1-4 pin: Position Error Monitoring
It outputs a voltage proportional to the error between position command input and position sensor
output.
The scale is the setting value of position command input scale [V/°diff] times (*) 0.5 V.
J1-5 pin: Current Monitoring
It outputs a voltage proportional to the current flowing into the scanner.
The scale is 1 V/A.
J1-6 pin: AGC Voltage Monitoring
It allows to monitor the input voltage of the position sensor for scanner. Normally, the voltage is 10Vor less.

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4. Adjustments
4-1. Volumes for Adjustments
The functions of the volumes are as follows:

4-1-1. Main Board
Part No.

Name

Description of Adjustment

VR1

IS

Adjustment for Position Command Input Scale
This allows to adjust the voltage scale of position command input.
It changes unit voltage of deflection angles of the mirror.
The voltage scale decreases by driving CCW (reduces the maximum
scan angle).

VR2

LFD

Adjustment for Position Signal Derivative Gain
This allows to adjust overshoots and undershoots to be small underpositioning control. It works effectively for low frequency components.

VR3

SG

Adjustment for Proportional Gain on Position Signal
For PI Control, this allows to adjust the first overshoot under positioning
control.
For P Control, this allows to adjust the gain proportional to position error.

VR4

F1

Adjustment for Removing Primary ResonanceThis allows to adjust the center frequency of notch filter that damps theprimary resonance of galvanometer scanners. The center frequency
decreases by driving CW.

VR5

HFD

Adjustment for Current Integral Gain
This allows to adjust overshoots and undershoots to be small underpositioning control. It works effectively for high frequency components.

VR6

HFZ

Minor Tuning for Frequency Band on Current Integration Feedback
Signals
This allows minor tuning for the center frequency of VR5. It eliminates
the overshoots remaining after the adjustment of VR5.
The effect is very small; if all the overshoots cannot be eliminated, pleasereadjust it by combination of LFD and HFD.

VR7

EL

Adjustment for Error Limiter
This allows to adjust response speed of large step. The response speed
increases by driving CCW. It is enabled only for P Control.

VR8

PS

Adjustment for Position Signal Scale
This allows to adjust the feedback amount of the scanner’s angle sensor.
Same as VR1, it changes unit voltage of deflection angles of the mirror.
However, this also changes the loop gain at the same time and therefore
please do not use this for adjustment on angles.

VR9

LIN

Correction of Linearity
Linearity of the position sensor signal has been adjusted with pairing
scanner before delivery.
14

VR10

PO

Adjustment for Position Command Input Offset
This allows to add offsets to position command input.
This also allows to adjust the origin of mirror after scanner is mounted.
Origin of mirror moves CW by driving CW when it is seen from the mirrorside.

4-1-2. Optional Board (Only For PI Control Specifications)
Part No.

Name

Description of adjustment

VR1

SRL

Adjustment for Slew Rate Limiter of Position Command Input
This allows to adjust the response speed of large step by limiting the
maximum speed.
The maximum speed increases by driving CCW. Appropriate
adjustment reduces wobble and jitter.

VR2

EG

Adjustment for Position Error Amplifier Gain
This allows to adjust the acceleration while scanner is driving. The
resoponse of the scanner increases by driving CW and makes
overshoots larger.

VR3

F2

Adjustment for Removing Secondary ResonanceThis allows to adjust the center frequency of notch filter that damps thesecondary resonance of galvanometer scanners. The center frequency
decreases by driving CW.

4.2 Check Terminals
The details of the check terminals are as follows:Part No.
TP1

Name
Power AmplifierThis allows to monitor the voltage applied to scanners.

OutputTP2

GNDThis is the reference potential for monitoring signals.

TP3

1st Notch Filter

This allows to monitor torque command passed throughOutput

1st notch filter.

TP4

Torque Command

This allows to monitor torque command before it passes
through the notch filter.

TP5

2nd Notch
Filter Output(Only for PI Control)

This allows to monitor torque command passed through2nd notch filter.
It is mounted on PI control optional board.

15

5. Product Warranty
1. Duration of this warranty is one year from the date of delivery. If the customer discovered a defect inmaterial and workmanship within this period, we will repair the product for free only if the customer carryit in or return it to our company address by customer’s expense. Please note that it would take several
days to repair.
2. For the defect caused by “misuse” or “mishandling” by any party, or the defect caused later than one year
from the date of delivery, the customer is responsible for repairing charges. We will repair the product only
if the customer carry it in to our company address or the customer is responsible to all shipping charges.
3. We are not liable to the damages caused during transit. Please pack the product with sufficient cushioning
materials to prevent external vibration.

6. Contact Information
CITIZEN CHIBA PRECISION Co.,LTD.
Sales Department
1811-3, Yoshihashi, Yachiyo, Chiba 276-0047, Japan
Telephone: +81-47-458-7935 Facsimile: +81-47-458-7962
http://ccj.citizen.co.jp

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