Stepping Motor Controller
DS102 Series/DS112 Series Operation ManualVer 2.00

SURUGA SEIKI CO., LTD.

Index１．INTRODUCTION ...................................................................................................................................................................................... ５
1.1 FOR YOUR SAFETY ....................................................................................................................................................................................................... ５
1.2 PRODUCT OUTLINE / FEATURES ........................................................................................................................................................................ ７
1.3 SYSTEM CONFIGURATION EXAMPLE.................................................................................................................................................................. ９
1.3.1 CONTROL WITH PLC....................................................................................................................................................................................... ９
1.3.2 CONTROLLED BY PC ................................................................................................................................................................................... １０
1.4 ACCESSORIES ............................................................................................................................................................................................................... １１

２．SET-UP AND EXAMPLE OF USE.................................................................................................................................... １１
2.1 SET UP BEFORE USE ................................................................................................................................................................................................ １１
2.1.1 CONNECTING...................................................................................................................................................................................................... １２
2.1.2 USB DRIVER INSTALL ............................................................................................................................................................................... １５
2.1.3 INSTALLATION FOR CONTROL SOFTWARE DS102/112(DSCONTROL-WIN)....................................... ２３
2.1.4 ADJUSTMENT SYSTEM PARAMETER ................................................................................................................................................ ２６
2.1.5 OPERATION CHECK........................................................................................................................................................................................ ２８
2.2 SYSTEM ARCHITECTURE....................................................................................................................................................................................... ３０
2.2.1 MOVEMENT BETWEEN EACH TEACHING POSITION ................................................................................................................. ３０
2.2.2 EASY RETURN TO ORIGIN POSITION .................................................................................................................................................... ３７
2.2.3 CONTROL BY EXTERNAL SIGNAL ......................................................................................................................................................... ４６
2.2.4 EXTERNAL DEVICE CONTROL WITH GENERALＩ/Ｏ............................................................................................................... ５７
2.2.5 MOVE TO ARBITRARY COORDINATE .................................................................................................................................................. ５９
2.2.6 CONTROLLED OVER 3 AXES .................................................................................................................................................................. ６１

３．SPEC AND FUNCTION................................................................................................................................................................ ６２
3.1 BASIC SPEC ................................................................................................................................................................................................................. ６２
3.2 PART NAME AND FUNCTIONS ........................................................................................................................................................................... ６３
3.3 SETTING ...............................................................................................................................................................................................................................66
3.4 EXTERNAL INTERFACE ..............................................................................................................................................................................................67
3.4.1 LINK CONNECTION（LINK）.......................................................................................................................................................................67
3.4.2 CONTROL INPUT/OUTPUT（CNT-I/O）........................................................................................................................................68
3.4.3 GENERAL I/O（I/O）（OPTION） ..........................................................................................................................................................71
3.4.4 EMERGENCY STOP INPUT（EMS） .....................................................................................................................................................73
3.4.5 STAGE INTERFACE ............................................................................................................................................................................................73
3.5 DRIVER DIVISION NUMBER SETTING ..................................................................................................................................................................74
3.5.1 OPEN AND SHUT ................................................................................................................................................................................................74
3.5.2 SETTING DIVISION NUMBER .........................................................................................................................................................................74
3.6 SMOOTH DRIVE FUNCTION（ONLY MS TYPE）......................................................................................................................................75
3.7 UNITS SETTING FUNCTION ......................................................................................................................................................................................76
3.8 SPEED SETTING（SPEED TABLE）..................................................................................................................................................................77
3.9 FUNCTION OF ORIGIN RETURN..............................................................................................................................................................................80
3.10 LINEAR INTERPOLATING FUNCTION ..............................................................................................................................................................86
3.10.1 LINEAR INTERPOLATING（RELATIVE VALUE）.........................................................................................................................86
3.10.2 LINEAR INTERPOLATING（ABSOLUTE VALUE） .....................................................................................................................86
3.11 TEACHING FUNCTION .............................................................................................................................................................................................87
3.12 PROGRAM FUNCTION .............................................................................................................................................................................................87２

４．OPERATION AND CONTROL METHOD ..................................................................................................................... 88
4.1 OPERATION BY THE HANDY TERMINAL .........................................................................................................................................................88
4.1.1 INITIAL SCREEN .....................................................................................................................................................................................................88
4.1.2 TRANSITION MODE.............................................................................................................................................................................................89
4.1.3 DRIVING MODE SELECT（JOG KEY） .............................................................................................................................................90
4.1.3.1 CONTINUOUS DRIVING MODE（CNT：CONTINUE MODE） ...................................................................................90
4.1.3.2 UNIFORM PULSE DRIVING MODE（STP： STEP MODE）........................................................................................90
4.1.3.3 ABSOLUTE VALUE DRIVING MODE（ABS： ABSOLUTE MODE）....................................................................91
4.1.3.4 ORIGIN RETURN MODE（ORG： ORIGIN MODE） .........................................................................................................91
4.1.3.5 HOME POSITION RETURN MODE（HOM：HOME）....................................................................................................91
4.1.4 MENU SELECT（MENU KEY） .................................................................................................................................................................92
4.1.4.1 PARAMETER MODE（PRM）.........................................................................................................................................................92
4.1.4.2 PROGRAM DRIVING MODE（PRG） ....................................................................................................................................101
4.1.4.3 TEACHING MODE （TCH）........................................................................................................................................................102
4.1.4.4 GENERAL MONITOR（IN） ..........................................................................................................................................................105
4.1.4.5 GENERAL OUTPUT CONTROL（OUT）.............................................................................................................................105
4.1.5 OTHER FUNCTION ..........................................................................................................................................................................................106
4.1.5.1 CHANGE THE SPEED TABLE（SPD KEY） ...................................................................................................................106
4.1.5.2 CHANGE THE AXIS（LINK KEY）.............................................................................................................................................106
4.1.5.3 CHANGES CURRENT POSITION（POS KEY）................................................................................................................106
4.1.5.4 VERSION CONFIRMATION, PARAMETER RESET ..............................................................................................................107
4.2 DS102/112 CONTROLLED SOFTWARE（DSCONTROL-WIN）........................................................................1084.2.1 DSCONTROL-WIN START-UP ...............................................................................................................................................1084.2.2 PARAMETER SET-UP .............................................................................................................................................................................108
4.2.3 JOG DRIVING ................................................................................................................................................................................................110
4.2.4 TEACHING......................................................................................................................................................................................................113
4.2.5 DRIVING PROGRAM..................................................................................................................................................................................115
4.2.6 Ｉ／Ｏ MONITOR .......................................................................................................................................................................................121
4.3 USER PROGRAM PROCESSING ..................................................................................................................................................................122
4.3.1 RS232C.....................................................................................................................................................................................................122
4.3.2 USB.................................................................................................................................................................................................................123
4.3.3 DELIMITER ......................................................................................................................................................................................................125
4.3.4 TYPES OF COMMUNICATION COMMAND ..................................................................................................................................126
4.3.5 DETAILS OF COMMUNICATION COMMAND............................................................................................................................138
4.3.5.1 AXIS SPECIFICATION COMMAND.........................................................................................................................................138
4.3.5.2 PARAMETER SETTING COMMAND .....................................................................................................................................138
4.3.5.3 MEMORY SW SETTING COMMAND .................................................................................................................................142
4.3.5.4 SPEED TABLE SETTING COMMAND................................................................................................................................143
4.3.5.5 WRITE COMMAND .........................................................................................................................................................................144
4.3.5.6 DRIVING COMMAND.....................................................................................................................................................................144
4.3.5.7 STOP COMMAND...........................................................................................................................................................................145
4.3.5.8 PARAMETER SETTING REQUEST COMMAND...........................................................................................................146
4.3.5.9 MEMORY SW SETTING REQUEST COMMAND.........................................................................................................148
4.3.5.10 SPEED TABLE SETTING REQUEST COMMAND ...................................................................................................150
4.3.5.11 STATUS REQUEST COMMAND .......................................................................................................................................150
4.3.5.12 GENERAL I/O COMMAND ...................................................................................................................................................155
4.3.6 PROGRAM DRIVING DEDICATED COMMAND........................................................................................................................156
4.3.7 ERROR CODE...............................................................................................................................................................................................159３

５．CHECKOUT .......................................................................................................................................................................................... 160
６．FAULT DIAGNOSIS AND SOLUTION ........................................................................................................................ 160
７．WARRANTY & CUSTOMER SERVICE ...................................................................................................................... 161● APPENDIX ...........................................................................................................................................................................................................................162■ DIP SWITCH SET..............................................................................................................................................................................................................162■ DS102A EXTERNALS ...............................................................................................................................................................................................163■ DS112A EXTERNALS ...............................................................................................................................................................................................164■ CONTROL I/O CABLE（MODEL：DS100-CNT-2）.......................................................................................................................165■ GENERAL I/O CABLE（MODEL：DS100-IO-2）............................................................................................................................166■ SELECTION OF A PROGRAM NUMBER BY CNT-IO .................................................................................................................................167■ SELECTION OF A TEACHING NUMBER BY CNT-IO .................................................................................................................................167＜CONTACT INFORMATION＞ .................................................................................................................................................... 170

４

１．INTRODUCTION
Thank you for purchasing this series Stepping Motor Controller.
The latest manual is distributed on our website.

1.1 For Your Safety
For Proper use, please read this operation manual thoroughly prior to using this product.
means the PROHIBITATION.

！

Cautions

Please look after instructions shown here by all means.
Failure to use controller, may be hurt or suffer material damage.
・Basic cautions
・ Connect a power cable to a power outlet which comes with protective earth terminal, In case ofusing an extension cable without protective earth terminal, protective earth will be of no effect.
・Cable・When you unplug a power cable, turn off a power switch.
・When it supplies DS112 Series with a power supply, please be careful not to make a mistake inpolarity.
・Operating Environment
・To avoid as follows.:－Areas that have much dust or metallic particles－Directly under sunlight－Near fire
－Much vibration－Watery or oily place－Wonky place－Place with Corrosive Gas and Flammable Gas
・Storage
Please unplug a power from the outlet when
It doesn’t use for a long time, and you move this product.
A fire and the accident of the electric shock etc. are prevented.

５！

Caution・Power Source
・Please DO NOT connect the DS102 series besides the power supply outlet of interchange 100～
240V (AC100～２４０V 50/60Hz)
・Please supply direct 24V（DC24V±10%）power supply for DS112 series.
In order to avoid damage to controller, DO NOT use any input voltage or frequency overthe specifications.
・Resolution of the product/Remodeling・ Please DO NOT perform the resolution of the product, remodeling, theunfair repair.
・ Please contact us for correct information if needed.
・Repair Service
・ In the case of the following, please disconnect the plug promptly and thencontact our OVERSEAS SALES GROUP－When there are some strange sound, smelling and smoke.
－When a power supply cable damaged.
－When spilled water on the equipment and foreign materials enteredinside.
－When dropped the equipment and was damaged with a cabinet.

６1.2 Product Outline / Features
 Product Outline
DS102/DS112 series is stepping motor controller with 2 axes for not only R&D but also units andmanufacturing you can use what you want.

Suruga Seiki
Standard
Handyterminal
DT100
DS102/112
Controlled software：
DSCONTROL-WIN

DT100

USB
or
RS232C

Stepping Motor Controller
DS102/DS112 series

DS112ADS102ADS112AX

Se
t ppi ng M ot or Co nt r oll er

Step pin g Motor C on troller

Y

DS102A

ComputerI/O forcontrolled

PLC

Motorized stage

DC24V
AC100V

AC100～240V

７

DC24V



Features1. Controlled
・ 5 phase stepping motor is controlled by 2 axes
・ Linear interpolation of 2 axes
・ 2 types motor driver with normal(FULL/HALF) and micro-step(16 levels)
As a microstep type, it is possible to highly positioning control and low vibration with
Smooth drive function.
・ It is possible to control 6 axes with link function.
Up to 24 axes can be controlled with USB Hub.
2. Drive
・ Teaching point movement
・ Program Drive
・ Jog Drive
・ It is possible to memorize teaching point 64 points and 8 of programs.
3. Interface
・ Connected USB、RS232C・ DS102/112 controlled software：DSCONTROL-WIN
・ Handy terminal：DT100
・ I/O for controlled
・ General I/O：Input16points、output12points (Option)
・ 2 types of PS/V AC100～240V、DC24V【Line up products】
Type
DS102ANRDS102ANR-IO
DS102AMS
DS102AMS-IO

Input PS

Type of Drive

AC100～240V

Normal (FULL/HALF)±10%
50/60HzMicrostep (16levels)

DS112ANR
DS112ANR-IO
DS112AMS

Normal (FULL/HALF)
DC24V ±10%Microstep (16levels)

DS112AMS-IO

General I/O
Input16 points, Output 12 points
Input16 points, Output 12 points
Input16 points, Output 12 points
Input16 points, Output 12 points【Option Cable】
Type

Cable length

RecitalDS100-LINK2-0.5

0.5ｍ

For 2 links

DS100-LINK3-0.5

0.5ｍ

For 3 links

DS100-CNT-22m

For control I/O(one end loose)

DS100-IO-2

2m

For general I/O(one end loose)

D100-R9-2

2m

RS232C cable

DS100-USB-1.8

1.8m

USB Cable【Other Option】
Type
DT100
DSCONTROL-WIN

Article nameHandy Terminal

DS102/112 controlled software８1.3 System configuration example
1.3.1

Control with PLC

Stages can be controlled with I/O units of PLC.
No need positioning units.
・Move the teaching point/Switch the program drive.
・Teaching Point Number Selected.
・Program Number Selected・Start・Stop
PLC

DS112ANR
DS112AS te ppi ng M ot or Co nt r oll er

X

Move the teaching point/Switch the program
drive
Teaching point number selected
Program number selectedStart/Stop

X Axis StageYCPU Unit

I/O Unit
Y Axis StageUSB or RS232C

DT100

DS102/112
Controlled SoftWare：DSCONTROL-WIN
Handy Terminal
DT100

PC
・Set up the system parametor
・Memorized teaching points
・Programming and editing
・Operation check・Back up data

Former System

９・Set up the system parametor
・Memorized teaching points
・Operation check1.3.2 Controlled by PC
Easily controlled external machine by software.
No need motion control board and I/O board.

Original software
Use virtual COM port (Ex.:VB)
RS-232C communication application
MSComm1.Settings = "9600,N,8,1" ' Set up the port
MSComm1.CommPort = 1' Set up the port add.
MSComm1.PortOpen = True
' Open the port
' Move to 100 X axies
MSComm1.Output = "Axis1:Selsp 0:Goabs 100"・Cotrolled stage・ControlＩ I/Ｏ

DS102ANR-IO

USB
or
RS-232C

DS102AX axis stage

Step ping Mo tor C on troller

Y axis stage

PC

General Input：
16points
Sensor

DS102/112
Control Software：
DSCONTROL-WIN
・Set up the systemparametor
・Operation check

Former set-up

１０

General Output：
12points
Actuator

1.4 Accessories
This included following goods. Please check when you open. If some parts missing, please let us
know.
・
・
・
・

DS102A/DS112A：1 PCSPower cable（2m） ：1 PCS（Only case of DS102）
CD-R（data of this Manual , USB Device driver） ：1PCSManual（this documents） ：1PCS
The power cable of DS102A attachment is exclusively for this machine.
Please use the AC code that are suitable for power supply specifications of your country.

２．Set-up and example of use
2.1 Set up before use
Shows flow before use DS102A/DS112A.

ConectingInstall USB driver

DS102/112
Control soft ware：
Install DSCONTROL-WIN

・DS102A or DS112A
・X axis stage ・Y axis stage・Motor cable
・RS232C cable：DS100-R9-2
・USB cable：DS100-USB-1.8
・Power cable・PC※You must have another power supply andpower cable if you use DS112A.

・USB driver CD-R

・DSCONTROL-WIN CD-R (Option)

Set up the system parametor

Operation check１１2.1.1 Connecting
Shows how to connect DS102A/DS112A

DS102ATERMINAL

DS102A

Connector for
Handy terminal

Stepping Motor Controller
TERMINAL

Power

I/O

USB

General I/O
Connector

USB Connector

CNT-I/O

RS232CI/O connector forcontrol

CNT-I/O

X

X
X axis stage connector

RS232C

I/O

EMS

SW1

LINK USB

RS232CYY
Y axis stage connector

１２

AC InletRS232C Cable：
D100-R9-2
RS232CUSB Cable：or DS100-USB-1.8
USB

DS102A
Step ping Motor C ontroller

Attached
Power Cable

Y

X
Motor Cable
16 pins series stages：
D214-1-□E，D214-1-□R
12 pins series stages：
D214-2-□E，D214-2-□R
D214-2-□EA，D214-2-□RA

AC100V

AC100
～240V

Y axis stage

①
②
③
④

X axis stage

Connect X axis motor connector to X axis stage.
Connect Y axis motor connector to Y axis stage.
Connect AC inlet and AC100～240V.
Connect USB connector to USB port of PC.
(Connect RS232C connector to PC if use RS232C)

１３

Use DS112A

RS232CX

DS112AXYRS232C
connector

Stepping Motor Con tro ller

RS232CX axis motor
connector

USB
USB
connector

SW1
EMS
CNT-I/O

Handy terminal
for connector

I/O

TERMINALTERMINAL

Terminal block for
power

FG GND +24V

General I/O
connector

POWER

I/O

LINK USB

Y axis motor
connector
Y

CNT-I/OI/O connector forcontrol

Motor cable
16pin series stage：
D214-1-□E，D214-1-□R
12pin series stage：
D214-2-□E，D214-2-□R
D214-2-□EA，D214-2-□RA

X axis stage

RS232C cable：
D100-R9-2

DS112ARS232CS et ppi ng M ot or Co nt r oll er

X

X

or

Y
Y



USB

Y axis stage
USB cable：
DS100-USB-1.8
DC24V

DC24V

①
②
③
④

Connect X axis motor connector to X axis stage.
Connect Y axis motor connector to Y axis stage.
Connect terminal for power of DC24V to power supply(DC24V)※ Must have DC24V power supply and cable
Connect USB connector to PC USB port.
(Connect RS232C connector to PC if use RS232C )１４

2.1.2

USB Driver Install

Shows how to install USB driver to PC(for Windows10).
(The latest USB driver can be downloaded from our HP.)
① Switch on a computer and start Windows.
② Save the USB driver downloaded from our website in any folder on your computer.
③ Connect computer USB port and DS102/112 USB connector.
④ Switch on DS102A/112A.
⑤ Open “Device Manager”.

⑥ Select "SURUGA SEIKI DS102" from the hardware list, right-click and select [Update driver].
Select [Install from a list or specific location (Advanced)], and then click [Next]. Click the button.

１５⑦ Select [Browse my computer for drivers]⑧ Click the [Browse] button.
Specify the folder "DS102-CDMv*****" where the USB driver is saved, and click the [Next]
button.

１６

⑨ Start the driver install.

１７

⑩ When the installation is complete, the following screen will be displayed.

⑪ Continue to install the USB Serial Port.

１８

⑫ Select "USB Serial Port" from the hardware list, right-click and select [Update driver].
Select [Install from a list or specific location (Advanced)], and then click [Next]. Click the button.

⑬

Select [Browse my computer for drivers]

１９

⑭ Click the [Browse] button.
Specify the folder "DS102-CDMv*****" where the USB driver is saved, and click
the [Next] button.

２０

⑮ Start the driver install.

⑯ When the installation is complete, the following screen will be displayed.

２１

⑰ You can check the COM port number in the device manager (for example, COM7).

２２

2.1.3

Installation for control software DS102/112(DSCONTROL-WIN)Show how to install software (DS CONTROL-WIN) to control DS102/112 by PC.

① Insert CD-ROM of DSCONTROL-WIN inside PC drive.
② Double click on DSControlWin_en.msi in CD-ROM.
DSCONTROL-WIN installer starts.
③ Click [next]
The screen below appears on PC.

④ After reading the license terms, select [I Agree] and click the [Next] button.

２３

⑤ Select the installation destination folder and click the [Next] button.
The program folder and user selection screen will be displayed.
*The default installation folder is: C:\Program Files (x86)\SURUGA\DSControlWin\\Program
Files\SURUGA\DSControlWin.
Select the user who will use DSControlWin.
If no changes are necessary, click the [Next] button to proceed to the next step after selecting
the folder and user.

⑥ When the installation confirmation screen appears, click the [Next] button.

２４

⑦ Start the driver install.

⑧ When the installation is complete, the following screen will be displayed.

２５

2.1.4 Adjustment system parameter
Shows how to set up system parameter by DSCONTROL-WIN① Starts DSCONTROL-WIN② Select [Parameter setting] in [Action]

Parameter setting appears on screen③ Click on Tab you sellect

２６

④ Select stage model you use from [Stage Model]
Initial value appears when you select stage model.
※ input direct value if we want to change initial value.

⑤ Select axis parameter by repeating ③～④ again.
⑥ Click [Apply].

Screen shows folder storing parameter.

⑦ Select folder and input file name then click [Save].
Parameter values are saved PC then forward values toward DS102/112.
※ Spf is automatically added.
２７

2.1.5 Operation checkShows how to check operation.
① Starts DSCONTROL-WIN.

② Click [JOG] in [Action] on main menu
JOG dialog appears on screen.

③ Click [Origin][Org],[Home] appears.

④ Click [Org] on X axis
X stage return origin position.
Make sure X stage moves origin position.
⑤ Repeat ③～④ again Y axis return to origin position.

２８

⑥ Click [Contiue][+],[-]appear on screen.

⑦ Keep clicking [+] on X axis
X stage moves toward CW direction.
Stage stops when it reachs to CWLS then indicator leftside [+] becomes RED.

⑧ Keep clicking [-] on X axis
X stage moves toward CCW direction.
Stage stops when it reachs to CCWLS then indicator rightside [-] becomes RED.

⑨ Repeat ⑦～⑧ on Y axis.

２９2.2 System architecture
2.2.1 Movement between each teaching position
Show how to set up position inside memory of DS112A and move its position by PLC.

E xportin g P osi(20 0 0， 3 0 00 )W orkin g posi
(10 0 0， 1 5 00 )STEP1 ： Moving to waiting position (50，100)
STEP2 ： Moving to working position (1000，1500)
STEP3 ： Processing on target
STEP4 ： Moving to exporting position (2000，3000)
STEP5 ： Exporting processig

W aiting posi
(5 0 ， 1 0 0 )1) Configuration
PLC

CPU unit

DS112AI/O cable
DS100-CNT-2

DS112AI/O unit

X axis stageXY

T_BIT0～5
P/T_STARTSTOP
PRG/TCHX

S te ppi ng M ot or Co nt r oll er

CNT-I/OY

Y axis stage
RS232CorUSB

TERMINAL

DT100

PC

Handy Terminal
DT100※ CNT-I/O shows following signal. READY means Waiting condition of DS112 Aand X_DRIVE
and Y_DRIVE means both working condition. P/T_RUN means Teaching working and Program
working.
３０2) Movement summary
Waiting, working and exporting position memorized inside DS112A as teaching points, 00, 01,
02,PLC appoints each points then make state move to each points.
① Set up 00 among T_BIT0～5, press P/T_START② Set up 01 among T_BIT0～5, press P/T_START③ Wait unitl woring on target is done
④ Set up 02 among T_BIT0～5, press P/T_START⑤ Wait until exporting is done

<STEP1><STEP2><STEP3><STEP4><STEP5>

3) Connect
Connect to DS112A
PC is used when setting or editing teaching point① Connect USB to PC USB port
(Connect RS232C to PC when using RS232C)② Connect handy terminal to DS112③ Connect X axis motor connector to X stage④ Connect Y axia motor connector to Y stage⑤ Connect control I/O connector to PLC I/O unit
On control I/O,
T_BIT0～5：Appoint teaching point
P/T_START：Signal to move to teaching point
STOP：Stop signal for all axes
PRG/TCH：program mode / teaching point mode
※ T_BIT0～2：combined use for program selection

３１4) Memory of teaching point
Memorizing teaching point inside DS112A① Start DSCONTROL-WIN② Select [Teaching] on main menu in DSCONTROL-WIN.
Screen below appears.

③ Push direction key on handy terminal unitl stage moves to specific positon.

DT100
Handy Terminal

X stage CW direction
X stage CCW direction

Jog

Menu

7

8

9

SPD

↑

POS

Set

4

5

6

←

Link

→

1

2

Stop
/ESC
0

↓
．-

3
Enter

３２

Y stage CW direction

Y stage CCW direction

④ Click [00] CELL on the teacing screen
00 CELL gets to be Red.

⑤ Click [Set]Current stage position as 00 is memorized to DS112A.

⑥ Repeat ③～⑤ so memorize 01 as working position and 02 as exporting position to DS112A.

３３5) Save teaching file
Teaching points memorized are saved as teaching file in PC.

① Click [Save]
Save As appears on screen.

② Clcik [Save] after you determine [Save location] and [File name]
Teaching file is saved in PC.
※ tdf is added to your file name as extension.

３４6) Operation check
Checking movememt to the memorized position.
① No interference affects stage movement.
② Click [00] CELL on teaching screen.
00 CELL gets to be Red.

③ Click [Go to].
Stage moves to teaching point [00] (Waiting point).

④ Repeat ②～③ and check same operation at teaching point [01] working position as well as[02] exporting position.

３５7) Execution of movement
Execute movement to teaching position by PLC.

Timing chart※ All stages stop when making signal [STOP] [ON]３６

2.2.2 Easy return to origin position
Shows how to set [Origin] program in DS112A and execute [Origin return] by PLC.

1) Configuration
PLC

CPU unit

DS112AI/O cable
DS100-CNT-2

DS112AI/O unit

X

X axis stageY

P_BIT0～2
P/T_STARTSTOP
PRG/TCHX

S te ppi ng M ot or Co nt r oll er

CNT-I/OY

Y axis stage
RS232C

or

USB

PC

※ CNT-I/O continuously output READY is stand-by condition of DS112A, X_DRIVE is X axis
working condition, Y_DRIVE is Y axis working condition and P/T_RUN means teaching point andprogram are in action.

2) Movement summary
Setting up [Origin] program at program #0 in DS112A and [Origin] program starts by using
PLC.
① Set 0 among P_BIT0～2 and make P/T_START ON (Program #0 starts).
Program #0① Speed adjustment on X axis origin return movement② [Origin] return on X axis
③ Speed adjustment on Y axis origin return movement④ [Origin] return on Y axis
⑤ Speed adjustment on X axis movement⑥ Speed adjustment on Y axis movement

３７3) Connection
Connection of DS112A
PC (DSCONTROL-WIN) is connected only when creating or editing program.
①②③④

Connect USB connector to USB port in PC(Connect RS232C to PC when using RS232C)
Connect X axis stage connector to X axis stage
Connect Y axis stage connector to Y axis stage
Connect control I/O connector to I/O unit in PLC
On control I/O,
P_BIT0～2：Select program #P/T_START：Signal of movement to teaching point
STOP：Stop signal for all axes
PRG/TCH：Select mode (Start program / movement to teaching point)※ P_BIT0～2: combined use for teaching point selection

4) Creating program
Creating [Origin return] of two axes.
① Start DSCONTROL-WIN② Click [Action]→[Program drive] on main menu.

３８③ Click [Add]
The display below appears on display.

④ Click [Speed] on command menu
“Speed Setup” appears on display.
⑤ Check axis X and input speed value then click [OK].

Command appears on the program drive screen.

⑥ Click [Add] on Program drive
Drive menu appears on display.

３９

⑦ Click [Single Axis Drive]
Single Axis Drive appears on display.
⑧ Single Axis Drive display[Mode] = “ORG”[Axis] = “X”[Wait until finish] = “Enable”
Click [OK][Origin] of X axis command appears on the first line.

⑨ Repeat ③～⑧ for Y axis

⑩ Click [Add]Drive command menu appears on display.

４０

⑪ Click [Speed]
Speed Setup display appears display.
⑫ Check [Axis] X and input drive speed value then click [OK].

Speed command appears on the fourth line.

⑬ Repeat ⑩～⑫ to set up Y axis speed.

４１5) Writing program
Writing program to DS112A① Click [Write]
Write Program appears on display.

② Select [0] then click [Transfer]
Program is forwarded to Program#0.

４２

6) Save program
Save program at PC program drive file.
① Click [Save] on program drive display
The display below appears on display.

② Select [location] and [file name] then click [Save].
Program is saved as Program drive file.
※ prg is automatically added as extension.

４３7) Operation check
Checking movement to origin return.
① No interference affects stage movement.
② Click [Start]
Start Program appears on display.

③ Select program [0] then click [Start].

４４8) Practice of movement
Movement to [Origin] position by PLC.

Timing chart
Function
動作

X axis origin
returnY axis origin
return

PRG/TCH
P_BIT2-0

0

P/T_START

P/T_RUNREADY
X_DRIVE
Y_DRIVE※ All stages stop when [STOP] button

４５

2.2.3 Control by external signal
Shows how to stop stage by external signal that DS112A outputs.
X sensor

Y sensorX guide

work

work

work

Y guideY motorX motor

STEP1 ： Set both X and Y stages at starting position (50，100)
STEP2 ： Move X stage by 10pulses then stop X stage when target reach X sensor
STEP3 ： Move Y stage by 10pulses then stop Y stage when target reach Y sensor

1) Configuration

PLC

CNT-I/O cable
DS100-CNT-2

DS112ACPU unit

DS112AX

X guideS te ppi ng M ot or Co nt r oll er

I/O unit

RS232CY

P_BIT0～2
P/T_STARTSTOP
PRG/TCHY

X

CNT-I/O

I/O

or

USB

Y guideIn00

X sensorIn01

Y sensor

General I/O cable
DS100-IO-2

PC※CNT-I/O continuously output READY is stand-by condition of DS112A, X_DRIVE is X axis working
condition, Y_DRIVE is Y axis working condition and P/T_RUN means teaching point and program arein action.
４６2) Operation summary
Setting up [Detecting sensor program] at program #1 in DS112A then executing movement by
PLC addressing program #1.
① Settting up 1 among P_BIT0～2 then press [ON] on P/T_START (Executing program #1).
Program #1① Setting up address speed on both X and Y axes
② Movement of X and Y axes to work starting point <STEP1>③ Move X axis to CW direction by 10 pulse④ Repeat ③～④ until target reaches X sensor<STEP2>⑤ Move Y axis to CW direction by 10 pulse⑥ Repeat ⑤～⑥ until target reaches Y sensor<STEP3>

3) Connection
Connection of DS112A.
PC (DSCONTROL-WIN) is connected only when creating or editing program.
① Connect USB connector to USB port in PC(Connect RS232C to PC when using RS232C)② Connect X axis stage connector to X axis stage③ Connect Y axis stage connector to Y axis stage④ Connect control I/Oconnector to I/O unit in PLC
On control I/O,
P_BIT0～2：Select program #P/T_START：Signal of movement to program
STOP：Stop signal for all axes
PRG/TCH：Select mode (Start program / movement to teaching point)⑤ Connect X sensor and Y sensor to general I/O.
Assign X axis sensor output to In00, and Y axis sensor output to In01.

４７4) Creating program
Creating the program that stopping axis in response to external sensor.
① Starts DSCONTROL-WIN.
② Click [Action]→[Program drive] on main menu.

③ Click [Add]Command menu appears on display.

４８

④ Click [Speed] on command menu.

⑤ Check Axis X and input speed value then click.

Drive speed value appears on the line [0] on program drive display.

⑥ Click [Add] on.
Command menu appears on display.

４９

⑦ Click [Single Axis]
Single Axis Drive appears on display..
⑧ Single-Axis Drive.
[Mode] = “POS”[Axis] = “X”[Destination] = “50”[Waiiting until finish] = “Enable”
Click [OK]Movement command on X axis appears.

⑨ Repeat ③～⑧ then input speed drive and movement command on Y axis.

⑩ Click [Add] on Drive command menu.
Drive command menu appears.

５０⑪ Click [Single Axis].
Single-Axis Drive appears on screen.
⑫ Single-Axis Drive[Mode] = “STEP”[Axis] = “X”[Diistance] = “１0”[Direction] = “CW”
[Wait until finish] = “Enable”
Click [OK].

Program command on X axis appears on fourth line.

⑬ Click [Add] on Program drive
Drive command menu appears.
⑭ Click [Conditional Jump] on Drive command menu
Conditional Jump appears.

５１

⑮ Input [0] at Input Port No, [OFF] at State and [4] at jump to Line then click [OK].
Repeat Command on fourth line while State of input0 is [OFF] .
Conditional Jump command appears on fifth line on Program Command display.
※ On Conditional jump is set up, Command on fourth line is repeated while State of input0 is[OFF].

⑯ Repeat ⑩～⑮ to input movement command and conditional jump command to Y axis.

５２5) Writing Program
Writing program in DS112A.
① Click [Write] on Program Drive.
Write Program appears on display.

② Select Program #1 then click [Transfer].
Program is forwarded to Program #1.

５３

6) Save Program
Save Program in Program drive file.
① Click [Save] on Program drive display.
Saving display of Program drive appears.

② Confirm save location and its name then click [Save].
Program is saved in Program drive.
※ .prg is automatically added as extension.

５４7) Operation check
Checking stage movement by external signal.

① No interference affects stage movement.
② Click [Start].
Start Program appears on display.

③ Select 1 at Program No.: then click [Start].

５５8) Operating
Stop the axes due to input external signal.
Timing chart※ All stages will be stopped when input the “STOP” signal.

５６

2.2.4 External device control with generalＩ/Ｏ.
Shows to make a program that means to control general I/O and to control the external device.
In00 Out00
Press-inPress-inoperatingoperatingCompleted
Start signal
signalActuator
Input the signal to startpressure operating.
Completed pressure operating,output the completed pressure
operating signal .

Pressure
operating
Action point(1000，1500)
Waiting
position(50，100)

STEP1 ： Move to Action point(1000，1500)
STEP2 ： Send to actuator the press-in start signal, then start the press-in.
STEP3 ： Detect the completed press-in operating from actuator.
STEP4 ： Move to waiting position(50，100)

1) Configuration

RS232CorUSB

DS102AX axis stageX
Y

DS102A
Step pin g Motor C on troller

Y axis stage

I/O

Computer
Out00
In00

Actuator

General I/O cable
DS100-IO-2

５７

2) Operation outline
Program for general input/output is controled to DS102A with the computer.
① Execute the computer program.
Programming① Set up driving speed of X, Y stages.
② Move X, Y stages to operation position. <STEP1>③ Start actuator operation.
<STEP2>④ Pick up operation completed signal of actuator.
<STEP3>⑤ Move X,Y stages to waiting position.
<STEP4>
3) Connecting
DS102A connection① Plug the USB connector into the computer USB port.
(In case of using RS232C, plug the connector into the computer)② Connect X axis stage connector to X axis stage.
③ Connect Y axis stage connector to Y axis stage.
④ Connect general I/O connector to actuator.

4) Make and execute the program
MSComm1.Output = “AXI1:SELSP 0:F0 1000”
MSComm1.Output = “AXI2:SELSP 1:F1 1000”
MSComm1.Output = “AXI1:GOABS 1000”
MSComm1.Output = “AXI2:GOABS 1500”
MSComm1.Output = “Out00 1”’X stage set up speed’Y stage set up speed’X stage move to operation point’Y stage move to operation point’Turn on the start operation signal to the actuator

Do
MSComm1.Output = “In00?”
intSens = MSComm1.Input
Ｌoop Until [intSens = 1]
MSComm1.Output = “AXI1:GOABS 100”
MSComm1.Output = “AXI2:GOABS 200”
MSComm1.Output = “Out00 0”’Pick the operation completed signal to the actuator’X stage move to waiting point’Y stage move to waiting point’Turn off the start operation signal to the actuator５８

2.2.5 Move to arbitrary coordinate
Shows how to move the stage base on data, which is downloaded, from external.

Xrv
X,Y direction
positioning
correction
Xrv，Yrv

Yrv
1

Camera Unit

Camera Unit
Shooting point(2000，3000)

Output positioning correction of X,Ydirection from shooting center to subject
Waiting point

STEP1 ： Shooting position move to(2000，3000)
STEP2 ： Obtained positioning correction by camera unit
STEP3 ： Move subject to the center based on positioning correction

1) Configuration

Camera
RS232CorUSB

DS102AX
DS102AX axis stage

Step pin g Motor C on trollerY

Y axis stage

Computer

５９2) Operation Outline
Program for stage is moved to arbitrary position to DS102A with the computer.
① Run the program from the computer.
Program contents① Set up operation speed of X stage, Y stage.
② Move X stage, Y stage to shooting point.
③ Get positioning correction from camera units.
④ Move X stage, Y stage to correction point.

<STEP1><STEP2><STEP3>

3) Connection
Connect DS102A① Plug computer USB port into USB connector.
(In case of using RS232C, connect RS232C and computer)② Connect X axis motor connector and X axis stage.
③ Connect Y axis motor connector and Y axis stage.

4) Programming
MSComm1.Output = “AXI1:SELSP 0:F0 1000”
MSComm1.Output = “AXI2:SELSP 1:F1 1000”
MSComm1.Output = “AXI1:GOABS 2000”
MSComm1.Output = “AXI2:GOABS 3000”’X stage set up speed’Y stage set up speed’X stage move to shooting point’Y stage move to shooting point

intXrv = Obtain X direction correction position ( )intYrv = Obtain Y direction correction position ( )MSComm1.Output = “AXI1:PULS intXrv：GO CW”
MSComm1.Output = “AXI2:PULS intYrv：GO CW”’X stage move to correction position’Y stage move to correction position

６０2.2.6 Controlled over 3 axes
Can be controlled max.6 axes using link cable, and max.24 axes using USB hub.

1axis

DS102A
Computer

DS102A
Step pin g Mo tor C on tro ller

or

2axis
PLC

Controlled max.6 axes
Using link cable

1axis

DS102A
Computer

DS102A
Step ping Motor C ontroller

or

2axis

DS102A

PLC

3axis

DS102A
Step ping Motor C ontroller

4axis

DS102A

5axis

DS102A
Step ping Motor C ontroller

6axis

Controlled max. 24 axes
Using USB hub
USBハブ
USB
hub
C

A

Computer

1axis

DS102ADS102A

2axis

3axis

DS102ADS102A

4axis

1set

5axis

DS102ADS102A

6axis

Can be connected max.
4sets
DS102A

19axisDS102A

20axisDS102A

21axisDS102A

22axisDS102A

23axisDS102A

24axis６１

３．SPEC and FUNCTION
3.1 Basic SPEC
【Motor Controller DS102A/DS112A】
Type
Dimension

DS102A□□DS102A□□-IO
140(W)×300(D)×90(H)mm

DS112A□□DS112A□□-IO
70(W)×165(D)×155(H)mm(Projection such as connector no included)

WeightUsage environment
Storage environment
Power supply input

2.2kg
1.2kg
0～40℃ 20～80%RH（No condensation）-20～60℃ 20～80%RH（No condensation）
AC100-240V ±10% 50/60Hz
DC24V±10% （3.5A 以上）
Below 70W
Below 2.5A
DS102ANR/DS112ANR ：Normal (FULL/HALF)
DS102AMS/DS112AMS ：Microstep(1/1～1/250)
0.75A
Bipolar Galvan static chopper pentagon drive system
DS102ANR/DS112ANR ： 4-5 excitation（FULL/HALF）
DS102AMS/DS112AMS ： 4 excitation（1/1～1/250）
2 axes±99,999,999pulse
1～999,999pps
1～9,999pps
1～9,999ms

Maximum power consumption

Driver type
Driver current rating
Drive system
Excitation system
Number of controlled axis
Coordinate setting range
Driving speed setting range
Rate of rise speed setting range
Addition-subtraction speed setting
Range

0～100%

S additional-subtraction speed rate
Setting range

Machine limit
Detected proximity origin

Detected origin
How to detect origin
Home position
External COM
Interface

2 places for each axis to CW,CCW（Possible logic change）
1 place for each axis（Possible logic change）
1 place for each axis（Possible logic change）
12style1 place for each axis（Can be set up in effective area arbitrarily）
RS232C:4,800～38,400bps（Dsub9pin male）
USB2.0:Full/Low Speed only（USB mini B terminal）
Controlled I/O(CNT-I/O):Input9points（24Vphoto coupler）、Output11points（Open collector）

Link function
Program function
Teaching function
Interpolation function
Controlled I/O (CNT-I/O)
General I/O (I/O)（Option）

RS485（Can be connected link max. 3 controller 6 axes with DG chain ）8Programs（100steps/1program）
Can be controlled program number choice, start, stop with controlled I/O
64 points（Can be controlled intended point, move, stop with controlled I/O）
6 axes linear interpolation（Easy linear interpolation on the link）
Input 9points（P/T START,STOP）（24V photo coupler）
Output 12points（X DRIVE,XCWLS）（Open collector）
Input16 points
Input16 points（24Vphoto coupler）（24Vphoto coupler）－－
Output12 points
Output12 points（Open collector）（Open collector）【Handy terminal DT100】
Item
Display
Input
Number of key
Cable length
Operation
Mode

SPEC
16 figures×2 lines
DC24V
12keys
1.5m
11modeOutlineWeight73(W)×130(D)×27(H)mm
280g

Remarks
No backlight
Supply from DS102A／DS112A
Click emboss12 keys
Can be extended till Max10ｍ (Option)
Continue/Step/Absolute/Origin/Home/
Parameter/Program/Teaching/Input/Output/Remote(Display time which receive a command from external controlled)
Not included the screw and cable
1.5m cable included

６２

3.2 Part name and functions【DS102A Front panel】

DS102A
3

Stepping Motor Controller
TERMINAL

2

1【DS102A Rear panel】
8

7

6

5

4

10
9

I/O

CNT-I/OX

11① Power② LED③ TERMINAL④ RS232C Connector⑤ USB Connector⑥ Link Connector⑦ Dip Switch(8bit)⑧ EMS Connector⑨ CNT-I/O Connector⑩ I/O Connector（Option）⑪ Stage connector⑫ Fuse holder⑬ AC inlet

EMS

SW1

LINK

USB

RS232CFUSE(250V 4A)
Normal Blow
5.2×20.0mm
Voltage
AC100-240V
Wattagemax 70W
Frequency
50/60HzY

12

13：Power switch：LED lights up when switch on：Connector for handy terminal(DT100)：Connector for RS232C communication(Dsub9P male)：Connector for USB communication(Mini Btype)：Connector for connecting Link to DS102(Max 3 units)：RS232C Baud rate(2bit)、Link Number(2bit)、USB ID(2bit)、Command response (1bit) setting up：Connector for emergency stop input(Software interlock,B point)（Included connector for EMS cancel）：Check the each axis status, Select program operating number・Start・Stop, Select teaching position number・Start・Stop I/O connector（Bellows 26pin half pitch）：General Ｉ/Ｏ（In 16points,Out12 points）connector（Bellows 36pin half pitch）：Connector for Motorized stage（X axis,Y axis）（Connector type：09-0054-00-14（Binder products））。
：Use 250Ｖ、4A Nomal blow glass fuse
：Input AC100～240V 50/60Hz
Incase of AC100～120V, use attached electric cable
In case of AC200V, use with the proper cable６３

【DS112A Front panel】
4

DS112AX

RS232C

Stepping Motor Controller

USB

5

I/O
TERMINAL

3

FG GND +24V

7

EMS

8
9

CNT-I/O

2

POWER

10
1

6

SW1

Y

LINK

11

① Terminal block for power ：For input(DC24V、M3 screw)② POWER LED：LED lights up when power on③ TERMINAL：Connector for handy terminal DT100④ RS232C Connector：Connector for RS232C communications（Dsub9P male）⑤ USB Connector：Connector for USB communications（Mini B type）。
⑥ Link Connector：Connector for link connection DS112(Max 3 units)⑦ Dip SW(8bit)：Connector for RS232C baud rate(2bit),Link number(2bit),USB ID(2bit),Command response (1bit) setting up⑧ EMS Connector：Connector for emergency stop(Normal close)（Included connector for EMS cancel）⑨ CNT-I/O Connector ：Check status each axis, select program operating number・Start・Stop
select the number of teaching position・Start・for stopＩ/Ｏ connector（Bellows 26pin half pitch）⑩ I/O connector：General Ｉ/Ｏ（In 16points,Out 12points）connector（Option）（Bellows 36pin half pitch）⑪ Stage connector：Motorized stage（Xaxis,Yaxis）for connecting（Connector model：09-0054-00-14（Binder products））

64

【DT100】

LCD：16 digit X 2 lines

DT100
Handy Terminal
Jog

Menu

7

8

SPD
4

Set
9
POS

5

6

Click emboss 12 keys

Link
1

2

Stop
/ESC
0

. -

3
Enter

1.5m

Key name
Jog/7
Menu/8
Set/9
←/1
→/3
↑/5
↓/. SPD/4
POS/6
Link/2
STOP/ESC/0
Enter

DS102A/DS112A

Function
Operation mode(CNT/STP/ABS/ORG/HOM)transit to selection screen/7-key
Menu(PRM/PRG/TCH/IN/OUT)transit to selection screen /8-key
Jump to setting value switchable screen for each operation mode(STP/ABS/ORG/HOM)、
Use at the teaching position registration /9-key
X axis to Cooperation, Select setting item /1-key
X axis to Cw operation, Select setting item /3-key
Y axis to CW operation, Select setting item/5-key
Y axis to CCW operation, Select setting item/key ．
（decimal） －（negative）
Select speed table number /4-key
Set current position /6-key
Controller（axes）switching（at the link connecting）/2-key
Stop operating axes, stop program operating、return to previous screen /0-key
Decision65

3.3 Setting【DS102A series】
Please set DS102A on the level and vibration-free, and open the space over 20mm because oferadiation on top of this unit.
No need to open the space in between controllers when line up the few units in one row sideways.

Over 20mm

DS102ADS102ADS102A

Stepping Motor Controller

Stepping Motor Controller

Stepping Motor Controller

TERMINALTERMINALTERMINAL

If cover the upper radiation space, it is to be a cause of a fire and damage because of heatup inside.
70

Over 20mm

10

4.5

4.5

11.3

Over 20mm

Stepping Motor Con tro ller

177.4

155

170

LINK
EMS

I/O
TERMINAL

CNT-I/OFG GND +24V
POWER

EMS
CNT-I/O

I/O
TERMINAL

POWER

FG GND +24V

SW1

SW1

Y

Y

LINK

USB

USB

X

X

USB
LINK
EMS

I/O
TERMINAL

CNT-I/OFG GND +24V
POWER

SW1

Y

RS232CDS112A

Stepping Motor Con tro ller

RS232CDS112A

Stepping Motor Con tro ller

RS232CDS112AX

Over 20mm

1.6

50

3.7

Over 20mm

66【DS112A series】
Should set up DS112A on the level with 4 mounted holes. In case of set up on the level, radiation
hole should be comes to upper or left side of units, please open over 20mm spaces.
If cover the upper radiation space, it is to be a cause of a fire and damage because of heatup inside.
66

3.4 External Interface
3.4.1 Link connection（Link）
In case of controlled over 3 axes, can be operated max.6 axes operations connected with originallink cable (DS100-LINK2-0.5 or DS100-LINK3-0.5) between 2 units or 3 units ofDS102A/DS112A.
【Link connector】
Connector type
Matched plug
Conformance contact： S10B-PADSS-1(LF)(SN) （JST）： PADP-10V-1-S(LF)(SN) （JST）： SPH-002T-P0.5L （JST）

Pin No.
1
2
3
4
5
6
7
8
9

Signal
T (+)
T (-)
GND
NC
T (+)
T (-)
GND
NC
GND

10

FG

I/O
I/O
I/O
I/O
I/O
-

FunctionTransmitted and received data (+)
Transmitted and received data (-)

GroundNon connectedTransmitted and received data (+)
Transmitted and received data (-)

GroundNon connected
GroundFrame ground※If use link function, need to set the ID number with DIP switch.
【Set the DIP switch】
Set third bit and forth bit of ＳＷ1NO
１ ２ ３ ４ ５ ６ ７ ８

SW1● Set link number
3
4
OFF
OFF
ON
OFF
OFF
ON
ON
ON

Link number0（Default）
1
2※Factory-setting is OFF.
※ Please power on in the order Link number 2,→1→0
In case of can’t be powered on in turn because of included system, please power on 3 units
at the same time.
67

3.4.2 Control Input/Output（CNT-I/O）
Output the status of motorized stages that connected DS102A/DS112A. Also can operated
teaching point number, specify program number, move teaching point, program operation start andstop.
By connecting I/O of PLC and CNT-I/O, can be controlled the motorized stages easily.
【CNT-I/O connector】
Connector type
： 10226-52A2PL （3M）
Matched connector（ex.）： 10126-3000PE （3M）
【Option cable（2m）】type： DS100-CNT-2【CNT-I/O pin assign】
Pin
Name ofI/O
numbersignal1
X_DRIVEO2
X_CWLSO
3
X_CCWLS
O
4
X_ORG
O
5
Y_DRIVEO
6
Y_CWLSO
7
Y_CCWLS
O
8
Y_ORG
O
9
READY
O
10
NC
11
EMS
O
12
P/T_RUN
O
13
-COM1
14
P/T_BIT0I
15
P/T_BIT1
I
16
P/T_BIT2
I
17
T_BIT3
I
18
T_BIT4
I
19
T_BIT5
I
20
P/T_START
I
21
STOP
I
22

PRG/TCH

I

23
24
25
26

-COM0
NC
DC+24V
0V

O
O




Function
X axis now driving
X axis CWLS now detecting
X axis CCWLS now detecting
X axis ORG now detecting
Y axis now operating
Y axis CWLS now detecting
Y axis CCWLS now detecting
Y axis ORG now detecting
Ready output
Non-connected（System reserved）
EMS now detecting (OFF for EMS detecting ／ On for EMS non detecting)
Program now driving or teaching point now moving
Common for output signal
Select program numberBIT0 or teaching point specification BITO
Select program numberBIT1 or teaching point specification BIT1
Select program numberBIT2 or teaching point specification BIT2Teaching point specification BIT3
Teaching point specification BIT4
Teaching point specification BIT5
Program driving start signal ／ Teaching point moving start signal
Program stop (All axes will be stopped)
Program driving mode／Switching teaching point moving signal（When OFF、program driving mode／When ON、teaching point
moving mode）
Common for input signal
Non connected
Service power (DC24V，max 250mA)

Driving current of output circuit is 20mA/points, ON current of input circuit is
5mA/points.
-COM0 and -COM1 are insulated.

68

【CNT-I/O Circuit】

PS2801-4

1

CNT-I/O
X_DRIVE

2

X_CWLS

3

X_CCWLS

4

X_ORG

5

Y_DRIVE

6

PS2801-4

Y_CWLS

7

Y_CCWLS

8

Y_ORG

9

READY

10

(Reserved)

11

EMS

12

P/T_RUN

13

-COM1

14

PS2801-4

P/T_BIT0

15

P/T_BIT1

16

P/T_BIT2

17
1.5k

4.7k

T_BIT3

18

T_BIT4

19
1.5k

4.7k

T_BIT520

P/T_START

21
1.5k

4.7k

STOP

22

PRG/TCH

23
1.5k

4.7k

-COM0

24

N.C.

25
PS2801-4

DC+24V

26

0V

E
1.5k

4.7k

1.5k

4.7k

1
1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

2

PS2801-4

24V+

0V

PS2801-4

69

EMS
EMS+
EMS-

【Timing Chart】①Program operated by CNT-I/O（Ex.：Program No.5）①Normal operation②Suspend>5s
On

PRG/TCH Off

On

P/T_BIT0 Off

On

P/T_BIT1 Off

On

P/T_BIT2 OffOn

T_BIT3 OffIN

On

T_BIT4 Off

>30ms

On

>30ms

T_BIT5 Off

On

P/T_START Off

On

STOP Off

4s
On

READY OffOUT

On

P/T_RUN Off
Operating
Stop↑PowerON↑Start↑Start※Documentation, transfer and delete of program (No.0～7) is started from computer.
②Teaching position moved by CNT-I/O(Ex.：Teaching No.21)①Nomal operation②Suspend>5s
On

PRG/TCH Off
On

P/T_BIT0 Off
On

P/T_BIT1 Off
On

P/T_BIT2 OffOn

IN

T_BIT3 OffOn

T_BIT4 Off
>30ms

On

>30ms

T_BIT5 Off
On

P/T_START Off
On

STOP Off
4s
On

READY OffOUT

On

P/T_RUN Off
Teachingposition moving

駆動中
停止↑PowerON↑Start↑Start※ Registration of teaching position is started from computer or handy terminal DT100.
70

3.4.3 General I/O（I/O）（Option）
There’s option for general I/O that is input 16 points and output 12 points due to control eachsensors, switches, magnet valves and indicator lights.
【I/O connector】 General I/O（I/O）（Option）
Connector type
： 10236-0200 （3M）
Adaptive connector（Ex.） ： 10136-3000PE （3M）
【Option cable（2m）】Type： DS100-IO-2【I/O pin assign】
Signal namePin No.
I/O
Function
1
In_00
I
General input00
2
In_01
I
General input01
3
In_02
I
General input02
4
In_03
I
General input03
5
In_04
I
General input04
6
In_05
I
General input05
7
In_06
I
General input06
8
In_07
I
General input07
9
In_08
I
General input08
10
In_09
I
General input09
11
In_10
I
General input10
12
In_11
I
General input11
13
In_12
I
General input12
14
In_13
I
General input13
15
In_14
I
General input14
16
In_15
I
General input15
17
+COM2
I
In_00～In_15 for insulation power on
18
+COM3
I
OUT_00～OUT_11 for insulation power on
19
Out_00O General output00
20
Out_01O General output0121
Out_02O General output0222
Out_03O General output03
23
Out_04O General output0424
Out_05O General output0525
Out_06O General output0626
Out_07O General output0727
Out_08O General output0828
Out_09O General output0929
Out_10O General output1030Out_11O General output1131-COM3
Out_00～Out_11 for insulation power ground32-COM3
Out_00～Out_11 for insulation power ground33
DC+24VO
Service power (DC24V，max 400mA)
34
0V
O
35
NC
Non-connected
36
NC
Non-connected Input ON current is 5mA/point、Output drive current is 60mA/point（Total
under 500mA）
 DC+24V power, COM2 and COM are each insulated.
71

【I/O Circuit】

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

1.5k

4.7k

24V+

TLP281-4

1
2
3
4

TLP281-4
1.5k

5

4.7k

6
7
1.5k

8

4.7k

9
1.5k

1.5k

4.7k

10
11

4.7k

12

TLP281-4
1.5k

13

4.7k

14
15
1.5k

16

4.7k

17
1.5k

1.5k

4.7k

18
19

4.7k

20

TLP281-4
1.5k

21

4.7k

22
23
24
25
26
27
28
29
30
31
TLP281-4

TD62084AFG

32
33
34
35
36

TLP281-4

TD62084AFG

0V

TLP281-4

72

I/O
IN_00
IN_01
IN_02
IN_03
IN_04
IN_05
IN_06
IN_07
IN_08
IN_09
IN_10
IN_11
IN_12
IN_13
IN_14
IN_15
+COM2
+COM3
OUT_00
OUT_01
OUT_02
OUT_03
OUT_04
OUT_05
OUT_06
OUT_07
OUT_08
OUT_09OUT_10
OUT_11-COM3-COM3
DC+24V
0V
N.C.
N.C.

3.4.4 Emergency stop input（EMS）
Can be emergency stopped all axes operating to open 1 pin and 2 pin of EMS connector.
(At the link connected, 3～6 axes that connected to Link No.1,2 is emergency stopped to open
EMS signal of Link No.0)※ In case of no use EMS signal, please attached release-connector always on.
【EMS connector】
Connector type
Mattched plug
Mattched contact： S02B-PASK-2(LF)(SN) （JST）： PAP-02V-S(LF)(SN) （JST）： SPHD-001T-P0.5 （JST）

Pin No.

Signal name1

EMS (+)

2

EMS (-)

I/O
I-

Function
Input emergency stop signal (Normal close)
DC24V 5mA
CommonAs software’s interlock function, please do not use as the last protect function of systems.

3.4.5 Stage interface
Connect the motorized stage connected cable to motor connector.
【Motorized stage connector】
Connector type : 09-0054-00-14 (Product of Binder: female)
Matched plug: 09-0341-02-14 (Product of Binder)

G

R

P

E

S

O

J

C

T

N
L

U

M

A

<Female insert(mating side)>
Pin No.
A
C
E
G
J
L
M
N
O
P
R
S
T
U

I/O
O
O
O
O
O
I
I
I
I
O
O
-

Terminal function
Motor lead (Blue)
Motor lead (Red)
Motor lead (Orange)
Motor lead (Green)
Motor lead (Black)
CWLS input
CCWLS input
Near origin sensor input
Origin sensor input
Sensor power (DC5V(+))
Sensor power (DC5V(-))
N.C.
N.C.
Frame ground733.5 Driver division number setting
Different how to set the division number normal type and micro-step type.
Driver type
Normal driver

Division number setting
Can be switched FULL/Half from handy terminal(DT100),control
software (DSCONTROL-WIN), communication command.
Need to open the cover and set the rotary switch of micro-stepdriver.

Micro step driver

3.5.1 Open and shut
①In case of DS102A, take out 10 screws from side of cover, in case of DS112A, take out 6 screws
from side of cover with cross screwdriver.
②See following picture, set the marked point with precision screwdriver.
<DS102AMS><DS112AMS>

Ｘ axis

Y axisX axis

Ｙ axis・ Please power off during the open and shut, cause fire, injury and device breakage.
・ Please do not set up the driver with charged hands, cause breakage by static
electricity.

3.5.2 Setting division number
When set division number, please check driver’s division changing-over switch to [R1].
Default setting：R1

Division number changing-over switch

74

There are 2 division number setting switch ［DATA1］［DATA2］, use [DATA1]here.
Can be used [DATA2] at the only use communication command. Please refer to 4, 3, 5, 2
paragraph.
In case of change the division number, change [DATA1].
Default setting： [DATA1 : 0]
[DATA2：0］

Following chart shows basic step angle 0.72°/STEP.
Resolution = Basic step angle × Division number
R1
DATA1（DATA2）
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
•
•
•

Division number

Motor step angle

1/1
1/2
1/2.5
1/4
1/5
1/8
1/10
1/20
1/25
1/40
1/50
1/80
1/100
1/125
1/200
1/250

0.72°
0.36°
0.288°
0.18°
0.144°
0.09°
0.072°
0.036°
0.0288°0.018°
0.0144°0.009°
0.0072°0.00576°
0.0036°0.00288°

Please set “PULSE” as unit setting, in case of using both DATA1 and DATA2.
Division number are theoretical figure.
Please do not change the division number switch during operation, motor might be
stopped.

3.6 Smooth drive function（only MS type）
This function can get low vibration and low noise during slow operating without any change thedivision number setting. It divides automatically into 1/16 pulse signal.
No need pulse changing (speed and pulse) of upper controller side.
Smooth drive function must
be operated case of division number [R1],［DATA：0］～［DATA：6］（［R2］cannot be set）（［DATA］numeric shows ３．５．２ paragraph division number switch ［DATA1］）75

Default setting：[SD：Operate smooth drive]
Smooth drive changing-over switch• When operate smooth drive function、set ［SD］side.（Initialization）• When no operate smooth drive function, set ［OFF］side.

・Smooth drive function will not work when set over 10 divide division number.
Might be ignored to set［SD］.（Same as［OFF］operation）

3.7 Units setting function
No need difficulty change from pulse to actual displacement.
Units setting must be first for each setting parameter. Follow the below.
① Units setting（pulse, μm, mm, deg, mrad）② Set 1 pulse displacement at the full step（Basic resolution）set.
③ Set the division number（1/1～1/250）④ １pulse displacement（Automatically calculated from ①～③）
Example） In case of set the stage：KXC06020-G（1μm／pulse）to mm.
Units：mm
1 pulse displacement at the full step：０．００１（mm）
Division number：１／２０
１pulse displacement：０．００００５（mm）※ After setting, can use operate the setting units for all position data (except speed table).
※ In case of Sine Motion Stage（KRB04017, KRB06011, KGB06, KGB07）, can use only
“PULSE ” as unit setting.

76

3.8 Speed setting（Speed table）
This equipment memorized 10 speed table from 0 to 9. Each 2 axes（Max6 axes at Link） speed
is selected from speed table 0 to 9.
How to set the speed as shown bellows.:① Select speed table from 0 to 9 as needed.
② Fix the speed table and change the setting level.
Example）
Ｘ axis・・・Speed table No.０ Fixed
Ｙ axis・・・Speed table No.１ Fixed
Ｚ axis・・・Speed table No.２ Fixed
Ｕ axis・・・Speed table No.３ Fixed
Ｖ axis・・・Speed table No.４ Fixed
Ｗ axis・・・Speed table No.５ Fixed
Set as above, and change the each speed table 0 to 5 setting level (L, F, R, S).
※ Control software (DSCONTROL-WIN) speed is set by ②
※ Can change speed in operation.
Start-up speed（Ｌ：ｐｐｓ）、Driving speed（Ｆ：ｐｐｓ）、Acceleration and deceleration rate
（Ｒ：ｍｓｅｃ）and S acceleration and deceleration rate（Ｓ：％）are as follows.:
F(pps)L(pps)
S/2 100-S S/2(%)(%) (%)

S/2 100-S S/2(%)(%) (%)

R(msec)R(msec)（Ｓ＝0％：trapezoid driving）
F(pps)L(pps)

S=0%

S=0%

R(msec)R(msec)77

（Ｓ＝50％）F(pps)L(pps)

25%

S=50%

25%

25%

S=50%

R(msec)R(msec)

S=100%

S=100%

R(msec)R(msec)25%（Ｓ＝100％）F(pps)L(pps)

In case of bellows, set S acceleration and deceleration rate over 0 which helps to lessen the impact
and vibration for stages.
 In case of under heavy load on the stages
 In case of operating stages at the vertical (Z axis).
 Become triangle driving at the trapezoid driving due to small distance（Avoid triangle driving）

78

Speed table each level 0～9 as bellows.:
Contents
Speed table
Ｎｏ．０

Speed table
Ｎｏ．１

Speed table
Ｎｏ．２

Speed table
Ｎｏ．３

Speed table
Ｎｏ．４

Speed table
Ｎｏ．５

Speed table
Ｎｏ．６

Speed table
Ｎｏ．７

Speed table
Ｎｏ．８

Speed table
Ｎｏ．９

Setting range

Default

Start-up speed（Ｌ）
Driving speed（Ｆ）

１～９９９９ｐｐｓ

１０ｐｐｓ

１～９９９９９９ｐｐｓ

１０ｐｐｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec

S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
１～９９９９ｐｐｓ
Start-up speed（Ｌ）
１～９９９９９９ｐｐｓ
Driving speed（Ｆ）
Acceleration and deceleration rate（Ｒ） １～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％
Start-up speed（Ｌ）
１～９９９９ｐｐｓ
Driving speed（Ｆ）

１～９９９９９９ｐpｓ

Acceleration and deceleration rate（Ｒ）

１～９９９９msec
S Acceleration and deceleration rate（Ｓ） 0～１００％

１msec
0％
５０ｐｐｓ
５０ｐｐｓ
１msec
0％
１００ｐｐｓ
１００ｐｐｓ１msec
0％１００ｐｐｓ
５００ｐｐｓ１００msec0％１００ｐｐｓ
１０００ｐｐｓ
１００msec0％１００ｐｐｓ
２０００ｐｐｓ
１００msec0％１００ｐｐｓ
５０００ｐｐｓ
１００msec0％１００ｐｐｓ
１００００ｐｐｓ
１００msec0％１００ｐｐｓ
２００００ｐｐｓ

１００msec0％１００ｐｐｓ
５００００ｐpｓ
１００msec0％※ The value of speed table No.9 is max speed which can use at this equipment. Ex) If the valueof over 50000pps is setting on speed table No.1, actual speed is 50000pps. If needed, pleasechange the value of speed table No.9 （Ex: When setting F of No.0～8 to 100000, set F of
No.9 to 100000.）.

79

3.9 Function of origin return
This equipment has built-in 12 types origin return pattern. Please select origin returning typeaccording to the part number of stage you use.
＜List of origin return types＞
TYPE
OPERATIONAPPLIED SENSOR
PAGE
Type０
Origin return is not implemented（default）。
－
Ｐ．78
Start to detect to the CCW
ＣＷＬＳ／ＮＯＲＧ
Type１
Detect the CW side edge of NORG signal, then,
Ｐ．78／ＯＲＧ／ＣＣＷＬＳ
Detect the CCW side edge of ORG signal
Start to detect to the CWＣＷＬＳ／ＮＯＲＧ
Type2
Detect the CCW side edge of NORG signal, then
Ｐ．79
／ＯＲＧ／ＣＣＷＬＳ
Detect the CW side edge of ORG signal
Start to detect to the CCW
ＣＷＬＳ／ＯＲＧ／
Type３
Ｐ．80
Detect the CCW side edge of ORG signal
ＣＣＷＬＳ
Start to detect to the CWＣＷＬＳ／ＯＲＧ／
Type４
Ｐ．80
Detect the CW side edge of ORG signal
ＣＣＷＬＳ
Start to detect to the CCW
Type５
ＣＷＬＳ／ＣＣＷＬＳ
Ｐ．81
Detect the CW side edge of CCWLS signal
Start to detect to the CW
Type６
ＣＷＬＳ／ＣＣＷＬＳ
Ｐ．81
Detect the CCW side edge of CWLS signal
After operated type1, detect CCW side edge ofＣＷＬＳ／ＮＯＲＧ
Type７
Ｐ．82
TIMING signal／ＯＲＧ／ＣＣＷＬＳ
After operated type2, detect CW side edge ofＣＷＬＳ／ＮＯＲＧ
Type８
Ｐ．82
TIMING signal／ＯＲＧ／ＣＣＷＬＳ
After operated type3, detect CCW side edge ofＣＷＬＳ／ＯＲＧ／
Type９
Ｐ．82
TIMING signal
ＣＣＷＬＳ
After operated type4, detect CW side edge ofＣＷＬＳ／ＯＲＧ／
Type１０Ｐ．82
TIMING signal
ＣＣＷＬＳ
After operated type 5, detect CCW side edge ofType１１ＣＷＬＳ／ＣＣＷＬＳ
Ｐ．82
TIMING signal
After operated type 6, detect CW side edge ofType１２ＣＷＬＳ／ＣＣＷＬＳ
Ｐ．82
TIMING signal※ Please refer motorized stages catalog, select pattern type of origin return with checking theusage sensor.
＜Recommended origin return method＞
Recommended origin return method with usage our stages as bellows. :Recommended origin
return method

３，４，９，１０
５，６，１１，１２
３，４，９，１０
１，２，７，８Sensor specifications of stages
Limit
ORG
NORG
1
2
2
1
2
1
1

Number of stage
connector pins
1212
12
16・12（※）※About stages with 12-pin specifications and NORG
Type 1, 2, 7, 8：Select the 4 sensor cable D214-2-□□A.
Type 3, 4, 9, 10：Select the standard cable D214-2-□□.
※Please refer to our website or catalog for electrical specifications of our stages.
80The Origin return sequence is shown as below.:【Type０】
No origin return（default）【Type１】
CW side edge (a point) of NORG signal is detected in CCW direction, then CCW side edge (b point)of ORG signal.

81

【Type２】
CCW side edge (a point) of NORG signal is detected in CW direction, then CW side edge (bpoint) of ORG signal is detected.

82

【Type３】
CCW side edge (a point) of ORG signal is detected in CCW direction
ＣＣＷＬＳ

ＣＷＬＳ

ａpoint＜Origin detection
process＞
ＯＲＧ
ＦspeedＬspeedSD

Start position１

ＬspeedSD
ＬspeedJD※

Startposition２

ＪＯＧ

ＦspeedＬspeedLD※

Start position３

Solid-line shows emergency
stop setting. Dot-line shows
slowdown stop setting.
JD

ＦspeedＬspeedSD
ＬspeedＪＯＧ

ＦspeedＬspeedSD
ＬspeedStart
position４
JD

ＪＯＧ【Type４】
CW side edge (a point) of ORG signal is detected in CW direction.

83

【Type５】
CW side edge (a point) of CCWLS signal is detected in CCW direction.

【Type６】CCW side edge (a point) of CWLS signal is detected in CW direction.

84

【Type７】After the Type1 is performed, CCW side edge (c point) of TIMING signal is detected.

【Type８】After the Type2 is performed, CW side edge (c point) of TIMING signal is detected.

【Type９】After the Type3 is performed, CCW side edge of TIMING signal is detected.
【Type１０】
After the Type4 is performed, CW side edge of TIMING signal is detected.
【Type１１】
After the Type5 is performed, CCW side edge of TIMING signal is detected.
【Type１２】
After the Type6 is performed, CW side edge of TIMING signal is detected.
○●
Ｆ Speed
Ｌ SpeedＪＤ（ＪＯＧ）
ＬＤ
ＳＤ

Detection start position
Detection termination position
Driving speed（Setting speed）
Start-up speed (Setting speed）
Detection JOG interval（ＪＤ＝Ｌspeed）
Limit detection stop time ３００ｍｓｅｃ
Sensor detection stop time ３００ｍｓｅｃ

85

3.10 Linear interpolating function
Use linear interpolating function when want to move from current point to specified point as theshortest distance. Linear interpolation of Max. 6 axes are available at the link connecting. Linear
interpolation is available with control software（DSCONTROL-WIN）or communication commandusage.
However function of linear interpolating is unavailable from handy-terminal.

6axes linear
interpolation
一 example

B point(110, 220, 330, 440, 550, 660)

Current point A point(10, 20, 30, 40, 50, 60)※Between links interpolating is inaccurate.(2nd and 3rd or 1st and 6th , etc)
That is inferior than same unit axes.(1st and 2nd or 3rd and 4th , etc)

3.10.1 Linear interpolating（Relative value）
Operate from current point to constantly away for each axes.（Relative driving）【Communication command】
GOLineI _X□Y□Z□U□V□W□□：+ or - （+：CW specified direction、-：CCW specified direction）
Distance：”PULSe” setted （Unit is as case of current time）※No driving axis is avoided.（example：GOLineI _X+Z-）。
【Communication command when operate the above example work】
AXIX:PULS_100
AXIY:PULS_200
AXIZ:PULS_300
AXIU:PULS_400
AXIV:PULS_500
AXIW:PULS_600
GOLineI_X+Y+Z+U+V+W+

3.10.2 Linear interpolating（Absolute value）
Operate from current point to point that want to move directly.（Absolute value driving）【Communication command】
GOLineA_X□_Y□_Z□_U□_V□_W□□：Specified point（Unit depends on setting unit at the time）※No driving axes are avoided.（example：GOLineA_X1000_Z-2000）。
【Communication command when operate the above example work】
GOLineA_X110_Y220_Z330_U440_V550_W660

863.11 Teaching function
This equipment has built-in the teaching function for arbitrary coordinate registration of XY table,
point control simply. The number of points has 64points（00～63）, 6 axes are registered on eachpoints. Movement , registration, delete and edit to teaching point is available to use optional handy
terminal, control software or user program with communication command. Also, specified point andmovement are available for only PLC, I/O control by using controlled I/O (CNT-I/O).
Movement○○

Registered×○(Each 1 axis)

Delete×○（All axes）

Edit
×

Controlled I/O(CNT-I/O)
Handy terminal DT100○(Each 1 axis)
Controlled software○○（All axes）○（All axes）△※1
DSCONTROL-WIN
Communication command○○○○※1 Teaching data (tdf file) that is edited by text editor, display on DSCONTROL-WIN, then, transfer(writing).
Refer details as shown bellows:
Example teaching function ⇒2．2．1paragraphOperated by controlled I/O(CNT-I/O) ⇒３．４．２paragraphOperated by handy terminal ⇒４．１．４．３paragraphOperated by controlled software DSCONTROL-WIN ⇒４．２．４paragraphOperated by communication command ⇒４．３．５．２paragraph（１4）、４．３．５．６paragraph（３）

3.12 Program function
This equipment is stand-alone and has built-in the program function that the number of step iseach 100, total 8 for controlled general I/O and easy stage driving.

Controlled I/O(CNT-I/O)
Handy terminal DT100
Controlled software
DSCONTROL-WIN
Communication command

Program edit
××○
(Recommended)○

Program start○○

Program stop
○
○

○

○

○

○

Refer details as bellows.:
Example teaching function ⇒2．2．2paragraph, 2．2．3paragraphOperated by controlled I/O(CNT-I/O) ⇒３．４．２paragraphOperated by handy terminal ⇒４．１．４．２paragraphOperated by controlled software DSCONTROL-WIN ⇒４．２．５paragraphOperated by communication command ⇒４．３．6paragraph87

４．Operation and Control method
4.1 Operation by the handy terminal
4.1.1 Initial screen
Connect handy terminal and power on, display initial screen as below（Continue Mode）in 5 seconds.

Operation mode

StatusAxis

Speed table number

C X 12345678p<0
Y-98765.432u>1
CodeCurrent position

Unit※Current position of all axes might be 0 when power on.
＜Display operation mode＞
Display each operation modeC (CNT): Continue Mode（Stage drives during press arrow key）
S (STP): Step Mode（Stage drives constantly by pressing arrow key）
A (ABS): Absolute Mode（Stage drives to specified point by pressing arrow key）
O (ORG): Origin Mode（Start to origin return by pressing arrow key）
H (HOM): Home Mode（Stage drives to home position by pressing arrow key）
R: Remote Mode※”R”(Remote Mode) displays only receive the command from external interface. Only accept
STOP key and JOG key.
＜Axis＞
Display axis that available controlled（No Link：XY、Link Connecting（2units）：XY,ZU、
Link Connecting（3units）：XY,ZU,VW）。
＜Code＞
Display unit at the current point（No display ”＋”distance）＜Current point＞
Display the current point（ effective digit 8 digit, Except dot）
＜Unit＞
Set up by parameter. Display（p:pulse, u:μm, m:mm, d:deg, r:mrad）＜Status＞
Display the axis condition> : Machine limit ＋（CW）side is under detection< : Machine limit －（CCW）side is under detection■ : Machine limit both ＋（CW）and -(CCW)side are under detection（No connect to stage）] : Software limit ＋（CW）side is under detection[ : Software limit －（CCW）side is under detection＊ : Machine origin point is under stop by origin return
H : Move to position and under stop by home position returnnote）Machine limit display is came first when machine limit and soft limit are detected.
＜Speed table number＞
Display speed table No（0～9）

884.1.2 Transition mode
Handy terminal DT100 Transition mode as bellows.:

POWER ON

Initial screen(CNT Mode)

Jog

Select driving
mode

Enter

SPD

CNT Mode(Continuous
drive)Jog

Enter

Speed tableselect

STP Mode(Step driving)
Link

Axis selectXY, ZU, VW

POSABS Mode(Absolute driving)Enter

Change current
value

ORG Mode(Origin return)
HOME Mode(Return t )

ESC

Menu

Enter

REMOTE Mode
(Remotehandring)

PRG Mode(Program driving)

Menu selectMenu

Stop all axes
STOP

Enter

PRG_RUN(Program run)
PRG_STEP(Program steprun)

TCH Mode(Teaching mode
select)Enter

TCH_SET(Return teaching
point)

IN(General Input
monitor)TCH_DEL(Delete teaching
point)

OUT(General output
set-up)

PRM(Parameter
set-up)

TCH_MOV(Move teaching
point)

TCH_EDT(Edit teaching
point)↓
1.Pulse(STP)：Set up step distance↑
2.Pulse(ABS)：Set up absolute driving position
3.Speed Table：Set up speed table
4.Unit Set：Set up units and division number
5.Software Limit：Set up software limit
6.Home Position：Set up homeposition
7.Origin Type：Set up zero return type
8.Current Down：Set up current down
9.Limit Sensor：Set up limit sensor logic
10.Origin：Set up ORG sensor logic
11.Near Origin：Set up NORG sensor logic
12.Drive Direction：Set up motor direction
13.Stop Type：Set up motor stop
14.Zero Reset：Set up origin return reset894.1.3 Driving mode select（JOG KEY）
Select each driving mode when each axis operation stop. Press Jog key, it start to display driving
mode select. Select the function by using the arrow key and press ENTER key, then move to eachdriving mode.

CNT STP ORG HOM
ABS

Jog
7

In each drive mode, when the EMS connector is opened, the drive mode display changes to "E"and all axes stop. If the EMS connector is short-circuited, it will return to the previous drive mode
display. (Enable for DT100 Ver.1.03 or later.)

4.1.3.1 Continuous driving mode（CNT：Continue Mode）
Display as bellows by selected CNT.

ＣＮＴ Mode

Operation
mode

StatusAxis

Speed table number

C X 12345678p<0
Y-98765.432u>1
CodeCurrent
position

Unit←、→、↑、↓ during press any key, drive with setting each parameter.
← key： X(Z,V) axis drive to -(CCW)→ key： X(Z,V) axis drive to +(CW)↑ key： Y(U,W) axis drive to +(CW)↓ key： Y(U,W) axis drive to -(CCW)

4.1.3.2 Uniform pulse driving mode（STP： Step Mode）
Select STP, display as bellows.:
Operation mode

ＳＴＰ ModeS X 12345678p<0
Y-98765.432u>1←、→、↑、↓ press any key, start to drive uniform pulse in each parameter.
← key： X(Z,V)axis drive to -(CCW)→ key： X(Z,V)axis drive to +(CW)↑ key： Y(U,W)axis drive to +(CW)↓ key： Y(U,W)axis drive to -(CCW)STOP key：Stop all axes
＊ Press shortcut key(Set key)at the step mode, display「Set up uniform pulse distance」.
（Return to step mode screen with Set key）
90

4.1.3.3 Absolute value driving mode（ABS： Absolute Mode）
Display as below when selects ABS.

Operation mode

ＡＢＳ modeA X 12345678p<0
Y-98765.432u>1←、→、↑、↓ press any key, start to drive in each parameter←、→ key： X(Z,V)axis drive to setting position↑、↓ key： Y(U,W)axis drive to setting position
STOP key :Stop all axes
＊ Press shortcut key（Set key）, display 「Set up absolute value driving position」（Return to absolute driving mode screen with Set key）

4.1.3.4 Origin return mode（ORG： Origin Mode）
Display as below when selects ORG.
Operation mode

ＯＲＧ modeO X 12345678p<0
Y-98765.432u>1←、→、↑、↓ press any key, start origin return at “Origin Type” of parameter.
After origin return finished , display“*” at “status” of main screen.
←、→ key： X(Z,V)axis return to origin↑、↓ key： Y(U,W)axis return to origin
STOP key： Stop all axes
＊ Press shortcut key（Set key）, display「Set up origin return type」（Return to origin return mode screen with Set key）

4.1.3.5 Home position return mode（HOM：HOME）
Display as below when selects HOM.
Operation mode

ＨＯＭ modeH X 12345678p<0
Y-98765.432u>1
Move the position that set by “Home Position”of parameter when press any key←、→、↑、↓
After home position return finished, display “H”at “status” of main screen.
←、→ key： X(Z,V)axis return to home position↑、↓ key： Y(U,W)axis return to home position
STOP key ： Stop all axes
※ Press shortcut key,（Set key）, display「Set up home position」（Return to return mode screen with Set key）
91

4.1.4 Menu select（Menu key）
Select each menu at not <Remote Mode>. Press Menu key, display as bellows. Show each mode
screen when press ENTER key after select mode with arrow key.

PRM PRG TCH
IN OUTMenu
8

4.1.4.1 Parameter mode（PRM）
Allow parameter setting when select PRM.
① Pulse(STP): Set up uniform pulse distance② Pulse(ABS): Set up absolute value driving position③ Speed Table: Set up speed table④ Unit Set: Unit(UT)、Pulse distance per 1 step(SD)、Set up division number ofdriver(DR) (Distance(RE) per 1 pulse automatically calculated)⑤ Software Limit : Set up software limit⑥ Home Position : Set up home position⑦ Origin Type: Set up origin return type
⑧ Current Down
: Set up current down
⑨ Limit Sensor: Set up limit sensor logic⑩ Origin: Set up origin sensor logic⑪ Near Origin: Set up nearby origin sensor logic⑫ Drive Direction : Set up driving direction⑬ Stop Type: Set up stopping⑭ Zero Reset: Set up 0 reset at return to origin
14 parameter setting screen might be changed in order by ↑,↓ key. Press Enter key, display eachparameter setting screen. Return to menu select screen with ESC key.
【List of Parameter selection】
1.
Pulse(STP)

8.
Current Down

2.
Pulse(ABS)9.
Limit Sensor

3.
Speed Table

10.
Origin4.
Unit Set

11.
Near Origin

5.
Software Limit

12.
Drive Direction

6.
Home Position

13.
Stop Type

7.
Origin Type

14.
Zero Reset92

①Pulse(STP) （Uniform pulse driving, Set up distance value）
Set up distance at uniform pulse driving（Step Mode）
Select“Pulse(STP)”, shows as below.: Press ↑,↓ key, select a setting axis.
Return to parameter select screen with ESC key.
Parametor

Axis

Setting data

PS X
Y

unit

100.0u1000d

Cursor position at select axis

After axis selected, press Enter key, display the cursor on left lateral of setting data. Can be input thesetting data with numeric keypad.
Parameter

Axis

Setting data

PS X
Y

unit

100.0u1000d

Cursor position at input data

After setting finished, press Enter key, be moved the cursor on left lateral and input any other axis.
※During input the setting data, continue to press ESC key（1 sec.）, might be return to select thesetting axis without input setting data.
②Pulse(ABS) （Set up absolute position）
Select driving position at absolute position driving（ABS Mode）
Display as below with “Pulse(ABS)”, Select setting axis with ↑,↓ key. Return to parameterselect screen with ESC key.

Parameter

Setting data

Axis

PA X
Y -

Unit

200.0u2000d

Cursor position at select axis

After axis selected, press Enter key, display the cursor on left lateral. Can be input the setting data withnumeric keypad.
※ “+”no displayed

PA X
Y -

200.0u2000d

Carsor position at input data

After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, continue to press ESC key（1 sec.）, might be return to selectthe setting axis without input setting data.

93

③Speed Table（Set up speed table）
Set up starting speed(L), driving speed(F), acceleration and deceleration rate(R ) and S accelerationand deceleration rate(%). Display each (L)(R)(S) setting data and speed table number when select“Speed Table” shown as below.: At this time, “*” shows on left-lateral of setting item. Be moved“*”with ←、→ key , then select（R）or (S). Select speed table number with ↑、↓ key. Return toparameter select screen with ESC key
CursorItem

Table Number

*L0
10

F0

Data

Data

Cursor

Item

1

S0
10

R0
10
Data

Table Number

Data← key： Move the cursor(*)to the left. Case of cursor is in left-lateral S rate(S), change the screen
and display the acceleration and deceleration rate.(See the above)→ key： Move the cursor(*)to the right. Case of cursor is in left-lateral (R), change the screen
and display the S acceleration and deceleration rate(S). (See the above)↑ key： Speed Table Number change to order 9→8→…→1→0↓ key： Speed Table Number change to order0→1→…→8→9※ Return to parameter select screen if press ESC during select the Speed Table orsetting item
After moved by arrow key, press Enter key and then change to →. Possible to input with numeric
keypad. (* Displayed in continuous pressing ESC key). After input, press Enter key, be confirmed
setting value and change → to “*”.

④Unit Set（Set up units and division number）
Set up the unit, the distance per pulse at full step and division number of driver.
This set up shows distance per pulse,（Distance per pulse at the full step）÷（Division number of driver）
automatically calculated.
Display cursor when select “Unit Set”, jump to setting screen that set units.
Move the cursor to left-lateral of axis that set with ↑、↓key.
Return to parameter select screen with ESC key.

Parametor

CarsorUS

Setting axis

X-axisY-axisAfter select the setting axis, press Enter key, “Unit(UN)”and “Distance per 1 pulse at the full step”(ST)of axis that selected as bellows.:
Settingaxis

CursorX

Item

Setting data

UN m(mm)
ST
0.001
94

Move cursor to the side of setting item that want to be set with ↑、↓key.
Shows “distance per 1pulse (RE) and “Set up drivers division number (DR)” when press ↓key
for 2 times.
Setting axis

CarsorX

Item

Setting data

DR 1/2RE
0.0005* RE（Distance per 1 pulse at the full step）÷（Division number of driver）
Automatically calculated
Press Enterkey when move the cursor to setting item that want to be setting. Then, carsor move toleft-lateral of setting data that selected, available to input the setting data.
※Press ESC key at the setting item select screen, return to axis selecting screen.
※Press ESC key at the setting data input screen, return to setting item select screen.
＜UN＞
Set the units
Press ↑、↓ key, then select (p(pulse)/u(um)/m(mm)/d(deg)/r(mrad))Press Enter key after finished input, return to setting item select screen.
＜SD＞
Set up the distance per 1 pulse at the full step of motorized stage.
Input setting data with numeric keypad.
After input finished, press Enter key, return to setting item select screen.
＜DR＞
Set up the division number of motorized driver with ↑、↓ key.
Normal driver → FULL／HALF
Micro step driver → １／１～１／２５０※If press ESC key during input the setting data, return to selection screen of setting item without
setting data.(In case of ST entry screen, (Return to selection screen of setting item with
ESC key continuation press（1 sec））
⑤Software Limit（Set up Software Limit）
Set up valid/invalid and set the coodinate of software limit.
When select the “Software Limit”, display the cursor on left-lateral at the selection screen that setted
software limit. Press ↑,↓ key, select the setting axis.
Return to parameter selection screen with ESC key.
Parametor

Selection axis

SL X-axis
Y-axisCursorPress Enter key after finished selection of axis. Move to Software Limit setting screen of +(CW) sideof selection axis, then cursor shows on left-lateral95

Setting axis

Setting item

Setting data

X +E OFF+L

10000pSetting data

CursorMove cursor to the left-lateral of setting item that set with ↑,↓ key.
Press ↓ key 2 times, display Software Limit setting screen of (CCW) side as bellows.:
Setting axis

Setting Item

Setting data

X -E OFF-L

10000pSetting data

CursorMove cursor to the left-lateral of setting item that set with ↑,↓ key.
Press Enter key when move the cursor to setting item that want to be setting. Then, Cursor move toleft-lateral of setting data that selected, available to input the setting data.
＜+E,-E＞
Set up Software Limit（CW,CCW distance）valid/invalid.
Select Software Limit valid/invalid with ↑、↓key.
After selection, be fixed with Enter key and return to selection screen. Return to selection screen with
ESC key.
＜+L,-L＞
Set up the coodinate（CW,CCW direction）.
Can be changed with numeric keypad.
Press Enter key after finished input, return to setting item select screen.
Return to selection screen of setting item with ESC key continuation press（1 sec）.
⑥Home Position（Set up Home position）
Set up Home position for each axis.
When select the “Home Position”, to be Home position setting screen. Display the cursor on leftlateral of setting axis.
Parametor

Axis

Setting data

Unit

HP X 0.0005000m
Y 5.000u
Cursol position f or selected axis

Cursol position for data input

Move cursor to the left-lateral of axis that set with ↑,↓ key.
※Return to parameter selection screen with ESC key .
96

After axis selected, press Enter key, display the cursor on left lateral of setting data. Can be input thesetting data with numeric keypad. Please input –key first when input the code.
※ “+”no displayed
After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, continue to press ESC key（1 sec.）, might be return to selectthe setting axis without input setting data.
⑦Origin Type（Set up Origin return type）
Set up each axis origin return type.
When select the “Origin Type”, to be Origin Type setting screen. Display the cursor on left lateral ofsetting axis.
Parameter

Setting data

Axis

OT X 0
Y 1
Cursol position for selected axis

Cursol position for data input

Move cursor to the left-lateral of axis that set with ↑,↓ key.
※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, press ESC key, might be return to select the setting axis without
input setting data.
⑧Current Down（Current Down Control Setting）
Set up each axis Current Down Control Setting.
When select the “Current Down”, to be Current down setting screen. Display the cursor on leftlateral of setting axis.
Parametor

Axis

Setting data

CD X ON
Y OFF
Cursol position for selected axis

Cursol position for input data

Move cursor to the left-lateral of axis that set with ↑,↓ key.
※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, press ESC key, might be return to select the setting axis without
input setting data.

97

For normal driver type , the current down control is fixed to ON.
When DT100 of Ver.1.03 or later is connected, the arrow (→) is not displayed and it is fixed to ON.
If you connect DT100 of Ver.1.02 or earlier, it will be forcibly returned to ON even if you try to switch it toOFF. The MS type is unchanged in all versions.

⑨Limit Sensor（Limit Sensor Logic Setting）
Set up each axis Limit Sensor Logic Setting.
When select the “Limit Sensor”, to be Limit Sensor Logic setting screen. Display the cursor on leftlateral of setting axis
Move cursor to the left-lateral of axis that set with ↑,↓ key.

Parametor

Axis

Setting data

LS X BY B
Cursol position for selected axis

Cursol position for input data

※Return to parameter selection screen with ESC key
After axis selected, press Enter key, display the cursor on left-lateral, and then input the setting datawith ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, press ESC key）, might be return to select the setting axis without
input setting data.
⑩Origin（Origin Sensor Logic Setting）
Set up each axis Origin Sensor Logic Setting.
When select the “Origin”, to be Origin Sensor Logic setting screen. Display the cursor on left lateralof setting axis.
Move cursor to the left-lateral of axis that set with ↑,↓ key.
Parametor

Axis

Setting data

OR X BY B
Cursol position for selected axis

Cursol position for input data

※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any otheraxis.
※During input the setting data, press ESC key, might be return to select the setting axis without
input setting data.
98

⑪Near Origin（Near Origin Sensor Logic setting）
Set up each axis Near Origin Sensor Logic Setting
When select the “Near Origin”, to be Near Origin Sensor Logic setting screen. Display the cursor onleft lateral of setting axis.
Move cursor to the left-lateral of axis that set with ↑,↓ key.
Parametor

Axis

Setting data

NO X BY B
Cursol position for selected axis

Cursol position for input data

※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any otheraxis.
※During input the setting data, press ESC key, might be return to select the setting axis without
input setting data.
⑫Drive Direction（Motor Driving Direction）
Set up each axis Motor Driving Direction Setting.
When select the “Driving Direction”, to be Motor Driving Direction setting screen. Display the cursor
on left lateral of setting axis.
Parametor

Axis

Setting data

DD X Positive
Y Negative
Cursol position selected axis

Cursol position input data

Move cursor to the left-lateral of axis that set with ↑,↓ key.
※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral and input any other axis
※During input the setting data, press ESC key, might be return to select the setting axis without
input setting data.

99

⑬Stop Type（Motor Stop Setting）
Set up each axis Motor Stop Setting
When select the “Stop Type”, to be Motor Stop setting screen. Display the cursor on left lateral ofsetting axis.
Parametor

Axis

Setting data

ST X Fast-Stop
Y Slow-Stop
Cursol position for selected axis

Cursol position for input data

Move cursor to the left-lateral of axis that set with ↑,↓ key.
※Return to parameter selection screen with ESC key。
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key
After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any otheraxis.
※During input the setting data, press ESC key, might be return to select the setting axis without
input setteing data.
⑭Zero Reset（Count Zero Reset Setting at Origin Return）
Set up each axis Count Zero Reset Setting
When select the “Zero Reset”, to be Count Zero Reset setting screen. Display the cursor on leftlateral of setting axis.
Parametor

Axis

Setting data

ZR X Yes
Y No
Cursol position for selected axis

Cursol potion for input data

Move cursor to the left-lateral of axis that set with ↑,↓ key※Return to parameter selection screen with ESC key.
After axis selected, press Enter key, display the cursor on left-lateral of setting data, and then input
the setting data with ↑、↓key.
After setting finished, press Enter key, be moved the cursor on left-lateral of axis and input any otheraxis.
※During input the setting data, press ESC key, might be return to select the setting axis without
input setteing data.

100

4.1.4.2 Program Driving Mode（PRG）
Downloaded from computer program（8Programs(0～7)、100Steps/1Program）is driven andstopped. If select “PRG”, shows bellows screen and cursor is displayed on left-lateral. Return to
Menu selection screen with ESC key.
Move cursor to the left-lateral that selected driving mode with ↑、↓key.

PRG

RUN
STEP

After select the program driving mode, press ENTER key jump to following each driving screen.
＜Select RUN mode（a series of operations）＞
Select “RUN”, display the program number. Change the program number with ↑、↓key (Onlydisplay registered program number in 8 programs)
Driving Mode

Program number

P0X 12345678p<0
R Y-98765.432u>1
Program driving

If press STOP/ESCkey during the drive
After selected program, press ENTER key display “R”.
Program might be stop. Return to program driving mode selection screen during press
STOP/ESCkey at off-line.
＜STEP mode selection＞
Select “STEP”, display the program number. Change the program number with ↑、↓key.

Driving mode

Program number

P0X 12345678p<0
S Y-98765.432u>1
Program (STEP) driving

After selected program number, each press ENTER key drive the selection program each 1 line.
Display “S” during drive. Return to program driving mode selection screen during press STOP/ESC
key at off-line.
＜Registered, change and delete＞
Please enter to registered, change and delete in the controlled software（DSCONTROL-WIN）
No work DT100.

101

4.1.4.3 Teaching mode （TCH）
If select “TCH”, shows bellows screen and cursor is displayed on left-lateral.
Move cursor to the left-lateral that selected teaching mode with ←、→key.

MOV SET DEL EDT

After select the teaching mode, press ENTER key, jump to following each driving screen.
Return to Menu selection screen with ESC key.
＜MOV: Teaching Point Moving＞
If select “MOV”, shows bellows screen （Return to teaching mode selection screen with ESC key.）

Mode

Teaching point number

MOV 00Change the program number with ↑ 、 ↓ key. Display the teaching point what you want ,pressENTER key .
Setting data

Axis

Mode

TM X
00 Y -

Unit

1000p
0.1234m

Teaching point number

Press ENTER key at this screen, start to move to teaching point.（Return to teaching point number
selection screen during press STOP/ESC key at off-line.）＜SET: Teaching point setting＞
If select “SET”, shows bellows screen.
Return to teaching mode selection screen with ESC key.
Mode

TS
12

CNT STP

Teaching point number

Move cursol to the left-lateral that selected driving mode with ←、→ key.
Press ENTER key, jump to following teaching point number selection screen of each mode.

102

（1）CNT
Mode

Teaching Point Number

CNT SET 12

Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressedover 1sec.) Press ENTER key with displaying teaching number, then jump to following screen.
Driving mode

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Teachng Mode

It is possible to drive Jog with arrow key. Press SET key at the registered position, display cursor.
Select registered axis with ↑、↓ key, press ENTER key, then coordinate registration.
Press ESC key, return to teaching point selection screen.
※ Can be changed speed table during teaching mode.
（2）STP
Mode

Teaching point number

STP SET 12

Change the teaching point with ↑、↓ key,（Counted up and down continuously-pressed over1sec.）. Press ENTER key with displaying teaching number, then jump to following screen.

Driving Mode

CursolS X 12345678p<0
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Teaching Mode

It is possible to drive STEP with arrow key. Press SET key at the registered position, display cursor.
Select registered axis with ↑、↓ key, press ENTER key, then coordinate registration.
Press ESC key, return to teaching point selection screen.
※ Can be changed speed table during teaching mode.

103

＜DEL: Teaching point delete＞
Select“DEL”, shows as bellows.:（Return to teaching mode selection screen when press ESC key）.

Mode

Teaching point number

DEL 63Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressedover 1sec.) Press ENTER key with displaying teaching number, then jump to following screen.

Setting data

Parametor

TD X
63 Y -

Unit

1000u
0.1234d

Teachng point number

Press ENTER key at this screen, delete registered teaching position number（all of the 6axes）,then display ”No Data”（. Return to teaching mode selection screen when press ESC key）.）

Setting data

Unit

No Data
No DataudParametor

TD X
63 Y

Teaching point number＜EDT: Teaching point edit＞
Select“EDT”, shows as bellows.:（Return to teaching mode selection screen when press ESC
key）.
Mode

Teaching point number

EDT 15Use ↑、↓ key, and change the teaching number. (Counted up and down continuously-pressedover 1sec.) Press ENTER key with displaying teaching number, then jump to following screen.

104

Mode

Setting data

Axis

TE X
15 Y -

Unit

1000p
0.1234m

Teachng point number

After select axis with ↑、↓ key, press ENTER key, cursor will move to left-lateral of setting data.
Can be edited teaching point directly. After complete, press ENTER key, edit is finished. Cursor will be
return to left-lateral of axis. Cursor will be returned to left-lateral without edition if press ESC key over
1sec.

4.1.4.4 General Monitor（IN）
Monitoring general I/O（Option） input port（In00～47）.
Select “IN” display as bellows.:
Input port （0～2）

InP00101010101010101
In00

In00～15

In15

Each time one presses the Link key, can be monitoring I/O(Input) of Link No.1、Link No.2 thatconnected to the body.（Link No.1=InP1(In16～31)、Link No.2=InP2(In32～47)）。
※ Press ESC key, return to menu selection screen.

4.1.4.5 General output control（OUT）
Control general I/O output port (Out00～35).
Select “OUT” display as bellows.:

CursorOutP
0 010101010101
OutPort 0～2

Out11

Out00

Move cursor （↓） with ←,→ key, match the pit that wants controlled. Each time one presses the↑,↓ key, shows to change the value like …→1→0→1→….After complete, press ENTER key, output
the port that set at “1”.
At this screen, each time one presses the Link key, can be controlled I/O(Output) connected to Link
No.1, Link No.2.（Link No.1=OUTP1(OUT12～23)、Link No.2=OUTP2(OUT24～35)）。
※ Press ESC key, return to menu selection screen.

105

4.1.5 Other function
4.1.5.1 Change the Speed Table（SPD Key）
Press SPD key at the driving mode, display as bellows.:
Speed table number

axis

XSpeed(YSpeed():2):3←： Count down the speed table number of X(Z,V) each time one presses the key→： Count up the speed table number of X(Z,V) each time one presses the key↑： Count up the speed table number of Y(U,W) each time one presses the key↓： Count down the speed table number of Y(U,W) each time one presses the key
ENTER： Complete to change, return to driving mode screen
ESC： Return to driving mode screen without change※ Can be changed speed table during driving.

4.1.5.2 Change the axis（Link key）
Press Link key at the all axis display screen(included parameter setting screen), selection axis change
XＹ→ZU→VW→XY…. Can be changed displaying axis during driving.
axis

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4.1.5.3 Changes current position（POS Key）
At the each axis is stopped , and displayed the driving mode(CNT/STP/ABS/ORG/HOM),
press POS key, display ”*”, selected axis with ↑、↓ key.
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After selected axis, press Enter key, change ”*”to”→” . Can be entering the arbitrary position withnumeric keypad. Return to “*” if press ESC key over 1 sec. “→” will be disappeared.
When press ESC key over 1 sec., return to “*”. After complete, press Enter key, ” →” will bechanged to ” * ” with coordinate setting. Press POS key, return to driving mode.

106

4.1.5.4 Version confirmation, Parameter reset
Can be confirmed version of controller and terminal under the each axis driving is off and no <Remote
Mode>. Also return to before shipping condition each parameter setting.
Hold STOP key and press Enter key, the controller and terminal version displays as bellows.:

DS102Ver1.00
DT100Ver1.00
Hold STOP key and press Enter key for over 5 sec., shows “＊” as bellows.
Might be initialize power on again.

*DS102Ver1.00*DT100Ver1.00

107

4.2

DS102/112 Controlled software（DSCONTROL-WIN）Use DSCONTROL-WIN, can be parameter setting, JOG driving, registered and moved of teaching
point and edited and started of program driving easily.

4.2.1

DSCONTROL-WIN start-up

According to routine ２．１．３, when install DSCONTROL-WIN, can be started DSCONTROL-WIN
from Windows start menu.
Please check the power and communication cable when shows below message.

Start up DSCONTROL-WIN when function normally.

※

Please power off this machine after DSCONTROL-WIN closed, because the setting datais written in the memory at the moment DSCONTROL-WIN closed.

4.2.2 Parameter set-up
Please set up the parameter when use DSCONTROL-WIN at the first time.
＜Basic operation＞
i. Parameter setting screen appears, when it be selected [Action]→[Parameter].

ii.

Click any selection you want.
108

iii.

Select stage model number you use among stage list.
Selecting stage model number, its Initial value of stage appears.

※ When need different value, input any value you want directly.
iv.
v.

Repeat ⅱ～ⅲ, select any axis and value.
Click [Apply].

Saving screen of parameter appears.

vi.

Confirn Save location and its name then click [Save].
109

Parameter file is saved in PC and selected parameter is forwarded to DS102/112.
※ spf is automatically added as extension.

4.2.3 Jog driving
Move each stages to any optional location.
＜Basic operation＞
i. [Action]→[Ｊog] on main menu then screen below appears.

③

①

①
②
③
④
⑤
⑥
⑦
⑧
⑨
⑩
⑪
ii.

② ⑤

⑦

⑧

⑥ ④ ⑪ ⑨

⑩

Axis
Unit
Current location
Move to ＋（CW）direction
Move to －（CCW）direction
Limited detection of ＋（CW）direction （Green：Non-detection, Red：Detection）
Double click sets up limit of software（Yellow：Detection）
Limited detection of －（CCW）direction（Green：Non-detection, Red : Detection）
Double click sets up limit of software（Yellow：Detection）
Display set value of step drive and position drive
Display speed（unit：pps fixed）（Direct input on double click）
Speed value up（Until max speed by parameter set up）
Speed value downContinue、Step、Position、Origin Select and click any key.

Continue： While pushing ＋, －, stage moves. Once released button, stage stops on parameters
set up (Fast stop or Slow stop).
Step ：
Once pushing ＋, －, stage moves by setted movement value.
When you change movement value, double click ⑧, input movement value directly.

Position： Click Position so screen below appears.
110⑧

When you change movement position, double click ⑧, input movement position directly.

After set up any value and position, click GO so stage moves to position you set up.
Click 0, so stage move to “0“position.
Origin ：Click Orogin, so screen below appears.

Click Origin, so stage move to Origin position.

111

When you set or change Home position, double click ⑧.
Screen below appears and you can set up any optional position.

After setting, push Home, so stage moves to home position.
Stop： While stage moves, click Stop so stage stops（Fast stop or Slow stop）.

＜Direct speed input＞
Double click ⑨ on speed display so screen below appears.
Input speed value you like then click [OK].

※ Speed value should be within Max speed parameter can set up＜To change current position value to optional value＞
Double click ③ so screen below appears.
Input any optional value then click [OK].

＜To set up soft limit＞
Double click ⑥ so screen below appears. （If you double click ⑦, “－”（CCW） direction）

To click [OK] sets current position as soft limit valus. Detecting soft limit, display of soft limit turns
yellow.
In case of Disable, double click limit display then click Disable.

112

In the combination of DSCONTROL-WIN Ver.1.06 or later, when the EMS connector is opened
during JOG drive, teaching, program drive, and I/O monitor screen display, the following message
box will appear.This message box disappears when the EMS connector is shorted.

4.2.4 Teaching＜Basic operation＞
i. Main menu→[Action]→[Teaching].
Screen below appears.

Set ： Selected teaching points 6 axes (Red cells) are forwarded to DS102 or 112.（PC→DS）
Once memoried, positions of 6 axes are displayed. (No stage connected, ”N” is displayed)
Remove ： Selected teaching points 6 axes are removed and forwarded to DS102 or112（PC→DS）. Display of 6 axes gets to be ”N”
Go To ： Movement to selected teaching point 6 axes
During movement, even 1axis reaches mechanical or soft limit, all axis stop
Read ： Read and display all of teaching point 64points memorized inside DS102 or 112（DS→PC）
Write ： Forward all of teaching point 64 points to DS102 or 112（PC→DS）
Import ： Open teaching points inside PC
Export ： Save all teaching point 64 points inside PC※Not forwarded to DS102 or 112
ii.

Move stage to desired teaching position by JOG mode of handy terminal or JOG drive mode ofPhrase 4. 2. 3 .
※ Not use handy terminal and JOG drive in PC together at the same time.

113

iii.

Select Cell# you like to memory, click Set to memorize.

iv.
v.
vi.

Repeat ⅱ～ⅲ to memorize point you need.
Select memorized teaching Cell# then push Go to and make sure memorized position is correct.
If memorized position is correct, click Set to save 64 teaching points in PC.

＜How to back up teaching points memorized in DS102 or 112＞
i. Click Read to read and display memorized 64 teaching points inside DS.
ii. Click Export to forward displayed 64 teaching points to PC.
＜To forward Teching points memorized in PC to DS102 or 112＞
i. Click Import to import and display teaching points memorized inside PC.
ii. Click Write to write 64 teaching points to DS102 or 112.
※ Convenient for forwarding all same teaching points to several DS.

114

4.2.5 Driving program
Making program by using DSCONTROL-WIN and forward it to DS102 or 112. DS can control stage
movement by I/O control. Also I/O inside PLC can control stage movement easily.
＜Basic Operation＞
i. Main menu→[Action]→[Program drive]

New
Open
Save
Add
InsertDelete
Edit
Write
Read
Clear
Step
Run

： Making new program： Open the saved program inside PC： Save program displayed screen into PC※Do not forward program to DS： Add program drive command to last line in program： Insert program drive command into program： Delete 1line of program drive command： Edit 1line of program drive command： Write program drive command displayed screen to DS（PC→DS）： Read program drive command memorized inside DS and display it（DS→PC）。
： Clear program inside DS（PC→DS）： Drive selected 1line program drive（PC→DS）： Drive selected programs（PC→DS）

115

ii.

Click Add so display below appears on screen.

※Making program by programming following command.
● Speed setup
Setting up each axis speed. Speed should be within parameter maximum speed.

● Position setup
Setting up or changing current position of each axis to optional position.

116

● Single axis drive
Driving single axis. Set up Drive mode, axis and destination. If you can not go forward until drive
is done, please select enable at wait until finish.

● Interpolation Drive
Implement interpolation Drive (Absolute value) of double axes. Select axis, destination and clickdisable at wait until finish.

● Teaching position
Move to teaching position.

● Wait for operation to finish
No go forward while axis is in motion.

117

● Jump
Jump to appointed line unconditionally.

● Conditional jump
With monitoring general input condition, jump to appointed line.

● Repeat
Repeat same movement until 999,999 times.

● WairDo not go forward during time you set up. Maximum time is 999,999 ms.

● Output
Forced output of general output.

118

● Direct input
Input command directly without using command menu.

iii.

After making commands, list of command appears on screen（Sample）.

When program is done, click [Writing].

Select program# then click [Transfer] so program is forwarded to DS.
iv.
v.

Click Save to save program in PC（Recommended）.
When program is done, check its operation.
Click [Start]

Select program No. then click [Start] so program starts. During operation, display in next pageappears on screen.

119

＜How to back up program in DS＞
i. Click Read

Select program No. then click [Transfer] so selected program is forwarded to PC and display
its program on screen.
ii.

Click Save so displayed program is saved into PC.

＜To transfer program data saved inside PC to DS＞
i. Click Open to display program data inside PC.
ii. Click Write

Select program No. and click [Transfer] so program is transferred to DS.
※Convenient for transferring same program to several DS.
＜Remove program memoried inside DS＞
i. Click Clear

Select program No. then click [Remove] to delete program.

120

4.2.6 Ｉ／Ｏ monitor
The monitor of general input and forced output of general output can be performed.

i.

Main menu→[Action]→[Ｉ／Ｏ monitor], then Ｉ／Ｏ monitor display appears.
●Input：White→OFF, Green→ON●Output：Check to outputii.

On linked, click Next Port to see another linked monitor （General Ｉ／Ｏ is not optional setting,
Input value is uncertainly）

121

4.3 User program Processing
Can be controlled free motorized stage or general I/O by sent/received PC and communicationcommand with RS232C or USB.

4.3.1

RS232C

Set-up the baud rate with dip switch on rear side, and connect RS232C interface and RS232C ofcomputer interface connector with RS232C cross cable (D100-R9-2).
・ Dipswitch must be set up before power on.
No effect to change dipswitch after power on.
・ Please confirm to power off before connect the cable.
Never connect to cable in case of power on. Must be risk of breakage【RS232C Connector】
XM2C-0942-132L （Omron products：Dsub9P male）
Pin Number
Name
Function１－
Not connected
２
ＲｘＤ（ＲＤ） Received data（input）
３
ＴｘＤ（ＳＤ） Send data（output）
４
ＤＴＲ（ＥＲ） Data terminal ready（output）
５
ＧＮＤ（ＳＧ） Siignal ground
６
ＤＳＲ（ＤＲ） Data set ready（input）
７－
Not connected
８－
Not connected９－
Not connected【Communication parameter】
How to send
Asynchronous
Baud rate
4,800、9,600、19,200、38,400bps
Data
８ bitsParityNone
Stop bit
１ bit
Ｘ parameter
None
Handshake
For controlled line
DelimiterＣＲ【DIP switch set-up】

NO
１ ２ ３ ４ ５ ６ ７ ８

SW1● RS232C
1
2
Baud rate
OFFOFF
4,800bps
ONOFF
9,600bps
OFFON
19,200bps
ONON
38,400bps（default）※Set at 38,400bps at the before shipping.

122

4.3.2USB

In case of control from PC, it is easy to use USB. Install attached USB device driver, then connect to
PC and recognized as COM port.
Recommend using our original USB cable (DS100-USB-1.8).
※See ２．１．２ paragraph how to install USB device driver.
【USB Connector】
Mini B Plug
1734035-2 （TE）
Pin Number
１
２
３
４
５

Function
Ｖbus
D－
Ｄ＋
ＧＮＤ

【Vendor ID，Product ID】
Vendor ID is for each vendor.
Memorized vendor ID（ｄｅｃｉｍａｌ ３５８１ ｈｅｘ ０ＤＦＤ）on ROM.
Product ID is control number ＩＤ. Memorized product ID（ｈｅｘ ０００２）on ROM.
USB driver works with plug and play after recognized vendor ID and product ID.

【USB hub connected（Controlled multi axis）】
In case of controlled stage that have over 3 axes , increase the controller to accommodate under
6 axes by connected to Link. In case of controlled stage of that have over 7 axes by using 1 PC,
or controlled separately, connect with USB hub.
USBハブ
USB
hub
C

A

Computer

DS102A

1 axisDS102A

2 axesDS102A

3 axesDS102A

1 set
4 axesDS102A

5 axesDS102A

6 axesconnect Max. 4sets

DS102A

19 axesDS102A20 axesDS102A

21 axesDS102A

22 axesDS102A

23 axesDS102A24 axes123

Hub connected

USB ID

Max. 40～3（Set up due to DIP switch）

Set up separately USB ID , then connect USB Hub and USB cable. Be assigned a number from 0
order to power on.
＜Relative COM port number and USB ID＞
To confirm the relationship between the COM port number and the USB ID, send thecommunication command “USBID?” to each port assigned as 「SURUGA SEIKI DS102 USB SerialPort (COM?)」, then return USB ID each ”0“～”3“, can be confirmed COM port number andUSB ID relation. Continuing to fix until delete the driver or change the COM port number as
bellows.:＜In case of change the COM port＞
Open 「SURUGA SEIKI DS102 USB Serial Port(COM□)」 under 「Port（COM と LPD）」, display
as bellows.:

Press Advanced, show as bellows. Can be change to blank COM port number.

124

【Set-up DIP switch】
Set-up 5th bit and 6th bit of ＳＷ1.

NO
１ ２ ３ ４ ５ ６ ７ ８

SW1● Set-up USB ID
5
6
OFF
OFF
ON
OFF
OFF
ON
ON
ON
※Setting OFF before shipping.

USB ID0（default）
1
2
3

4.3.3 Delimiter
Delimiter comes to the end of the communication command and response data.
InterfaceＲＳ２３２ＣＵＳＢ

Delimiter
ＣＲ（Ｈｅｘ ０Ｄ）fixed※In operation of command response , return to PC error code (E21) if no delimiter inreceiving data from PC or error.

1254.3.4 Types of communication command
Command
Motion control
command
Data Settingcommand
Inquiry Command
Writing Command
Reset Command
・
・
・
・
・

Description
Command to control motion; Driving command, Stop command etc.
Command to set parameter, Memory SW setting etc.
*When the selected axis is in motion, the command is no effect.
Command to read setting data or status of controller.
*This command is effective in any condition.
Write in all parameter to the flash memory（See ４．３．５．５paragraph）
Reset of all parameter （See ４．３．５．５paragraph）□ in a command shows setting data
＿ in a command shows space： is added when link command(max 100 character)
It is possible to use capital and lower-case（Possible mixed up）
It is possible to skip command lower-case＜Write command, Reset command, Motion control command, Data setting command＞

Axis

Type

Command

Data

Default

Remarks

Programdriving

WRITE

Write in flash memory

Wait over 130ms after
send

×

*RST

Reset of all parameter

Wait over 5s after send

×

AXIs□
（AXI□）:CWSoftLimitEnable_□（:CWSLE_□）
Parameter setting

Function

Axis setting
1(or X)⇒ X-axis setting2(or Y)⇒ Y-axis setting3(or Z)⇒ Z-axis setting4(or U)⇒ U-axis setting5(or V)⇒ V-axis setting
6(or W)⇒ W-axis settingALL⇒ All of axis setting
CW soft limit setting
0 ⇒No effect/1 ⇒Effective:CWSoftLimitPoint_□（:CWSLP_□）CW soft limit setting:CCWSoftLimitEnable_□（:CCWSLE_□）CCW soft limit setting0⇒ No effect／1⇒ Effective:CCWSoftLimitPoint_□（:CCWSLP_□）

CCW soft limit setting

1～6
or,
X、Y、Z、U、V、W
or,
ALL

1

0～1

0

-99999999～99999999、-9.9999999～9.9999999
0～1-99999999～99999999、-9.9999999～9.9999999

126○
・2axis =1～2
(or, X,Y,ALL)・1st that linked is
X/Y axis, 2nd is Z/Uaxis, 3rd is V/W axis.

99999999

×

Data range must bechanged due to point
position

0-99999999

××

Data range must bechanged due to point
position×CommandType:DRiverDIVision_□（:DRDIV_□）:DATA_□:HOMEPosition_□（:HOMEP_□）:POSition_□（:POS_□）:PULSe_□（:PULS_□）:PULSeA_□（:PULSA_□）:SELectSPeed_□（:SELSP_□）

Function
Driver division number
setting0⇒1/1(Full) division1⇒1/2(Half) division2⇒1/2.5 division3⇒1/4 division4⇒1/5 division5⇒1/8 division6⇒1/10 division7⇒1/20 division8⇒1/25 division9⇒1/40 division10⇒1/50 division11⇒1/80 division12⇒1/100 division13⇒1/125 division14⇒1/200 division15⇒1/250 division
1⇒DATA1 selection
2⇒DATA2 selection
Home position setting
Current position setting
Stable pulse distancesetting
Absolute
driving
coordinate value setting
Speed table setting0⇒speed table 0
1⇒speed table 12⇒speed table 2
3⇒speed table 34⇒speed table 45⇒speed table 56⇒speed table 67⇒speed table 78⇒speed table 89⇒speed table 9:STANDARDresolution_□（:STANDARD_□）

Setting 1 pulse distanceat full step

:UNIT_□

Setting indicated units0(orPULSe(PULS)) ⇒pulse
1(or UM)⇒μm2(or MM)⇒mm
3(or DEG)⇒deg4(or MRAD)⇒mrad

TeaCH00_□/□/□/□/□/□(TCH00_□/□/□/□/□/□)～
TeaCH63_□/□/□/□/□/□(TCH63_□/□/□/□/□/□)

Teaching point setting
N：No data（No driving）
S：Teaching at the current
position

Data
Normal： 0, 1
Microstep： 0～15

Default

Remarks0

Programdriving○

Data range must bechanged due to driver

1～2

1-99999999～99999999、-9.9999999～9.9999999-99999999～99999999、-9.9999999～9.9999999
0～99999999

0-99999999～99999999、-9.9999999～9.9999999
0～9

0
0

0～99999999

1

0～4
or
PULSe(PULS),UM,MM,DEG,
MRAD

0-99999999～99999999、-9.9999999～9.9999999
or N or S

N/N/N/N/N
/N

127

0
1

DATA1,2 selection（with MS driver）
Data range must bechanged due to driver
Data range must bechanged due to driver
Data range must bechanged due to driver
Data range must bechanged due to driver

×
○
○
○
○
○

Data range must bechanged due to unit
setting××

Data range must bechanged due to unit
setting□/□/□/□/□/□is inorder to X/Y/Z/U/V/W○

CommandType:MEMorySWitch0_□（:MEMSW0_□）

Memory SW Setting:MEMorySWitch1_□（:MEMSW1_□）:MEMorySWitch2_□（:MEMSW2_□）:MEMorySWitch3_□（:MEMSW3_□）:MEMorySWitch4_□（:MEMSW4_□）:MEMorySWitch5_□（:MEMSW5_□）:MEMorySWitch6_□（:MEMSW6_□）:MEMorySWitch7_□（:MEMSW7_□）

Speed Table Setting:Lspeed0_□（:L0_□）:Fspeed0_□（:F0_□）:Rate0_□（:R0_□）:Srate0_□（:S0_□）:Lspeed1_□（:L1_□）:Fspeed1_□（:F1_□）:Rate1_□（:R1_□）:Srate1_□（:S1_□）

Function

Data

Default

Remarks

ProgramdrivingMemory switch 0 setting(Origin return setting)0⇒Pattern of ORG return 0
1⇒Pattern of ORG return 1
2⇒Pattern of ORG return 2
3⇒Pattern of ORG return 3
4⇒Pattern of ORG return 4
5⇒Pattern of ORG return 5
6⇒Pattern of ORG return 6
7⇒Pattern of ORG return 7
8⇒Pattern of ORG return 8
9⇒Pattern of ORG return 9
10⇒Pattern of ORG return 10
11⇒Pattern of ORG return 11
12⇒Pattern of ORG return 12

0～12

0

×

Memory switch 1 setting(Limit sensor input
logic setting)0⇒B (N.C.)
1⇒A (N.O.)
Memory switch 2 setting(Origin sensor input
logic setting)0⇒B (N.C.)
1⇒A (N.O.)
Memory switch 3 setting(Near origin input logic
setting)0⇒B (N.C.)
1⇒A (N.O.)
Memory switch 4 setting(Countdown setting)0⇒Countdown controlled
1⇒Canceled count down
control
Memory switch 5 setting(Motion distance changed
setting)0⇒forward
1⇒opposite
Memory switch 6
setting(Stop setting)0⇒fast stop1⇒slowdown stop
Memory switch 7 setting(Reset after ORG return)0⇒Yes／1⇒No
Start up speed(Lspeed0）
setting
Unit⇒pps
Drive speed（Fspeed0）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate0）
setting
Unit⇒msec
S rate(Srate0) setting
Unit⇒％Start up speed(Lspeed1）
setting
Unit⇒pps
Drive speed (Fspeed1)
setting
Unit⇒pps
Acceleratin anddeceleration（Rate1）
setting
Unit⇒msec
S rate（Srate1） setting
Unit⇒％

0～1

0

×

0～1

0

×

0～1

0

×

0～1

0

×
NR type is fixed to 0
(1 cannot be set)

0～1

0

×

0～1

0

×

0～1

0

×

1～999910○

1～99999910○

1～9999

1

○

0～100

0

○

1～999950○

1～99999950○

1～9999

1

○

0～100

0

○

128

CommandType:Lspeed2_□（:L2_□）:Fspeed2_□（:F2_□）:Rate2_□（:R2_□）:Srate2_□（:S2_□）:Lspeed3_□（:L3_□）:Fspeed3_□（:F3_□）:Rate3_□（:R3_□）:Srate3_□（:S3_□）:Lspeed4_□（:L4_□）:Fspeed4_□（:F4_□）:Rate4_□（:R4_□）:Srate4_□（:S4_□）:Lspeed5_□（:L5_□）:Fspeed5_□（:F5_□）:Rate5_□（:R5_□）:Srate5_□（:S5_□）:Lspeed6_□（:L6_□）:Fspeed6_□（:F6_□）:Rate6_□（:R6_□）:Srate6_□（:S6_□）:Lspeed7_□（:L7_□）:Fspeed7_□（:F7_□）:Rate7_□（:R7_□）:Srate7_□（:S7_□）:Lspeed8_□（:L8_□）:Fspeed8_□（:F8_□）:Rate8_□（:R8_□）:Srate8_□（:S8_□）

FunctionStart up speed(Lspeed2）
setting
Unit⇒pps
Drive speed（Fspeed2）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate2）
setting
Unit⇒msec
S rate (Srate2) setting
Unit⇒％Start up speed(Lspeed3）
setting
Unit⇒pps
Drive speed（Fspeed3）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate3）
setting
Unit⇒msec
S rate（Srate3） setting
Unit⇒％Start up speed(Lspeed4）
setting
Unit⇒pps
Drive speed（Fspeed4）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate4）
setting
Unit⇒msec
S rate（Srate4）setting
Unit⇒％Start up speed(Lspeed5）
setting
Unit⇒pps
Drive speed（Fspeed5）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate5）
setting
Unit⇒msec
S rate （Srate5）setting
Unit⇒％Start up speed(Lspeed6）
setting
Unit⇒pps
Drive speed（Fspeed6）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate6）
setting
Unit⇒msec
S rate（Srate6）setting
Unit⇒％Start up speed(Lspeed7）
setting
Unit⇒pps
Drive speed（Fspeed7）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate7）
setting
Unit⇒msec
S rate（Srate7）setting
Unit⇒％Start up speed (Lspeed8)
setting
Unit⇒pps
Drive speed（Fspeed8）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate8）
setting
Unit⇒msec
Srate（Srate8）setting
Unit⇒％

Data

Default

Remarks

Programdriving

1～9999100○

1～999999

100○

1～9999

1

○

0～100

0

○

1～9999100○

1～999999500○

1～9999

100

○

0～100

0

○

1～9999100○

1～999999

1000○

1～9999

100

○

0～100

0

○

1～9999100○

1～999999

2000○

1～9999

100

○

0～100

0

○

1～9999100○

1～999999

5000○

1～9999

100

○

0～100

0

○

1～9999100○

1～999999

10000○

1～9999

100

○

0～100

0

○

1～9999100○

1～999999

20000○

1～9999

100

○

0～100

0

○

129

CommandType:Lspeed9_□（:L9_□）:Fspeed9_□（:F9_□）:Rate9_□（:R9_□）:Srate9_□（:S9_□）

Driving:GO_□:GOABSolute_□（:GOABS_□）
GOTeaCH_□(GOTCH_□)Stop:STOP_□

Program Driving

STOP_□SELPRG_□

PRG_□

OUT00_□～OUT35_□/

Ｉ
Ｏ

OUTP0_□～OUTP2_□

FunctionStart up speed(Lspeed9）
setting
Unit⇒pps
Drive speed（Fspeed9）
setting
Unit⇒pps
Acceleratin anddeceleration（Rate9）
setting
Unit⇒msec
S rate（Srate9）setting
Unit⇒％
Drive0(or CW)⇒ CW direction
1(or CCW)⇒ CCW
direction2(or OriGin(ORG))⇒Origin return3(or HOME)⇒Home position drive4(or ABS)⇒Absolute position
drive
5(or CWJ)⇒Jog drive to CW
6(or CCWJ)⇒Jog drive to CCW
Absolute position drive
Move teaching point
0～63⇒ Teaching point number
Stop axis0(or Emergency(E))⇒ Emergency stop1(or Reduction(R))⇒ Slowdown stop
All axes stop
Programing stop0(or Emergency(E))⇒ Emergency stop1(or Reduction(R))⇒ Slowdown stop
Select program number
0～7⇒ Program number
Program driving
0⇒ RUN（Drive）
1⇒ STEP（Step drive）

Data

Default

Remarks

Programdriving

1～9999100○

1～99999950000○

1～9999

100

○

0～100

0

○

0～6
or
CW, CCW, OriGin(ORG),
HOME, ABS, CWJ, CCWJ)○-99999999～99999999、-9.9999999～9.9999999

Data range must bechanged due to point
position

○

0～63

○

0～1
or
Emergency(E),Reduction(R)○Emergency stop in caseof “:STOP”

0～1
or
Emergency(E),Reduction(R)0～7○
Emergency stop in caseof “STOP”

0

0～1
or
RUN、STEP××

Ｉ/Ｏ output（1bit）
0⇒ OFF／1⇒ ON

0～1

0

○

Ｉ/Ｏ output（12bit）
0⇒ All bits OFF
4095⇒ All bits ON

0～40950○130Command

Straight complementary setting/driving

Type

GOLineI_□(GOLI_□)GOLineA_□(GOLA□)

Data

Relative position
driving(GOLineI_X+Y-Z+U-V+W-)
X+ ⇒ X axis specified
to plusX- ⇒ X axis specified
to minus
Y+ ⇒ Y axis specified
to plusY- ⇒ Y axis specified
to minus
Z+ ⇒ Z axis specified
to plusZ- ⇒ Z axis specified
to minus
U+ ⇒ U axis specified
to plusU- ⇒ U axis specified
to minus
V+ ⇒ V axis specified
to plusV- ⇒ V axis specified
to minus
W+ ⇒ W axis specified
to plusW- ⇒ W axis specified
to minus
Absolute position
driving(GOLineA_X10_Y-20_Z30_U40_V50_W-60)
X + cordinate ⇒ X axis
Y + cordinate ⇒ Y axis
Z + cordinate ⇒ Z axis
U + cordinate ⇒ U axis
V + cordinate ⇒ V axis
W + cordinate ⇒ W axis

X+、X-、Y+、Y-、Z+、Z-、
U+、U-、V+、V-、W+、W-

Relative distance is
to be specified
on :PULSe_□○-99999999～99999999、-9.9999999～9.9999999

Data range must bechanged due to point
position○

131

Default

Remarks

ProgramdrivingFunction＜Inquiry Command＞
CommandType:CWSoftLimitEnable?
（:CWSLE?）:CWSoftLimitPoint?
（:CWSLP?）:CCWSoftLimitEnable?
（:CCWSLE?）:CCWSoftLimitPoint?
（:CCWSLP?）

Parameter setting request:DRiverDIVision?
（:DRDIV?）:DATA?
:HOMEPosition?
（:HOMEP?）:POSition?
（:POS?）:PULSe?
（:PULS?）:PULSeA?
（:PULSA?）:RESOLUTion？
（:RESOLUT?）

Function

Range of response

Request softlimit setting value on
CW0⇒No effect／1⇒Effective
Request softlimt value on CW
Request softlimit setting value on
CCW0⇒No effect／1⇒Effective
Request softlimit value on CCW
Request motor driver deviding
setting value0⇒1/1(Full) dividing
1⇒1/2(Half) dividing
2⇒1/2.5 dividing
3⇒1/4 dividing
4⇒1/5 dividing
5⇒1/8 dividing
6⇒1/10 dividing
7⇒1/20 dividing
8⇒1/25 dividing
9⇒1/40 dividing
10⇒1/50 dividing
11⇒1/80 dividing
12⇒1/100 dividing
13⇒1/125 dividing
14⇒1/200 dividing
15⇒1/250 dividing
1⇒DATA1 selecting
2⇒DATA2 selecting

Remarks

0～1-99999999～99999999、-9.9999999～9.9999999
0～1

Data range must be changed
due to point position-99999999～99999999、-9.9999999～9.9999999
Normal： 0, 1
Microstep： 0～15

Data range must be changed
due to point position

Response data range must bechanged due to driver

1～2-99999999～99999999、-9.9999999～9.9999999-99999999～99999999、-9.9999999～9.9999999
0～99999999

Home position request
Current position request
Constant step pulse request
Absolute drive cordinate request
1 pulse distance request:SELectSPeed?
（:SELSP?）

Request speed table
0⇒Speed table 0
1⇒Speed table 1
2⇒Speed table 2
3⇒Speed table 34⇒Speed table 45⇒Speed table 5
6⇒Speed table 67⇒Speed table 78⇒Speed table 89⇒Speed table 9:STANDARDresolution?
（:STANDARD?）

1pulse distance setting at full step

:UNIT?

Request unit display
0⇒pulse
1⇒um
2⇒mm
3⇒deg
4⇒mradTeaCH00? ～TeaCH63?
(TCH00?) (TCH63?)

Request teaching point setting value
N： No teaching point-99999999～99999999、-9.9999999～9.9999999
0～99999999

Only MS driver effective
Data range must be changed
due to point position
Data range must be changed
due to point position
Data range must be changed
due to point position
Data range must be changed
due to point position
Data range must be changed
due to point position

0～90～99999999

Data range must be changed
due to point position

0～4

132

□/□/□/□/□/□-99999999～99999999、-9.9999999～9.9999999
or N

Data range must be changed
due to point position□/□/□/□/□/□is in orderto X/Y/Z/U/V/W

TypeCommandMemory SW Setting Request:MEMorySWitch0?
（:MEMSW0?）:MEMorySWitch1?
（:MEMSW1?）:MEMorySWitch2?
（:MEMSW2?）:MEMorySWitch3?
（:MEMSW3?）:MEMorySWitch4?
（:MEMSW4?）:MEMorySWitch5?
（:MEMSW5?）:MEMorySWitch6?
（:MEMSW6?）:MEMorySWitch7?
（:MEMSW7?）

Function

Range of response

Request Memory switch 0(Origin return pattern setting)0⇒ Origin return 0
1⇒ Origin return 1
2⇒ Origin return 2
3⇒ Origin return 3
4⇒ Origin return 4
5⇒ Origin return 5
6⇒ Origin return 6
7⇒ Origin return 7
8⇒ Origin return 8
9⇒ Origin return 9
10⇒ Origin return 10
11⇒ Origin return 11
12⇒ Origin return 12
Request Memory switch 1(Limit sensor input logic setting)0⇒B point (N.C.)
1⇒A point (N.O.)
Request Memory switch 2(Origin sensor input logic setting)0⇒B point(N.C.)
1⇒A point(N.O.)
Request Memoryswitch 3(Near origin input logic setting)0⇒B point(N.C.)
1⇒A point(N.O.)
Request Memorized switch 4 setting(Current down control setting)0⇒Current down controlled
1⇒Canceled current down
Request Memorized switch 5 setting(Motion direction changed setting)0⇒forward／1⇒opposite
Request Memorized switch 6 setting(Stop setting)0⇒emergency／1⇒slowdown
Request Memorized switch 7 setting(Origin return zero setting)0⇒Yes／1⇒No

133

Remarks

0～12

0～1

0～1

0～1

0～1
NR type is fixed to 0.
0～1

0～1

0～1

CommandType:Lspeed0?
（:L0?）:Fspeed0?
（:F0?）:Rate0?
（:R0?）:Srate0?
（:S0?）:Lspeed1?
（:L1?）:Fspeed1?
（:F1?）:Rate1?
（:R1?）:Srate1?
（:S1?）:Lspeed2?
（:L2?）:Fspeed2?
（:F2?）

Speed table setting Request:Rate2?
（:R2?）:Srate2?
（:S2?）:Lspeed3?
（:L3?）:Fspeed3?
（:F3?）:Rate3?
（:R3?）:Srate3?
（:S3?）:Lspeed4?
（:L4?）:Fspeed4?
（:F4?）:Rate4?
（:R4?）:Srate4?
（:S4?）:Lspeed5?
（:L5?）:Fspeed5?
（:F5?）:Rate5?
（:R5?）:Srate5?
（:S5?）:Lspeed6?
（:L6?）:Fspeed6?
（:F6?）:Rate6?
（:R6?）:Srate6?
（:S6?）:Lspeed7?
（:L7?）

Function

Range of response

Request start up （Lspeed0）setting
Unit⇒pps
Request drive speed（Fspeed0）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate0）setting
Unit⇒msec
Request Srate（Srate0）setting
Unit⇒％
Request start up（Lspeed1）setting
Unit⇒pps
Request drive speed（Fspeed1）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate1）setting
Unit⇒msec
Request S rate（Srate1）setting
Unit⇒％
Request start up（Lspeed2）setting
Unit⇒pps
Request drive speed（Fspeed2）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate2）setting
Unit⇒msec
Request Srate（Srate2）setting
Unit⇒％
Request start up（Lspeed3）setting
Unit⇒pps
Request drive speed（Fspeed3）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate3）setting
Unit⇒msec
Request S rate（Srate3）setting
Unit⇒％
Request start up（Lspeed4）setting
Unit⇒pps
Request drive speed（Fspeed4）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate4）setting
Unit⇒msec
Request S rate (Srate4) setting
Unit⇒％
Request start up （Lspeed5）setting
Unit⇒pps
Request drive speed（Fspeed5）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate5）setting
Unit⇒msec
Request S rate（Srate5）setting
Unit⇒％
Request start up（Lspeed6）setting
Unit⇒pps
Request drive speed（Fspeed6）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate6）setting
Unit⇒msec
Request S rate（Srate6）setting
Unit⇒％
Request start up （Lspeed7） setting
Unit⇒pps

134

1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～99990～100
1～9999Remarks

CommandType:Fspeed7?
（:F7?）:Rate7?
（:R7?）:Srate7?
（:S7?）:Lspeed8?
（:L8?）:Fspeed8?
（:F8?）:Rate8?
（:R8?）:Srate8?
（:S8?）:Lspeed9?
（:L9?）:Fspeed9?
（:F9?）:Rate9?
（:R9?）:Srate9?
（:S9?）:COURSE?
:CWSoftLimitSET?
（:CWSLSET?）:CCWSoftLimitSET?
（:CCWSLSET?）:DISCONtinue?
（:DISCON?）

Status request:DRiverTYPE?
（:DRTYPE?）:HOME?

:LIMIT?

:MOTION？
:ORiGin?
（:ORG?）:READY?

:SoftLIMIT?
（:SLIMIT?）

Function

Range of response

Request drive speed（Fspeed7）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate7）setting
Unit⇒msec
Request S rate（Srate7）setting
Unit⇒％
Request start up （Lspeed8） setting
Unit⇒pps
Request drive speed（Fspeed8）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate8）setting
Unit⇒msec
Request S rate（Srate8）setting
Unit⇒％
Request start up （Lspeed9） setting
Unit⇒pps
Request drive speed（Fspeed9）
setting
Unit⇒pps
Request acceleration anddeceleration（Rate9）setting
Unit⇒msec
Request S rate（Srate9）setting
Unit⇒％
Motion direction status
0⇒Motion(stop) to CW
1⇒Motion(stop) to CCWSoft limit status on CW
0⇒No effect／1⇒effective
Soft limit status on CCW
0⇒No effect1⇒effective
Suspend status
0⇒Yes
1⇒No
Driver type status
0⇒Normal
1⇒Microstep
Home position detection
0⇒Undetected1⇒Detected
Machine limit sensor
0⇒Undetected1⇒Detected (CW)
2⇒Detected (CCW)
3⇒Detected (CW/CCW)
In-Motion status0⇒No motion／1⇒Moution
Origin detecting status0⇒No detected1⇒Stop after detected
Axis selection reqdy
0⇒Impossible
1⇒Possible
Soft limit detecting status0⇒Undetected1⇒Detected (CW)
2⇒Detected (CCW)
3⇒Detected (CW/CCW)

135

1～999999
1～99990～100
1～99991～999999
1～99990～100
1～99991～999999
1～9999

0～100
0～1

0～1
0～1

0～1

0～1

0～1

0～3

0～1
0～1

0～1

0～3

Remarks

CommandType:StatusBinary1?
（:SB1?）:StatusBinary2?
（:SB2?）:StatusBinary3?
（:SB3?）

CONTrolAxis?
（CONTA?）MOTIONAll?
（MOTIONA?）EMS?

Function

Range of response

Status 1 request
Bit1⇒Motion direction
Bit2⇒Detected machine limit
Bit3⇒Detected soft limit
Bit4⇒Suspended
Bit5⇒Detected origin
Bit6⇒Detected home position
Bit7⇒In motion
Bit8⇒Driving program
Status 2 request
Bit1⇒Detected CW limit
Bit2⇒Detected CCWl limit
Bit3⇒Detected CW soft limit
Bit4⇒Detected CCW soft limit
Bit5⇒Effected CW soft limit
Bit6⇒Effected CCW soft limit
Bit7⇒reserved
Bit8⇒reserved
Status 3 request
Bit1⇒Possible select axis
Bit2⇒Driver type
Bit3⇒reserved
Bit4⇒Driver typeBit5⇒reserved
Bit6⇒reserved
Bit7⇒reserved
Bit8⇒reserved
Number of controlling axis status
2⇒2 axes
4⇒4 axes
6⇒6 axes
All axes in-motion status
Bit1⇒X axis
Bit2⇒Y axis
Bit3⇒Z axis
Bit4⇒U axis
Bit5⇒V axis
Bit6⇒W axis
Bit7⇒reserved
Bit8⇒reserved
0⇒Undetected EMS
1⇒detected EMS（All axes stop）

Remarks

0～255

0～63

0～11

2, 4, 60～63

0～1

The status of the EMS
connector with link numbers 1
and 2 cannot be confirmed.

Program drive

0～7
SELPRG?

PRG?

IN00?～IN47?

Request program number
0～7⇒Program number

Program drive status
0⇒RUN（Driving）
1⇒STEP（Driving step）
2⇒STOP(Under suspension)
I/O input status(1bit)
0⇒Undetected1⇒Detected

0～2

0～1

Request Ｉ/Ｏ

0～65535

INP0?～INP2?

I/O input status(16bit)
0⇒All bits undetected
65535⇒All bit detected

OUTP0?～OUTP2?

I/O output status(12bit)
0⇒ All bits no output
4095⇒ all bits output

Request each board（ID0～2）,In16
points at the 1 command

0～4095136

Request each board（ID0～2）
Out 12 points at the 1
commandCommandType

Function

Range of response

Version request

DS102_0.00～DS102_9.99

DS102VER?

Controller version request command
DS102_0.00⇒Version 0.00
DS102_9.99⇒Version 9.99

*IDN?

Request ID

SURUGA,DS102,0,VER0.00～
SURUGA,DS102,9,VER9.99

137

Remarks

4.3.5 Details of Communication Command
4.3.5.1 Axis Specification command（1） ＡＸＩｓ＜Data＞
Request set up, driving, stopping and setting value of each axis parameter/memory switch.
CommandAXIs□（or AXI□）

Content＜Data＞
１～６ orAxis selection
Ｘ、Y、Ｚ、Ｕ、Ｖ、W
or ＡＬＬ※ Need no space between command and setting data
※ Contents shown as bellows.:＜Data＞
Contents１（or X）
Ｘ axis specification
２（or Y）
Ｙ axis specification
３（or Z）
Ｚ axis specification
４（or U）
Ｕ axis specification
５（or V）
Ｖ axis specification
６（or W）
Ｗ axis specification
ＡＬＬ
All axes specification (Only motion command)＜NOTE＞Command that needed axis specification, please specify every single time.
4.3.5.2 Parameter setting command
Set up soft limit on CW・CCW side, dividing motor driver, home position value, current position,
constant pulse distance, speed table, unit and distance per pulse at full step.
※ Connect to axis specification command, parameter setting command and driving
command※ : (colon) is necessary when connect(max 100 letter)※ Orders of connection have to begin with Axis Specification Command : Parameter
Setting Command : Driving Command.
※ Please select an axis at the every setting.
Parameter setting command is built up as shown below.:・ In case of only setting parameter with axis specification
Axis specification command＜Data＞：Parameter setting command＿＜Data＞
・ In case of setting parameter plurals in the same time with axis specification
Axis specification command＜Data＞：Parameter setting command＿＜Data＞：・・・：
Parameter setting command＿＜Data＞
・ In case of setting and driving parameter with axis specification
Axis specification command＜Data＞：Parameter setting command＿＜Data＞：
Driving command＿＜Data＞
・ In case of setting 2 axes at the same time
Axis specification command＜Data＞：Parameter setting command＿＜Data＞：
Axis specification command＜Data＞：Parameter setting command＿＜Data＞（1） ＣＷＳｏｆｔＬｉｍｉｔＥｎａｂｌｅ＿＜Data＞
This is setting command of soft limit effective/no effect CW side for each axis.
＜Data＞
Contents
０
ＣＷ soft limit no effect１
ＣＷ soft limit effective138

（2） ＣＷＳｏｆｔＬｉｍｉｔＰｏｉｎｔ＿＜Data＞
Command to set CW side Software Limit of each axis.
Setting data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
*In case of continuing 0 after the decimal point, can be skippable.（Ex.：１．２３０００００＝１．２３）*In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（3） ＣＣＷＳｏｆｔＬｉｍｉｔＥｎａｂｌｅ＿＜Data＞
This is setting command of soft limit effective/no effect CCW side for each axis.
＜Data＞
Content０
Disable CＣＷ Software Limit
１
Enable CＣＷ Software Limit（4） ＣＣＷＳｏｆｔＬｉｍｉｔＰｏｉｎｔ＿＜Data＞
Command to set CCW side Software Limit of each axis.
Setting data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
*In case of continuing 0 after the decimal point, can be skippable.（Ex.：１．２３０００００＝１．２３）*In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（5） ＤＲｉｖｅｒＤＩＶｉｓｉｏｎ＿＜Data＞
Command to set a dividing number of drivers of each axis.
＜Data＞<Number of Division/Steps>
０
１／１
１
１／２
２
１／２．５
３
１／４
４
１／５
５
１／８
６
１／１０
７
１／２０
８
１／２５
９
１／４０
１０
１／５０
１１
１／８０
１２
１／１００
１３
１／１２５
１４
１／２００
１５
１／２５０
※ <Data> has only 0, 1 when the normal driver.
※ When a display unit is except a pulse, if the number of driver division is changed, the travel
distance per pulse will change, and there is a case where the following parameters are nolonger a multiple of travel distance per pulse.
139

・ Setting of Constant Step Pulse
・ Setting of Soft Limit
・ Setting of Home Position
・ Current Position
In this case, adjust those parameters with the following process.:
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）
Note：Comply a setting of Micro-step driver with a setting of DRiverDIVision Data. If setting
Is different, travel distance does not match an actual travel distance of motorized stage.
（See 3.5.2 for setting information of Micro-step driver for controller）（6） DATA＿＜Data＞
Change the dividing number at the having microstep driver （Disable at the having normal driver）＜Data＞
Contents
1
Setting dividing number to DATA1
2
Setting dividing number to DATA2※ See 3.5 for setting dividing number（7） ＨＯＭＥＰｏｓｉｔｉｏｎ＿＜Data＞
Command to set Home Position of each axis.
Setting data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（8） ＰＯＳｉｔｉｏｎ＿＜Data＞
Command to set Current Position of each axis.
Setting data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
*In case of continuing 0 after the decimal point, can be skippable.（Ex.：１．２３０００００＝１．２３）*In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（9） ＰＵＬＳｅ＿＜Data＞
Command to set Constant Step Pulse of each axis.
Setting data is ０．００００００１～９９９９９９９９.
※ In case of 0 after the decimal point., can be skippable.（Ex.：１．２３０００００＝１．２３）※ In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）

140

（10） ＰＵＬＳｅＡ＿＜Data＞
Command to set Absolute Position Driving of each axis.
Data is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
*In case of continuing 0 after the decimal point, can be skippable.（Ex.：１．２３０００００＝１．２３）*In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（11） ＳＥＬｅｃｔＳＰｅｅｄ＿＜Data＞
Command to set Speed Table of each axis.
＜Data＞
Content
０～９
Number of Speed Table（12） ＳＴＡＮＤＡＲＤｒｅｓｏｌｕｔｉｏｎ＿＜Data＞
Command to set Standard Resolution of motorized stage (travel distance per pulse at full step) for
each axis.
Data is ０．００００００１～９９９９９９９９.
※ When Display Unit is other than PULSe, a change on the dividing number of Drivercorrespondingly change travel distance per pulse, which may become not a multiple of thefollowing parameters.
・ Setting of Constant Step Pulse
・ Setting of Soft Limit
・ Setting of Home Position
・ Current Position
In this case, adjust those parameters with the following process.:
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（13） ＵＮＩＴ＿＜Data＞
Command to set Display Unit of each axis.
＜Data＞
Content０ （or ＰＵＬＳｅ）
Setting a unit of pulse
１ （or ＵＭ）
Setting a unit ofμｍ
２ （or ＭＭ）
Setting a unit of ｍｍ
３ （or ＤＥＧ）
Setting a unit of ｄｅｇ
４ （or ＭＲＡＤ）
Setting a unit of ｍｒａｄ
（14） ＴｅａＣＨ＜Data＞＿□／□／□／□／□／□
Command to set Teaching Point of each axis.
＜Data＞□（First of left side、6th of right side）
Teaching point ：００ Edit a coordinate ： -99999999～99999999、-9.9999999～9.9999999
No setting coordinate： Ｎ～６３
Setting current position ： S
Ex.1） ＴＣＨ00＿100/200/300/4.567/500/0.006
Ex.2） ＴＣＨ63＿S/S/N/N/500/0.006
1414.3.5.3 Memory SW Setting Command
This command sets Memory SW 0(Origin Return type), 1(Mechanical Limit Sensor Input Logic),2(Origin Sensor Input Logic), 3(Near Origin Sensor Input Logic), 4(Current Down), 5(Motion
Direction Switching), 6(Stop processing) and 7(Origin Return 0 Reset).
※ Connecting Axis Selection command is available.
※ Use: (colon) to connect commands.
※ Axis selection command : Memory SW setting command in that order when connect
to command.
Memory SW setting Command is configured as shown below.:・ In case of select the axis, set only MemorySW
Axis Selection Command＜Data＞：Memory SW setting Command＿＜Data＞
・ In case of select the axis, set several Memory SW.
Axis Selection Command＜Data＞：Memory SW setting command＿＜Data＞：・・・：Memory SW setting command＿＜Data＞（1） ＭＥＭｏｒｙＳＷｉｔｃｈ０＿＜Data＞
Command to set Memory SW 0(Origin Return Type) for each axis
＜Data＞
Content＜Data＞
Content０
Origin Return Type 0
７
Origin Return Type 7
１
Origin Return Type 1
８
Origin Return Type 8２
Origin Return Type 2
９Origin Return Type 9３
Origin Return Type 3
１０
Origin Return Type 10
４Origin Return Type 4
１１
Origin Return Type 11
５
Origin Return Type 5
１２
Origin Return Type 12
６Origin Return Type 6※ Regarding types of origin returns, refer to Table of Origin Return Type(See 3.9).
（2） ＭＥＭｏｒｙＳＷｉｔｃｈ１＿＜Data＞
Command to set Memory SW 1(Mechanical Limit Sensor Input Logic)＜Data＞
Content
Select B of Mechanical Limit Sensor Input Logic (Normal Close)０※ Use this setting for connecting with Suruga Seiki’s motorizedstage(except for KRE).

１

Select A of Mechanical Limit Sensor Input Logic(Normal Open)（3） ＭＥＭｏｒｙＳＷｉｔｃｈ２＿＜Data＞
Command to set Memory SW2 (Origin Sensor Input Logic) for each axis
＜Data＞
Content
０
Select B of Origin Sensor Input Logic (Norma Close)
１
Select A of Origin Sensor Input Logic (Normal Open)（４） ＭＥＭｏｒｙＳＷｉｔｃｈ３＿＜Data＞
Command to set Memory SW3 (Near Origin Sensor Input Logic) for each axis
＜Data＞
Content
０
Select B of Near Origin Sensor Input Logic (Normal Close)
１
Select A of Near Origin Sensor Input Logic (Normal Open)142

（5） ＭＥＭｏｒｙＳＷｉｔｃｈ４＿＜Data＞
Command to set Memory SW4 (Current Down Control)＜Data＞
Content
Control Current Down (Motor current value at stop)
０※Control heat up when current value will be 0.75A/Phase during motor
driving, will be 0.375A/Phase(-50%) at the stop.
※NR type is fixed to 0.(1 cannot be set)

１

No Current Down Control（MS Type）。

（6） ＭＥＭｏｒｙＳＷｉｔｃｈ５＿＜Data＞
Command to set Memory SW5 (Driving Direction Switching) for each axis.
＜Data＞
Content０
Normal Direction （ＰＯＳＩＴＩＶＥ）
１
Reversed Direction （ＮＥＧＡＴＩＶＥ）（7） ＭＥＭｏｒｙＳＷｉｔｃｈ６＿＜Data＞
Command to set Memory SW6 (Stop processing) for each axis.
＜Data＞
Content
０Emergency（at Limit detection）
１
Reduction（at Limit detection）（8） ＭＥＭｏｒｙＳＷｉｔｃｈ７＿＜Data＞
Command to set Memory SW7 (Origin Return 0 Reset) for each axis.
＜Data＞
Content０
After finished Origin Return, ０ reset.
１
After finished Origin Return, No 0 reset.

4.3.5.4 Speed Table Setting Command
This command conducts setting of Start-up Velocity (L), Driving Speed (F), and Acceleration &Deceleration Rate (R ), S Acceleration & Deceleration Rate (S ) of Speed Table No. 0～9.
※ Connecting different Speed Table Setting Commands is available.
※ Use (colon) to connect commands.
※ Refer to 3.8 for relationship among Start-up Velocity (L), Driving Speed (F),
Acceleration & Deceleration rate (R ) and S Acceleration & Deceleration Rate (S ).
※ Start up Velocity (L) and Driving Speed (F) is in unit of pps. Acceleration & Deceleration
rate (R ) is in unit of msec. S Acceleration & Deceleration Rate (S ) is in unit of %.
(Caution) When an input driving speed (F) is more than MAX speed of motorized stage, a motor may
be stepping out. When an input start up Velocity (L) is more than Driving Speed (F), the Driving Speed(F) becomes actual start up Velocity (L).
Speed Table Setting Command is configured as shown bellows.:
・ When setting multiple Speed Tables at one.
Speed Table Setting Command＿＜Data＞：………：Speed Table Setting Command＿＜Data＞

143

（1） Ｌｓｐｅｅｄ□＿＜Data＞
Command to set Start Up Velocity (L)□ is a choice of 0～9 (Speed Table No. 0～９)
＜Data＞ is １～９９９９. Unit is ｐｐｓ.
（2） Ｆｓｐｅｅｄ□＿＜Data＞
Command to set Driving Speed (F)□ is a choice of ０～９ (Speed Table No. ０～９)
＜Data＞ is １～９９９９９９. Unit is ｐｐｓ.
（3） Ｒａｔｅ□＿＜Data＞
Command to set Acceleration and Deceleration Rate (R)□ is a choice of ０～９ (Speed Table No. ０～９)
＜Data＞ is １～９９９９. Unit is msec.
（4） Ｓｒａｔｅ□＿＜Data＞
Command to set S Acceleration and Deceleration Rate (S)□ is a choice of ０～９ (Speed Table No. ０～９)
＜Data＞ is ０～１００. Unit is ％.

4.3.5.5 Write Command（1） WRITE
Parameter that be configured by this machine is kept in built in flash memory. We will not adopt thesystem that keeps flashing memory everytime because there is a limit to flash memory rewrite formillion times.

（Note）・ Can not keep Parameter Setting if power off without sending write command.
・ Do not power off for over 130 msec. after send write command.
・ Can keep setting value from Handy Terminal and Control Software(DSCONTROL-WIN).
（2） *RST
Command to reset the all parameter. Do not power off for 5sec after sending the reset command.

4.3.5.6 Driving Command
This commands conducts various driving of a stage: Constant Step Pulse driving to CW/CCW
directions, Origin Return driving, driving to Home Position, and Absolute Position Driving.
※ Connecting Axis Selection command, Parameter Setting command and driving
command is available.
※ Use (colon) to connect commands.
※ Order of connection has to begin with Axis Selection Command: Driving Command.
※ Command has to select an axis if needed.
Driving Command is configured as shown bellows.:
・ When selecting axis and driving
Axis Selection Command<Data>：Driving Command＿＜Data＞
・ When selecting axis, setting parameter and having it driven
Axis Selection Command＜Data＞：Parameter Setting Command＿＜Data＞：
Driving Command＿＜Data＞
144

（1） ＧＯ＿＜Data＞
Driving Commands for each axis.
＜Data＞
０ （or ＣＷ）
１ （or ＣＣＷ）
２ （or ＯＲｉＧｉｎ）
３ （or ＨＯＭＥ）
４ （or ＡＢＳ）
５ （or ＣＷＪ）
６ （or ＣＣＷＪ）

Content
Drive Parameter’s Constant Step Pulse distance in the CW direction
Drive Parameter’s Constant Step Pulse distance in the CCW direction
Conducted Origin Return by following a type of Origin Return set of Memory SW
Move to Home Position of Parameter (HOMEP).
Move to Absolute Position of Parameter (PULSeA)
Continuous Driving in the CW direction.
Continuous Driving in the CCW direction.

（2） ＧＯＡＢＳｏｌｕｔｅ＿＜Data＞
Go Absolute Position Command for each axis.
＜Data＞is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
*In case of continuing 0 after the decimal point., can be skippable.（Ex.：１．２３０００００＝１．２３）*In case of data is not a multiple of the travel distance per pulse, corrects it as shown below.
１）Multiple＝Data／Travel distance per pulse２）Omit the figures after the decimal point of Multiple
３）Data＝Travel distance per pulse×Multiple（Travel distance per pulse＝Standard resolution of motorized stage÷Dividing number of driver）（3） ＧＯＴｅａＣＨ＿＜Data＞
Go Teaching Point Move-Command＜Data＞is００～６３（Teaching point Number）.
（4） ＧＯＬiｎｅＩ＿＜Data＞
Straight complementary setting driving command (Incremental).
GOLineI _X□Y□Z□U□V□W□□：+ or - （+：Selected in the CW direction, -：Selected in the CCW direction）
Travel Distance：Set ”PULSe” Value.（Unit depends on the setting unit）※Skip no driving axis.（Ex：GOLineI _X+Z-）。
（5） ＧＯＬiｎｅＡ＿＜Data＞
Straight complementary setting driving command (Absolute)
GOLineA_X□_Y□_Z□_U□_V□_W□□：Selected position（Unit depends on the setting unit）※Skip no driving axis.（Ex：GOLineA_X1000_Z-2000）。

4.3.5.7 Stop Command（1） ＳＴＯＰ＿＜Data＞
This Command conducts emergency-stop or slowdown-stop※ Connecting with Axis Selection command is available.
※ Use : (colon) to connect commands.
※ Orders of connection have to begin with Axis Selection Command : Stop Command.
※ When there is no Axis Selection command, it conducts emergency-stop on a driving
axis.

145

Stop Command is configured as shown below.:・ When selecting axis and stopped it.
Axis Selection Command＜Data＞：Stop Command＿＜Data＞
・ When stop axis during drive
Stop Command＿＜Data＞＜Data＞
Content０ （or Ｅｍｅｒｇｅｎｃｙ）
Emergency stop
１ （or Ｒｅｄｕｃｔｉｏｎ）
Slow down stop
※When <Data>is omitted, it automatically selects “0"4.3.5.8 Parameter Setting Request Command
This command requests settings of CW & CCW side’s Soft Limit, Dividing Number of driver, Home
Position, Current Position, Travel Distance of Constant Step Pulse, Travel Distance per pulse, Speed
Table, Travel Distance per pulse at full-step, and Display Unit.
No sooner was request command received, than it send response value to the requirement.
※ Connecting with Axis Selection command is available.
※ Use : (colon) to connect commands.
※ Orders of connection have to begin with Axis Selection Command : Parameter Setting
Request Command.
Parameter Setting Request Command is configured as shown below.
・ When selecting axis and requesting parameter setting data.
Axis Selection Command<Data> : Parameter Setting Command?
（1） ＣＷＳｏｆｔＬｉｍｉｔＥｎａｂｌｅ？
Command to request for setting: enable/disable CW side Soft Limit of each axis.
<Response Data>
Content
In process to disable ＣＷ Software Limit０
In process to enable ＣＷ Software Limit
１（2） ＣＷＳｏｆｔＬｉｍｉｔＰｏｉｎｔ？
Command to request for setting point of CW side Software Limit of each axis.
＜Response Data＞ is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
（3） ＣＣＷＳｏｆｔＬｉｍｉｔＥｎａｂｌｅ？
Command to request for setting: enable/disable CCW side Soft Limit of each axis.
<Response Data>
Content
In process to disable ＣＣＷ Software Limit０
In process to enable ＣＣＷ Software Limit
１（4） ＣＣＷＳｏｆｔＬｉｍｉｔＰｏｉｎｔ？
Command to request for setting point of CCW side Software Limit of each axis.
＜Response Data＞ is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.

146

（5） ＤＲｉｖｅｒＤＩＶｉｓｉｏｎ？
Command to request for setting of a dividing number of drivers for each axis.
<Response Data>
Content
０
In the process of setting “１／１”１
In the process of setting“１／２”
２
In the process of setting“１／２．５”
３
In the process of setting“１／４”
４
In the process of setting“１／５”５
In the process of setting“１／８”
６
In the process of setting“１／１０”
７
In the process of setting“１／２０”
８
In the process of setting“１／２５”
９
In the process of setting“１／４０”
１０
In the process of setting“１／５０”
１１
In the process of setting“１／８０”
１２
In the process of setting“１／１００”
１３
In the process of setting“１／１２５”
１４
In the process of setting“１／２００”
１５
In the process of setting“１／２５０”（6） DATA？
Command to request for setting to dividing number switching with Microstep driver (No work at
Normal driver).
Content<Response Data>
1
In the process of setting DATA1
2
In the process of setting DATA2（7） ＨＯＭＥＰｏｓｉｔｉｏｎ？
Command to request for setting of Home Position of each axis.
<Response Data> is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
（8） ＰＯＳｉｔｉｏｎ？
Command to request for setting of Current position of each axis.
<Response Data> is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
（9） ＰＵＬＳｅ？
Command to request for setting of Constant Step Pulse of each axis.
<Response Data> is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.
（10） ＲＥＳＯＬＵＴｉｏｎ？
Command to request for setting of travel distance per pulse of each axis (=resolution of motorizedstage/dividing number of driver).
<Response Data> is －９９９９９９９９～９９９９９９９９、－９．９９９９９９９～９．９９９９９９９.

147

（11） ＳＥＬｅｃｔＳＰｅｅｄ？
Command to request for setting of Speed Table of each axis.
<Response Data>
Content
Number of Speed Table in selection process
０～９（12） ＳＴＡＮＤＡＲＤｒｅｓｏｌｕｔｉｏｎ？
Command to request for standard resolution of motorized stage (travel distance per pulse at fullstep) for each axis.
<Response Data> is ０．００００００１～９９９９９９９９.
（13） ＵＮＩＴ？
Command to request for setting of Display Unit of each axis.
<Response Data>
Content０
Setting a unit of pulse
１
Setting a unit of μｍ
２
Setting a unit of ｍｍ
３
Setting a unit of ｄｅｇ
４
Setting a unit of ｍｒａｄ
（14） ＴｅａＣＨ00? ～ ＴｅａＣＨ63？
Command to request for teaching point. Return 6 axes data
<Response Data format> □1／□2／□3／□4／□5／□6<Response Data>
Content
Xaxis data ： -99999999～99999999、-9.9999999～9.9999999□1
Xaxis data unset ： Ｎ
Yaxis data ： -99999999～99999999、-9.9999999～9.9999999□2
Yaxis data unset ： Ｎ
Zaxis data ： -99999999～99999999、-9.9999999～9.9999999□3
Zaxis data unset ： Ｎ
Uaxis data ： -99999999～99999999、-9.9999999～9.9999999□4
Uaxis data unset ： Ｎ
Vaxis data ： -99999999～99999999、-9.9999999～9.9999999□5
Vaxis data unset ： Ｎ
Waxis data ： -99999999～99999999、-9.9999999～9.9999999□6
Waxis data unset ： Ｎ

4.3.5.9 Memory SW Setting Request Command
This command requests for setting of Memory SW 0 (Origin Return type), 1 (Mechanical Limit Sensor
Input Logic), 2 (Origin Sensor Input Logic), 3 (Near Origin Sensor Input Logic), 4 (Current Down
Control), 5 (Motion Direction Switching), 6(Stop processing) and 7(Origin Return 0 Reset).
No sooner was request command received, than it send response value to the requirement.
※ Connecting Axis Selection command is available.
※ Use : (colon) to connect commands.
※ Orders of connection have to begin with Axis Selection Command: Memory SW setting
Request Command.
Memory SW Setting Request Command is configured as shown below:
・ When selecting axis and requesting Memory SW setting.
Axis Selection Command <Data>:Memory SW Setting Request Command?
148

（1） ＭＥＭｏｒｙＳＷｉｔｃｈ０？
Command to request for setting of Memory SW 0 (Origin Return Type) for each axis.
<Response Data>
Content<Response Data>
Content
Selecting Origin Return Type 0
Selecting Type 7０７
Selecting Origin Return Type 1
Selecting Type 8１
８
Selecting Origin Return Type 2
Selecting Type 9２
９Selecting Origin Return Type 3
Selecting Type 10
３１０
Selecting Origin Return Type 4
Selecting Type 11
４
１１
Selecting Origin Return Type 5
Selecting Type 12５１２
Selecting Origin Return Type 6
６※ Regarding types of origin returns, refer to Table of Origin Return Type (See 3.9)（2） ＭＥＭｏｒｙＳＷｉｔｃｈ１？
Command to request for setting of Memory SW 1 (Mechanical Limit Sensor Input Logic) for each axis.
<Response Data>
Content
０
Selecting B of Mechanical Limit Sensor Input Logic (Normal Close)
１
Selecting A of Mechanical Limit Sensor Input Logic (Normal Open)（3） ＭＥＭｏｒｙＳＷｉｔｃｈ２？
Command to request for setting of Memory SW 2 (Origin Sensor Input Logic) for each axis.
<Response Data>
Content
０
Selecting B of Origin Sensor Input Logic (Normal Close)
１
Selecting A of Origin Sensor Input Logic (Normal Open)（4） ＭＥＭｏｒｙＳＷｉｔｃｈ３？
Command to request for setting of Memory SW 3 (Near Origin Sensor Input Logic) for each axis.
<Response Data>
Content
Selecting B of Near Origin Sensor Input Logic (Normal Close)
０１

Selecting A of Near Origin Sensor Input Logic (Normal Open)（5） ＭＥＭｏｒｙＳＷｉｔｃｈ４？
Command to request for setting of Memory SW 4 (Current Down Control) for each axis.
<Response Data>
Content
Selecting Control Current Down０
※NR type is fixed to 0.(1 cannot be set)１

Selecting No Control Current Down

（6） ＭＥＭｏｒｙＳＷｉｔｃｈ５？
Command to request for setting of Memory SW 5 (Driving Direction Switching) for each axis.
<Response Data>
Content０
Normal Direction (POSITIVE)
１
Reversed Direction (NEGATIVE)※ See 3.2.4.5 for directions of motion.

149

（7） ＭＥＭｏｒｙＳＷｉｔｃｈ６？
Command to request for setting of Memory SW 6 (Stop Processing) for each axis.
<Response Data>
Content
０
Selecting Emergency stop
１
Selecting Slowdown stop（8） ＭＥＭｏｒｙＳＷｉｔｃｈ７？
Command to request for setting of Memory SW 7 (0 reset at Origin Return)<Response Data>
Content
０Reset the setting 0
１
Not reset the setting 0

4.3.5.10 Speed Table Setting Request Command
This command requests for settings of Speed Table.
On receipt of request command, controller sends response back to the requester.
（1） Ｌｓｐｅｅｄ□？
Command to request for setting of Start-up Velocity (L)□ is a choice of ０～９ (the number of requested Speed Table will be in □)<Response Data> is 1～9999. UNIT is pps.
（2） Ｆｓｐｅｅｄ□？
Command to request for setting of Driving Speed (F)□is a choice of 0～9 (the number of requested Speed Table will be in □)<Response Data> is 1～999999. UNIT is pps.
（3） Ｒａｔｅ□？
Command to request for setting of Acceleration and Deceleration Rate (R)□ is a choice of ０～９ (the number of requested Speed Table will be in □)<Response Data> is 1～9999. UNIT is msec.
（4） Ｓｒａｔｅ□？
Command to request for setting of S Acceleration and Deceleration Rate (S)□ is a choice of ０～９ (the number of requested Speed Table will be in □)<Response Data> is 0～100. UNIT is %4.3.5.11 Status Request Command
This command request for status on motion direction of each axis, CW & CCW side’s Soft Limit(Effective/Non-effective), Discontinuation, type of driver, detection of Home Position, detection of
Mechanical Limit Sensor, In-motion, availability of Axis Selection, detection of Origin, detection of Soft
Limit, Status 1/2/3, the number of controlling axis, and motion status of all axes.
※ Connecting Axis Selection Command and Status Request Command is available.
(However, CONTrolAxis? And MOTIONAII? Command cannot be connected with Axis
Selection Command).
※ Use : (colon) to connect commands.
※ Orders of connection have to begin with Axis Selection Command: Status Request
Command.
※ Must be selecting axis if needed.

150

Status Request Command is configured as shown below:
・ When requesting status without selecting axis
Status Request Command?
・ When selecting axis and requesting status
Axis Selection Command <Data>: Status Request Command?
（1） ＣＯＵＲＳＥ？
Status Request Command for Motion Direction for each axis.
<Response Data>
Content
In motion in the CW direction or at halt after driving
０
In motion in the CCW direction or at halt after driving
１※ This is the same as Bit 1 of StatusBinary1? (See (12)) (The logic is oppsite.).
（2） ＣＷＳｏｆｔＬｉｍｉｔＳＥＴ？
Status Request Command for Software Limit Effective/Non-effective in the CW direction.
<Response Data>
Content０
Setting of Software Limit in the CW direction is Non-effective
１
Setting of Software Limit in the CW direction is Effective※ This is the same as Bit5 of StatusBinary2? (See (13))（3） ＣＣＷＳｏｆｔＬｉｍｉｔＳＥＴ？
Status Request Command for Software Limit Effective/Non-effective in the CCW direction.
<Response Data>
Content０
Setting of Software Limit in the CCW direction is Non-effective
１
Setting of Software Limit in the CCW direction is Effective.
※ This is the same as Bit6 of StatusBinary2? (See (13))（4） ＤＩＳＣＯＮｔｉｎｕｅ？
Status Request Command for Discontinuation for each axis.
<Response Data>
Content０Complete a motion without discontinuing motion.
Discontinued without completing motion due to Stop Command or STOP
１button of DT100 Handy Terminal※ This is the same as Bit4 of StatusBinary2? (See (12))（5） ＤＲｉｖｅｒＴＹＰＥ？
Status Request Command for Driver Type
Content<Response Data>０
Loaded with Normal Type Driver
１
Loaded with Micro-Step Driver※ This is the same as Bit 2 of Status Binary3? (See (14))（6） ＨＯＭＥ？
Status Request Command for Home Detection for each axis.
<Response Data>
Content０Home Position is not detected.
１
Detecting Home Position※ This is the same as Bit 6 of Status Binary1? (See (12))
151

（7） ＬＩＭＩＴ？
Status Request Command for Mechanical Limit Detection for each axis.
<Response Data>
Content０
Mechanical Limit is not detected１
Detecting Mechanical Limit in the CW direction２
Detecting Mechanical Limit in the CCW direction３
Detecting Mechanical Limit in the CW & CCW direction（8） ＭＯＴＩＯＮ？
Status Request Command for axis in motion.
<Response Data>
Content
０
At Halt
１
In Motion※ This is the same as Bit7 of Status Binary1? (See (12))（9） ＯＲｉＧｉｎ？
Status Request Command for Origin Detection of each axis.
<Response Data>
Content０
Origin Return is not in process
Origin Return has been completed and Mechanical Origin has been１
detected. At halt
※ This is the same as Bit5 of Status Binary1? (See (12))（10） ＲＥＡＤＹ？
Status Request Command for availability of Axis Selection<Response Data>
Content
０
Axis NOT loaded with driver.
１
Axis loaded with driver※ This is the same as Bit1 of Status Binary3? (See (14))（11） ＳｏｆｔＬＩＭＩＴ？
Status Request Command for Software Limit of each axis
<Response Data>
Content
０
Software Limit is not detected１
Detecting Software Limit in the CW direction２
Detecting Software Limit in the CCW direction（12） ＳｔａｔｕｓＢｉｎａｒｙ１？
Status Request Command for One byte Binary Code for each axis.
※ This binary code is output as ASCII code which is converted from the numbers between 0
～255)

152

＜Response Data＞
Bit 8
Bit 7
１

０

Bit 6

Program inIn

Driving

MotionAt Halt

At Halt

Bit 1

CW / CCW

Bit 2

Machine Limit
Direction

Bit 3

Soft Limit Detection

Bit 4

Bit 5

Home
position
Detected

Bit 4

Bit 3

OriginDis-

Soft Limit

Detected

continuation

Detected

Bit 2

Bit 1

Mechanical
Limit

CW

Detected
CCW

Origin Detection

Bit 6

Home Position
Detection

Bit 7

In Motion/At Halt

Bit 8Program Driving／Stopping

In motion in the CW direction or at halt after driving

0

Not-yet detecting machanical Limit in the CW or CCW Direction

10

Detection g Soft Limit in the CW or CCW direction

1

Dis-Continuation

Bit 5

1
0
1

In motion in the CCW direction or at halt after driving
Detecting Mechanical Limit in the CW or CCW direction.

Not-yet detecting Soft Limit in the CW or CCW direction
In case of motion is suspended without completing a motion by entered stop
common or EMS input or detected Mechanical Limit01

In case of complete a motion without suspending at next motion0

Not-yet detecting Origin

1

Detecting Home Position0

Not-yet detecting Home Position

1

In Motion

0

At Halt

1

Program driving

0Program under suspension

Origin Return is completed and Mechanical Origin is detected:At Halt

（13） ＳｔａｔｕｓＢｉｎａｒｙ２？
Status Request Command for One byte Binary code for each axis.
*This binary code is output as ASCII code which is converted from the numbers between 0～63
＜Response Data＞
Bit 8

Bit 7

1

0

０

０

Bit 6

Bit 5

Bit 4

Bit 3

CCW Soft

CW Soft

CCW Soft

CW Soft

Limit Effective

Limit Effective

Limit Detected

Limit Detected

Non-effective

Non-effective

Bit 1

ＣＷ Mechanical Limit Detected

Bit 2

ＣＣＷ Mechanical Limit Detected

Bit 3

ＣＷ Soft Limit Detected

Bit 4

ＣＣＷ Soft Limit Detected

Bit 5

ＣＷ Soft Limit Effective/Non-effective

Bit 6

ＣＣＷ Soft Limit Effective/Non-effective

Bit 2

Bit 1

CCW

CW

Mechanical

Mechanical

Limit Detected

Limit Detected101

Detecting ＣＷ mechanical Limit0

Not-yet detecting ＣＣＷ Mechanical Limit

1
0
1
0
1

Detecting ＣＷ Soft Limit0

In process of disabling ＣＷ Soft Limit

10

In process of Enabling ＣＣW Soft Limit

153

Not-yet detecting ＣＷ mechanical Limit
Detecting ＣＣＷ Mechanical Limit

Not-yet detecting ＣＷ Soft Limit
Detecting ＣＣＷ Soft Limit
Not-yet detecting ＣＣＷ Soft Limit
In process of Enabling ＣＷ Soft Limit

In process of disabling ＣＣＷ Soft Limit

（14） ＳｔａｔｕｓＢｉｎａｒｙ３？
Status Request Command for One byte Binary Code for each axis.
*This binary code is output as ASCII code which is converted from the numbers between 0～33.
＜Response Data＞
Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Driver Type

1
0

0

Bit 3

Driver Type

0

0

Bit 1

Axis Selection
Available

Bit 2, 4

Driver Type

Bit 6

Driver Type

1
0
1
0
1
0

Bit 2

Bit 1

Driver Type

Axis Selection Available

0
Axis loaded with driver
Axis without driver
Micro-step driver
Normal type driver
Normal type driver
Micro-step driver（15） ＣＯＮＴｒｏｌＡｘｉｓ？
Request Command for the number of controlling axis.
＜Response Data＞ is１～６.
（16） ＭＯＴＩＯＮＡｌｌ？
Status Request Command for all axes in motion.
＜Response Data＞ is ０～６３.
＜Response Data＞
Bit 8

Bit 7

Bit 6
W axis inmotionBit 5
V axis inmotionBit 4
U axis inmotionBit 3
Z axis inmotionBit 2
Y axis inmotionBit 1
X axis inmotion00

W axis at Halt

V axis at Halt

U axis at Halt

Z axis at Halt

Y axis at Halt

X axis at Halt

1
0

Bit 1

X axisBit 2

Y axisBit 3

Z axisBit 4

U axisBit 5

V axisBit 6

W axis1
0
1

In Motion
At Halt
In Motion

0

At Halt

10
1
01

In Motion
At Halt
In Motion
At Halt
In Motion

0

At Halt

10

In Motion
At Halt（17） EMS?
This is the EMS status request command for link number 0 (the status of the EMS for link number 1
and 2 cannot be confirmed).
＜Response Data＞
Content
０
EMS undetected（input signal ON：closed）
１
EMS detected（input signal OFF：opened）※All axes stop.
154

（18） ＊ＩＤＮ？
Request Command of ID＜Response Data＞＜Field１＞，＜Field２＞，＜Field３＞，＜Field４＞・ Field１…Manufacturer（ＳＵＲＵＧＡ）
・ Field２… Type（ＤS１０２）
・ Field３… Serial Number（０）・ Field４… Firmware Version＜Ex.: Response Data＞
SURUGA, DS102, 0, VER1.00※In case of DS112A, “DS102” is returned too.

4.3.5.12 General I/O Command（1） IN00？～IN47？
Status Request Command for General I/O＜Response Data＞

０
１

Request 1/bit
Content

Input OFF
Input ON（2） INP0？～INP2？
Status Request Command for General Input. Request Input 16points of each controller(LinkID０～2)
all at once.
＜Response Data＞ is 0～65535.
＜Response Data＞
Contents０
All of 16 points OFF
65535
All of 16 points ON（3） OUT□＿＜Data＞
Control Command of General Output.（0～35） Set 1/bit□：00～35.
＜Setting Data＞
Content０
Output OFF
1
Output ON（4） OUTP□＿＜Data＞
Control Command of General Output. Request Output 12points of each controller (LinkID０～2)allat once.
□：0～2、＜Response Data＞ is 0～4095.
＜Response Data＞
Content０
All of 12 points output OFF
4095
All of 12 points output ON（5） OUTP0？～OUTP2？
Status Request Command for General Output. Request Output 12points of each controller (LinkID０～2) all at once. ＜Response Data＞ is 0～4095.
＜Response Data＞
Content０
All of 12 points during output OFF
4095
All of 12 points during output ON
155

4.3.6 Program Driving Dedicated Command
This program driving can use main command without request command. Also control any types ofsequence with following for program driving command.
＜Program Driving Customized Command List＞
CommandContent
Wait Time Command（premature ending of a program）
Wait_□:DWait
DWait
JMP_□
IJMP_□,□

LoopS_□
LoopE

Wait_[1～999,999] （ms）
Drive Wait Command（premature ending of program till selection axis stop
AXI[Selection Axis]:[Driving Command] :DWait
Drive Wait Command（premature ending of program till all axis stop）
DWait
Jump Command（Jump to selection point）
JMP_[0～99]
Parameter Jump Command（Jump to selection point when match the Input
Port Status）
IJMP_[00～47], [0 or 1] , [0～99]
Ex.）IJMP_05, 1 ,28→When Input Port No.05 is ON, jump to 28 th. Line.
If OFF, jump to next line.
Loop Start Command（1～999,999 times repeat till LoopE）
LoopS_[1～999,999] (Times)
Loop End Command
LoopE※“_”means space※ Lower-case omissible.
＜Program Upload, Download Command＞
Type
CommandFunction
Program Delete DELPRG_□
Program Delete
0～7：Program Number
Program
SETPRG_P, S, D
Program Setting
Setting
P: Program No,(0～7)
S: Step No.（0～99）
D: Command Data
Getting
GETPRG_P, S
Getting Program
Program
P: Program No.（0～7）
S: Step No.（0～99）
End
END
End the Program
the Program

156

Remarks
Delete program range（Step0～99）ofselection number
Store selection program-compliant
command to program, step that selected
number.
Linked command data is Max 12
Get the Program of selection number

Program shutdown Command
Set the last step of Program＜Procedure example of Program Download＞
PC

DELPRG 0
SETPRG 0, 0, AXI1:PULS_1000
SETPRG 0, 1, LoopS_10
SETPRG 0, 2, AXI1:GO_CW:DW
SETPRG 0, 3, LoopE
SETPRG 0, 4, END

DS102/DS112

⇒
←
⇒
←
⇒
←
⇒
←
⇒
←
⇒

Delete range ofProgram No.0
＞ （after 500ms）
Store to step 0 of Program No.0
＞ （after 30ms）
Store to step 1 of Program No.0
＞ （after 30ms）
Store to step 2 of Program No.0
＞ （after 30ms）
Store to step 3 of Program No.0
＞ （after 30ms）
Store to step 4 of Program No.0
Write in flash memory← ＞ （after 500ms）

In order to download a program, first, the DELPRG command is sent and all the specified memoryareas of a program number are deleted. Since ">" will be replied if deletion is completed, please send
the SETPRG command after receiving this. Since ">" is returned also after SETPRG command
reception, please send the following SETPRG command after receiving this. If END is finally received,
the program will be automatically written in a flash memory.
">" is answered that writing is completed.
※ A part of program cannot be changed.

＜Procedure example of Program Upload＞

DS102/DS112PC
GETPRG_0, 0
GETPRG_0, 1
GETPRG_0, 2
GETPRG_0, 3
GETPRG_0, 4

⇒
←
⇒
←
⇒
←
⇒
←
⇒
←

AXI1:PULS_1000
LoopS_10
AXI1:GO_ CW:DW
LoopE
END

157

＜Program Number Selection Command＞
Select a Program that driven
ＳＥＬＰＲＧ＿＜Data＞＜Data＞ is 0～7.
＜Program Start Command＞
Start a Program that selected
ＰＲＧ＿＜Data＞＜Data＞
０ （or RUN）
１ （or STEP）

Content
Start a selection program（sequence motion）
Start a selection program（step driving）＜Program Number Request Command＞
Request a Program Number during selecting
ＳＥＬＰＲＧ？
＜Response Data＞ is 0～7.
＜Program Number Start Command＞
Request Program Driving Status
ＰＲＧ？
＜Data＞
０
１
2

Content
Program Driving（sequence motion）
Program Driving（Step driving）
Program during stop

＜Program Stop Command＞
Stop the driving program
ＳＴＯＰ

158

4.3.7 Error CodeIn case of command response function is effect, if communication command doesn’t match, sendback the following code by ASCII.
CodeFunction
Cause
Driving Command starts to stage is unconnected axis.
E00
Stage is not connected
Sensor logic setting error
Send a driving type command to motor in motion, or start theE01
In Motioncommand during program driving, teaching or setting handy terminal

E02
E03
E20
E21
E22
E40
E41
※

Limit detecting
Emergency detecting
Command rule error
Error of unsent delimiter
Setting Range Error
Communication Error
Error of write in flash memory

Already had a limit detecting at the start
Start Driving Command when input the emergency signal.
Error of command documents
No delimiter(CR) or incorrect
Over setting range of coordinate or setting value
Abnormal communication line (included Link)
Can’t store due to flash memory trouble or lifetime

When Command Response function is no effect, nothing return eventhoughcommunication command is unmatched.

【Setting DIP switch】
Set 7 th. of ＳＷ1NO
１ ２ ３ ４ ５ ６ ７ ８

SW1● Setting Command Response
7
Command response Enable /Disable
OFF
Disable（Default）
ON
Enable※ OFF setting at the before shipping.

159

５．Checkout
We recommend to checkout constantly after driving. If something abnormal signal showed, pleasestop the work and call us immediately.
（Checkout Item）
・ Is there some damaged, stress or loosing on cable?
・ Is there some dust or clogging on controller airflow?
・ Is there some abnormal smell or sound?
・ Is there any other abnormal things on the equipment?

６．Fault diagnosis and solution
Driver will not work normally during motorized stage driving due to mistaking of speed setting or
connecting. Please follow the following direction as needed.

TroublePossible Cause

A motor is not
excited.
Can turn amotor by handeasily.

Poorly fitting motorized stage
connecting cable or power cable.

Recheck connecting is correct.

On emergency

Recheck emergency stop is ON.

Current down function is [OFF]for NR type

Switch [ON] current down function for NR type.

Incorrect [STANDARD]value

See catalogue and reset correct [STANDARD] value.

Currentdown function is [OFF]）

Switch [ON] currentdown function.

Load or load change

Check the load change during motor driving.
It is no problem at arrange the torque driving., recheck as needed.

Starting pulse speed is so high

Recheck at the slowdown.

Acceleration time is short

Recheck the acceleration level.

A motor is not
spin.
No matchbetween motor
distance andsetting.
No downcurrent power
at stop the
motor
Loss ofsynchronism
duringacceleration or
driving

Motor violation

Motor heat up

Motorized
resonance

stage

Solution

motorsChange the driving pulse speed.

Long driving

Check the driving time

Currentdown function [OFF]Switch currentdown function [ON]160

７．Warranty & Customer Service●Warranty
At time of contacting Suruga Seiki or our distributor in your area, please refer to the serial numberof product that is indicated on the side of product or enclosed warranty or quality assurance cetificate.
Suruga Seiki will refer to the date of purchase and registration according to the serial number. The
warranty period is one year from the time of purchase.
The following conditions are not covered by the warranty.
－Failure to use the product properly as explained in the instruction manual, damage or injury
caused by repair or modification made by a person other than a qualified personnel of
Suruga Seiki.
－Damage caused by breakage during shipping or transportation or faulty handling.
－Damage due to fire, gas, sea and sea wind, wrong electrical or battery voltage, earthquake,
thunder, flood and wind, and any other acts of nature.
－Damage or injury due to not following the proper procedures as indicated in the instruction
manuals, not adhering to the caution warnings as indicated in the instruction manuals.
●Repair Service
Please contact your local Suruga Seiki distributor for service if the problem will persists.
《During Warranty Period》
Suruga Seiki will repair breakage caused under proper use following operation manuals for freeof charge. Those repairs except mentioned above will be charged.
《After Warranty Period》
When repairing may maintain functions of a product, we can repair the product as charged
service.
●Repairable Period
Repairable Period and Repair Parts
Replacement and repair parts of controller are guaranteed for one year after closing ofproduction. This period is the repairable period. However, please contact your local Suruga
Seiki distributor for repairs and replacement parts even after the repairable period in case that
repair may be still available.
<Regarding controller’s breakage, Suruga Seiki will not be responsible for anything but free repair
service based on this warranty.>

161

● Appendix■ DIP Switch Set
RS232C Baud rate (2bit)、Link Number(2bit)、USB ID(2bit)、Command response(1bit) set

NO
１ ２ ３ ４ ５ ６ ７ ８

SW1● RS232C Baud rate
1
2
OFF
OFF
ON
OFF
OFF
ON
ON
ON

Baud rate
4,800bps
9,600bps
19,200bps
38,400bps（Default）● Link Number
3
OFF
ON
OFF
ON

4
OFF
OFF
ON
ON

Link Number0（Default）
1
2● USB ID
5
OFF
ON
OFF
ON

6
OFF
OFF
ON
ON

USB ID
0（Default）
1
2
3● Command response
7
Command response Enable /Disable
OFF
Disable（Default）
ON
Enable※Default is 1,2ON, other OFF.
※8bit is not used.（Use it like off）

162

■ DS102A Externals

X

Y

CNT-I/O

EMS

SW1

LINK

USB

RS232C

I/O

94.6
89.6
17.8

55

139.2
10.4

21.7

97.6

6
20
154
260

300
134

DS102A
Stepping Motor Co ntroller
TERMINAL

163

■ DS112A Externals

22

151

7

41.2

70
66

1.6

50
4.5

4.5

11.3

0.8

10

3.7

165

DS112A

164

EMS

I/O
TERMINAL

CNT-I/OFG GND +24V
POWER

177.4

155

170

SW1

Y

LINK

USB

X

RS232C

Stepping Motor Con tro ller

■ Control I/O cable（Model：DS100-CNT-2）

Connector：10126-6000EL [3M]
Connector Case：10326-3210-000 [3M]

UL20276 AWG28 13P Navy

L=2000mm

SignalX_DRIVE
X_CWLS
X_CCWLS
X_ORG
Y_DRIVE
Y_CWLS
Y_CCWLS
Y_ORG
READY
NC
EMS
P/T_RUN-COM1
P/T_BIT0
P/T_BIT1
P/T_BIT2
T_BIT3
T_BIT4
T_BIT5
P/T_STARTSTOP
PRG/TCH-COM0
NC
DC24V+
0V

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26

＋50mm
- 0mm

Orange/Black1
Gray/Black1
White/Black1
Yellow/Black1
Pink/Black1
Orange/Black2
Gray/Black2
White/Black2
Yellow/Black2
Pink/Black2
Orange/Black3
Gray/Black3
White/Black3
Orange/Red1
Gray/Red1
White/Red1
Yellow/Red1
Pink/Red1
Orange/Red2
Gray/Red2
White/Red2
Yellow/Red2
Pink/Red2
Orange/Red3
Gray/Red3
White/Red3
shieldshellLine identification
Exampl)OrangeBlack2Format：Orange/Black2165

■ General I/O cable（Model：DS100-IO-2）

Connector：10136-6000EL [3M]
Connector case：10336-3210-000 [3M]
UL20276 AWG28 18P Navy

L=2000mm

Signal
In_00
In_01
In_02
In_03
In_04
In_05
In_06
In_07
In_08
In_09
In_10
In_11
In_12
In_13
In_14
In_15
+COM2
+COM3
Out_00
Out_01
Out_02
Out_03Out_04
Out_05Out_06Out_07Out_08Out_09Out_10
Out_11-COM3-COM3
DC24V+
0V
NC
NC

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36

＋50mm
- 0mm

Orange/Black1
Gray/Black1
White/Black1
Yellow/Black1
Pink/Black1
Orange/Black2
Gray/Black2
White/Black2
Yellow/Black2
Pink/Black2
Orange/Black3
Gray/Black3
White/Black3
Yellow/Black3
Pink/Black3
Orange/Black4
Gray/Black4
White/Black4
Orange/Red1
Gray/Red1
White/Red1
Yellow/Red1
Pink/Red1
Orange/Red2
Gray/Red2
White/Red2
Yellow/Red2
Pink/Red2
Orange/Red3
Gray/Red3
White/Red3
Yellow/Red3
Pink/Red3
Orange/Red4
Gray/Red4
White/Red4
shieldshellLine identification
Exampl)OrangeBlack2Format：Orange/Black2

166

■ Selection of a program number by CNT-IO
PRG/TCH : OFF
program number

CNT-IO

P/T_BIT0
P/T_BIT1
P/T_BIT2

20 = 121 = 222 = 4

0

1

2

3

4

5

6

7

OFF
OFF
OFF

ON
OFF
OFF

OFF
ON
OFF

ON
ON
OFF

OFF
OFF
ON

ON
OFF
ON

OFF
ON
ON

ON
ON
ON

6

8

9

■ Selection of a teaching number by CNT-IO
PRG/TCH : ONteaching number

CNT-IO
P/T_BIT0
P/T_BIT1
P/T_BIT2
P/T_BIT3
P/T_BIT4
P/T_BIT5

20 = 121 = 222 = 423 = 824 = 16
25 = 32
teaching number

CNT-IO
P/T_BIT0
P/T_BIT1
P/T_BIT2
P/T_BIT3
P/T_BIT4
P/T_BIT5

20 = 121 = 222 = 423 = 824 = 16
25 = 32
teaching number

CNT-IO
P/T_BIT0
P/T_BIT1
P/T_BIT2
P/T_BIT3
P/T_BIT4
P/T_BIT5

20 = 121 = 222 = 423 = 824 = 16
25 = 32
teaching number

CNT-IO
P/T_BIT0
P/T_BIT1
P/T_BIT2
P/T_BIT3
P/T_BIT4
P/T_BIT5

20 = 121 = 222 = 423 = 824 = 16
25 = 32

0

1

2

3

4

5

7

10 11 12 13 14 15

OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON
OFF OFF ON

ON OFF OFF ON

OFF OFF OFF OFF ON

ONON

ON OFF OFF ON

ON OFF OFF ON

ON OFF OFF OFF OFF ON

OFF OFF OFF OFF OFF OFF OFF OFF ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON
OFF OFF ON

ON OFF OFF ON

OFF OFF OFF OFF ON

ONON

ON OFF OFF ON

ON OFF OFF ON

ON OFF OFF OFF OFF ON

ON

ON

ON

ON

OFF OFF OFF OFF OFF OFF OFF OFF ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF

32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON
OFF OFF ON

ON OFF OFF ON

OFF OFF OFF OFF ON

ONON

ON OFF OFF ON

ON OFF OFF ON

ON OFF OFF OFF OFF ON

OFF OFF OFF OFF OFF OFF OFF OFF ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON
OFF OFF ON

ON OFF OFF ON

OFF OFF OFF OFF ON

ON

ON OFF OFF ON

ON OFF OFF OFF OFF ON

ON

ON

ON

ON

OFF OFF OFF OFF OFF OFF OFF OFF ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

167

ON

ON OFF OFF ON

＜Revision history＞
VersionDate

Ver1.00

04.10.2009

Ver1.0105.06.2010

Revised contents

DS102/112

DT100

DScontrol-Win

First edition

Ver1.00～1.05

Ver1.01

Ver1.01～1.03

Change of contact information

Ver1.00～1.07

Ver1.01

Ver1.01～1.04

Ver1.01

Ver1.01～1.04

Ver1.01

Ver1.01～1.05

Ver1.01～1.02

Ver1.01～1.05

Ver1.01～1.03

Ver1.01～1.06

Ver1.01～1.03

Ver1.01～1.06

P59 Correction of DT100 outside dimension
P74 Correction of S rate
Ver1.0208.20.2012

P77 Addition of ORG type(KXT,KRE,KHE)
P81 Correction of stop procedure for ORG5, 6
P154

Addition of download procedure

P166

Change of contact information

P8
Ver1.03

06.03.2015

Addition of other options

P166

Change of contact information

Others: Minor changes

Ver1.00～1.08
Ver2.00

Ver1.00～1.08
Ver2.00～2.05

P73 KGB06 added to sine motion model
P76 Correction(L7,8,9 initial value 1,000→100)
P77
Ver1.04

02.13.2020

Stage model added to origin return type.

Ver1.00～1.08

KXS(Q,W) deleted

Ver2.00～2.05

P121 Correction（USBID→USBID?）

Ver3.00～3.01

P133,151 Correction（Bit４ added）
P166 Contact information Update
P77 Updated list of recommended ORG typeP95,125,130,140,146
Deleted current down release function
Ver1.05

12.10.2020（NR type Ver.3.02 or later）

Ver2.00～2.05

P87,110,133,151
Added EMS

Ver1.00～1.08

status confirmation command

Ver3.00～3.02（Ver.3.02 or later）
P151 Updated “SB3?”（Ver.3.02 or later）
Type name change by changing parts
Change the type name and company logo printed
on the productP8 Type name change in product lineup
P62 Type name change in basic spec
P63 Change of DS102A front panel appearance
P64 Change of DS112A front panel appearance
Ver2.00

11.02.2023

P123 Change of USB connector model number
P163 DS102A Externals
Change the type name and company logo
printed on front panel
P164 DS112A Externals
Change the type name and company logo
printed on front panel
P170 Contact information Update

168

Ver4.00

～*～ Memo ～*～169

＜CONTACT INFORMATION＞

SURUGA SEIKI CO., LTD.

Overseas Sales

TEL： +81-3-6403-4513
FAX： +81-3-6403-4514
Operation hours (Japan time)
Monday to Friday: 9:00-12:00/13:00-18:00
Saturdays, Sundays, National holidays and New year period: CLOSED

https://eng.surugaseiki.com/
E-mail e-ost@suruga-g.co.jp
Head Office & Main Factory
505, Nanatsushinya, Shimizu-ku, Shizuoka-city, Shizuoka,
424-8566 JapanSURUGA SEIKI SALES & TRADING (SHANGHAI) CO., LTD.
Room007A, 1/F, Buiding1, No.40, Wenshui Road, Jing'an District,
Shanghai, China
Tel. +86-21-62870630
Shenzhen Office
Room 2508, Baoli Building, Nanshan District,
Shenzhen City, China
Tel. +86-755-2642-8735
Wuhan Office
Room101, Building2, No.11 Wudayuan First Road, Wuhan, China
Tel. +86-027-65528292
SURUGA SEIKI CO., LTD. TAIWAN BRANCH
9F-1, No.126. Sec. 4, Nanjing E. Rd., Songshan Dist.,
Taipei City 10595, Taiwan (R.O.C.)
Tel. +886-2-2570-1128

170