Directpwm Output Method - Omron CK3M Series User Manual

Set value
16383
PWM frequency is determined by the formula below.
PwmFreqMult+1
f
=
PWM
2
f
PWM
PwmFreqMult
f
IntPhase
In addition, while the setting is between -16384 and 16383, the actual effective resolution can be cal-
culated as follows.
300000÷f (kHz)
PWM
Since this is a method for smoothing out the PWM pulse, the higher the PWM frequency, the smaller
the ripple, but the resolution also declines. To adequately reduce the ripple, set the PWM frequency to
30 kHz or more.
If the PWM frequency is set to 30 kHz, from the above formula, the full-scale effective resolution is a
10000 resolution.
TrueDAC
This is a method for creating analog output using a DA converter.
The relationship between the set value and output voltage is shown below.
Set value
-32768
32767
In TrueDAC, the setting range and effective resolution are the same.
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DirectPWM Output Method

DirectPWM is a Servo Drive interface unique to Delta Tau, and only DirectPWM-compatible Servo
Drives can be connected to this interface.
Contact your OMRON representative for information on DirectPWM-compatible Servo Drives.
DirectPWM allows the Motion Controller to directly send motor current commands to Servo Drives and
monitor the actual motor current.
Because the Motion Controller directly sends motor current commands and monitors the motor cur-
rent, high-speed precision motion control is enabled.
To use the DirectPWM output, the following settings are required.
These register settings are the default.
Gate3[i].AdcAmpClockDiv = 5
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
Voltage between analog output +
and analog output -
0
f
IntPhase
: PWM frequency
: Value set at Gate3[i].Chan[j].PwmFreqMult (Setting range: 0 to 7)
: Internal phase clock frequency (Set at Gate3[i].PhaseFreq)
Voltage between analog output +
and analog output -
0
Voltage between analog output +
0 V
+20 V
Voltage between analog output +
-20 V
0 V
+20 V
3 Configuration Units
and analog GND
0 V
+10 V
and analog GND
-10 V
0 V
+10 V
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3