Omron CK3W-GC 00 Series Hardware User Manual page 109

The register settings here are different from the definitions descried in the Power PMAC Software
Reference Manual (Cat. No. O015).
Refer to A-8 Software Reference of Encoder Input Unit on page A-21 for detailed specifications.
Power PMAC Saved Data Structure Elements
Gate3[i].SerialEncCtrl
Gate3[i].Chan[0].SerialEncEna
Gate3[i].Chan[1].SerialEncEna
Gate3[i].Chan[2].SerialEncEna
Gate3[i].Chan[3].SerialEncEna
Gate3[i].Chan[0].SerialEncCmd
Gate3[i].Chan[1].SerialEncCmd
Gate3[i].Chan[2].SerialEncCmd
Gate3[i].Chan[3].SerialEncCmd
Power PMAC Status Data Structure Elements
Gate3[i].Chan[0].SerialEncDataA Serial encoder data register A Ch0
Gate3[i].Chan[0].SerialEncDataB Serial encoder data register B Ch0
Gate3[i].Chan[1].SerialEncDataA Serial encoder data register A Ch1
Gate3[i].Chan[1].SerialEncDataB Serial encoder data register B Ch1
Gate3[i].Chan[2].SerialEncDataA Serial encoder data register A Ch2
Gate3[i].Chan[2].SerialEncDataB Serial encoder data register B Ch2
Gate3[i].Chan[3].SerialEncDataA Serial encoder data register A Ch3
Gate3[i].Chan[3].SerialEncDataB Serial encoder data register B Ch3
Gate3[i].Chan[0].Status
Precautions for Correct Use
Make sure that the following settings of the CK3W-ECS Unit are the same as those of the sup-
ply-source Unit of servo clocks and phase clocks.
• Gate3[i].PhaseFreq
• Gate3[i].ServoClockDiv
Furthermore, in order to match internal phase clocks with external phase clocks, the CK3W-
ECS Unit and the clock supply-source Unit should have the following setting.
• Gate3[i].PhaseClockDiv = 0
• Gate3[i].PhaseClockMulti = 0
If you make a different setting, data of the encoder may become an unexpected value.
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
Serial encoder control register
Serial encoder enable Ch0
Serial encoder enable Ch1
Serial encoder enable Ch2
Serial encoder enable Ch3
Serial encoder command register Ch0
Serial encoder command register Ch1
Serial encoder command register Ch2
Serial encoder command register Ch3
Internal memory error detection
3 Configuration Units
3-65
3