Omron CK3W-GC 00 Series Hardware User Manual page 127

When you set the command distance, make sure that it does not decrease if CompareEnable
(Gate3[i].Chan[2].CompB[31]) is 1. If it decreases, a linear interpolation will not be made correctly.
When you decrease the command distance, set CompareEnable to 0.
Setting of Comparison Table
Gate3[i].Chan[1].CompB, TableWritePointer(Gate3[i].Chan[3].CompB[23:12]), and Table-
Clear(Gate3[i].Chan[2].CompB[30]) are used to set the comparison table.
When you write a comparison value in Gate3[i].Chan[1].CompB with the comparison table empty, it will
be written in the buffer 0 (CompareTable[0]), and TableWritePointer will increase from 0 to 1.
Then, when you write a comparison value in Gate3[i].Chan[1].CompB, it will be written in the buffer 1
(CompareTable[1]), and TableWritePointer will increase from 1 to 2.
When TableWritePointer is 4095, this means that you have written comparison values in all buffers, so
you can write no more values.
When you set the comparison table, make sure that the number increases. If it does not increase, a
comparison will not be made correctly.
To write in the comparison table, be sure to set CompareEnable (Gate3[i].Chan[2].CompB[31]) to 0. If
CompareEnable is 1, nothing will be written in the comparison table.
Buffer number Comparison value
0
1
2
:
4092
4093
4094
Even if you set CompareEnable to 0, the comparison table will not be cleared.
You can empty the comparison table by using TableClear to clear all buffers on the comparison table.
To clear the comparison table, be sure to set CompareEnable to 0 beforehand.
If you read Gate3[i].Chan[1].CompB, it will return a value on the comparison table where you are mak-
ing a comparison now.
Execution of Comparison
CompareEnable(Gate3[i].Chan[2].CompB[31]) and ComparePointer(Gate3[i].Chan[3].CompB[11:0])
are used to execute comparison.
Writing 1 in CompareEnable will start comparison.
First, a comparison between Comparetable[0] and the linearly interpolated command distance is
made.
A comparison output starts at 0.
When the linearly interpolated command distance has become larger than Comparetable[0], the com-
parison output will be reversed and the comparison value will change to Comparetable[1].
Next, a comparison between Comparetable[1] and the linearly interpolated command distance is
made, and a comparison is made with Comparetable[n] in turn.
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
CompareTable [0]
CompareTable [1]
Empty
:
Empty
Empty
Empty
3 Configuration Units
3-83
3