Omron CK3M Seres Hardware User Manual page 135

If you set DelayUnit and Delay before the previously set pulse output is completed, the expected puls-
es may not be output.
In the delay time, jitter of ±[(DelayUnits + 2) × 10 + 30] (ns) occurs. When you set DelayUnit, take the
jitter into consideration.
The following shows examples of pulse output settings.
*1
Servo or
phase clock *3
PWM output *4
PulseCount
*1. Write Delay, DelayUnit, and PulseCount = 5 from the CPU Unit.
*2. Write Delay, DelayUnit, and PulseCount = 3 from the CPU Unit.
*3. ClockSel = 0: Servo clock
ClockSel = 1: Phase clock
*4. PWMPeriod and DutyCycle are used to set the pulse frequency and duty.
3-7-9 TCR Output Function
This function is available with the CK3W-GC£200 Units only. It is not available with the CK3W-GC
£100 Units.
The TCR (Trigger output by Commanded distance for Rapid processing) output is a function for con-
trolling ON/OFF of the laser light source according to the distance of laser trajectory.
The CPU Unit writes command distance in the CK3W-GC Unit for each phase or servo cycle, and the
CK3W-GC Unit applies linear interpolation to the command distance.
The CK3W-GC Unit can set up to 4095 comparison values on a table.
The output is switched ON/OFF by comparing this comparison table with the command distance that
was applied linear interpolation.
The laser light source can be turned ON/OFF according to the distance by using this output for con-
trolling ON/OFF of the laser.
Signal Descriptions
TCR is output from the OUT1 terminal.
Linear Interpolation of Command Distance
Use Gate3[i].Chan[0].CompB to set command distance for each phase or servo cycle from the CPU
Unit.
The command distance is applied linear interpolation, because it is only refreshed in a phase or a ser-
vo cycle.
To set an interpolation clock, use CompClkSel (Gate3[i].Chan[2].CompB[29]).
For the interpolation clock, select the same clock as a writing cycle from the CPU Unit.
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
Delay time Delay time
0 5 4 3 2 1
3 Configuration Units
*2
Delay time
0 3 2 1 0
3
3-83