Software Reference Of Encoder Input Unit; A-8-1 Gate3[I].Serialencctrl (Serial Encoder Control - Omron CK3M Seres Hardware User Manual

A-8 Software Reference of Encoder Input
Unit
This section describes register settings of the Encoder Input Unit.
The register settings here are different from the definitions descried in the Power PMAC Software
Reference Manual (Cat. No. O015).
A-8-1
Gate3[i].SerialEncCtrl (Serial Encoder Control)
Description Serial encoder control register
Default $0F400000
This register is write-protected, so you cannot change it unless you write a key value in
Gate3[i].WpKey.
You can reset the write protection automatically in the script environment by writing the key value in
Sys.WpKey.
The setting of this register depends on the serial encoder protocol.
For BiSS-C
Bit
31 to 24 SerialClockMDiv
23 to 20 SerialClockNDiv
19 to 18 Reserve
17 SerialTrigClockSel Selection of a serial trigger clock
16 SerialTrigEdgeSel
15 to 08 SerialTrigDelay
07 to 00 SerialProtocol
BiSS-C clock frequency is determined by the formula below.
Clock frequency (MHz) =
M = SerialClockMDiv
N = SerialClockNDiv
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
Name
Division factor of the serial clock
Division factor (exponent) of the serial clock
Always set 0.
Set which clock to do encoder reading on, phase or servo.
0: Phase clock
1: Servo clock
Selection of a serial trigger clock edge
Set which edge to start encoder reading at, the rising edge or falling edge of the
clock.
0: Rising edge
1: Falling edge
Setting of a delay from the serial trigger clock edge
Set the delay time between clock edge and encoder reading. The unit is an inter-
mediate clock (SER_Clock) cycle.
The setting range is from 0 to 255.
Serial encoder protocol setting
For BiSS-C, set it to $0B.
100
(M+1) × 2 N
Function
Appendices
A
A-21