Globaldefinitions.pmh - Omron CK5M-CPU1 1 Series Application Manual

4 How to Customize Various Settings
4-1

globaldefinitions.pmh

This file contains various clock and task period settings.
No.
*1 Coord[1].SegMoveTime
*2 Gate3[0].PhaseFreq
*3 Gate3[0].ServoClockDiv
*4 Sys.PhaseOverServoPeriod
*5 Sys.ServoPeriod
*6 Gate3[x].PhaseServoDir
4-2
Parameter
Specify the interpolation time period in ms for circular interpolation,
etc. of the trajectory. The smaller this value, the closer to the exact
trajectory, but the larger the computation load on the CPU due to the
increase in the amount of computation.
Specify the frequency of the phase clock. The larger this value, the
more accurate the processing of current loops, etc., but the larger
the computation load on the CPU due to the increase in the amount
of computation.
Specify the division ratio of the servo clock. The smaller this value,
the more accurate the processing of position loops, etc., but the larg-
er the computation load on the CPU due to the increase in the
amount of computation.
The servo clock frequency is determined as follows according to the
set value.
Servo clock frequency
= Phase clock frequency / (Gate3[0].ServoClockDiv + 1)
Set the value calculated as follows.
Sys.PhaseOverServoPeriod
= 1 / (Gate3[0].ServoClockDiv + 1)
Set the value calculated as follows.
Sys.ServoPeriod
= 1000 * (Gate3[0].ServoClockDiv + 1) / Gate3[0].PhaseFreq
Specify the unit that supplies the phase clock and the servo clock.
Description
Application Guide Laser Application (O052)