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3 Configuration Units
ModeSel = 00 (16-Bit Data)
23
22
21
20
Co
Command position (integer part) 16 bits
mm
and
po-
si-
tion
ModeSel = 01 (18-Bit Data)
23
22
21
20
Co
Command position (integer part) 18 bits
mm
and
po-
si-
tion
ModeSel = 10 (20-Bit Data)
23
22
21
20
Co
Command position (integer part) 20 bits
mm
and
po-
si-
tion
Linear Interpolation of Command Position
The XY2-100 Interface sends data every 10 µs.
However, since the CPU Unit writes a command position in the CK3W-GC Unit in synchronization with
a phase or a servo clock, generally the command position data from the CPU Unit can only be refresh-
ed in a cycle longer than 10 µs.
For this reason, the command position from CPU is applied linear interpolation and it is sent to the
Galvo Scanner as the data of XY2-100.
For the clock that determines an interpolation cycle, you can select a servo clock or a phase clock by
setting ClockSel (Gate3[i].SerialEncCtrl [17]).
The ClockSel setting should be the same as a setting of the clock that controls the motor of PMAC (bit
3 of Motor[x].PhaseCtrl).
A command position is applied linear interpolation in synchronous mode or asynchronous mode.
You can select synchronous mode or asynchronous mode by setting Sync (Gate3[i].SerialEncCtrl
[16]).
Operation in Synchronous Mode
In this mode ensure that the interpolation clock (Phase or Servo) period is set to an integer multiple
of 10 µs. Also, make sure that the interpolation clock period is 1 ms or less.
3-74
19
18
17
16
15
14
19
18
17
16
15
14
19
18
17
16
15
14
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
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12
11
10
9
8
13
12
11
10
9
8
13
12
11
10
9
8
7
6
5
4
3
2
Command position (fractional part) 8
bits
7
6
5
4
3
2
Command position (frac-
tional part) 6 bits
7
6
5
4
3
2
Command posi-
tion (fractional
part) 4 bits
1
0
1
0
1
0
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