Omron CK3M Seres Hardware User Manual page 128

3 Configuration Units
Interpolation
clock
XY2-100 data
*1. ClockSel = 0: Servo clock
ClockSel = 1: Phase clock
*2. Command position writing from CPU Unit
*3. Command position capturing by CK3W-GC Unit
*4. The command position captured by the CK3W-GC Unit becomes the XY2-100 transmission data at the
falling edge of the next interpolation clock.
Compensation of Command Position Function
This is a function that adds the compensation value set using Gate3[i].Chan[j].Dac[1] to the command
position after linear interpolation and sends it from XY2-100.
Command
position
Data format of the compensation value is the same as that of the command position.
Data to be sent to the Galvo Scanner is limited to the command position (integer part).
If adding a positive compensation value causes transmission data to overflow, it is limited to the upper
limit.
Conversely, if adding a negative compensation value causes transmission data to underflow, it is limit-
ed to the lower limit.
A compensation value is 24-bit data.
You can select a data format of the command position by setting ModeSel (Gate3[i].SerialEncCtrl
[14:15]).
 ModeSel = 00 (16-Bit Data)
23 22 21 20
Co Compensation value (integer part) 16 bits
mm
and
po-
si-
tion
3-76
*2 *3
*1
Linear
+
interpolation
Compensation
value
19 18 17 16 15 14
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
Command position captured by CK3W-GC
XY2-100 transmission
*4
To Galvo Scanner
13 12 11 10 9 8 7 6 5 4 3 2
Compensation value (fractional part)
8 bits
1 0