Omron CK3M Seres Hardware User Manual page 279

SER_Clock (MHz)=
M = SerialClockMDiv
N = SerialClockNDiv
The following shows examples of the clock frequency settings to be used in Endat2.2.
Clock frequency SerialClockMDiv SerialClockNDiv
2 MHz
1 MHz
500 kHz
100 kHz
The following shows examples of general settings.
SerialClockMDiv:
SerialClockNDiv:
SerialTrigClockSel: = 0
SerialTrigEdgeSel:
SerialTrigDelay:
SerialProtocol:
For R88M-1L£/-1M£ Motor Built-in Encoder
Bit Name
31 to 18 Reserve
17 SerialTrigClock-
Sel
16 SerialTrigEdge-
Sel
15 to 08 SerialTrigDelay
07 to 00 SerialProtocol
For R88M-1L£/-1M£ Motor built-in encoder, you do not need to set clock frequency.
The frequency of intermediate clock (SER_Clock) is 100MHz.
The following shows examples of general settings.
SerialTrigClockSel: = 0
SerialTrigEdgeSel:
SerialTrigDelay:
SerialProtocol:
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
100
(M+1)×2 N
1 ($01) 0
3 ($03) 0
7 ($07) 0
39 ($27) 0
= $01 // Serial clock frequency = 2 MHz
= 0 // Serial clock frequency = 2 MHz
// Phase clock cycle used
= 0 // Rising edge used
= 0 // Delay set to 0
= $03 // Endat2.2 selected
Always set 0.
Selection of a serial trigger clock
Set which clock to do encoder reading on, phase or servo.
0: Phase clock
1: Servo clock
Selection of a serial trigger clock edge
SetSet 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
Set $0E for R88M-1L£/-1M£ Motor built-in encoder.
// Phase clock cycle used
= 0 // Rising edge used
= 0 // Delay set to 0
= $0E // R88M-1L/-1M Motor built-in encoder selected
Function
Appendices
A
A-23