The register settings here are different from the definitions descried in the Power PMAC Software
Reference Manual (Cat. No. O015).
Refer to A-8 Software Reference of Encoder Input Unit on page A-21 for detailed specifications.
Power PMAC Saved Data Structure Elements
Gate3[i].SerialEncCtrl Serial encoder control register
Gate3[i].Chan[0].SerialEncEna
Serial encoder enable Ch0
Gate3[i].Chan[1].SerialEncEna Serial encoder enable Ch1
Gate3[i].Chan[2].SerialEncEna Serial encoder enable Ch2
Gate3[i].Chan[3].SerialEncEna Serial encoder enable Ch3
Gate3[i].Chan[0].SerialEncCmd Serial encoder command register Ch0
Gate3[i].Chan[1].SerialEncCmd Serial encoder command register Ch1
Gate3[i].Chan[2].SerialEncCmd Serial encoder command register Ch2
Gate3[i].Chan[3].SerialEncCmd Serial encoder command register Ch3
Power PMAC Status Data Structure Elements
Gate3[i].Chan[0].SerialEncDataA Serial encoder data register A Ch0
Gate3[i].Chan[0].SerialEncDataB Serial encoder data register B Ch0
Gate3[i].Chan[1].SerialEncDataA Serial encoder data register A Ch1
Gate3[i].Chan[1].SerialEncDataB Serial encoder data register B Ch1
Gate3[i].Chan[2].SerialEncDataA Serial encoder data register A Ch2
Gate3[i].Chan[2].SerialEncDataB Serial encoder data register B Ch2
Gate3[i].Chan[3].SerialEncDataA Serial encoder data register A Ch3
Gate3[i].Chan[3].SerialEncDataB Serial encoder data register B Ch3
Gate3[i].Chan[0].Status Internal memory error detection
Precautions for Correct Use
Make sure that the following settings of the CK3W-ECS Unit are the same as those of the sup-
ply-source Unit of servo clocks and phase clocks.
• Gate3[i].PhaseFreq
•
Gate3[i].ServoClockDiv
Furthermore, in order to match internal phase clocks with external phase clocks, the CK3W-
ECS Unit and the clock supply-source Unit should have the following setting.
• Gate3[i].PhaseClockDiv = 0
• Gate3[i].PhaseClockMulti = 0
If you make a different setting, data of the encoder may become an unexpected value.
3 Configuration Units
3-65
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
3-6 Encoder Input Unit
3
3-6-6 Software Settings
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