Omron CK3M Series, Hardware User Manual

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The intermediate clock (SER_Clock) to be used in internal processing is also the same as the clock
frequency.
The following shows examples of the clock frequency settings to be used in BiSS-C.
Clock frequency SerialClockMDiv SerialClockNDiv
2 MHz 49 ($31) 0
1 MHz 99 ($63) 0
500 kHz 99 ($63) 1
The following shows examples of general settings.
SerialClockMDiv: = $31 // Serial clock frequency = 2 MHz
SerialClockNDiv: = 0 // Serial clock frequency = 2 MHz
SerialTrigClockSel: = 0 // Phase clock cycle used
SerialTrigEdgeSel: = 0 // Rising edge used
SerialTrigDelay: = 0 // Delay set to 0
SerialProtocol: = $0B // BiSS-C selected
For Endat2.2
Bit Name Function
31 to 24 SerialClockMDiv Division factor of the serial clock
23 to 20 SerialClockNDiv Division factor (exponent) of the serial clock
19 to 18 Reserve Always set 0.
17 SerialTrigClockSel Selection of a serial trigger clock
Set which clock to do encoder reading on, phase or servo.
0: Phase clock
1: Servo clock
16 SerialTrigEdgeSel Selection of a serial trigger clock edge
Set which edge to start encoder reading at, the rising edge or falling edge of the
clock.
0: Rising edge
1: Falling edge
15 to 08 SerialTrigDelay 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.
07 to 00 SerialProtocol Serial encoder protocol setting
For Endat2.2, set it to $03.
Endat2.2 clock frequency is determined by the formula below.
Clock frequency (MHz) =
(M+1) × 2 N
4
M = SerialClockMDiv
N = SerialClockNDiv
The intermediate clock (SER_Clock) to be used in internal processing is determined by the formula
below.
Appendices
A-22
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)