Omron CK3M Series, Hardware User Manual

Page: 76 / 288

• TrueDAC
This section describes each of the methods.
FilteredPWM
This is a method for creating analog output by smoothing the PWM pulse.
The relationship between the set value and output voltage is shown below.
Set value
Voltage between analog
and analog output -
Voltage between analog
and analog GND
-16384 -20 V -10 V
0 0 V 0 V
16383 +20 V +10 V
PWM frequency is determined by the formula below.
f
PWM
f
PWM
PwmFreqMult
f
IntPhase
f
IntPhase
PwmF1
2
=
: PWM frequency
: Value set at Gate3[i].Chan[j].PwmFreqMult (Setting range: 0 to 7)
: Internal phase clock frequency (Set at Gate3[i].PhaseFreq)
In addition, while the setting is between -16384 and 16383, the actual effective resolution can be cal-
culated as follows.
300000÷f
PWM
(kHz)
Since this is a method for smoothing out the PWM pulse, the higher the PWM frequency, the smaller
the ripple, but the resolution also declines. To adequately reduce the ripple, set the PWM frequency to
30 kHz or more.
If the PWM frequency is set to 30 kHz, from the above formula, the full-scale effective resolution is a
10000 resolution.
TrueDAC
This is a method for creating analog output using a DA converter.
The relationship between the set value and output voltage is shown below.
Set value
Voltage between analog
and analog output -
Voltage between analog
and analog GND
-32768 -20 V -10 V
0 0 V 0 V
32767 +20 V +10 V
In TrueDAC, the setting range and effective resolution are the same.
3-3-12 DirectPWM Output Method
DirectPWM is a Servo Drive interface unique to Delta Tau, and only DirectPWM-compatible Servo
Drives can be connected to this interface.
3 Configuration Units
3-32
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)