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1   Features and System Configuration

CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

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Support Software

The following table shows the Support Software used to configure, monitor, program, and debug the 
Programmable Multi-Axis Controller.

 

Software Name

Application

How to Procure

Power PMAC IDE

*1

*1. Use Power PMAC IDE Ver.2.2 or a later version.

This computer software is used to configure 
the Controller, create user programs, and 
debug the programs.

This is free software. Contact 
your OMRON representa-
tive for information on how to 
procure.

Power 
PMAC-NC16

Power 
PMAC-NC16 
SDK

This computer software is used to control 
working machines and other CNC machines 
with the Controller. Use this software when you 
want to customize the HMI screen. The prod-
uct contains extension source codes used for 
customization.

This is non-free software. 
Contact your OMRON repre-
sentative for information on 
how to procure.

Power 
PMAC-NC16 
Runtime

This computer software is used to control 
working machines and other CNC machines 
with the Controller. Use this software when you 
do not customize the HMI screen.

This is non-free software. 
Contact your OMRON repre-
sentative for information on 
how to procure.

EC-Engineer

This computer software is used to configure 
and monitor the EtherCAT network by using 
the Controller as the EtherCAT master.

This is free software. Contact 
your OMRON representa-
tive for information on how to 
procure.

Summary of Contents for CK3E-1210

Page 1: ...CK3E series Programmable Multi Axis Controller Hardware User s Manual I610 E1 01 CK3E 1 10 Programmable Multi Axis Controller...

Page 2: ...ed for damages resulting from the use of the information contained in this publication Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for O...

Page 3: ...ore you attempt to use it in a control system Keep this manual in a safe place where it will be available for reference during operation This manual is intended for the following personnel who must al...

Page 4: ...oller 1 Join the Units so that the connectors fit exactly 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders toward the back of the Units as shown below u...

Page 5: ...nd what not to do to ensure safe usage of the product Precautions for Correct Use Precautions on what to do and what not to do to ensure correct operation and performance Additional Information Additi...

Page 6: ...e Use 12 Precautions for Correct Use 15 Regulations and Standards 17 Conformance to EU Directives 17 Software Licenses and Copyrights 17 Related Manuals 18 Terms and Acronyms 19 Revision History 20 Se...

Page 7: ...3 3 Installing EtherCAT Communications Cables 4 9 4 4 Laying the Ethernet Network 4 12 4 4 1 Installation Precautions 4 12 4 4 2 Installing Ethernet Networks 4 13 4 5 USB Memory Device Connection 4 1...

Page 8: ...CONTENTS 6 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610 Appendices A 1 Dimension Diagram A 2 A 2 Restrictions on Using the OMRON NX Series EtherCAT Coupler Unit A 3 Index...

Page 9: ...o the purchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron...

Page 10: ...ll not be responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for t...

Page 11: ...ling is prohibited The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution against electr...

Page 12: ...us accidents due to incorrect operation The use of an Uninterruptible Power Supply UPS allows normal operation to continue even if a momentary power interruption occurs possibly resulting in the recep...

Page 13: ...user program the Controller is restarted and communications with the EtherCAT slaves are cut off During that period the slave outputs behave according to the slave specifications The time that commun...

Page 14: ...e cables or bend the cables beyond their natural limit Do not place any objects on top of the cables or other wiring lines Doing so may cause the cables to break Always use power supply wires with suf...

Page 15: ...peration when a device error occurs If noise occurs or an EtherCAT slave is disconnected from the network any current communications frames may be lost If frames are lost slave I O data is not communi...

Page 16: ...defined variables in the user program to confirm that communications are estab lished before attempting control operations After replacing the Controller make sure that the required data including th...

Page 17: ...s of noise c Locations subject to strong electromagnetic fields d Locations subject to possible exposure to radioactivity e Locations close to power lines Install the Controller away from sources of h...

Page 18: ...ways use the specified EtherCAT slave cables If you use any other cable the EtherCAT master or the EtherCAT slaves may detect an error and one of the following may occur a Continuous refreshing of pro...

Page 19: ...autions must be observed The CK3E series Controllers must be installed within a control panel You must use SELV power supply for the DC power supplies that are connected as the Unit power supplies and...

Page 20: ...of the Controller Describes the operating procedures of Power PMAC IDE and examples of how to start the system Power PMAC NC16 Quick Start Manual O017 Understanding the basic usage of Power PMAC NC16...

Page 21: ...monitors the status of slaves and exchanges I O data with slaves It has one output port G code A type of language used to create NC programs Modbus TCP A protocol used for the Modbus communication on...

Page 22: ...ontroller Hardware User s Manual I610 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01...

Page 23: ...n and Maintenance Index Features and System Configuration Specifications Part Names and Functions Error Processing Mounting and Wiring 21 Sections in this Manual CK3E series Programmable Multi Axis Co...

Page 24: ...Sections in this Manual 22 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610...

Page 25: ...Manual I610 This section describes the features and system configuration of the Programmable Multi Axis Controller 1 1 Features 1 2 1 2 Introduction to the System Configurations 1 3 1 3 Support Softwa...

Page 26: ...ller specific lan guage for the Controller Such function design flexibility allows you to create functions that are opti mized for your equipment Various EtherCAT compatible products such as vision se...

Page 27: ...rCAT Slave Terminals The EtherCAT Slave Terminal helps you to save space and construct flexible systems using a broad range of types of NX Units However when OMRON NX series EtherCAT Coupler Units are...

Page 28: ...r Hardware User s Manual I610 CK3E series Programmable Multi Axis Controller EtherCAT network Support Software Programmable terminal PLC Industrial Ethernet switch Slave terminal Servo drive Encoder i...

Page 29: ...s computer software is used to control working machines and other CNC machines with the Controller Use this software when you want to customize the HMI screen The prod uct contains extension source co...

Page 30: ...ect the unit power supply of the Programmable Multi Axis Controller 4 2 Power Supply Wiring on page 4 4 3 Settings and wiring of the EtherCAT slave hard ware Node address settings Use the hardware swi...

Page 31: ...etails Activation of the EtherCAT net work Download the ENI file to the Pro grammable Multi Axis Controller by using Power PMAC IDE Make sure that the ENI file has been correctly downloaded and then a...

Page 32: ...1 Features and System Configuration 1 8 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610...

Page 33: ...tions of the Programmable Multi Axis Controller and configuration devices 2 1 Programmable Multi Axis Controller 2 2 2 1 1 Model 2 2 2 1 2 General Specifications 2 3 2 1 3 Features and Performance Spe...

Page 34: ...tion devices CK3E series Programmable Multi Axis Controller model names are assigned according to the following rule 2 1 1 Model Model Naming Model List Model Specifications Memory Port Maximum number...

Page 35: ...4 28 6 170 9 mm H D W Weight 540 g or less Unit power supply rated voltage 24 VDC 20 4 to 26 4 VDC Unit power current consumption 660 mA or less Operating environ ment Ambient operating temperature 0...

Page 36: ...tions Communications pro tocol EtherCAT protocol Baud rate 100 Mbps Physical layer 100BASE TX IEEE 802 3 Topology Line daisy chain and branching Transmission media Twisted pair cable of category 5 or...

Page 37: ...USB memory devices You can use the USB memory device for the following applications Uploading data Downloading data Saving relevant data The following shows details of the recommended power supply Rec...

Page 38: ...2 Specifications 2 6 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610...

Page 39: ...Controller Hardware User s Manual I610 This section describes the names and functions of the Programmable Multi Axis Con troller 3 1 Part Names 3 2 3 2 Operation Indicators 3 3 3 3 ID Information Ind...

Page 40: ...onnector Not used Used for maintenance The user does not use it E Power supply connector Connects to the Unit power supply F EtherCAT communications port opera tion indicators Show the operation statu...

Page 41: ...ink is established Flashes every time data is sent or received Not lit The EtherCAT link is not established D Ethernet LINK Green Orange Lit in green The Ethernet link is established at 1 Gbps Lit in...

Page 42: ...me Motion Controller C Power supply rat ing Details of power supply rating D Standard logos Logos used to represent applicable standards E Lot number Information on the date of manufacturing The lot n...

Page 43: ...Direction in Control Panels 4 3 4 1 3 Mounting Method in Control Panels 4 3 4 2 Power Supply Wiring 4 4 4 2 1 Power Supply Connector Specifications 4 4 4 2 2 Wiring the Power Supply Connector 4 4 4 3...

Page 44: ...enerates a large amount of heat such as heaters transformers or high capacity resistors If the ambient temperature exceeds 45 C install a cooling fan or air conditioner z Accessibility for Operation a...

Page 45: ...following shows the mounting method of the Programmable Multi Axis Controller It is recom mended that M4 screws be used for mounting 1 Create holes for the screws used to mount the Programmable Multi...

Page 46: ...d wires Select a power supply conductor by considering voltage drops and heat due to the cable length within your installation environment The following table provides information about the conductors...

Page 47: ...power equip ment Use an independent ground so that they do not affect each other To reduce the risk of receiving an electric shock do not connect devices to ground poles to which multiple devices are...

Page 48: ...6 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610 3 Insert the wires and tighten the screws Tighten the screws with 0 5 to 0 6 N m torque Do not apply force to the cable aft...

Page 49: ...th branching connections using Junction Slaves Examples of topology without branch ing and with branching Junction Slaves are shown below z No Branching z Branching 4 3 1 Supported Network Topologies...

Page 50: ...n the communications cables that are used in the network a Are there any breaks b Are there any shorts c Are there any connector problems When you connect the cable to the communications connectors on...

Page 51: ...The Cables are single shielded but the communication and noise characteristics are ensured to satisfy the standard values OMRON Customer Service Center 0 5 XS6W 6LSZH8SS50 CM Y 2 1 XS6W 6LSZH8SS100 C...

Page 52: ...d KETH SB 1 Kuramo Electric Co Ltd SWCC Showa Cable Systems Co Ltd FAE 5004 1 SWCC Showa Cable Systems Co Ltd JMACS Japan Co Ltd IETP SB 1 JMACS Japan Co Ltd RJ45 Connectors Panduit Corporation MPS588...

Page 53: ...cifications z Pin Assignments Attaching the Connectors to the Cable and Pin Assignments Item Specification Electrical characteristics Conforms to IEEE 802 3 standards Connector structure RJ45 8 pin mo...

Page 54: ...following items on the communications cables that are used in the network a Are there any breaks b Are there any shorts c Are there any connector problems When you connect the cable to the communicat...

Page 55: ...Contact the manufacturer CONTEC Co Ltd Contact the manufacturer Phoenix Contact Contact the manufacturer Twisted pair Cables Connectors Part name Manufacturer Model Contact Cables Hitachi Metals Ltd N...

Page 56: ...F LINK E 0 5 mm 4 Pairs Planning Department Kanetsu Co Ltd RJ45 Connectors Panduit Corporation MPS588 Panduit Corporation Osaka office Japan branch Attaching the Connectors to the Cable and Pin Assign...

Page 57: ...mmended Product z Recommended Attachment Procedure a Attaching the clamp core to the cable Make one loop with the Ethernet communications cable as shown in the figure below b Attachment position Secur...

Page 58: ...I610 4 5 USB Memory Device Connection Connect a USB memory device to the USB host port Type A on the Programmable Multi Axis Control ler to upload and download data as well as to save relevant data Re...

Page 59: ...nal Information In a country or region where the earthing method is regulated you must comply with the reg ulations Refer to the applicable local and national ordinances of the place where you install...

Page 60: ...ecommend this earthing method The following figure shows an example of an equipotential bonding system Connect the main earthing terminal and building structures together with equipotential bonding co...

Page 61: ...device that is connected with a communications cable and other devices as a bundle to a single earth electrode Be sure that the earth electrode is separated by a minimum of 10 m from any other earth...

Page 62: ...able other devices and a device that could be a noise source using a daisy chain topology to a common earth electrode This earthing method is not recommended because the device that could be a noise s...

Page 63: ...i Axis Controller and taking corrective actions for the errors 5 1 Classification of Errors 5 2 5 2 Using the Indicators to Check Errors 5 3 5 2 1 Indicator Types 5 3 5 2 2 Procedure for Determining E...

Page 64: ...are classified into the following two major catego ries z Fatal errors in the Programmable Multi Axis Controller Errors that occurred as the result of the Programmable Multi Axis Controller being dis...

Page 65: ...Controller and their functions 5 2 1 Indicator Types Indicator Function ECAT LINK Shows the link status of EtherCAT communications ECAT ACT Shows the data communications status of EtherCAT communicati...

Page 66: ...nk is not established The Ethernet physical layer link is not established The details of the error cannot be determined solely by checking the indi cators If communications between Power PMAC IDE and...

Page 67: ...ller failed If the error still persists even after the above corrective actions have been taken replace the Programmable Multi Axis Controller Watchdog timer error Intrusion of noise Check the FG powe...

Page 68: ...as required A device within the Ethernet network config uration failed Replace the device The Programmable Multi Axis Controller failed Replace the Programmable Multi Axis Control ler Interrupted com...

Page 69: ...dures for the cleaning inspection and maintenance of the Programmable Multi Axis Controller 6 1 Cleaning and Maintenance 6 2 6 1 1 Cleaning 6 2 6 1 2 Periodic Inspections 6 2 6 2 Maintenance Procedure...

Page 70: ...in the following table are not met 6 1 1 Cleaning 6 1 2 Periodic Inspections Periodic Inspection Items No Item Inspection details Criteria Correction 1 External power sup ply Check for voltage fluctu...

Page 71: ...or flammable gases in the area of the Controller No corrosive or flamma ble gases Check by smell or use a sensor Check the level of vibra tion or shock Vibration resistance and shock resistance must b...

Page 72: ...er 6 2 1 Unit Replacement Precautions 6 2 2 Backup 6 2 3 Unit Replacement Procedure for Replacing the Programmable Multi Axis Controller No Step Description Reference 1 Creation of a backup file Creat...

Page 73: ...ower PMAC IDE User Manual for details Procedure to Replace an EtherCAT Slave No Step Description Reference 1 State transition instruc tion By using Power PMAC IDE instruct the slave to be replaced and...

Page 74: ...6 Inspection and Maintenance 6 6 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610...

Page 75: ...troller Hardware User s Manual I610 The following provides the dimension diagram and restrictions on using the OMRON EtherCAT Coupler Unit A 1 Dimension Diagram A 2 A 2 Restrictions on Using the OMRON...

Page 76: ...diagrams of the Programmable Multi Axis Controller The unit of dimension is millimeter z Main Body Only z With Power Connector z Mounting Dimensions 125 150 5 170 9 110 28 6 25 8 110 125 150 5 170 9 1...

Page 77: ...erCAT Coupler Unit When OMRON NX series EtherCAT Coupler Units are used as slaves of the Programmable Multi Axis Controller as the EtherCAT master the following models and unit versions of EtherCAT Co...

Page 78: ...Appendices A 4 CK3E series Programmable Multi Axis Controller Hardware User s Manual I610...

Page 79: ...I 1 I I CK3E series Programmable Multi Axis Controller Hardware User s Manual I610 Index...

Page 80: ...G Grounding 4 5 I Initial process error 5 5 J Junction Slaves 4 7 M Maintenance mode enter button 3 2 Maintenance mode LED 3 2 Maximum number of controlled axes 2 2 MODBUS TCP 1 3 N Non fatal errors...

Page 81: ......

Page 82: ...60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com...

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