Omron CK3M Series, Hardware User Manual

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Appendices
The appendices provide the general specifications, the Unit dimensions, and restric-
tions on using the OMRON EtherCAT Coupler Unit.
A-1 General Specifications ................................................................................. A-3
A-2 Dimensions.................................................................................................... A-4
A-2-1 CPU Unit .........................................................................................................A-4
A-2-2 Power Supply Unit...........................................................................................A-5
A-2-3 Axis Interface Unit ...........................................................................................A-5
A-2-4 CK3W-MD and CK3W-AD Units......................................................................A-6
A-2-5 CK3W-ECS and CK3W-GC Units ...................................................................A-7
A-2-6 Expansion Master Unit and Expansion Slave Unit .......................................... A-8
A-2-7 End Cover .......................................................................................................A-9
A-3 Restrictions on Using the NX-series EtherCAT Coupler Unit ................. A-10
A-4 OMRON Servo Drive Connection Example................................................A-11
A-5 Version Information .................................................................................... A-12
A-6 How to Read the Lot Number ..................................................................... A-13
A-7 Supported CIP Objects ............................................................................... A-14
A-7-1 Identity Object (Class ID: 01 Hex) .................................................................A-14
A-7-2 Assembly Object (Class ID: 04 Hex) ............................................................. A-15
A-7-3 TCP/IP Interface Object (Class ID: F5 Hex).................................................. A-16
A-7-4 Ethernet Link Object (Class ID: F6 Hex) ....................................................... A-17
A-8 Software Reference of Encoder Input Unit ............................................... A-21
A-8-1 Gate3[i].SerialEncCtrl (Serial Encoder Control) ............................................ A-21
A-8-2 Gate3[i].Chan[j].SerialEncEna (Serial Encoder Enable) ............................... A-24
A-8-3 Gate3[i].Chan[j].SerialEncCmd (Serial Encoder Command)......................... A-24
A-8-4 Gate3[i].Chan[j].SerialEncDataA (Serial Encoder Data A) ............................ A-27
A-8-5 Gate3[i].Chan[j].SerialEncDataB (Serial Encoder Data B) ............................ A-28
A-8-6 Gate3[i].Chan[0].Status (Internal Memory Error Detection) .......................... A-31
A-9 Software Reference of Laser Interface Unit.............................................. A-33
A-9-1 Gate3[i].SerialEncCtrl (Control Register) ...................................................... A-33
A-9-2 Gate3[i].Chan[j].DAC[0] (Setting of Command Position and Control
Command).....................................................................................................A-34
A-9-3 Gate3[i].Chan[j].DAC[1] (Setting of Command Position Compensa-
tion Value) .....................................................................................................A-35
A-9-4 Gate3[i].Chan[j].SerialEncDataA (Command Position after Interpola-
tion, Reception Data).....................................................................................A-35
A-9-5 Gate3[i].Chan[j].SerialEncDataB (Status Data)............................................. A-36
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CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
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