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Omron CK3M Series, Hardware User Manual

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2

System Configuration

This section describes the system configuration of the CK3M-series Programmable
Multi-Axis Controller.

2-1  Basic Configuration ....................................................................................... 2-2

2-1-1 

CK3W Unit Configuration ................................................................................ 2-2

2-1-2 

EtherCAT Network Configuration .................................................................... 2-3

2-2  Connecting to the Power PMAC IDE ............................................................ 2-5

2-3  Ethernet Network Configuration ................................................................... 2-6

2-1

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

 

2

 

Summary of Contents for CK3M Series

Page 1: ...mmable Multi Axis Controller Hardware User s Manual O036 E1 08 CK3M CPU1 1 CK3W PD048 CK3W AX1313 AX1414 AX1515 AX2323 CK3W MD71 0 CK3W AD 100 CK3W ECS300 CK3W GC 00 CK3W EXM01 EXS02 Programmable Mult...

Page 2: ...is any liability assumed for damages resulting from the use of the information contained in this publication Microsoft Windows Excel Visual Basic and Microsoft Edge are either registered trademarks or...

Page 3: ...Intended Audience This manual is intended for the following personnel who must also have knowledge of electrical sys tems electrical engineers or the equivalent Personnel in charge of introducing FA...

Page 4: ...ntil they click into place Precautions for Correct Use Precautions for Correct Use 4 3 1 Connecting Controller Components Connector Hook Hook holes Slider Lock Release Move the sliders toward the back...

Page 5: ...f the product Precautions for Correct Use Precautions on what to do and what not to do to ensure correct operation and performance Additional Information Additional information to read as required Thi...

Page 6: ...Manual Structure 4 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 7: ...ies Programmable Multi Axis Controller User s Manual Hardware O036 1 2 3 4 5 1 2 3 4 5 A Introduction to Motion Controllers System Configuration Configuration Units Installation Wiring A 6 7 Appendice...

Page 8: ...7 Precautions for Safe Use 18 Precautions for Correct Use 23 Regulations and Standards 25 Conformance to EU Directives 25 Condition for Compliance with EU Directives 25 Conformance to UL and CSA Stand...

Page 9: ...5 3 3 9 OutFlag Function 3 27 3 3 10 Amplifier Connector Specifications 3 28 3 3 11 DA Output Method 3 31 3 3 12 DirectPWM Output Method 3 32 3 3 13 Flag Connection Terminal Block Specifications 3 33...

Page 10: ...bled Appearance and Dimensions 4 14 4 4 Control Panel Installation 4 19 4 4 1 Temperature 4 19 4 4 2 Humidity 4 20 4 4 3 Vibration and Shock 4 21 4 4 4 Atmosphere 4 21 4 4 5 Electrical Environment 4 2...

Page 11: ...ng USB Memory 6 9 6 4 Sys Status Register 6 10 6 4 1 Sys Status Register List 6 10 6 4 2 Details of Flags 6 11 6 5 EtherNet IP Connection Status Codes and Troubleshooting 6 20 Section 7 Inspection and...

Page 12: ...Ctrl 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 Compensation Value A 35 A 9 4 Gate3 i...

Page 13: ...Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be re sponsible for warranty repair indemnity or any other...

Page 14: ...APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS PROPERL...

Page 15: ...ECTLY RESULTING FROM THE INFECTION OF OMRON PROD UCTS ANY SOFTWARE INSTALLED THEREON OR ANY COMPUTER EQUIPMENT COMPUTER PROGRAMS NETWORKS DATABASES OR OTHER PROPRIETARY MATERIAL CONNECTED THERETO BY D...

Page 16: ...RNING Caution Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates that disassembly...

Page 17: ...r Supply Do not attempt to take any Unit apart In particular high voltage parts are present in the Power Supply Unit while power is supplied or immediately after power is turned OFF Touching any of th...

Page 18: ...ided to ensure safe operation of the system in such cases The outputs may remain ON or OFF due to welding or burning of the output relays or destruction of the output transistors As a countermeasure f...

Page 19: ...fore you enable it If such a program is not created the cable may no longer be redundant due to disconnection on the ring topology without any notice Use the status variable ECAT i RedundantLineBreak...

Page 20: ...ng and connector insertion before turning ON the power supply If the external power supply to a digital output or a slave has polarity connect it with the correct po larity If the polarity is reversed...

Page 21: ...nge specified in this man ual Install external breakers and take other safety measures against short circuiting and overcurrents in external wiring Do not apply voltages to the Input Units in excess o...

Page 22: ...rCAT are within specifications Do not connect EtherCAT communications to EtherNet IP a standard in house LAN or other net works An overload may cause the network to fail or malfunction If the Fail sof...

Page 23: ...transmitted and unintended operation may occur Before connecting a third party slave on the ring topology check the followings a Connect and disconnect the communication cable connected to the OUT po...

Page 24: ...required data including the user program configurations settings and varia bles is transferred to the Controller that was replaced and to externally connected devices before restarting operation Upgr...

Page 25: ...static electricity or other forms of noise c Locations subject to strong electromagnetic fields d Locations subject to possible exposure to radioactivity e Locations close to power lines Before touchi...

Page 26: ...mmunications will not end during the set cycle Wiring slaves incorrectly in the ring topology to connect IN ports or OUT ports may cause message and process data communication to stop Make sure that t...

Page 27: ...in which the CK3M series Units are used complies with EU Directives the following precautions must be ob served Be sure to install the CK3M series Units in the control panel You must use double or rei...

Page 28: ...pliant with these standards refer to the INSTRUCTION SHEET included with the product The INSTRUCTION SHEET provides usage conditions to make it compliant with the standards Conformance to KC Certifica...

Page 29: ...ecking with Power PMAC IDE 1 Connect the CK3M series CPU Unit and Power PMAC IDE online 2 Inputversto the terminal window Enter vers The firmware revision is displayed on the command line The followin...

Page 30: ...Controller Details of commands Details of data structure Power PMAC IDE User Manual O016 Learning how to oper ate Power PMAC IDE the integrated devel opment environment of the Controller Describes the...

Page 31: ...structure DirectPWM A Servo Drive interface unique to Delta Tau Data Systems Inc FilteredPWM Method for creating analog output by smoothing the PWM pulse TrueDAC Method for creating analog output usin...

Page 32: ...Units Corrected mistakes 03 July 2019 Corrected mistakes 04 August 2020 Made changes accompanying the addition of EtherNet IP functions Corrected mistakes 05 May 2021 Made changes accompanying the ad...

Page 33: ...the CK3M series Programmable Multi Axis Controller 1 1 Features and System Configuration 1 2 1 1 1 Motion Controller Features 1 2 1 1 2 Introduction to the System Configurations 1 2 1 1 3 Support Soft...

Page 34: ...he Motion Controller can be written in G code C language or Programmable Multi Axis Controller specific language This function design flexibility allows you to create functions that are opti mized for...

Page 35: ...Units You can add up to four CK3W Units or up to two CK3W AX Units on each Expansion Rack By connecting an analog input type or DirectPWM type Servo Drive to a CK3W AX Unit high speed axis control is...

Page 36: ...onnection settings are required for EtherNet IP communications Refer to the Power PMAC IDE User Manual Cat No O016 for details Support Software Connect a computer with the Support Software installed t...

Page 37: ...lave Mounting Mount EtherCAT slaves Refer to the manual for the Ether CAT slave Wiring Wire EtherCAT slaves Wiring of the unit power supply I O wiring Refer to the manual for the Ether CAT slave 4 Ins...

Page 38: ...ization of the Controller Use Power PMAC IDE to initialize the Motion Controller Refer to the Power PMAC IDE User Manual Cat No O016 for details 9 Settings of the Motion Control ler operation Motor se...

Page 39: ...rammable Multi Axis Controller 2 1 Basic Configuration 2 2 2 1 1 CK3W Unit Configuration 2 2 2 1 2 EtherCAT Network Configuration 2 3 2 2 Connecting to the Power PMAC IDE 2 5 2 3 Ethernet Network Conf...

Page 40: ...enabled by connecting an EtherCAT type Servo Drive to the CPU Unit 2 1 1 CK3W Unit Configuration The following shows the configuration of CK3W Units CPU Rack The CK3W Unit configuration in the CPU Rac...

Page 41: ...it Laser Interface Unit You can connect the Galvo Scanner compatible with the interface of XY2 100 or SL2 100 I End Cover Must be connected to the right end of the CPU Rack and Expansion Rack The CPU...

Page 42: ...rrect Use Before you connect a slave from another manufacturer refer to the relevant manual and be sure to check its operation EtherCAT setup software that is provided by other manufacturers cannot be...

Page 43: ...Ethernet Built in Ethernet port Power Supply Unit CPU Unit Ethernet switch Precautions for Correct Use Use Power PMAC IDE Ver 4 or a higher version Refer to A 5 Version Information on page A 12 for de...

Page 44: ...iginators are required for the communications If the originator in use is an NJ NX series CPU Unit refer to the NJ NX series CPU Unit Built in EtherNet IP Port User s Manual Cat No W506 for details CP...

Page 45: ...nput Timing Specifications for Digital Quadrature Encoder 3 23 3 3 8 Input Specifications for Sinusoidal Encoder 3 25 3 3 9 OutFlag Function 3 27 3 3 10 Amplifier Connector Specifications 3 28 3 3 11...

Page 46: ...s and Functions 3 70 3 7 3 Operation Indicators 3 71 3 7 4 Address Switch Setting 3 71 3 7 5 Terminal Arrangement 3 72 3 7 6 XY2 100 Interface 3 72 3 7 7 SL2 100 Interface 3 76 3 7 8 PWM Output Functi...

Page 47: ...1 GB Built In Flash Memory 1 GB Number of connectable CK3W Units when using Expansion Rack 8 Units max Or 4 CK3W AX Units max External connection terminals No EtherCAT For EtherCAT communications RJ45...

Page 48: ...le 2 Maximum transmission distance between Ethernet switch and node 100 m Maximum number of cascade connections There are no restrictions if an Ethernet switch is used EtherNet IP tag data link cyclic...

Page 49: ...t IP is available only for CPU Units with PMAC firmware revision version 2 6 0 or later whose date of production is September 8th 2020 or later Lot number 08920 and later Use Power PMAC IDE Ver 4 4 1...

Page 50: ...of Ethernet G Ethernet communications connector Connects to an Ethernet network communications cable H Watchdog output terminal block Normally in ON state and switches to OFF when watchdog is activat...

Page 51: ...ed ECAT ACT Yellow Lit The EtherCAT link is established Flashing Data communications are in progress after the EtherCAT link is established Flashes every time data is sent or received Not lit The Ethe...

Page 52: ...software watchdog error occurs OFF Output Specifications Item Specification Rated voltage 24 VDC Operating load voltage range 20 4 to 26 4 VDC Maximum load current 0 1 A Leakage current 0 1 mA max Re...

Page 53: ...ta Initializing the CPU Unit The following shows details of the recommended USB memory devices OMRON is not responsible for the operation of any other USB memory devices Recommended USB memories Descr...

Page 54: ...W max Rated output voltage 5 VDC 24 VDC Maximum output power 1 5 VDC 23 W 24 VDC 55 W Isolation method Not isolated Circuit configuration Noise filter circuit DC DC Converter Not isolated 24 VDC input...

Page 55: ...ion terminal block Connects the power supply B Power supply status indicator Lights when 5 V is output from the Power Supply Unit C CPU Unit connector Connector that connects to the CPU Unit D DIN Tra...

Page 56: ...FilteredPWM CK3W AX1515P DA output TrueDAC CK3W AX2323P DirectPWM output Sinusoidal encoder Serial encoder Axis Interface Unit Specifications The main specifications for axis interface are given belo...

Page 57: ...m Specification CK3W AX1313N AX1313P AX2323N AX2323P Address setting range 0 to F Number of channels 4 channels Unit Encoder power supply out put 5 VDC 500 mA channel or less However the total output...

Page 58: ...upply status indicator Shows the power supply status C Amp enable status indicator Shows the Amp enable status D Encoder connector Connects the encoder E General digital input output status indicator...

Page 59: ...ack J Flag connection terminal block Connects the HOME PLIM NLIM USER inputs and EQU output K Address switch Sets the Gate3 Index 3 3 3 Operation Status Indicators The LED indicators show the unit ope...

Page 60: ...becomes 7 Refer to 6 4 Sys Status Register on page 6 10 for Sys Status One CK3W Unit in the system supplies servo clock and phase clock signals to all the other Units The supply source CK3W Unit must...

Page 61: ...EIA standard RS 422A line driver levels Single ended input 2 ON voltage 3 0 V or more OFF volt age 1 0 V or less Maximum input voltage Differential input EIA standard RS 422A line driver levels Single...

Page 62: ...ly Encoder power supply GND Connector shell 5 V 0 V With single ended input use twisted pair wire to improve noise resistance and pair the respective signals of encoder A B C with GND Serial encod er...

Page 63: ...coder DAT Connect or shell Hall sensor T Hall sensor V Hall sensor W Hall sensor U Internal circuit 5 V 5 V 120 0V 0 V FG 3 Configuration Units 3 19 CK3M series Programmable Multi Axis Controller User...

Page 64: ...ion 120 SIN SIN 120 COS 5 V COS 120 3 3 k 330 3 3 k 2 2 k INDEX INDEX Connector shell Internal circuit FG 0 V Terminal connection diagram To reduce the effects of the noise we recommend that you use a...

Page 65: ...ncoder Power Supply 5 VDC Encoder Power Supply GND Connector shell OutFlagB output speci fications 7 Output signal 1 point channel Rated output voltage 5 VDC Maximum load current when ON 5 mA Residual...

Page 66: ...r higher Use a user program to check the encoder loss detection using Gate3 i Chan j SumOfSquares and with out using Gate3 i Chan j SosError When you set Gate3 i Chan j SumOfSquares set the threshold...

Page 67: ...40 or more Precautions for Correct Use If the digital quadrature encoder is used with single ended input you cannot use encoder loss detection since the encoder loss may be detected even if the encode...

Page 68: ...FF Voltage G ON OFF ON ON C C OFF OFF Encoder input Phase C Relationship between Phase A and Phase B for Phase Differential Pulse Inputs Phase A Phase B E D ON OFF ON ON B B OFF OFF Voltage A A A A A...

Page 69: ...ns 50 ns 100 ns 25 ns 50 ns With Gate3 i EncClockDiv 0 100MHz setting 3 3 8 Input Specifications for Sinusoidal Encoder This section describes the input specifications for the sinusoidal encoder Input...

Page 70: ...onvert the input signal correctly if it is out of the specified range Data Processing SIN and COS signals are input to both the RS 422 receivers and the AD converters The RS 422 re ceivers count the n...

Page 71: ...der value when connecting with the OMRON G5 series Servo Drives with General pur pose Pulse Train or Analog Inputs Details on the Function You can switch the output transistor state of the 15 pin of t...

Page 72: ...en enabling and disabling the serial encoder Gate3 i Chan j OutFlagD Gate3 i Chan j SerialEncEna Terminating resistance 0 Default 0 Default Disabled 1 Enabled 1 0 Disabled 1 Disabled 3 3 10 Amplifier...

Page 73: ...rnal cir cuit Circuit configura tion Inter nal circuit DA Converter DA Converter Iso la tion cir cuit Analog output A Analog output B Analog output B Analog GND Connector shell Analog output A AMP AMP...

Page 74: ...inal connec tion diagram Connection with a Drive with line receiver input Drive Pulse output Pulse output Directional output Directional output Connector shell Amp enable NO Amp enable NC Amp enable c...

Page 75: ...0 V potential difference is generated The same ap plies to DACB DACB 2 Available with the CK3W AX1414 1515 Units 3 Pulses may be output unintendedly during the initial state and startup Be sure to con...

Page 76: ...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...

Page 77: ...hese register settings are the default Gate3 i AdcAmpClockDiv 5 Gate3 i AdcAmpStrobe FFFFFC Gate3 i AdcAmpDelay 0 Gate3 i AdcAmpHeaderBits 2 Additionally set the phase clock frequency and the PWM freq...

Page 78: ...R1 25 USER3 13 V_FLAG1 26 V_FLAG3 Signal Signal name EQUn Position comparison output Output COM_EQU Position comparison output Common Common HOMEn Zero Position Detection Flag Input PLIMn Positive Lim...

Page 79: ...Flag Connection Terminal Block This section describes the electrical specifications for the flag connection terminal block Digital Input Specifications Input signal HOME PLIM NLIM USER Channel Rated...

Page 80: ...nt control circuit Current control circuit Internal circuit PNP type HOME 0 to 3 PLIM 0 to 3 NLIM 0 to 3 USER 0 to 3 G_FLAG 0 to 3 Current control circuit Current control circuit Current control circu...

Page 81: ...tput signal EQU Channel Rated output voltage 5 VDC Maximum load current when ON 35 mA Residual voltage when ON 0 4 V max Isolation method Internal circuits and not isolated Circuit configuration Inter...

Page 82: ...he two wire sensor 2 For high speed output we recommend the use of shielded wiring 3 3 14 General Digital I O Connection Terminal Block Specifications This section describes the terminal arrangement a...

Page 83: ...8 OUT08 11 OUT01 29 OUT09 12 OUT02 30 OUT10 13 OUT03 31 OUT11 14 OUT04 32 OUT12 15 OUT05 33 OUT13 16 OUT06 34 OUT14 17 OUT07 35 OUT15 18 V2 36 G2 PNP Type 1 18 19 38 3 Configuration Units 3 39 CK3M se...

Page 84: ...pecifications of General Digital I O Connection Terminal Block General digital input NPN PNP Number of inputs 16 points Rated input voltage 24 VDC Maximum input voltage 26 4 VDC Input current 3 9 mA t...

Page 85: ...rnal circuit PNP type IN00 IN15 G1 G1 Current control circuit Current control circuit Current control circuit Internal circuit IN01 3 Configuration Units 3 41 CK3M series Programmable Multi Axis Contr...

Page 86: ...2 to 26 4 VDC Maximum load current 0 5 A point 2 A Unit Maximum inrush current 4 0 A point 10 ms max Leakage current 0 1 mA max Residual voltage 1 0 V max ON OFF response time 0 1 ms max 0 8 ms max Is...

Page 87: ...load current 0 5 A point 2 A Unit Maximum inrush current 4 0 A point 10 ms max Leakage current 0 1 mA max Current voltage 1 0 V max ON OFF response time 0 1 ms max 0 8 ms max Isolation method Isolati...

Page 88: ...1 OUT15 Short circuit protection Short circuit protection Short circuit protection Connection diagram PNP type 12 to 24 VDC V2 OUT00 OUT01 OUT15 G2 L L L 3 Configuration Units 3 44 CK3M series Program...

Page 89: ...nts Rated input voltage 24 VDC Maximum input voltage 26 4 VDC Input current 3 9 mA typical 24 VDC ON voltage ON current 15 VDC min 3 mA min OFF voltage OFF current 5 VDC max 1 mA max ON OFF response t...

Page 90: ...rol circuit Current control circuit Current control circuit Internal circuit IN01 Connection diagram NPN type 24 VDC V1 IN00 IN01 IN15 3 Configuration Units 3 46 CK3M series Programmable Multi Axis Co...

Page 91: ...10 ms max Leakage current 0 1 mA max Residual voltage 1 0 V max ON OFF response time 0 1 ms max 0 8 ms max Isolation method Isolation by Photocoupler between output and internal cir cuit Load short c...

Page 92: ...point 10 ms max Leakage current 0 1 mA max Residual voltage 1 0 V max ON OFF response time 0 1 ms max 0 8 ms max Isolation method Isolation by Photocoupler between output and internal cir cuit Load s...

Page 93: ...indicator Shows the power supply status C Digital input output status indicator Shows the digital input output status D Terminal block Connects the digital input output E Unit connector Connector that...

Page 94: ...yle DSPGate3 IC Refer to the Power PMAC User s Manual Cat No O014 for the PMAC3 style DSPGate3 IC The address switch settings are used to set the Gate3 Index The setting range is from 0 to F Factory s...

Page 95: ...t cannot recognize clock signals If this error occurs the Sys Status register Sys NoClocks becomes 1 3 4 5 Terminal Arrangement This section describes the terminal arrangement of the digital I O conne...

Page 96: ...OUT06 34 OUT14 17 OUT07 35 OUT15 18 V2 36 G2 3 4 6 I O Data The CPU Unit can access I O data via the Gate3 i GpioData 0 register Input data is stored in each bit of the register as shown below Input R...

Page 97: ...ioData 0 20 OUT5 Gate3 i GpioData 0 21 OUT6 Gate3 i GpioData 0 22 OUT7 Gate3 i GpioData 0 23 OUT8 Gate3 i GpioData 0 24 OUT9 Gate3 i GpioData 0 25 OUT10 Gate3 i GpioData 0 26 OUT11 Gate3 i GpioData 0...

Page 98: ...range 10 to 10 V Absolute maximum rating 12 V GND reference Input impedance 1 M min Resolution 1 65116 full scale Accuracy 25 C 1 0 FS Effect of temperature 0 018 FS C Isolation method Between input a...

Page 99: ...AD2100 120 g max 1 Differential input and single ended input can be mixed in a Unit 3 5 2 Part Names and Functions A F B C D E Letter Name Function A Slider Holds the Units together B Power supply st...

Page 100: ...dex The setting range is from 0 to F Factory setting 0 Address switch setting Power PMAC Gate3 Index 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 A 10 B 11 C 12 D 13 E 14 F 15 For example if the address sw...

Page 101: ...ize clock signals If this error occurs the Sys Status register Sys NoClocks becomes 1 3 5 5 Terminal Arrangement This section describes the terminal arrangement of the analog input connection terminal...

Page 102: ...Decimal 8000 32 768 0 V Voltage Analog input data is stored in the upper 16 bits of the following register To use a register value divide it by 216 by using the program Input Register Bit position AIN...

Page 103: ...lt Gate3 i GpioData 0 2 0 Gate3 i GpioData 0 3 0 4 3 Gate3 i GpioData 0 2 1 Gate3 i GpioData 0 3 0 12 2 Gate3 i GpioData 0 2 0 Gate3 i GpioData 0 3 1 24 5 Gate3 i GpioData 0 2 1 Gate3 i GpioData 0 3 1...

Page 104: ...e3 i GpioData 0 13 1 24 5 Gate3 i GpioData 0 12 1 Gate3 i GpioData 0 13 1 AIN7 3 2 Default Gate3 i GpioData 0 14 0 Gate3 i GpioData 0 15 0 4 3 Gate3 i GpioData 0 14 1 Gate3 i GpioData 0 15 0 12 2 Gate...

Page 105: ...and R88M 1L 1M Motor built in en coder Clock output 1 EIA standard RS 422A line driver level Data I O EIA standard RS 485 line driver receiver level Maximum baud rate 2 BiSS C 2 MHz Endat2 2 2 MHz Ma...

Page 106: ...oder Serial Encoder CLK Serial Encoder CLK Serial Encoder DAT Serial Encoder DAT Encoder Power Supply 5 VDC Encoder Power Supply GND Connector shell E5 V E0 V S S FG Power consumption 5 V 0 6 W max 24...

Page 107: ...Input Unit The operating statuses corresponding to the colors and statuses of the indicators are shown below Indicator name Color Status Description PWR Green ON Power is supplied OFF Power is not be...

Page 108: ...Rack Connect the Unit with the smallest address value to the CPU Rack because by default it is the supply source of clock signals You may specify the Unit with a desired address as the clock supply so...

Page 109: ...l 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 enc...

Page 110: ...CK3W GC1100 XY2 100 PWM output CK3W GC1200 PWM output TCR output CK3W GC2100 SL2 100 PWM output CK3W GC2200 PWM output TCR output Specifications XY2 100 Inter face Data length 1 16 bits 18 bits or 20...

Page 111: ...HY XY STATUS XY STATUS GND FG Connector shell Z CLOCK Z CLOCK Z SYNC Z SYNC CHZ CHZ Z STATUS Z STATUS GND FG Connector shell 3 Configuration Units 3 67 CK3M series Programmable Multi Axis Controller U...

Page 112: ...or shell SL2 100 Inter face Data length 20 bits Maximum transmission distance 25 m Cable impedance 110 Isolation method Isolation by pulse transformer between internal circuit and SL2 100 circuit Circ...

Page 113: ...tage 5 VDC Maximum output current 20 mA Output voltage for H out put 3 8 V min Output voltage for L out put 0 55 V max Response time 100 ns max Maximum transmission distance 25 m Isolation method Not...

Page 114: ...its do not need the OUT1 wiring 3 7 2 Part Names and Functions GC2200 ADDRESS PWR XY Z Laser A B C D E F G Letter Name Function A Slider Holds the Units together B Address switch Sets the Gate3 Index...

Page 115: ...rom 0 to F Factory setting 0 Address switch setting Power PMAC Gate3 Index 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 A 10 B 11 C 12 D 13 E 14 F 15 For example if the address switch setting is 0 the Gate...

Page 116: ...A clock signal for communications and data is sent or received in synchronization with this clock The frequency of this clock is 2 MHz at which it is sent continuously Since a single data is sent or...

Page 117: ...U Unit can only be refresh ed in a cycle longer than 10 s For this reason the command position from CPU is applied linear interpolation and it is sent to the Galvo Scanner as the data of XY2 100 For t...

Page 118: ...ronous mode for linear interpolation of a command position set a multiple of 10 s to the phase or servo cycle set for an interpolation clock If it is not set correctly the Galvo Scanner may not operat...

Page 119: ...of the compensation value is the same as that of the command position Data to be sent to the Galvo Scanner is limited to the command position integer part If adding a positive compensation value cause...

Page 120: ...ogram to check whether the parity is correct 3 7 7 SL2 100 Interface The SL2 100 Interface establishes communications for connecting the Galvo Scanner of SCANLAB GmbH and the Controller This section d...

Page 121: ...an interpolation cycle you can select a servo clock or a phase clock by setting ClockSel Gate3 i SerialEncCtrl 17 The ClockSel setting should be the same as a setting of the clock that controls the m...

Page 122: ...tly the Galvo Scanner may not operate as intended Operation in Asynchronous Mode You can set any value to the interpolation clock Phase or Servo period The CK3W GC Unit captures a command position at...

Page 123: ...ation and sends it from SL2 100 Command position Linear interpolation Compensation value To Galvo Scanner Data format of the compensation value is the same as that of the command position Data to be s...

Page 124: ...Gate3 i Chan j SerialEncDataA Once it is specified by the command this status will be retained therefore even if you set Control Bit 100 after that the read data will continue For example when you sen...

Page 125: ...pulses will be out put continuously Delay Setting DelayUnit Gate3 i Chan 1 CompA 31 20 Delay Gate3 i Chan 1 CompA 16 8 and ClockSel Gate3 i SerialEncCtrl 17 are used to set the delay of PWM When you...

Page 126: ...urce according to the distance of laser trajectory The CPU Unit writes command distance in the CK3W GC Unit for each phase or servo cycle and the CK3W GC Unit applies linear interpolation to the comma...

Page 127: ...le is 1 nothing will be written in the comparison table Buffer number Comparison value 0 CompareTable 0 1 CompareTable 1 2 Empty 4092 Empty 4093 Empty 4094 Empty Even if you set CompareEnable to 0 the...

Page 128: ...rite enable and the higher bit is the preset value of a CompOut signal CompOutWrite is always enabled regardless of CompareEnable CompOut Gate3 i Chan 3 CompB 31 allows you to check the status of a co...

Page 129: ...ower PMAC Saved Data Structure Elements Gate3 i SerialEncCtrl Control register Power PMAC Non Saved Data Structure Elements Gate3 i Chan 0 Dac 0 X axis command position Gate3 i Chan 1 Dac 0 Y axis com...

Page 130: ...ase clocks with external phase clocks the CK3W GC Unit and the clock supply source Unit should have the following setting Gate3 i PhaseClockDiv 0 Gate3 i PhaseClockMult 0 If they have a different sett...

Page 131: ...cations Expansion cable For connection between the Expansion Master Unit and the Expansion Slave Unit be sure to use the following cable CK3W CAX003A 0 3 m Power consumption CK3W EXM01 5 V 0 4 W max C...

Page 132: ...power supply status C Expansion connector OUT Connector that connects to the expansion connector IN on the Expan sion Slave Unit D Unit connector Connector that connects to the Unit E DIN Track mount...

Page 133: ...rs and statuses of the indicators are shown below Indicator name Color Status Description PWR Green ON Power is supplied OFF Power is not being supplied 3 8 4 System Configuration You can use the Expa...

Page 134: ...Name Model A Expansion Master Unit CK3W EXM01 B Expansion cable CK3W CAX003A C Expansion Slave Unit CK3W EXS02 3 Configuration Units 3 90 CK3M series Programmable Multi Axis Controller User s Manual...

Page 135: ...nit Installation 4 6 4 3 1 Installation in a Control Panel 4 6 4 3 2 Connection Between Units 4 10 4 3 3 Mounting to DIN Track 4 11 4 3 4 DIN Track and Accessories 4 13 4 3 5 Assembled Appearance and...

Page 136: ...Downloading to the Built In Flash Memory When you download a user program from the Power PMAC IDE the data is once stored in the CPU cache before it is saved into the CPU Unit This means that if you t...

Page 137: ...nto the built in flash memory 1 Download the user program from the Power PMAC IDE 2 At the Power PMAC IDE terminal enter Sys SyncSave 1 3 At the Power PMAC IDE terminal execute the save command Wait u...

Page 138: ...blems external safety measures must be provided to ensure safe operation of the system The Controller will turn OFF all outputs from Output Units in the following cases The slaves will operate accordi...

Page 139: ...oller is about 40 to 60 seconds The Controller startup time varies depending on the slave and unit configuration so check with the de vice to be used and take sufficient margin for the waiting time fo...

Page 140: ...corrosive or flammable gases e Locations subject to dust especially iron dust or salts f Locations subject to exposure to water oil or chemicals g Locations subject to shock or vibration Take appropr...

Page 141: ...a control panel containing high voltage equipment Install the Controller at least 200 mm away from power lines Motion Controller Power lines 200 mm min 200 mm min Ground the mounting plate between the...

Page 142: ...oller must be mounted on a DIN Track It cannot be mounted with screws Wiring Ducts Whenever possible route I O wiring through wiring ducts Install mounting bracket so that it is easy to fish wire thro...

Page 143: ...ation and replacement of Units Expansion Rack Input duct Output duct Terminal blocks for power equipment Terminal blocks for Controller Power equipment such as transformers and magnetic relays Power d...

Page 144: ...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 until they click into place Move the sliders toward the back unti...

Page 145: ...n connect up to four CK3W Units or up to two CK3W AX Units to each of the CPU Rack and Expansion Rack If you connect more than that number the Sys CK3WConfigErr Flag goes ON Operation will continue ev...

Page 146: ...ten the screw to lock the End Plate in place End plate 1 2 Precautions for Safe Use Always turn OFF the power supply to the Controller before attempting any of the following Mounting or removing the U...

Page 147: ...parated by 210 mm 3 holes or less and using at least 3 screws The tightening torque is 1 2 N m PFP 100N2 28 25 4 5 oblong holes 4 5 15 15 25 10 10 25 25 25 1000 30 0 3 27 29 2 24 16 1 1 5 PFP 100N 50N...

Page 148: ...Unit width mm CK3W PD048 45 CPU Unit Model Unit width mm CK3M CPU101 63 2 CK3M CPU111 CK3M CPU121 End Cover Model Unit width mm CK3W TER11 15 6 Axis Interface Unit Model Unit width mm CK3W AX1313N 13...

Page 149: ...mple for Width W Power Supply Unit Expansion Master Unit Configuration Units CPU Unit W Name Model Unit width mm Qty Subtotal unit width mm Power Supply Unit CK3W PD048 45 1 45 CPU Unit CK3M CPU101 63...

Page 150: ...m When cables are connected such as a connecting cable to Support Software an encoder connection cable or an amplifier connection cable etc however even greater height is required Allow sufficient dep...

Page 151: ...80mm CK3W MD Unit 120 mm 80 mm CK3W AD Unit 120 mm 80 mm 4 Installation 4 17 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036 4 3 Unit Installation 4 4 3 5 Assembled Appeara...

Page 152: ...CK3W ECS Unit 185mm 80mm CK3W GC Unit 185mm 80mm CK3W EXM01 and CK3W EXS02 155 mm 80 mm 4 Installation 4 18 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 153: ...he panel Natural Cooling Natural cooling relies on natural ventilation through slits in the panel rather than using cooling devices such as fans or coolers When using this method observe the following...

Page 154: ...n air temperature of at least approximately 5 C inside the panel by implementing measures such as installing a low capacity space heater in the panel Alternatively leave the Controller power ON to kee...

Page 155: ...in any of the following locations can cause defective contact with connectors and corrosion of components Implement countermeasures such as purging the air as required In locations exposed to dust di...

Page 156: ...relays in an external circuit are sources of noise Do not install them close to the Controller Locate them at least 100 mm away from the Control ler Controller DC I O device AC I O device Terminal blo...

Page 157: ...output signal con nect a surge suppressor near the inductive load in an AC circuit or connect a diode near the induc tive load in a DC circuit Input Signal Noise Countermeasures DC Input Unit Built in...

Page 158: ...combinations includes different signal types properties or levels They will cause the signal to noise ratio to drop due to factors such as electrical induction As a general rule when wiring either us...

Page 159: ...nduits Conduits OK OK NG Power cables and signal cables adversely affect each other Do not wire them in parallel Noise induction may occur if the Controller is installed in a panel that includes high...

Page 160: ...usage condition are given in the following table Specifications of communications cables for EtherCAT and Ethernet Earthing methods Equipotential bonding sys tem Star earthing Daisy Chain Connecting...

Page 161: ...rol panel Hub Control panel Control panel Noise source Star Earthing If the earthing method used for the building is not equipotential bonding or the earthing system is unknown choose a from the earth...

Page 162: ...is a potential noise source may interfere electromagnetically with other devices Hub CK3M series Programmable Multi Axis Controller NX series CPU Unit A device that could be a noise source Control pan...

Page 163: ...grounded control panel with an insulating material Example Insulating and Grounding an Enclosure Independent ground Insulating material Channel base If high frequency equipment is present then ground...

Page 164: ...upply noise causes malfunc tioning When the functional ground terminal is correctly grounded it is generally effective in suppressing power supply common noise Occasionally however grounding this term...

Page 165: ...Axis Interface Unit Wiring 5 18 5 3 1 Encoder Connector Wiring 5 18 5 3 2 Amplifier Connector Wiring 5 24 5 3 3 Flag Terminal Block General I O Terminal Block Wiring 5 26 5 4 Digital I O Unit Wiring 5...

Page 166: ...sulation between input and output and with an output voltage of 30 V rms with a 42 4 V peak or an output voltage of 60 VDC max We recommend the following power supply Recommended Power Supply Manufact...

Page 167: ...mm2 8 mm 5 1 4 Grounding The type of ground terminal on the Power Supply Unit is a functional ground terminal A functional ground terminal takes protective measures for device and system functions inc...

Page 168: ...lowing procedure to connect the twisted wires or solid wires to the terminal block 1 Press a flat blade screwdriver straight into the release hole If you press in the screwdriver correctly you will fe...

Page 169: ...al block The removal method is the same for ferrules twisted wires and solid wires 1 Press a flat blade screwdriver straight into the release hole If you press in the screwdriver correctly you will fe...

Page 170: ...autions for Safe Use Make sure that all wiring is correct Do not bend the cable forcibly Doing so may break the cable 5 Wiring 5 6 CK3M series Programmable Multi Axis Controller User s Manual Hardware...

Page 171: ...e ring wiring using Junction Slaves is available for CPU Units with PMAC firmware revision version 2 7 0 or later Examples of topology without branching with branching Junction Slaves and ring wiring...

Page 172: ...ote I O Slave Servo Drive Slave Servo Drive Slave Servo Drive Slave Output port Input port Installation Precautions Basic precautions for the installation of EtherCAT networks are provided below Preca...

Page 173: ...for the bending radius Installing EtherCAT Communications Cables Ethernet communications cables and connectors are used to connect the EtherCAT port of the CPU Unit with EtherCAT slaves Use a straigh...

Page 174: ...on 0 5 XS5W T421 BMC SS 1 XS5W T421 CMC SS 2 XS5W T421 DMC SS 3 XS5W T421 EMC SS 5 XS5W T421 GMC SS 10 XS5W T421 JMC SS 1 For the latest list of the Cables refer to the Industrial Ethernet Connectors...

Page 175: ...ge Blue White Blue Orange White Brown Brown Shield Note 1 Connect the cable shield to the connector hood at both ends of the cable Note 2 There are two connection methods for Ethernet T568A and T568B...

Page 176: ...cable to the communications connectors on devices firmly insert the communications cable connector until it locks in place Do not lay the communications cables together with high voltage lines Do not...

Page 177: ...X or 10Base T can be used Product Manufacturer Model For 1000Base T and 100Base TX Size and con ductor pairs AWG 24 4 pairs 1 Cable Hitachi Metals Ltd NETSTAR C5E SAB 0 5 4P CP Kuramo Electric Co KETH...

Page 178: ...RD Input 4 Not used 5 Not used 6 Reception data RD Input 7 Not used 8 Not used Hood Frame ground FG 5 2 3 Watchdog Timer Output Wiring Applicable Wires The wires that you can connect to the terminal b...

Page 179: ...is as follows Model Manufacturer SZF 0 0 4X2 5 Phoenix Contact Connecting Ferrules Insert the ferrule straight into the terminal hole It is not necessary to press a flat blade screwdriver into the rel...

Page 180: ...or the solid wire is securely connected to the terminal block Precautions for Safe Use Make sure that all wiring is correct Do not bend the cable forcibly Doing so may break the cable Removing Wires U...

Page 181: ...ect Do not bend the cable forcibly Doing so may break the cable 5 2 4 USB Memory Device Connection Connect a USB memory device to the USB host port Type A on the CPU Unit to save relevant data Refer t...

Page 182: ...rial Encoder DAT Input Output Serial Encoder DAT Input Output 6 CHA Encoder A Input Not wired Encoder A Input 7 CHB Encoder B Input Not wired Encoder B Input 8 CHC Encoder C Input Not wired Encoder C...

Page 183: ...5 CHW Hall sensor W Input Serial Encoder DAT Input Output Serial Encoder DAT Input Output 6 SIN SIN Input Not wired SIN Input 7 COS COS Input Not wired COS Input 8 INDEX INDEX Input Not wired INDEX In...

Page 184: ...coder Serial Encod er CK3W CAEAW03A 3 m Additional Information You may use a self made cable When you create a self made cable use the following cable to block the effects of noise Use a twisted pair...

Page 185: ...OutFlagD 1 to disable the serial encoder DAT terminating resistance For Sinusoidal Encoder Shield 10 3 000 35 24AWG x 4 Pairs 6 1 5 10 15 11 Type Pin No Cable color Signal Pair 1 11 Black Encoder Pow...

Page 186: ...d Shield Cable 1 Cable 2 3 000 35 10 10 24AWG 4 Pairs 24AWG 3 Pairs 6 1 5 10 15 11 Cable 1 Type Pin No Cable color Mark Signal Pair 1 11 Blue Black Encoder Power Supply 5 VDC 13 Blue Red Encoder Power...

Page 187: ...AWG 4 Pairs 24AWG 3 Pairs 6 1 5 10 15 11 Cable 1 Type Pin No Cable color Signal Pair 1 11 Black Encoder Power Supply 5 VDC 13 Blue Encoder Power Supply GND Pair 2 1 Black SIN 6 Red SIN Pair 3 2 Black...

Page 188: ...NC 15 8 1 9 Pin No Symbol During analog output During pulse output 1 DACA Analog output A Output Not wired 2 DACB Analog output B 1 Output Not wired 3 AGND Analog GND Common Not wired 4 FAULT Fault in...

Page 189: ...ulse output 12 Orange Red 1 dot Pulse output Pair 5 6 Gray Black 1 dot Directional output 13 Gray Red 1 dot Directional output Pair 6 4 Blue Black 2 dot Fault input 11 Blue Red 2 dot Fault input Pair...

Page 190: ...es the dimensions and processing methods for applicable wires Using Ferrules If you use ferrules attach the twisted wires to them Observe the application instructions for your ferrules for the wire st...

Page 191: ...nnected to the terminal block Connecting Twisted Wires Solid Wires Use the following procedure to connect the twisted wires or solid wires to the terminal block 1 Press a flat blade screwdriver straig...

Page 192: ...Use the following procedure to remove the wires from the terminal block The removal method is the same for ferrules twisted wires and solid wires If wires are secured firmly to the terminal block rel...

Page 193: ...t the terminal block make sure that it is fixed to the Unit Removing a Terminal Block Drop the lock levers on both sides of the terminal block at the same time to remove the terminal block Precautions...

Page 194: ...constant even when the input voltage is raised When ION is smaller than IOUT min connect a bleeder resistor R The bleeder resistor constant can be calculated as follows R VCC VR IOUT min ION Power W o...

Page 195: ...ort circuited output components and printed circuit boards may be damaged When you use a NPN type output that does not include the load short circuit protection incorporate a protective fuse in the ou...

Page 196: ...PNP type OUT OUT COM COM R R L L Countermeasure 2 Mount a limiting resistor Transistor Output Unit Transistor Output Unit NPN type PNP type OUT COM OUT COM R R L L 5 Wiring 5 32 CK3M series Programma...

Page 197: ...es and crimping tools are listed in the following table Manufactur er Ferrule model Applicable wire mm2 AWG Crimping Tool applicable wire size given in parentheses Phoenix Con tact AI0 5 10 0 5 20 Pho...

Page 198: ...lock 1 Press a flat blade screwdriver straight against the release button from the terminal block front Release button Flat blade screwdriver 1 2 Leave the flat blade screwdriver pressed against the r...

Page 199: ...to the terminal block release them first 1 Press a flat blade screwdriver straight against the release button from the terminal block front Flat blade screwdriver Wires 1 2 Leave the flat blade screwd...

Page 200: ...ove the terminal block 5 4 2 Precautions When Connecting a Two wire DC Sensor When a two wire sensor is used with a digital input check that the following conditions are met Failure to meet these cond...

Page 201: ...allowable margin VCC Input voltage of digital input VR Output residual voltage of sensor ION Input current of digital input IOUT Sensor control output load current Relation between OFF Current of the...

Page 202: ...hat does not include the load short circuit protection incorporate a protective fuse in the output Use a fuse with a capacity of protection around twice the rated output Precautions for Inrush Current...

Page 203: ...tor Output Unit Transistor Output Unit NPN type PNP type OUT COM OUT COM R R L L 5 Wiring 5 39 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036 5 4 Digital I O Unit Wiring 5...

Page 204: ...s The applicable ferrules wires and crimping tools are listed in the following table Manufactur er Ferrule model Applicable wire mm2 AWG Crimping Tool applicable wire size given in parentheses Phoenix...

Page 205: ...ewdriver straight against the release button from the terminal block front Release button Flat blade screwdriver 1 2 Leave the flat blade screwdriver pressed against the release button and insert the...

Page 206: ...If wires are secured firmly to the terminal block release them first 1 Press a flat blade screwdriver straight against the release button from the terminal block front Flat blade screwdriver Wires 1 2...

Page 207: ...you mount the terminal block make sure that it is fixed to the Unit Removing a Terminal Block Drop the lock levers on both sides of the terminal block at the same time to remove the terminal block 5...

Page 208: ...Serial Encoder CLK Output 10 DATA Serial Encoder DAT Input Output 11 ENCPWR Encoder Power Supply 5 VDC Output 12 ENCPWR Encoder Power Supply 5 VDC Output 13 GND Encoder Power Supply GND Output 14 GND...

Page 209: ...Mark Signal Pair 1 11 Blue Black Encoder Power Supply 5 VDC 13 Blue Red Encoder Power Supply GND Pair 2 4 Pink Black Encoder CLK 9 Pink Red Encoder CLK Pair 3 5 Green Black Serial Encoder DAT 10 Green...

Page 210: ...ut Signal Input Output 1 CHX Output CHZ Output 2 CHY Output NC 3 XY SYNC Output Z SYNC Output 4 XY CLOCK Output Z CLOCK Output 5 XY STATUS Input Z STATUS Input 6 CHX Output CHZ Output 7 CHY Output NC...

Page 211: ...icated Cable The dedicated cable for wiring to the Galvo Scanner connector is provided as an option The Galvo Scanner connection side has discrete wires Perform wiring to match the Galvo Scanner speci...

Page 212: ...d Not wired 10 Brown 10 XY STATUS Z STATUS Not wired Not wired 1 For the purpose of identification each line has the tag that shows a pin No Note The cable shield is connected to the connector shell o...

Page 213: ...x 3 Pairs 6 1 5 10 15 11 Type Pin No Cable color Mark Signal Pair 1 11 Blue Black Not wired 13 Blue Red Not wired Pair 2 4 Pink Black OUT0 1 9 Pink Red OUT_COM0 1 2 Pair 3 5 Green Black OUT1 1 10 Gre...

Page 214: ...onnection between the Expansion Master Unit and the Expansion Slave Unit be sure to use the following expansion cable Type Model Length Expansion cable CK3W CAX003A 0 3 m 300 5 Wiring 5 50 CK3M series...

Page 215: ...6 2 1 Indicator Types 6 3 6 2 2 Procedure for Identifying Errors 6 3 6 3 Troubleshooting for Errors 6 5 6 3 1 Fatal Errors in the CPU Unit 6 5 6 3 2 Non fatal Errors in the CPU Unit 6 6 6 3 3 Initiali...

Page 216: ...tal errors in the CPU Unit Errors that occurred as the result of the CPU Unit operation stopping Non fatal errors in the CPU Unit Errors that can be detected and managed by the CPU Unit itself that is...

Page 217: ...Shows the data communications status of Ethernet communications CK3W Unit PWR Shows the Unit internal power status 6 2 2 Procedure for Identifying Errors When an error occurs in the Motion Controller...

Page 218: ...ammable Multi Axis Controller Analog values from CK3W AD Unit not converted correctly EtherNet IP connection not established A B Position data for encoder connected to CK3W ECS Unit not converted corr...

Page 219: ...apacity Does encoder current consumption exceed the maximum cur rent capacity Is the encoder connector wiring connected correctly Has the encoder cable short circuited Is the encoder failing Power sup...

Page 220: ...tly check noise entry paths such as the FG and the power supply lines and implement noise countermeasures as re quired CPU Unit failure If the error persists even after you make the above corrections...

Page 221: ...rectifying the problem that interrupted the communications To reestab lish the communications you need to clickCommunication Setupin Power PMAC IDE and restart communications Communications interrupt...

Page 222: ...24 V power is not be ing input to the CK3W AD Unit due to a failure of a Unit to its left Replace the Unit to the left of this Unit Position data for encoder connected to CK3W ECS Unit not converted...

Page 223: ...e following procedure to carry out this process 1 USB memory preparation Prepare a blank USB memory formatted in FAT32 The recommended USB memory is listed in 3 1 5 USB Memory Device on page 3 9 2 Fol...

Page 224: ...2 There is an error in the CK3W hardware configuration 13 CK3WConfigErr bit1 12 CK3WConfigErr bit0 11 FlashSizeErr The user program size exceeds the built in flash memory capacity 10 BufSizeErr The bu...

Page 225: ...that the Units are installed correctly None Contamination with conduc tive object If there is conductive mate rial nearby blow air through the Unit Do not perform any metal work in the vicinity of th...

Page 226: ...hen power is turned ON or the Controller is reset Recovery Cycle the power supply or issue reset command Effects Operation continues Cause and cor rection Cause Assumed cause Correction Prevention No...

Page 227: ...Recovery Re issue save command Effects Save command is invalidated Cause and cor rection Cause Assumed cause Correction Prevention The user program size is too large Reduce the size of the user progr...

Page 228: ...n timing When power is turned ON or the Controller is reset Recovery Cycle the power supply or issue reset command Effects Cannot enable the motor Cause and cor rection Cause Assumed cause Correction...

Page 229: ...ns Remarks None FileConfigErr Register name Sys FileConfigErr Description System file setting error Range 0 to 1 Details 0 No error 1 System file setting error Detection timing When power is turned ON...

Page 230: ...it configura tion or address switch has not changed implement the following measures None Contamination with conduc tive object If there is conductive mate rial nearby blow air through the Unit Do not...

Page 231: ...ause and cor rection Cause Assumed cause Correction Prevention Settings are incorrect If the re initialization com mand is executed and the error no longer oc curs review the settings None The CPU Uni...

Page 232: ...t file the project file may be corrupted Do not turn OFF the power supply while saving An illegal project file was downloaded Identify the cause from the output window and make corrections to the proj...

Page 233: ...supply issue reset command or re initialization command Effects User program Stops Hardware Enters reset state Cause and cor rection Cause Assumed cause Correction Prevention Background software watch...

Page 234: ...Check if the originator did not specify a target device model that was different from the model of the target device actually connected 01 0115 Error code re turned from target The Device Type did no...

Page 235: ...open process timed out The target did not respond Check the power supply to and cable wiring of the devices on the path including the target and switch 01 0302 Error code gener ated by originator or r...

Page 236: ...6 Troubleshooting 6 22 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 237: ...M series Programmable Multi Axis Controller 7 1 Cleaning and Inspection 7 2 7 1 1 Cleaning 7 2 7 1 2 Periodic Inspections 7 2 7 2 Maintenance Procedures 7 4 7 2 1 Unit Replacement Precautions 7 4 7 2...

Page 238: ...nditions are being maintained Inspection is recommended at least once every six months to a year but more frequent inspections may be necessary depending on the ambient environment Take immediate step...

Page 239: ...heck that cable connectors are fully inserted and locked No looseness Fully insert and lock the connectors Check that the connectors for each Unit are fully inserted and locked No looseness Press the...

Page 240: ...vices Turn OFF power to the Motion Controller Take measures to ensure that there are no effects on the peripheral devices and then turn OFF power to the Motion Controller 2 Disconnect ca bles Disconne...

Page 241: ...s switch of the new Unit to the same setting as that of the previous Unit 4 Replace the CK3W Unit Replace with the new Unit connect the cables and turn ON power to the Motion Controller Procedure to R...

Page 242: ...7 Inspection and Maintenance 7 6 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 243: ...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 E...

Page 244: ...B TCR Output Command Distance Setting A 39 A 9 10 Gate3 i Chan 1 CompB TCR Output Comparison Table Setting A 39 A 9 11 Gate3 i Chan 2 CompB TCR Output Control Register A 39 A 9 12 Gate3 i Chan 3 CompB...

Page 245: ...ration Resistance Conforms to IEC 60068 2 6 5 to 8 4 Hz with 3 5 mm amplitude 8 4 to 150 Hz acceleration of 9 8 m s2 100 min each in X Y and Z directions 10 sweeps of 10 min each 100 min total Shock R...

Page 246: ...Dimensions Dimensions are shown below The unit of dimension is millimeters A 2 1 CPU Unit 80 90 63 2 80 90 63 2 Appendices A 4 CK3M series Programmable Multi Axis Controller User s Manual Hardware O0...

Page 247: ...is Interface Unit 80 90 130 IN 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 OUT Appendices A 5 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 248: ...A 2 4 CK3W MD and CK3W AD Units CK3W MD Unit 31 6 90 80 CK3W AD Unit 31 6 90 80 Appendices A 6 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 249: ...ECS and CK3W GC Units CK3W ECS Unit 80 90 63 2 CK3W GC Unit 80 90 63 2 Appendices A 7 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036 A 2 Dimensions A A 2 5 CK3W ECS and CK3...

Page 250: ...ansion Master Unit and Expansion Slave Unit Expansion Master Unit 31 6 90 80 Expansion Slave Unit CK3W EXS02 31 6 90 80 Appendices A 8 CK3M series Programmable Multi Axis Controller User s Manual Hard...

Page 251: ...A 2 7 End Cover 80 90 15 6 15 6 Appendices A 9 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036 A 2 Dimensions A A 2 7 End Cover...

Page 252: ...ther CAT master the following models and unit versions of EtherCAT Coupler Units can be connected Model Unit version Connectable Unconnectable NX ECC203 Ver 1 4 or later Connectable Ver 1 3 or earlier...

Page 253: ...output A Analog GND Amp enable NO Amp enable common Fault output Fault output Shield Flag terminal block Description V_FLAG HOME PLIM NLIM Reactor Motor Power Cables Encoder Cables Brake Cables Red W...

Page 254: ...ported version CPU Unit s PMAC firmware revi sion Power PMAC IDE version CK3W AX1414 AX1515 All versions supported Ver 4 2 or later CK3W AX1313 AX2323 Ver 2 5 2 or later Ver 4 3 or later CK3W MD7110 M...

Page 255: ...DMYY Symbol Description DD Day of production 1 to 31 M Month of production 1 to 9 X October Y November Z December YY Year of production Last two digits of the year OMRON s control number Appendices A...

Page 256: ...e code hex Parameter name Description Supported services Classes Instances 01 Get_Attribute_All Reads the values of all attributes Supported Supported 05 Reset 0 Restart Not supported Supported 0E Get...

Page 257: ...ice code hex Parameter name Description Supported services Classes Instances 0E Get_Attribute_Single Reads the value of the specified attrib ute Supported Supported 10 Set_Attribute_Single Writes the...

Page 258: ...ll attributes Supported Supported 0E Get_Attribute_Single Reads the value of the specified attribute Supported Supported 10 Set_Attribute_Single Writes the value of the specified attribute Not support...

Page 259: ...ad USINT 00 always Num Mcast Number of multicast ad dresses Read UINT 01 always Mcast Start Addr Start multicast addresses Read UDINT Set value 0D Encapsulation Inactivity Timeout Encapsulation inacti...

Page 260: ...d errors Read UDINT Current val ue In Unknown Protos The number of incoming packets that were of an unknown protocol Read UDINT 0 always Out Octets The number of octets sent through the in terface Rea...

Page 261: ...Settings supported by the interface Read DWORD 2 Speed Duplex Ar ray Count The number of interface speed duplex lists Read USINT 00 always 0C HC Interface Coun ters Counters related to packet transmis...

Page 262: ...alMa cReceiveErrors The number of frames that could not be received through the interface due to a MAC sublayer reception error This coun ter is the 64 bit edition of MAC Receive Errors Read ULINT Cur...

Page 263: ...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 SerialTrigE...

Page 264: ...ways 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 trig...

Page 265: ...gEdge Sel Selection of a serial trigger clock edge SetSet 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 Sett...

Page 266: ...n j SerialEncCmd Serial Encoder Command Description Command control of serial encoder Default 00000000 The setting of this register depends on the serial encoder protocol For BiSS C Bit Name Function...

Page 267: ...001100 to 101000 The following shows examples of general settings CRC Mask 21 When CRC polynomial expression is x6 x1 1 SerialEncTrigMode 0 Continuous sampling SerialEncTrigEna 1 Serial encoder trigge...

Page 268: ...at Serial EncTrigEna 1 When sampling is done SerialEncTrigEna will be 0 automatically 0 Serial encoder trigger disable 1 Serial encoder trigger enable 11 Reserve Always set 0 10 SerialEncData Ready S...

Page 269: ...ncTrigEna will be 0 automatically 0 Serial encoder trigger disable 1 Serial encoder trigger enable 11 Reserve Always set 0 10 SerialEnc DataReady Serial reception status read 0 Reception in progress 1...

Page 270: ...etc for the serial encoder This register is read only Writing is disabled The setting of this register depends on the serial encoder protocol For BiSS C Gate3 i Chan j SerialEncDataB is used to read...

Page 271: ...bit 1 sent from the encoder For details on the error bit 1 refer to the encoder specifications 26 Error bit 2 Shows the error bit 2 sent from the encoder For details on the error bit 2 refer to the e...

Page 272: ...omotor failed Failure due to vibra tion shock conden sation foreign materi al etc 11 to 14 Reserve 10 Counter incre ment error The encoder detected a one rotation counter error Excess noise has oc cur...

Page 273: ...ion counter error A temporary error oc curred in the encoder multi rotation detec tion function due to vi bration shock or condensation Use the Unit as it is if this error ceased af ter you improved t...

Page 274: ...found in internal memory 1 A minor error found in internal memory Even if a minor error occurs operation will continue 26 Fatal error Detects a fatal error in the internal memory 0 No fatal error fou...

Page 275: ...to 20 Reserve Always set 0 19 TxEnable XY2 100 data send enable 0 XY2 100 output stop 1 XY2 100 output enable 18 Parity Set the send parity 0 Even parity 1 Odd parity 17 ClockSel Set the clock to use...

Page 276: ...001 or 111 A 9 2 Gate3 i Chan j DAC 0 Setting of Command Position and Con trol Command Description Setting of command position and control command Default 0 Depending on the channel this setting varie...

Page 277: ...ng varies as follows Register Description Gate3 i Chan 0 Dac 1 X axis setting Gate3 i Chan 1 Dac 1 Y axis setting Gate3 i Chan 2 Dac 1 Z axis setting Note Gate3 i Chan 3 Dac 1 is not used Precautions...

Page 278: ...is made Data format is determined by ModeSel 07 to 00 Reserve Always set 0 1 Stores the data before a compensation of command position is made For CK3W GC2 00 Units SL2 100 Bit Name Function 31 to 08...

Page 279: ...Shows the status of the internal temperature of the Galvo Scanner 0 Internal temperature abnormal in the Galvo Scanner 1 Internal temperature normal in the Galvo Scanner If any internal temperature e...

Page 280: ...in 10 ns increments The setting range is from 0 to 4094 1 2 19 to 17 Reserve Always set 0 16 to 08 Delay When you set the pulse count of PWM PWM is then started with a time delay calculated by the fo...

Page 281: ...s A 9 10 Gate3 i Chan 1 CompB TCR Output Comparison Table Setting Description TCR output comparison table setting Default 00000000 This register is valid for the CK3W GC 200 Units only Bit Name Functi...

Page 282: ...lid for the CK3W GC 200 Units only This register is read only Writing is disabled Bit Name Function 31 CompOut Shows the OUT1 terminal status 0 OUT1 terminal L 0 V output 1 OUT1 terminal H 5 V output...

Page 283: ...continue 26 Fatal error Detects a fatal error in the internal memory 0 No fatal error found in internal memory 1 A fatal error found in internal memory If a fatal error occurs XY2 100 and SL2 100 com...

Page 284: ...Appendices A 42 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036...

Page 285: ...I Index I 1 CK3M series Programmable Multi Axis Controller User s Manual Hardware O036 I...

Page 286: ...on of CPU Unit 6 9 Installation Dimensions 4 16 Installation height 4 16 Installation in cabinets or control panels 4 6 M Modbus TCP communications 1 4 N network topology 5 7 O Operating Procedure 1 5...

Page 287: ......

Page 288: ...ates IL 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 o...

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