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5-1

Types of Errors

The errors in the Motion Controller are classified into the following two major categories.

• Fatal errors in the Motion Controller

Errors that occurred as the result of the Motion Controller operation stopping.

• Non-fatal errors in the Motion Controller

Errors that can be detected and managed by the Motion Controller itself that is still operating.

5 Error Processing

5-2

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

Содержание CK3E Series

Страница 1: ...CK3E series Programmable Multi Axis Controller Hardware User s Manual I610 E1 04 CK3E 1 10 Programmable Multi Axis Controller ...

Страница 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 trademarks of Microsoft Corporation in the United States and other countries EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ODVA CIP CompoNet D...

Страница 3: ...ace where it will be available for reference during operation 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 systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of man...

Страница 4: ...until 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 until they lock into place Level 1 heading Level 2 heading Level 3 heading Level 2 heading A step in a procedure Manual name Special information Level 3 heading Page tab Gives the current headings I...

Страница 5: ...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 Additional information to read as required This information is provided to increase understanding and make operation easier Manual Structure 3 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 6: ...Manual Structure 4 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 7: ... series Programmable Multi Axis Controller User s Manual Hardware I610 1 2 3 4 A 5 6 1 2 3 4 6 5 A I I Features and System Configuration Specifications Part Names and Functions Mounting and Wiring Index Troubleshooting Inspection and Maintenance Appendices ...

Страница 8: ...ons for Safe Use 16 Precautions for Correct Use 21 Regulations and Standards 23 Conformance to EU Directives 23 Software Licenses and Copyrights 24 Related Manuals 25 Terminology 26 Revision History 27 Section 1 Features and System Configuration 1 1 Features 1 2 1 2 Introduction to the System Configurations 1 3 1 3 Support Software 1 5 1 4 Operating Procedure 1 6 Section 2 Specifications 2 1 Progr...

Страница 9: ...tallation Precautions 4 12 4 5 3 Installing EtherCAT Communications Cables 4 13 4 6 Laying the Ethernet Network 4 17 4 6 1 Installation Precautions 4 17 4 6 2 Installing Ethernet Networks 4 17 4 7 USB Memory Device Connection 4 22 4 8 Grounding 4 23 4 8 1 Considerations for Earthing Methods 4 23 4 8 2 Grounding 4 23 Section 5 Error Processing 5 1 Types of Errors 5 2 5 2 Using the Indicators to Che...

Страница 10: ...it Replacement 6 4 Appendices A 1 Dimensions A 2 A 2 Restrictions on Using the NX series EtherCAT Coupler Unit A 4 A 3 Supported CIP Objects A 5 A 3 1 Identity Object Class ID 01 Hex A 5 A 3 2 Assembly Object Class ID 04 Hex A 6 A 3 3 TCP IP Interface Object Class ID F5 Hex A 7 A 3 4 Ethernet Link Object Class ID F6 Hex A 8 Index CONTENTS 8 CK3E series Programmable Multi Axis Controller User s Man...

Страница 11: ...g 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 claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or i...

Страница 12: ... 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 PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP MENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product ...

Страница 13: ...RECTLY 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 DISTRIBUTED DENIAL OF SERVICE ATTACK COMPUTER VIRUSES OTHER TECHNOLOGICALLY HARMFUL MATERIAL AND OR UNAUTHORIZED ACCESS It shall be the users sole responsibility to determine and use adequate measures...

Страница 14: ...ge WARNING 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 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 for electric s...

Страница 15: ...ower interruption Accordingly take suitable actions such as establishing external fail safe measures and interlock conditions to monitor the power supply voltage of the external device as required Unintended outputs may occur if an error occurs in internal data of the Controller As a countermeasure for these problems external safety measures must be provided to en sure safe operation of the system...

Страница 16: ...re you start a Test Run make sure that the operation parameters are set correctly Actual Operation Check the user program servo algorithm data and parameter settings for proper exe cution before you use them for actual operation Cautions Caution Design To control the motor safely and correctly the servo algorithm design and gain setting work must be performed by engineers who understand control th...

Страница 17: ...efore you download a project written in C language execute the re initialization com mand If you download a validated program to a different product check the operation of the program again on the product because it may have different settings Safety Precautions 15 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 18: ...n FG terminal connect it such that the FG terminal has the same electri cal potential as the FG on the product A difference in electrical potential between the computer and the Controller may cause a failure or malfunction Do not pull on the cables or bend the cables beyond their natural limit Do not place heavy objects on top of the cables or other wiring lines Doing so may break the ca bles Alwa...

Страница 19: ... power supply or remove the USB memory device while the Controller is ac cessing the USB memory device Data may become corrupted and the Controller will not operate correctly if it uses corrupted data Always turn OFF the power supply before you attempt any of the following a Connecting cables or wiring the system b Connecting or disconnecting the connectors Do not disconnect the cable or turn OFF ...

Страница 20: ...am to confirm that I O data communications are established before attempting control opera tions If you need to disconnect the cable from an EtherCAT slave during operation first reset the Ether CAT and EtherCAT slaves that are connected after it to the Init state then disconnect the EtherCAT slave For EtherCAT and EtherNet use the connection methods and cables that are specified in this man ual O...

Страница 21: ...ns are interrupted between the Power PMAC IDE and the Controller during a Test Run Connect the communications cable securely and confirm that the sys tem will not be adversely affected before you perform a Test Run EtherCAT communications are not always established immediately after the power supply is turned ON Use the system defined variables in the user program to confirm that communications ar...

Страница 22: ...Controller Doing so may result in a failure or malfunc tion of the Controller Dispose of the product according to local ordinances as they apply Precautions for Safe Use 20 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 23: ...high frequency noise b Locations subject to 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 touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Install the Controller away from sources of heat and e...

Страница 24: ...communications 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 the wiring of all slaves is correct If synchronous slaves exist in the network configuration when a slave outside the ring topology is disconnected or disconnected the cable redundant is temporarily ...

Страница 25: ...ries Controllers are used complies with EU Directives the following precautions must be observed The CK3E series Units must be installed within a control panel You must use double or reinforced insulation power supply for the DC power supplies that are connected as the Unit power supplies for the CK3E series We recommend that you use the OMRON S8JX series Power Supplies EMC standard compli ance wa...

Страница 26: ...ates certain third party software The license and copyright information associat ed with this software is available at http www fa omron co jp nj_info_e Regulations and Standards 24 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 27: ... 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 operating procedures of Power PMAC IDE and examples of how to start the sys tem Power PMAC NC 16 Quick Start Manual O017 Briefly understanding the basic usage of Power PMAC NC16 Describes the Quick ...

Страница 28: ...AT is the real time Ethernet protocol standards ENI file ENI is the acronym for EtherCAT Network Information The ENI file contains the network configuration information related to EtherCAT slaves ESI file ESI is the acronym for EtherCAT Slave Information The ESI file contains information unique to the EtherCAT slaves in XML format CIP An abbreviation for Common Industrial Protocol An industrial st...

Страница 29: ...nt 01 August 2016 Original production 02 December 2018 Added to Terms and Conditions Agreement 03 August 2020 Made changes accompanying the addition of EtherNet IP functions Corrected mistakes 04 July 2022 Made changes accompanying the upgrade of PMAC firmware revision Corrected mistakes Revision History 27 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 30: ...Revision History 28 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 31: ... system configuration of the CK3E series Pro grammable Multi Axis Controller 1 1 Features 1 2 1 2 Introduction to the System Configurations 1 3 1 3 Support Software 1 5 1 4 Operating Procedure 1 6 1 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 1 ...

Страница 32: ... control period is 250 μs or more Constructing Systems with Greater Flexibility Programs for the 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 your equipment Various EtherCAT compatible products such as image sensors and I O as well as motion contr...

Страница 33: ... Controller EtherCAT slaves such as servo drives inverters machine vision systems digital and analog I O and other general purpose slaves can be connected The Programmable Multi Axis Controller also supports EtherCAT 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 Coupl...

Страница 34: ...communica tions 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 CPU Unit connection 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 to the Motion Controlle...

Страница 35: ... machines with the Mo tion Controller Use this software to customize HMI screens The product contains extension source codes for customization This is non free software 2 Power PMAC NC16 Runtime This computer software is used to control ma chine tools and CNC machines with the Mo tion Controller Use this software when you do not customize HMI screens This is non free software 2 1 Use Power PMAC ID...

Страница 36: ...nt 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 Wiring of the EtherCAT communica tion and grounding of the system Ground and wire the EtherCAT com munications cable 4 5 Laying the EtherCAT Network on page 4 11 4 8 Grounding on page 4 23 5 Turning the Power ON Turn on ...

Страница 37: ...r details Initialization 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 settings Use Power PMAC IDE to set the motor operations for the Motion Controller Refer to the Power PMAC IDE User Manual Cat No O016 for details Programming Create user programs on Pow...

Страница 38: ...1 Features and System Configuration 1 8 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 39: ...ration devices 2 1 Programmable Multi Axis Controller 2 2 2 1 1 Model 2 2 2 1 2 General Specifications 2 2 2 1 3 Features and Performance Specifications 2 3 2 2 Specifications of Peripherals 2 5 2 2 1 USB Memory Device 2 5 2 2 2 Power Supply 2 5 2 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 2 ...

Страница 40: ... Specifications Memory Port Maximum number of controlled axes CK3E 1210 Main memory 1 GB Flash memory 1GB EtherNet port 1 EtherCAT port 1 8 axes CK3E 1310 16 axes CK3E 1410 32 axes 2 1 2 General Specifications Item Specifications CK3E 1210 CK3E 1310 CK3E 1410 Enclosure Mounted in a panel Grounding method Ground to less than 100 Ω Dimensions height depth width 130 4 H 28 6 D 170 9 W mm Weight 540 g...

Страница 41: ...y Main memory 1 GB Flash memory 1GB External terminals Communica tions connector For EtherCAT communica tions RJ45 1 Shield supported For Ethernet communica tions RJ45 1 Shield supported Power supply input terminal For unit power supply x 1 USB port For external memory connection USB 3 0 host 1 Type A Motion control Maximum number of controlled axes 8 axes 16 axes 32 axes Motion control period 250...

Страница 42: ...EtherNet IP CIP message service 3 UCMM un connected message Number of servers that can perform communications simultaneously 32 EtherNet IP conformance test CT17 compliant USB port Physical layer USB 3 0 compliant type A connector Output voltage 5 V 0 9 A max Transmission distance 3 m max 1 A ring topology is available with PMAC firmware revision version 2 7 0 or later 2 Always use shielded cables...

Страница 43: ...mory devices Recommended USB memories Description FZ MEM2G OMRON USB memory device 2 GB FZ MEM8G OMRON USB memory device 8 GB 2 2 2 Power Supply The following shows details of the recommended power supply Recommended power supply Model S8JX series OMRON For specifications and manuals of Model S8JX visit the OMRON website http www fa omron co jp products family 1989 lineup html 2 Specifications 2 5...

Страница 44: ...2 Specifications 2 6 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 45: ...names and functions of the CK3E series Programmable Multi Axis Controller 3 1 Part Names and Functions 3 2 3 2 Operation Indicators 3 3 3 3 ID Information Indication Label 3 5 3 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 3 ...

Страница 46: ...onnector Connects to the Unit power supply F EtherCAT communications port opera tion indicators Shows the operation status of EtherCAT G Ethernet communications port operation indicators Shows the operation status of Ethernet H Unit operation indicators Shows the operation status of the Unit using multiple indica tors I Ethernet communications connector Connects to an Ethernet network communicatio...

Страница 47: ...ime 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 orange The Ethernet link is established at 100 Mbps Not lit The Ethernet link is not established E Ethernet ACT Yellow Lit The Ethernet link is established Flashing Data communications are in progress after the Ethernet link is establ...

Страница 48: ... Power is supplied to the Unit and the Unit is in opera tion ready status Not lit Power is not supplied to the Unit or initial processing is in progress 3 Part Names and Functions 3 4 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 49: ...plicable standards E Lot number Information on the date of manufacturing The lot number of the CK3E series Programmable Multi Axis Controller is specified in the form of DDMYY The DD represents the day M is the month and YY is the year the product is manufactured is the character used by OMRON For M digits 1 to 9 respec tively represent January to September X represents October Y November and Z De...

Страница 50: ...3 Part Names and Functions 3 6 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 51: ...nstallation in Cabinets or Control Panels 4 6 4 4 Power Supply Wiring 4 8 4 4 1 Power Supply Connector Specifications 4 8 4 4 2 Wiring the Power Supply Connector 4 8 4 5 Laying the EtherCAT Network 4 11 4 5 1 Supported Network Topologies 4 11 4 5 2 Installation Precautions 4 12 4 5 3 Installing EtherCAT Communications Cables 4 13 4 6 Laying the Ethernet Network 4 17 4 6 1 Installation Precautions ...

Страница 52: ...ply 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 Motion Controller This means that if you turn OFF the power supply immediately after starting the save operation the CPU Unit cannot complete the transfer of the data from the cache to the built in flash memory which may result i...

Страница 53: ... 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 until the save completed notification is displayed on the Power PMAC IDE 4 At the Power PMAC IDE terminal enter Sys SyncSave 0 5 Wait for at least 5 seconds and turn OFF the power supply 4 Mounting and Wi...

Страница 54: ...intended behavior may occur if an error occurs in the internal memory of the product As a countermeasure for these problems 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 according to the settings in the slaves a If a power supply error occurs b If the power s...

Страница 55: ... generates a large amount of heat such as heat ers transformers or high capacity resistors If the ambient temperature exceeds 45 C install a cooling fan or air conditioner Louver Control panel Motion Controller Fan Accessibility for Operation and Maintenance To ensure safe access for operation and maintenance separate the Controller as much as possible from high voltage equipment and power machine...

Страница 56: ...t be mounted in an upright position to provide appropriate cooling Front mounting Sideways mounting 4 3 2 Installation in Cabinets or Control Panels The following shows the mounting method of the Motion Controller It is recommended that M4 screws be used for mounting 1 Create holes for the screws used to mount the Motion Controller The screw positions are as follows 4 Mounting and Wiring 4 6 CK3E ...

Страница 57: ...esignated positions to mount the Motion Controller 3 Tighten the screws with 1 2 N m torque to secure 4 Mounting and Wiring 4 7 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 4 3 Motion Controller Installation 4 4 3 2 Installation in Cabinets or Control Panels ...

Страница 58: ...nnector are bar terminals attach ed to twisted wires twisted wires and solid 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 that are compatible with this connector Wire type Conductor cross sectional area Conductor length stripping length Solid wir...

Страница 59: ...evices to ground poles to which multiple devices are connected Use a ground pole as close to theMotion Controlleras possible and keep the ground line as short as possible Tools Used Use a flat blade screwdriver to connect and remove wires The recommended screw driver is as follows Model Manufacturer SZF 0 0 4X2 5 Phoenix Contact Procedure for Wiring the Power Supply Connector The following shows t...

Страница 60: ... wire and tighten the wire fixing screw Tighten the screws with 0 5 to 0 6 N m torque to secure Do not apply force to the cable after connecting the wires 4 Mounting and Wiring 4 10 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 61: ...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 are shown below No Branching EtherCAT Master Remote I O Slave Remote I O Slave Servo Drive Slave Remote I O Slave Output port Input port 4 Mounting and Wiring 4 11 CK3E series Programmable Multi Axis Controller User s Ma...

Страница 62: ...nd usage of ring wiring IN IN X2 X2 X3 X3 EtherCAT Master Junction Slave GX JC03 Remote I O Slave Servo Drive Slave Servo Drive Slave Servo Drive Slave Output port Input port 4 5 2 Installation Precautions Basic precautions for the installation of EtherCAT networks are provided below Precautions when Installing a Network When you install an EtherCAT network take sufficient safety precautions and f...

Страница 63: ...ations on the bending radius of communications cables Check the specifications of the communications cable for the bending radius 4 5 3 Installing EtherCAT Communications Cables Ethernet communications cables and connectors are used to connect the EtherCAT port of the Motion Controller with EtherCAT slaves Use a straight shielded twisted pair cable double shielding with aluminum tape and braiding ...

Страница 64: ...Smartclick connector type Rugged RJ45 connector type OMRON Corpora tion 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 Catalog Cat No G019 Cables and Connectors Sizes and Conductor Pairs AWG 24 4 Pairs Product name Manufacturer Model Contact informat...

Страница 65: ...or White Green Green White Orange 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 The T568A connection method is shown above but the T568B connection method can also be used Connector Specifications Item Specification Electrical characteristics Confor...

Страница 66: ...bbreviation Signal direction 4 Not used 5 Not used 6 Reception data RD Input 7 Not used 8 Not used Hood Frame ground FG 4 Mounting and Wiring 4 16 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 67: ...ions cable connector until it locks in place Do not lay the communications cables together with high voltage lines Do not lay the communications cable near devices that generate noise Do not lay the communications cables in locations subject to high temperatures or high humidity Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminant...

Страница 68: ...Net IP communication cables are shown in the table below 100Base TX in the Product column of the table below indicates that either 100Base TX 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 SB JMACS Japan Co Ltd IETP SB RJ45 Connec tors Panduit Corp...

Страница 69: ...onforms to IEEE 802 3 standards Connector structure RJ45 8 pin modular connector Conforms to ISO 8877 Pin Assignments Physical layer standards 100BASE TX 8 1 Pin No Signal name Abbreviation Signal direction 1 Transmission data TD Output 2 Transmission data TD Output 3 Reception data RD Input 4 Not used 5 Not used 6 Reception data RD Input 7 Not used 8 Not used Physical layer standards 1000BASE T 8...

Страница 70: ...lamp core and the procedure to attach it The EU Directive EN 61326 ensures the compliance of the recommended clamp core in the state where it is attached using the recommended procedure Recommended Clamp Core Model Manufacturer Product name Model NEC TOKIN Clamp core ESD SR 160 Dimensions of the Recommended Product 9 20 2 39 0 20 0 Recommended Attachment Procedure To attach the clamp core to the c...

Страница 71: ...4 Mounting and Wiring 4 21 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 4 6 Laying the Ethernet Network 4 4 6 2 Installing Ethernet Networks ...

Страница 72: ...A on the Motion Controller to upload and download data as well as to save relevant data Refer to 2 2 1 USB Memory Device on page 2 5 for information on the recommended USB memory devices 4 Mounting and Wiring 4 22 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 73: ...n In countries or regions where earthing methods are regulated you must comply with the reg ulations Refer to the applicable local and national ordinances of the place where you install the system or other international laws and regulations When using Ethernet switches ask the Ethernet switch manufacturer for information about the environmental resistance of the Ethernet switches to be used the gr...

Страница 74: ...s This is an earthing method to separately ground an earth electrode of the device that is connected with a communications cable or other devices and an earth electrode of a high power device that could be a noise source such as a motor or inverter Each earth electrode must be ground to 100 Ω or less Connect the ground lines of the device that is connected with a communications cable and other dev...

Страница 75: ... Motion Controller A device that could be a noise source Daisy Chain This is an earthing method to connect the device that is connected with a communications cable 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 source may inter fere electromagnetically ...

Страница 76: ...4 Mounting and Wiring 4 26 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 77: ...1 Indicator Types 5 3 5 2 2 Procedure for Determining Errors 5 3 5 3 Troubleshooting for Errors 5 5 5 3 1 Fatal Errors in the Motion Controller 5 5 5 3 2 Non fatal Errors in the Motion Controller 5 5 5 3 3 Initialization of the Motion Controller 5 7 5 4 Sys Status Register 5 8 5 4 1 Sys Status Register List 5 8 5 4 2 Details of Flags 5 9 5 5 EtherNet IP Connection Status Codes and Troubleshooting ...

Страница 78: ...Motion Controller Errors that occurred as the result of the Motion Controller operation stopping Non fatal errors in the Motion Controller Errors that can be detected and managed by the Motion Controller itself that is still operating 5 Error Processing 5 2 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 79: ...ommunications status of Ethernet communications PWR ERR Shows the power supply status to the Unit and the error status RDY Shows whether the Unit is in operation ready status 5 2 2 Procedure for Determining Errors When an error occurs in the Motion Controller use the following flowchart to check the indicators and determine whether the error is fatal for the Motion Controller or the error is non f...

Страница 80: ...The EtherCAT physical layer link is not established The Ethernet physical layer link is not established Interrupted communications between Power PMAC IDE and Motion Controller The Ethernet physical layer link is not established 1 EtherNet IP connection is not established 1 For the details of errors that cannot be determined solely by checking the indicators check the Sys status reg ister Refer to ...

Страница 81: ...y the insufficient task processing time or failed task interruption For details please refer to the following manuals Power PMAC User s Manual Cat No O014 Power PMAC Software Reference Manual Cat No O015 A momentary power interruption occur red in the Programmable Multi Axis Controller during operation caused by a momentary power interruption of the unit s power supply Take appropriate measures to...

Страница 82: ...on Controller Interrupted com munications be tween Power PMAC IDE and Motion Controller Communications are interrupted due to disconnection and reconnection of the Ethernet cable used for Ethernet com munications between Power PMAC IDE and the Motion Controller while communication was being established If communications between Power PMAC IDE and the Mo tion Controller are interrupted while Ethern...

Страница 83: ...e the CPU Unit to the factory default state Use the 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 2 2 1 USB Memory Device on page 2 5 2 Folder creation Use a computer to create an empty folder named PowerPmacFactoryReset on the USB mem ory root 3 With the power OFF mount the above USB mem...

Страница 84: ...s 0 14 CK3WConfigErr bit2 13 CK3WConfigErr bit1 12 CK3WConfigErr bit0 11 FlashSizeErr The user program size exceeds the built in flash memory capacity 10 BufSizeErr The buffer size exceeds the built in RAM capacity 9 AbortAll In stop status after Abort all input 8 NoClocks Cannot detect a phase clock or a servo clock 7 Default Factory default 6 FileConfigErr System file setting error 5 HWChangeErr...

Страница 85: ...RAM capacity Detection timing When power is turned ON or the Controller is reset Recovery Cycle the power supply or issue reset command Effects The buffer size is changed to the default value Cause and cor rection Cause Assumed cause Correction Prevention The buffer size set in the user program is too large Reduce the buffer size None Precautions Remarks None AbortAll Register name Sys AbortAll De...

Страница 86: ...cor rective actions have been taken replace the Motion Controller None Precautions Remarks None Default Register name Sys Default Description Initialized to the factory default setting Range 0 to 1 Details 0 No error 1 Cases below In the factory default state or initialized to the factory default state by a re initializa tion command Configuration changed after save command was issued Detection ti...

Страница 87: ...ller None Precautions Remarks None ConfigLoadErr Register name Sys ConfigLoadErr Description Read error in saved settings Range 0 to 1 Details 0 No error 1 System file setting error Detection timing When power is turned ON or the Controller is reset Recovery Cycle the power supply or issue reset command Effects Operate with default settings Cause and cor rection Cause Assumed cause Correction Prev...

Страница 88: ...ile 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 project file After the corrections execute the re initialization command and download the project file again None The Motion Controller failed If the error still persists even after the above cor rective actions have been ta...

Страница 89: ... 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 watchdog timer error occur red Real time interruption process took too long and the background process could not be im plemented at the interval set in the Sys WDTReset register Review the user pro gram R...

Страница 90: ... 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 not match when opening connec tion Check if the originator did not specify a target device model that was different from the model of the target device actually connected 01 0116 Error code re turned fr...

Страница 91: ...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 returned from target The total pps of the entire EtherNet IP settings is more than 3 200 Review the EtherNet IP settings so that pps does not exceed the limit 1 If the number of connections is more tha...

Страница 92: ...5 Error Processing 5 16 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 93: ...3E series 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 Procedures 6 4 6 2 1 Unit Replacement Precautions 6 4 6 2 2 Backup 6 4 6 2 3 Unit Replacement 6 4 6 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 6 ...

Страница 94: ...onditions 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 steps to correct the situation if any of the conditions in the following table are not met Inspec tion item Inspection details Criteria Correction External power supply Check for voltage fluctua tions at...

Страница 95: ...ntroller and noise source or protect the Controller Installa tion and wiring Check that cable connectors are fully inserted and locked No looseness Fully insert and lock the connectors Check for damaged external wiring cables No visible damage Check visually and replace cables if neces sary 1 If using a control panel the temperature inside the control panel is the ambient temperature 2 If using a ...

Страница 96: ...dure for replacing the Motion Controller No Step Description Reference 1 Turn OFF power to the devices 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 cables Remove the cable connected to the Motion Controller 3 Replace the Mo tion Controller Replace the Motion Controll...

Страница 97: ...EtherCAT Slave If you use EtherCAT use the following procedure to replace an EtherCAT slave No Step Description Reference 1 Turn OFF pow er to the devi ces Take measures to ensure that there are no effects on the peripher al devices and then turn OFF power to the Motion Controller and all EtherCAT slaves 2 Replace the EtherCAT Slave For the EtherCAT slave replacement method refer to the relevant m...

Страница 98: ...6 Maintenance and inspection 6 6 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 99: ...tions on Using the NX series EtherCAT Coupler Unit A 4 A 3 Supported CIP Objects A 5 A 3 1 Identity Object Class ID 01 Hex A 5 A 3 2 Assembly Object Class ID 04 Hex A 6 A 3 3 TCP IP Interface Object Class ID F5 Hex A 7 A 3 4 Ethernet Link Object Class ID F6 Hex A 8 A 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 A ...

Страница 100: ...he unit of dimension is millimeters Main Body Only 125 150 5 170 9 110 28 6 25 8 With Power Connector 110 125 150 5 170 9 14 9 28 6 94 1 15 2 11 6 25 8 5 4 Appendices A 2 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 101: ... 43 4 88 170 9 119 125 14 9 28 6 119 125 4 M4 PAN HEAD SCREW 2 M4 PAN HEAD SCREW Front mounting Sideways mounting Appendices A 3 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 A 1 Dimensions A ...

Страница 102: ...the EtherCAT master the following models and unit versions of EtherCAT Coupler Units can be connect ed Model Unit version Connectable Unconnectable NX ECC203 Ver 1 4 or later Connectable Ver 1 3 or earlier Unconnectable NX ECC202 All versions NX ECC201 All versions Appendices A 4 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 103: ...tion 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_Attribute_Single Reads the value of the specified attrib ute Supported Supported Class ID and Instance ID The class ID and instance ID are as shown below ID type Value hex Class ID 01 Instance ID 01 Attribute ID The attribute IDs fo...

Страница 104: ...ta of the CK3E Service Code Service 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 value of the specified attrib ute Not supported Supported Class ID and Instance ID The class ID and instance ID are as shown below ID type Value hex Class ID 04 Instanc...

Страница 105: ... Get_Attribute_Single Reads the value of the specified attribute Supported Supported 10 Set_Attribute_Single Writes the value of the specified attribute Not supported Supported Class ID and Instance ID The class ID and instance ID are as shown below ID type Value hex Class ID F5 Instance ID 01 Attribute ID The attribute IDs for instances are as shown below Attrib ute ID hex Parameter name Descript...

Страница 106: ... USINT 00 always Reserved Reserved Read 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 inactivity timeout time Read and write UINT Set value 120 seconds by de fault A 3 4 Ethernet Link Object Class ID F6 Hex The Ethernet link object is intended to retrieve...

Страница 107: ... 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 Read UDINT Current val ue Out Unicast Pack ets The number of unicast packets sent through the interface Read UDINT Current val ue Out NonUnicast Packets The number of packets besides unicast packets sent through the interface Read UDINT ...

Страница 108: ...nterface Read Struct Capability Bits 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 transmission and reception on high capacity interfaces Read Struct HCInOctets The number of octets received through the interface This counter is the 64 bit edition of In ...

Страница 109: ...rames 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 Current val ue HCStatsSymbolEr rors The number of frames that could not be received through the interface due to an internal MAC sublayer symbol error Read ULINT Current val ue 1 Details on Interface Flags Bit Name Description 0 Link Stat...

Страница 110: ...Appendices A 12 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 ...

Страница 111: ...I Index I 1 CK3E series Programmable Multi Axis Controller User s Manual Hardware I610 I ...

Страница 112: ...ion controller 5 7 Installation in cabinets or control panels 4 5 M Maximum number of controlled axes 2 2 Modbus TCP communications 1 4 N network topology 4 11 O Operating Procedure 1 6 P Power PMAC IDE 1 5 Power PMAC NC16 Runtime 1 5 Power PMAC NC16 SDK 1 5 Power supply connector 3 2 Power supply error 5 5 Procedure for wiring power supply connector 4 9 PWR ERR 3 3 R RDY 3 4 Recommended clamp cor...

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