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P r o g r ammab l e Mu l t i - A xi s C o n t ro l l er

Startup Guide

G5-series Servo Drivers
(IDEv4)

CK3E-

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CK3M-CPU1

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NY51

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-A

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O038-E1-01

Содержание R88M-K Series

Страница 1: ...Programmable Multi Axis Controller Startup Guide G5 series Servo Drivers IDEv4 CK3E CK3M CPU1 1 NY51 A O038 E1 01...

Страница 2: ...nited States and other countries EtherCAT is a patented technology and registered trademark licensed by Beckhoff Automation GmbH Germany Sysmac is a trademark or registered trademark of OMRON Corporat...

Страница 3: ...ion for the Controller Setup 12 6 3 Installation of ESI Files 17 6 4 EtherCAT Communications Setup 17 6 5 Controller Settings 25 7 Appendix Saving and Loading a Project 36 7 1 Saving a Project 36 7 2...

Страница 4: ...Model CK3E 1 10 CK3E series Programmable Multi Axis Controller Hardware User s Manual OMRON O036 E2 Model CK3M CPU1 1 CK3M series Programmable Multi Axis Controller Hardware User s Manual OMRON W580 E...

Страница 5: ...ocess data communications PDO Mapping The association of objects used for PDO communications PDO Entry PDO entries are the pointers to individual objects used for PDO mapping ESI file EtherCAT Slave I...

Страница 6: ...of April 2019 It is subject to change without prior notice for improvement purposes The following notations are used in this document Indicates a potentially hazardous situation which if not avoided...

Страница 7: ...devices Servo Driver may also be referred to as a slave depending on the explanation Refer to Section 6 EtherCAT Connection Procedure to learn about the setting methods and key points to perform PDO...

Страница 8: ...devices to describe the procedures to connect the devices and check their connections You cannot use devices with versions lower than the versions listed in Section 5 2 To use the devices mentioned a...

Страница 9: ...advance Contact your OMRON representative for information on how to procure the ESI file Precautions for Correct Use Do not share the connection line of EtherCAT communications with other Ethernet net...

Страница 10: ...g the motion control devices and the Controller via Ethernet cable 6 1 Workflow Take the following steps to operate the motion control devices after connecting the Controller and Servo Driver via Ethe...

Страница 11: ...11 6 5 2 Motor Setup 6 5 3 Creation of Operation Check Programs 6 5 4 Project Data Transfer and Operation Check...

Страница 12: ...Power PMAC IDE If the dialog for confirming access rights appears upon start up select starting of Power PMAC IDE 3 The Communication screen appears Specify the IP address of the destination Controll...

Страница 13: ...13 5 From the File menu select New then Project 6 Enter a project name and location and select OK...

Страница 14: ...recautions for Correct Use Configuring the initial settings clears all data in the Controller memory Back up necessary data in advance 1 In the Terminal tab page type the command to reset the Controll...

Страница 15: ...e Accept button 6 If you have changed the servo frequency setting type the save command in the Terminal tab page of Power PMAC IDE When complete the Save Complete message appears in the Terminal tab p...

Страница 16: ...The servo frequency that has been set is reflected 10 Wait until the startup process of the Controller is complete Then click Delta Tau Communication Setup on the toolbar to display the Device Proper...

Страница 17: ...esentative for information on how to procure the ESI file 1 From the EtherCAT menu of Power PMAC IDE select ESI Manager 2 Confirm that Omron R88D KNxxx ECT xml is registered in the ESI file list of ES...

Страница 18: ...s for Correct Use Before taking the following steps make sure that the devices are connected via an Ethernet cable If they are not connected turn OFF the power to the devices and connect the Ethernet...

Страница 19: ...roller 1000 us is set in this document Correspondence between the servo frequencies of the Controller and communication periods is as follows 4 kHz 250 us 2 kHz 500 us 1 kHz 1000 us 4 Select System Et...

Страница 20: ...ributed Clock Setup 6 4 2 1 Setting Distributed Clocks DC for Master In the Master0 Deactivated tab page select Distributed Clocks tab 2 Select Master Shift EtherCAT Master Time controlled by Referenc...

Страница 21: ...r select the target slave and display the Distributed Clock tab page 4 Select the Overwrite Mode check box and specify Shift Time Correspondence between the servo frequencies of the Controller and the...

Страница 22: ...control devices may occur resulting in a personal injury to the user Only objects to be configured in Section 6 5 2 Motor Setup must be mapped to PDO entries 1 In the Solution Explorer select the targ...

Страница 23: ...23 3 Setting PDO mapping Outputs Clear the 258th receive PDO Mapping 0x1701 check box in the Outputs field Select the 258th receive PDO Mapping 0x1704 check box...

Страница 24: ...Information File 6 4 4 1 Select System EtherCAT in the Solution Explorer and right click on Master0 Deactivated then select Load Mapping to PowerPMAC 2 An eni xml file is added under the Configuration...

Страница 25: ...nications Check 6 5 1 Take the following steps to ensure that EtherCAT communications are available 1 From the Terminal tab page run the ECAT 0 Enable 1 command to start EtherCAT communications 2 In t...

Страница 26: ...hat correct communications are available run the ECAT 0 Enable 0 command from the Terminal tab page to stop EtherCAT communications 4 In the Terminal tab page or Watch Window make sure that the ECAT 0...

Страница 27: ...figure the motor settings for the Controller 1 Select System Motor in the Solution Explorer and right click on it then select Add a Motor 2 Adding motor 1 Specify 1 for Motor Number and click the OK b...

Страница 28: ...ecify the settings as shown on the right Click the Accept button to apply the settings Manufacturer Select OMRON Corporation Part Number Select x00000002 4 ECAT Slave Settings Enter a slave number int...

Страница 29: ...29 6 Specify the settings as shown on the right Click the Accept button to apply the settings Control Type Select Cyclic Position Primary Feedback Select ECAT 7 Select Hardware Interface...

Страница 30: ...l Select x6041 Statusword and specify Statusword for the motor input Primary Feedback Channel Select x6064 Position actual value and specify Position actual value for the motor control feedback Creati...

Страница 31: ...in the normal direction stops the rotation then repeats rotation in the reverse direction and stops 3 Creating the PLC program In the Solution Explorer pane open Project name PMAC Script Language PLC...

Страница 32: ...Project name Configuration pp_disable txt 6 In the programming area of the pp_disable txt tab page add the program shown on the right to the last line The pp_disable txt program is automatically execu...

Страница 33: ...finitions pmh tab page write the set values to be set automatically upon power on Example settings are shown on the right Motor 1 FatalFeLimit 0 Motor 1 AbortTa 0 1 Motor 1 AbortTs 0 Motor 1 MaxSpeed...

Страница 34: ...rupted depends on the EtherCAT network configuration Before you transfer project data make sure that the slave settings will not adversely affect the devices The procedure provided in this section che...

Страница 35: ...the transfer fails check details of the error in the Output Window If the error is a program error you must review the program If the error is related to EtherCAT settings return to 6 4 EtherCAT Commu...

Страница 36: ...Controller is turned on 7 Appendix Saving and Loading a Project The following describes the procedures to save a Power PMAC IDE project on the computer and to reuse it 7 1 Saving a Project 1 Creating...

Страница 37: ...click on the Configuration File and from the menu select Check To Download Config File to include it in files to be downloaded 4 Saving a Project In the File menu run Save All to save the project on t...

Страница 38: ...e Terminal tab page type the command to reset the Controller settings to factory default 3 In the File menu click Open Project Solution to load the project that you saved 7 Right click Configuration i...

Страница 39: ...ad All Programs to run the build and download When the download process is complete make sure that there are no errors in the Output Window 9 Stopping a program If a program is running execute the fol...

Страница 40: ...n the save command from the Terminal tab page The save command stores the downloaded project in the Controller This operation saves the settings to be executed automatically when the power to the Cont...

Страница 41: ...ECAT 0 Enable 1 command to start EtherCAT communications The EtherCAT network configuration in the Controller does not agree with the physical network configuration Review the settings according to t...

Страница 42: ...ing the EtherCAT Status 8 2 1 You can check the EtherCAT status from Diagnosis Mode of Power PMAC IDE Right click on Master0 Deactivated under EtherCAT in the Solution Explorer then select Diagnosis M...

Страница 43: ...page Checking the Controller Status 8 2 2 In the Status page of Power PMAC IDE you can check the status of the motor coordinate system and system To display the Status page click Status on the toolbar...

Страница 44: ...44 Motor Status You can check deviation errors limit errors and other states of the motor Coordinate Status You can check deviation errors limit errors and other states of the coordinate system...

Страница 45: ...tion Change ECAT i Enable Enabling the EtherCAT network 0 Disable 1 Enable 2 and 3 are not supported ECAT i LPIO k Elements of low priority I O module Not supported ECAT i Slave j Slave elements Not s...

Страница 46: ...46 10 Revision History Revision code Revised date Revised content A 5 Apr 2019 First edition...

Страница 47: ...2019 0419 0419 O038 E1 01 Note Do not use this document to operate the Unit...

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