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Omron CK M-CPU1 1 Series Startup Manual

Programmable multi-axis controller
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Programmable Multi-Axis Controller
Startup Guide
for G5-Series Servo Drive
(IDEv4)
CK5M-CPU1
1
CK3M-CPU1
1
CK3E-

O038-E1-02

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Summary of Contents for Omron CK M-CPU1 1 Series

  • Page 1 Programmable Multi-Axis Controller Startup Guide for G5-Series Servo Drive (IDEv4) CK5M-CPU1 1 CK3M-CPU1 1 CK3E-  O038-E1-02...
  • Page 2 Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. 3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsi- bility for errors or omissions.

  • Page 3: Table Of Contents

    Contents Related Manuals .................. 4 Terms and Definitions ................. 5 Precautions ..................6 Overview ....................7 Applicable Devices and Device Configuration ......... 8 5.1. Applicable Devices ................8 5.2. Device Configuration ................9 EtherCAT Connection Procedure ............ 10 6.1. Workflow ....................10 6.2.

  • Page 4: Related Manuals

    To ensure system safety, always read and follow the information provided in all Safety Precautions and Precautions for Safe Use in the manuals for each device that is used in the system. The following shows the manuals for OMRON Corporation (hereafter referred to as OMRON) and Delta Tau Data Systems, Inc (DT). Manufacturer Manual No.

  • Page 5: Terms And Definitions

    2. Terms and Definitions Term Explanation and Definition Slave Slaves are devices connected to EtherCAT. There are various types of slaves such as servo drivers handling position data and I/O terminals handling the bit signals. Object Represents information such as in-slave data and parameters. One type of EtherCAT communications in which Process Data Objects communications (PDOs) are used to exchange information cyclically and in real time.

  • Page 6: Precautions

    (4) It is prohibited to copy, reproduce, or distribute a part or the whole of this document without the permission of OMRON Corporation. (5) The information contained in this document is current as of September 2022. It is subject to change without prior notice for improvement purposes.

  • Page 7: Overview

    4. Overview This document describes the procedures used to operate the OMRON servo drivers (G5-series EtherCAT communication built-in type, hereafter referred to as Servo Driver) using the motion program for OMROM Programmable Multi-Axis Controller (hereafter referred to as the Controller), model CK3E-□□□□/CK3M-CPU11/CK5M-CPU11, as well as for checking the operation.

  • Page 8: Applicable Devices And Device Configuration

    This document describes the procedures to establish the network connections. It does not provide information on operations, installations, wiring methods, device functionalities, or device operations, which are not related to the connection procedures. For more information, refer to the manuals or contact your OMRON representative.

  • Page 9: Device Configuration

    Power PMAC IDE Ver.4.6 Precautions for Correct Use Prepare the ESI file described in this section in 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 networks.

  • Page 10: Ethercat Connection Procedure

    6. EtherCAT Connection Procedure This section describes the procedures to connect the Controller and Servo Driver via EtherCAT, and to operate the motion control devices. The description assumes that the Controller is set to factory default. If an uninitialized Controller is used, the motion control devices may perform unexpected operations upon power-on depending on the Controller status, resulting in a personal injury to the user.
  • Page 11 ▼ 6.5.2 Motor Setup ▼ 6.5.3 Creation of Operation Check Programs ▼ 6.5.4 Project Data Transfer and Operation Check...

  • Page 12: Preparation For The Controller Setup

    6.2. Preparation for the Controller Setup Prepare the Controller settings. Install Power PMAC IDE on the computer in advance. Creation of a New Project Turn on the power to the Controller. Start Power PMAC IDE. * If the dialog for confirming access rights appears upon start-up, select starting of Power PMAC IDE.
  • Page 13 From the File menu, select New then Project. Enter a project name and location, and select OK.
  • Page 14 Initial Settings of the Controller Configure the initial settings for the Controller. Precautions for Correct Use Configuring the initial settings clears all data in the Controller memory. Back up necessary data in advance. In the Terminal tab page, type the $$$*** command to reset the Controller to factory default.
  • Page 15 Specify Servo Frequency. Select the Servo Frequency setting from 4 kHz, 2 kHz, or 1 kHz. Click the Accept button. 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”...
  • Page 16 In the Device Properties dialog box, click the No Device button. This operation sets the Controller to the offline state. Restart the Controller. The servo frequency that has been set is reflected. Wait until the startup process of the Controller is complete. Then click Delta Tau –...

  • Page 17: Installation Of Esi Files

    Install the ESI file for Servo Driver into Power PMAC IDE. Precautions for Correct Use Prepare the ESI file described in this section in advance. Contact your OMRON representative for information on how to procure the ESI file. From the EtherCAT menu of Power PMAC IDE, select ESI Manager.

  • Page 18: Ethercat Communications Setup

    6.4. EtherCAT Communications Setup Set up EtherCAT communications. Depending on the Controller status, unexpected operations of the motion control devices may occur when the power to the Controller is turned on, resulting in a personal injury to the user. Pay attention to safety when the power is turned on. Precautions for Correct Use Before taking the following steps, make sure that the devices are connected via an Ethernet cable.
  • Page 19 In the Master tab page, specify a communication period for Cycle Time [us]. * You must specify the communication period in accordance with the servo frequency of the Controller. 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...
  • Page 20 Make sure that the slave is displayed in the Solution Explorer.
  • Page 21 Distributed Clock Setup Setting Distributed Clocks (DC) for Master In the Master0 (Deactivated) tab page, select Distributed Clocks tab. Select Master Shift (EtherCAT Master Time controlled by Reference Clock). Setting Distributed Clock (DC) for the Slave In the Solution Explorer, select the target slave and display the Distributed Clock tab page.
  • Page 22 Select the Overwrite Mode check box and specify Shift Time. Correspondence between the servo frequencies of the Controller and the Shift Time values is as follows: 4 kHz : 125 us 2 kHz : 250 us 1 kHz : 500 us...
  • Page 23 PDO Map Settings PDO entries without axis settings are subjected to PDO communications as indefinite values. For this reason, unexpected operations of the motion 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.
  • Page 24 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.
  • Page 25 Creation of an EtherCAT Network Information File Select System – EtherCAT in the Solution Explorer and right-click on Master0 (Deactivated), then select Load Mapping to PowerPMAC. An eni.xml file is added under the Configuration directory in the Solution Explorer.
  • Page 26 An ECATMap.pmh file is added under the PMAC Script Language/Global Includes directory in the Solution Explorer.

  • Page 27: Controller Settings

    6.5. Controller Settings EtherCAT Communications Check Take the following steps to ensure that EtherCAT communications are available. From the Terminal tab page, run the ECAT[0].Enable=1 command to start EtherCAT communications. In the Terminal tab page or Watch Window, make sure that the ECAT[0].Enable value turns to 1.
  • Page 28 In the Terminal tab page or Watch Window, make sure that the ECAT[0].Enable value turns to 0.
  • Page 29 Motor Setup Configure the motor settings for the Controller. Select System – Motor in the Solution Explorer and right-click on it, then select Add a Motor…. Adding motor #1 Specify 1 for Motor Number, EtherCAT for Topology and click the OK button. Select ECAT Slave Drive.
  • Page 30 Setting EtherCAT Slave Drive Specify the slave dirve as shown on the right. Click the save button to apply the settings. Select Hardware Interface.
  • Page 31 Specify the settings as shown on the right. Click the Accept button to apply the settings. Command Signal Channel Select #x607A(Target Position), and specify the motor control indication value for Target Position. Amplifier Enable Signal Output Channel Select #x6040(Controlword), and specify Controlword for the motor output.
  • Page 32 Creation of Operation Check Programs Create programs to be used to check operations. A specific language is used for the operation check programs. Refer to Power PMAC User’s Manual and Power PMAC Software Reference Manual for details. Creating the Motion program In the Solution Explorer pane, open Project name –...
  • Page 33 Creating the PLC program In the Solution Explorer pane, open Project name – PMAC Script Language – PLC Programs – plc1.plc. In the programming area of the open plc 1 plc1.plc tab page, write a while(sys.ecatMasterReady==0){}; program as shown on the right. P1000=Sys.Time+1;...
  • Page 34 Setting the start of the user program In the Solution Explorer pane, open Project name – Configuration – pp_startup.txt. In the programming area of the pp_startup.txt tab page, add the enable plc 1; program shown on the right to the last line. The pp_startup.txt program is automatically executed when the Controller starts.
  • Page 35 Setting motor control parameters In the Solution Explorer pane, open Project name – PMAC Script Language – Global Includes – global definitions.pmh. In the programming area of the Motor[1].FatalFeLimit=0; Motor[1].AbortTa= -0.1; global definitions.pmh tab page, Motor[1].AbortTs= 0; write the set values to be set Motor[1].MaxSpeed= 5000;...
  • Page 36 Project Data Transfer and Operation Check Transfer the created project data to the Controller. When a project is transferred, the program starts automatically and the motor starts rotating. When the user program and “configuration and setting” data are transferred from Power PMAC IDE, devices or the machine may perform unexpected operations.
  • Page 37 Downloading a project Right-click the project name in the Solution Explorer pane on the upper right of the IDE screen, and select Build and Download All Programs to run the build and download. * The transferred project is not yet saved to the Controller at this stage.
  • Page 38 The program starts running when it has been downloaded successfully. Make sure that EtherCAT communications are in the OP state, and that the motor rotates. * If the motor does not rotate, check that the ECAT[0].Enable value is 1 in the Terminal tab page or Watch Window.

  • Page 39: Appendix Saving And Loading A Project

    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 Creating a Configuration File Create a Configuration File to save parameters you have changed.
  • Page 40 Saving a Project In the File menu, run Save All to save the project on the computer.

  • Page 41: Loading And Downloading A Project

    7.2. Loading and Downloading a Project Start Power PMAC IDE, and connect to the Controller. In the Terminal tab page, type the $$$*** command to reset the Controller settings to factory default. In the File menu, click Open – Project/Solution to load the project that you saved.
  • Page 42 Right-click the project name in the Solution Explorer pane, and select Build and Download 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. Stopping a program If a program is running, execute the following command from the Terminal tab page to stop the...
  • Page 43 Saving the downloaded settings and programs After the download process is complete and you make sure that there are no errors in the Output Window, run the save command from the Terminal tab page. * The save command stores the downloaded project in the Controller.

  • Page 44: Appendix Troubleshooting

    8. Appendix Troubleshooting 8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions Description Factor Corrective Action The link is not established. The Ethernet cable is broken or If the Ethernet cable is broken the specified cable is not being or if the specified cable was not used.

  • Page 45: How To Check For Errors

    8.2. How to Check for Errors Checking the EtherCAT Status 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 Mode to open the Diagnosis Mode page.
  • Page 46 You can check the status of the slaves in the Diagnosis Mode page. Checking the Controller Status 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. ...
  • Page 47  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.

  • Page 48: Appendix Ecat[I] Structure Elements

    9. Appendix ECAT[i] Structure Elements The Controller uses motion controller technology developed by Delta Tau Data Systems, Inc., (hereafter referred to as DT) in the U.S., however, the ECAT[i] structure elements differ from those of DT controllers. The following table shows the major changes that have been made from DT controllers.

  • Page 49: Revision History

    10. Revision History Revision Revised date Revised content code Apr, 2019 First edition Jan, 2023 ・Made changes accompanying the addition of CK5M-CPU1 □1 Unit. ・Made changes accompanying the modification of GUI of PowerPMAC IDE.
  • Page 52 Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2019 - 2023 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.

This manual is also suitable for:

Ck5m-cpu1 1 seriesCk3m-cpu1 1 seriesCk3e seriesG5 series

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