Omron CK3M Series User Manual
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Omron CK3M Series User Manual

Programmable multi-axis controller hardware
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CK3M-series
Programmable Multi-Axis Controller
Hardware
User's Manual
CK3M-CPU1£1
CK3W-PD048
CK3W-AX1313£/-AX1414£/-AX1515£/-AX2323£
CK3W-MD71£0
CK3W-AD£100
CK3W-EXM01/-EXS02
Programmable Multi-Axis Controller
O036-E1-02

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  • Page 1 CK3M-series Programmable Multi-Axis Controller Hardware User's Manual CK3M-CPU1£1 CK3W-PD048 CK3W-AX1313£/-AX1414£/-AX1515£/-AX2323£ CK3W-MD71£0 CK3W-AD£100 CK3W-EXM01/-EXS02 Programmable Multi-Axis Controller O036-E1-02...
  • Page 2 • Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as- sumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

  • Page 3: Intended Audience

    Introduction Introduction Thank you for purchasing a CK3M-series Programmable Multi-Axis Controller (may be called Motion Controller hereinafter). This manual contains information that is necessary to use the CK3M-series Programmable Multi-Axis Controller. Please read this manual and make sure you understand the functionality and performance of the product before you attempt to use it in a control system.

  • Page 4: Manual Structure

    Manual Structure Manual Structure Page Structure The following page structure is used in this manual. Level 1 heading 4 Installation and Wiring Level 2 heading Level 3 heading Mounting Units Level 2 heading Gives the current Level 3 heading headings. 4-3-1 Connecting Controller Components The Units that make up an NJ-series Controller can be connected simply by pressing the Units together...

  • Page 5: Special Information

    Manual Structure Special Information Special information in this manual is classified as follows: Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage 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.
  • Page 6 Manual Structure CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Introduction to Motion Controllers System Configuration Configuration Units Installation Wiring Troubleshooting Inspection and Maintenance Appendices Index CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 8: Table Of Contents

    CONTENTS CONTENTS Introduction ......................1 Intended Audience............................1 Applicable Products ............................1 Manual Structure...................... 2 Page Structure..............................2 Special Information ............................3 Sections in this Manual ................... 5 Terms and Conditions Agreement................ 10 Warranty, Limitations of Liability ........................10 Application Considerations ..........................11 Disclaimers ..............................11 Safety Precautions....................
  • Page 9 CONTENTS 2-1-1 CK3W Unit Configuration ......................2-2 2-1-2 EtherCAT Network Configuration ....................2-3 Connecting to the Power PMAC IDE ..................2-5 Ethernet Network Configuration...................2-6 Section 3 Configuration Units CPU Unit ..........................3-3 3-1-1 Models and Specifications ......................3-3 3-1-2 Part Names and Functions......................3-5 3-1-3 Operation Status Indicators......................3-6 3-1-4 Watchdog Output Terminal Block ....................3-7 3-1-5...
  • Page 10 CONTENTS Fail-safe Circuits ........................4-4 Mounting Units........................4-5 4-3-1 Installation in a Control Panel .....................4-5 4-3-2 Connecting Adjacent Units ......................4-9 4-3-3 Mounting to DIN Track ......................4-10 4-3-4 DIN Track and Accessories.......................4-12 4-3-5 Assembled Appearance and Dimensions .................4-13 Control Panel Installation....................4-17 4-4-1 Temperature ..........................4-17 4-4-2 Humidity ............................4-18 4-4-3...
  • Page 11 Expansion Master Unit and Expansion Slave Unit ..............A-6 A-2-6 End Cover ..........................A-7 Restrictions on Using the NX-series EtherCAT Coupler Unit........... A-8 OMRON Servo Drive Connection Example................. A-9 Version Information ......................A-10 How to Read the Lot Number..................... A-11 Index...

  • Page 12: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and work- manship for a period of twelve months from the date of sale by Omron (or such other period ex- pressed in writing by Omron). Omron disclaims all other warranties, express or implied.

  • Page 13: Application Considerations

    WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted. Application Considerations...
  • Page 14 Product. Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; how- ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 15: Safety Precautions

    Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the CK3M-series Programmable Multi-Axis Controller. The safety precautions that are provided are extremely important for safety. Always read and heed the information provided in all safety precautions.

  • Page 16: Warning

    Safety Precautions WARNING WARNING Wiring Connect this Controller correctly to the servo amplifier, encoder, and limit sensors ac- cording to the instructions in this manual. Not doing so may cause the motor to run away, resulting in serious accidents. For the Power Supply Unit or any other power supply connected to peripheral devices, connect the 0-V side to ground, or do not ground them at all.
  • Page 17 Safety Precautions The UPS used enables normal operation to continue for a certain period of time if a momentary power interruption occurs. This means that the CK3M-series Controller may receive incorrect signals from external devices that are also affected by the power interruption.

  • Page 18: Cautions

    Safety Precautions 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 theories and the specifi- cations of this product.

  • Page 19: Precautions For Safe Use

    Precautions for Safe Use Precautions for Safe Use Transporting • Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit mal- function or burning. Mounting • Be sure that the terminal blocks, connectors, and other items with locking devices are correctly locked into place before use.
  • Page 20 Precautions for Safe Use When cross-wiring terminals, the total current for all the terminals will flow in the wire. When wiring cross-overs, make sure that the current capacity of each of the wires is not exceeded. • Do not allow wire clippings, shavings, or other foreign material to enter the Controller. Otherwise, Controller burning, failure, or malfunctions may occur.
  • Page 21 Precautions for Safe Use Turning OFF the Power Supply • Do not turn OFF the 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.
  • Page 22 Precautions for Safe Use • EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variables and the EtherCAT Coupler Unit device variables in the user program to confirm that I/O data communications are established before attempting control opera- tions.
  • Page 23 Precautions for Safe Use • Do not use corrosive chemicals to clean the 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. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 24: Precautions For Correct Use

    Precautions for Correct Use Precautions for Correct Use Storage and Installation • Follow the instructions in this manual to correctly perform installation. • Do not operate or store the Controller in the following locations. Doing so may result in burning, in operation stopping, or in malfunction.
  • Page 25 Precautions for Correct Use EtherCAT Communications • Set the Servo Drives to stop operation if an error occurs in EtherCAT communications between the Controller and a Servo Drive. • Always use the specified EtherCAT slave cables. If you use any other cable, the EtherCAT master or the EtherCAT slaves may detect an error and one of the following may occur.

  • Page 26: Regulations And Standards

    Concepts  EMC Directives OMRON devices that comply with EU Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards.*1 Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

  • Page 27: Condition For Compliance With Eu Directives

    Regulations and Standards Condition for Compliance with EU Directives The immunity test condition for the CK3M-series Analog Input Units is as shown below. Unit type Overall accuracy Analog Input Unit +6%/-6% To connect an Analog Input Unit, use 2-core twisted-pair shielded wire. Note that compliance was con- firmed with the shielded wire grounded at both ends.

  • Page 28: Versions

    Versions Versions PMAC firmware revisions are used to manage the motion control firmware in CK3M-series CPU Units. The PMAC firmware revision is updated each time there is a change in motion control firmware. Even when two CPU Units have the same model number, they will have functional or performance differen- ces if they have different PMAC firmware revisions.

  • Page 29: Related Manuals

    Related Manuals Related Manuals The following manuals are related. Use these manuals for reference. Contact your OMRON represen- tative for information on how to procure these manuals. Manual name Cat. No. Application Description CK3M-series Programma- O036 Learning the basic An introduction to the entire CK3M-series system...

  • Page 30: Terminology

    Terminology Terminology Term Description PMAC The acronym for Programmable Multi-Axis Controller. Motion control Motion control can achieve intended operation by providing a target value to the axis to be con- trolled, or by controlling state transitions. Axis A functional unit within the Motion Control Function Module. An axis is assigned to the drive mechanism in an external Servo Drive, etc.

  • Page 31: Revision History

    Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. O036-E1-02 Revision code Revision Date Revised content code July 2018 Original production • July 2019 Made changes accompanying the addition of CK3W-AX1313£/-AX2323£/- MD71£0/-AD£100/-EXM01/-EXS02 Units.
  • Page 32 Revision History CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 33: Introduction To Motion Controllers

    Introduction to Motion Controllers This section describes the features, system configuration, and operating procedure of a CK3M-series Programmable Multi-Axis Controller. 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 Software ....................

  • Page 34: Features And System Configuration

    1 Introduction to Motion Controllers Features and System Configuration This section describes the features and basic system configuration of the CK3M-series Programmable Multi-Axis Controller and Support Software. 1-1-1 Motion Controller Features Fast Multi-Axis Control The Motion Controller uses the Programmable Multi Axis Controller, developed by Delta Tau Data Sys- tems, Inc.
  • Page 35 NX Units. However, when OMRON NX-series EtherCAT Coupler Units are used for the EtherCAT Slave Termi- nal, there are restrictions on the models and unit versions of EtherCAT Coupler Units that can be connected.

  • Page 36: Support Software

    HMI screens. Refer to A-5 Version Information on page A-10 for the supported Power PMAC IDE versions. Contact your OMRON representative for information on how to procure. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 37: Ck3M-Series Operating Procedure

    1 Introduction to Motion Controllers CK3M-series Operating Procedure This section describes the procedure to construct a motion control system by using the CK3M-series Programmable Multi-Axis Controller. Step Description Reference Preparation for Check for specifi- Check compatibility with specifications of A-1 General Specifications on work cation compatibili- each Unit.
  • Page 38 1 Introduction to Motion Controllers Step Description Reference Preparation for Creation of a new Connect the computer with the Support Refer to Power PMAC IDE User setting the Mo- project Software installed to the Motion Control- Manual (Cat. No. O016) for de- tion Controller ler, and then start Power PMAC IDE and tails.

  • Page 39: System Configuration

    System Configuration This section describes the basic system configuration used for CK3M-series Motion Controllers. Basic Configuration ..................2-2 2-1-1 CK3W Unit Configuration................2-2 2-1-2 EtherCAT Network Configuration..............2-3 Connecting to the Power PMAC IDE ............2-5 Ethernet Network Configuration ..............2-6 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 40: Basic Configuration

    2 System Configuration Basic Configuration A Motion Controller supports the following two types of configurations. • Basic Configuration The basic configurations include the CPU Unit and the Configuration Units that are controlled direct- ly by the CPU Unit. There are two basic configurations. a) CK3W Unit Configuration b) EtherCAT network configuration •...

  • Page 41: Ethercat Network Configuration

    2 System Configuration E or F E or F Power supply Letter Configuration Remarks Power Supply Unit Input the 24 V power source. Always wire the CPU Rack and Expansion Rack to the same power supply. CK3M-series CPU Unit This is the Unit at the center of the motion control, which executes the motion program.
  • Page 42 2 System Configuration EtherCAT slaves General- Servo drive/ Slave terminal purpose Encoder input slaves slaves EtherCAT is synchronized with the servo cycle of the CK3M-series CPU Unit. This enables acquisition of the I/O data of slave terminals that are synchronized with the servo cycle. Precautions for Correct Use Before you connect a slave from another manufacturer, refer to the relevant manual and be sure to check its operation.

  • Page 43: Connecting To The Power Pmac Ide

    2 System Configuration Connecting to the Power PMAC IDE Connect the CK3M-series CPU Unit and the Power PMAC IDE through Ethernet. Power PMAC IDE Ethernet Ethernet Ethernet switch CK3M-series Power Supply Unit CPU Unit Built-in EtherNet/IP port CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 44: Ethernet Network Configuration

    2 System Configuration Ethernet Network Configuration The Ethernet communications port on the CK3M-series CPU Unit supports the Modbus-TCP protocol. It can be connected to devices such as PLCs and programmable terminals that support the Modbus- TCP protocol. NJ-series Ethernet Ethernet Ethernet switch CK3M-series Power Supply Unit...

  • Page 45: Configuration Units

    Configuration Units This section describes configuration devices in the CK3M-series Motion Controller configuration. CPU Unit......................3-3 3-1-1 Models and Specifications ................3-3 3-1-2 Part Names and Functions ................3-5 3-1-3 Operation Status Indicators ................3-6 3-1-4 Watchdog Output Terminal Block..............3-7 3-1-5 USB Memory Device ..................
  • Page 46 3 Configuration Units 3-5-6 Analog Input Data ..................3-56 3-5-7 Input Filter..................... 3-57 Expansion Master Unit and Expansion Slave Unit ........3-59 3-6-1 Models and Specifications ................3-59 3-6-2 Part Names and Functions ................3-60 3-6-3 Operation Indicators ..................3-60 3-6-4 System Configuration ...................

  • Page 47: Cpu Unit

    3 Configuration Units CPU Unit This section describes the models and major specifications of the CK3M-series CPU Units. 3-1-1 Models and Specifications Models and Outline of Specifications The models and outline of specifications are given below. Maximum number of con- Unit type Model Memory capacity...
  • Page 48 3 Configuration Units Item CK3M-CPU101 CK3M-CPU111 CK3M-CPU121 Communications protocol None EtherCAT protocol Baud rate 100 Mbps Physical layer 100BASE-TX (IEEE 802.3) Topology Line, daisy chain, and branching Twisted-pair cable of category 5 or EtherCAT com- Transmission media higher (double-shielded cable with munications aluminum tape and braiding) specifications...

  • Page 49: Part Names And Functions

    3 Configuration Units 3-1-2 Part Names and Functions Letter Name Function Slider Holds the Units together. CPU Unit operation indicators Shows the operation status of the CPU Unit using multiple in- dicators. EtherCAT communications connector Connects to an EtherCAT network communications cable. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 50: Operation Status Indicators

    3 Configuration Units Letter Name Function EtherCAT communications port opera- Shows the operation status of EtherCAT. tion indicators Unit connector Connector that connects to the Unit. Ethernet communications port opera- Shows the operation status of Ethernet. tion indicators Ethernet communications connector Connects to an Ethernet network communications cable.

  • Page 51: Watchdog Output Terminal Block

    3 Configuration Units Indicator name Color Status Description Green Lit. Power is supplied to the Unit, and the Unit is in operation- ready status. Not lit. Power is not supplied to the Unit, or initial processing is in progress. Lit. Watchdog error or another hardware error Not lit.

  • Page 52: Usb Memory Device

    • Saving relevant data • 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. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 53 3 Configuration Units Recommended USB memories Description FZ-MEM2G OMRON USB memory device (2 GB) FZ-MEM8G OMRON USB memory device (8 GB) CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 54: Power Supply Unit

    3 Configuration Units Power Supply Unit This section describes the model and major specifications of the Power Supply Unit. 3-2-1 Models and Specifications Models and Outline of Specifications The models and outline of specifications are given below. Unit type Model Specification Power Supply Unit CK3W-PD048 Rated output voltage: 5 VDC/24 VDC Maximum output power: 5 VDC 23 W, 24 VDC 66 W...

  • Page 55: Part Names And Functions

    3 Configuration Units • Has double or reinforced insulation between the input and output. Recommended Power Supplies: S8VK-S series (manufactured by OMRON) 3-2-2 Part Names and Functions Letter Name Function Power supply connection terminal Connects the power supply. block Power supply status indicator Lights when 5 V is output from the Power Supply Unit.

  • Page 56: Axis Interface Unit

    Phases A, B, and C: 10 MHz encoder in- sponse fre- quency Serial en- Supported Contact your OMRON representative for information on the support protocols. coder input protocol Digital Hall sensor 4 points/channel (U, V, W, T) OUTFlagB output 1 point/channel...
  • Page 57 Maximum re- Phases A, B, and C: 10 MHz coder input sponse fre- quency Serial en- Supported Contact your OMRON representative for information on the support protocols. coder input protocol Sinusoidal Input signal 1-Vpp SIN/COS signal encoder in- Maximum in-...

  • Page 58: Part Names And Functions

    3 Configuration Units Specification (CK3W-) Item AX1313N AX1313P AX2323N AX2323P General dig- Number of 16 inputs, 16 outputs ital I/O points Internal com- Power consumption 5 VDC: 3.4 W max. 5 VDC: 3.0 W max. 24 VDC: 12.5 W max. 24 VDC: 13.1 W max.

  • Page 59: Operation Status Indicators

    3 Configuration Units CK3W-AX1313£/-AX2323£ 10 11 12 13 14 15 10 11 12 13 14 15 Letter Name Function Slider Holds the Units together. Power supply status indicator Shows the power supply status. Amp enable status indicator Shows the Amp enable status. Encoder connector Connects the encoder.

  • Page 60: Address Switch Setting

    3 Configuration Units 3-3-4 Address Switch Setting This Unit is equipped with a PMAC3 style 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.
  • Page 61 3 Configuration Units For the connector arrangement of the encoder connector, refer to 5-3-1 Encoder Connector Wiring on page 5-18. Isolation method Not isolated (between internal circuit and encoder circuit) Encoder Rated output voltage 5 VDC power sup- Output voltage range 4.9 to 5.25 VDC (5 VDC +5%/-2%) ply output Maximum output current...
  • Page 62 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- Supported protocol Contact your OMRON representative for information on the er input support protocols. Clock output EIA standard RS-422A line driver levels...
  • Page 63 3 Configuration Units Sinusoidal Input form Line receiver input + AD conversion encoder in- Number of inputs 2 points/channel (SIN signal, COS signal) Maximum rated input voltage 0 to Encoder Power Supply (+5 V) Encoder Power Supply as GND reference Allowable differential input 0.6 to 1.35 Vpp voltage range...
  • Page 64 3 Configuration Units Circuit configuration Hall sensor U Hall sensor V Internal circuit Hall sensor W Hall sensor T Serial encoder CLK+ Serial encoder CLK- Connector shell Serial encoder DAT+ Serial encoder DAT- Terminal connection diagram Hall sensor Hall sensor U Hall sensor V Hall sensor W Hall sensor T...

  • Page 65: Encoder Loss Detection

    3 Configuration Units Connection diagram OutFlagB Connector shell For the GND, use an encoder power source (GND). This function is available with the CK3W-AX1313£/-AX1414£/-AX1515£ Units. With single-ended input, only a voltage output type encoder can be connected. Open collector type encod- ers cannot be connected.

  • Page 66: Pulse Input Timing Specifications For Digital Quadrature Encoder

    3 Configuration Units You can set the motor to stop if Motor[x].EncLossCount exceeds the value set in the Motor[x].EncLossLimit. However, in a pulse input state, mis-detection of encoder loss may occur. Therefore, when you use the function to stop the motor at encoder loss, take the possibility of mis- detection during pulse input into consideration, and set the Motor[x].EncLossLimit register to 40 or more.
  • Page 67 3 Configuration Units With Differential Input Encoder input (Phases A & B) Input pulse duty = 50% Encoder input (Phase C) Vol- C(+) Vol- tage Ter- A/B(+) tage Ter- minal minal Input Voltage Input C(-) Vol- A/B(-) tage Relationship between Phase A and Phase B for Phase Differential Pulse Inputs Voltage A(+) Voltage...

  • Page 68: Input Specifications For Sinusoidal Encoder

    3 Configuration Units Single-Ended Input Encoder input (Phases A & B) Input pulse duty = 50% Encoder input (Phase C) Ter- Ter- Phase A/ Vol- Phase C minal Vol- minal tage tage Phase B Input Input Voltage Voltage Relationship between Phase A and Phase B for Phase Differential Pulse Inputs Phase A Voltage Voltage...
  • Page 69 3 Configuration Units SIN+ 4.0 V Typical: 1 Vpp 0.5 Vpp Differential Allowable differential input voltage range: Approx. 2.5 V signal 0.6 to 1.35 Vpp (SIN+) - (SIN-) Allowable input voltage range: 0 to 4.0 V (GND reference) SIN- 4.0 V 0.5 Vpp Approx.

  • Page 70: Outflag Function

     Applications Use this function as a signal to connect with the SEN signal that is necessary to acquire the abso- lute encoder value when connecting with the OMRON G5-series Servo Drives with General-pur- pose Pulse Train or Analog Inputs.

  • Page 71: Amplifier Connector Specifications

    OutFlagD Function  Applications When connecting with the OMRON G5-series Servo Drives with General-purpose Pulse Train or Analog Inputs, the encoder A+/- terminal and the serial encoder DAT+/- terminal are short circuited and used to enable obtaining the absolute encoder value sent from the Servo Drive.
  • Page 72 B- Analog Connector shell DirectPWM out- Communications Controller-Servo Drive interface unique to Delta Tau method Connectable am- Contact your OMRON representative. plifier Output form Line driver output Input form Line driver input Isolation method Not isolated from internal circuit Cables For connection with an amplifier, be sure to use the following cables.
  • Page 73 3 Configuration Units Output voltage EIA standard RS-422A line driver levels Maximum output 10 MHz frequency Cable length 10 m max. Isolation method Not isolated from internal circuit Circuit configura- tion Pulse output + Pulse output - Directional output + Internal Directional output - circuit...

  • Page 74: Da Output Method

    3 Configuration Units Circuit configura- tion Amp enable NO Internal Amp enable common circuit Amp enable NC Number of inputs 1 point/channel Fault input Rated input volt- 5 to 24 VDC Maximum input 26.4 VDC voltage Input current 7 mA typical (24 VDC) ON voltage/ON 3 VDC min./1 mA min.

  • Page 75: Directpwm Output Method

    DirectPWM is a Servo Drive interface unique to Delta Tau, and only DirectPWM-compatible Servo Drives can be connected to this interface. Contact your OMRON representative for information on DirectPWM-compatible Servo Drives. DirectPWM allows the Motion Controller to directly send motor current commands to Servo Drives and monitor the actual motor current.

  • Page 76: Flag Connection Terminal Block Specifications

    3 Configuration Units Gate3[i].AdcAmpStrobe = $FFFFFC Gate3[i].AdcAmpDelay = 0 Gate3[i].AdcAmpHeaderBits = 2 Additionally, set the phase clock frequency and the PWM frequency for each channel to 40 KHz or less. 3-3-13 Flag Connection Terminal Block Specifications This section describes the terminal arrangement and electrical specifications of the flag connection terminal block.
  • Page 77 3 Configuration Units Signal Signal name HOMEn Zero Position Detection Flag Input PLIMn Positive Limit Flag Input NLIMn Negative Limit Flag Input USERn General-purpose Flag Input V_FLAGn Flag (Common) Common  PNP Type Signal No. Signal (4ch type) EQU0 EQU2 EQU1 EQU3 COM_EQU...
  • Page 78 3 Configuration Units Electrical Specifications of Flag Connection Terminal Block This section describes the electrical specifications for the flag connection terminal block. Digital Input Input signal HOME, PLIM, NLIM, USER/Channel Specifications Rated input voltage 5 to 24 VDC Maximum input voltage 26.4 VDC Input current HOME, PLIM, NLIM: 7.0 mA typical (24 VDC)
  • Page 79 3 Configuration Units Connection diagram NPN type V_FLAG 0 to 3 HOME 0 to 3 PLIM 0 to 3 NLIM 0 to 3 USER 0 to 3 5 to 24 VDC PNP type HOME 0 to 3 PLIM 0 to 3 NLIM 0 to 3 USER 0 to 3 G_FLAG 0 to 3...

  • Page 80: General Digital I/O Connection Terminal Block Specifications

    3 Configuration Units Connection diagram EQUn COM_EQU Since the OFF current is small, connection to the two-wire sensor may not be successful. Refer to Precau- tions When Connecting a Two-wire DC Sensor on page 5-29 for information on using the two-wire sensor. For high-speed output, we recommend the use of shielded wiring.
  • Page 81 3 Configuration Units Signal Signal IN00 IN08 IN01 IN09 IN02 IN10 IN03 IN11 IN04 IN12 IN05 IN13 IN06 IN14 IN07 IN15 OUT00 OUT08 OUT01 OUT09 OUT02 OUT10 OUT03 OUT11 OUT04 OUT12 OUT05 OUT13 OUT06 OUT14 OUT07 OUT15  PNP Type 3-37 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 82 3 Configuration Units Signal Signal IN00 IN08 IN01 IN09 IN02 IN10 IN03 IN11 IN04 IN12 IN05 IN13 IN06 IN14 IN07 IN15 OUT00 OUT08 OUT01 OUT09 OUT02 OUT10 OUT03 OUT11 OUT04 OUT12 OUT05 OUT13 OUT06 OUT14 OUT07 OUT15 Electrical Specifications of General Digital I/O Connection Terminal Block General digital Number of inputs...
  • Page 83 3 Configuration Units Circuit configuration NPN type Current IN00 control circuit Current IN01 control circuit Internal circuit Current IN15 control circuit PNP type IN00 Current control circuit IN01 Internal circuit Current control circuit IN15 Current control circuit 3-39 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 84 3 Configuration Units Connection diagram NPN type IN00 IN01 IN15 24 VDC PNP type IN00 IN01 IN15 24 VDC General digital Internal common output (NPN) Rated voltage 12 to 24 VDC Current consumption 40 mA max. Operating load voltage 10.2 to 26.4 VDC range Maximum load current 0.5 A/point, 2 A/Unit...
  • Page 85 3 Configuration Units Circuit configuration OUT00 OUT01 Internal circuit OUT15 Connection diagram NPN type OUT00 OUT01 OUT15 12 to 24 VDC General digital Internal common output (PNP) Rated voltage 12 to 24 VDC Current consumption 80 mA max. Operating load voltage 10.2 to 26.4 VDC range Maximum load current...
  • Page 86 3 Configuration Units Circuit configuration OUT00 Internal OUT01 circuit OUT15 Connection diagram PNP type OUT00 OUT01 OUT15 12 to 24 VDC 3-42 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 87: Digital I/O Unit

    3 Configuration Units Digital I/O Unit This section describes the Digital I/O Unit. 3-4-1 Models and Specifications Models and Outline of Specifications The models and outline of specifications are given below. Unit type Model Number of inputs Number of outputs I/O type Digital I/O Unit CK3W-MD7110 16 points 16 points CK3W-MD7120 16 points...
  • Page 88 3 Configuration Units PNP type IN00 Current control circuit IN01 Internal circuit Current control circuit IN15 Current control circuit Connection diagram NPN type IN00 IN01 IN15 24 VDC 3-44 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 89 3 Configuration Units PNP type IN00 IN01 IN15 24 VDC Digital output Internal common (NPN) Rated voltage 12 to 24 VDC Current consumption 40 mA max. Operating load voltage 10.2 to 26.4 VDC range Maximum load current 0.5 A/point, 2 A/Unit Maximum inrush current 4.0 A/point, 10 ms max.
  • Page 90 3 Configuration Units Connection diagram OUT00 OUT01 OUT15 12 to 24 VDC Digital output Internal common (PNP) Rated voltage 12 to 24 VDC Current consumption 80 mA max. Operating load voltage 10.2 to 26.4 VDC range Maximum load current 0.5 A/point, 2 A/Unit Maximum inrush current 4.0 A/point, 10 ms max.

  • Page 91: Part Names And Functions

    3 Configuration Units Connection diagram OUT00 OUT01 OUT15 12 to 24 VDC Power consumption 5 V: 1.0 W max. Dimensions (height × depth × width) 90(H)/80(D)/31.6(W) Weight 150 g max. 3-4-2 Part Names and Functions Letter Name Function Slider Holds the Units together. Power supply status indicator Shows the power supply status.

  • Page 92: Operation Indicators

    3 Configuration Units 3-4-3 Operation Indicators The LED indicators show the unit operating status of the Digital I/O Unit. The operating statuses corresponding to the colors and statuses of the indicators are shown below. Indicator name Color Status Description Green Power is supplied.

  • Page 93: Terminal Arrangement

    3 Configuration Units One CK3W Unit in the system supplies servo clock and phase clock signals to all the other Units. The supply-source CK3W Unit must be installed to the CPU Rack. Connect the Unit with the smallest address value to the CPU Rack because, by default, it is the supply source of clock signals.

  • Page 94: I/O Data

    3 Configuration Units CK3W-MD7120 Signal Signal IN00 IN08 IN01 IN09 IN02 IN10 IN03 IN11 IN04 IN12 IN05 IN13 IN06 IN14 IN07 IN15 OUT00 OUT08 OUT01 OUT09 OUT02 OUT10 OUT03 OUT11 OUT04 OUT12 OUT05 OUT13 OUT06 OUT14 OUT07 OUT15 3-4-6 I/O Data The CPU Unit can access I/O data via the Gate3[i].GpioData[0] register.
  • Page 95 3 Configuration Units Input Register Gate3[i].GpioData[0].7 Gate3[i].GpioData[0].8 Gate3[i].GpioData[0].9 IN10 Gate3[i].GpioData[0].10 IN11 Gate3[i].GpioData[0].11 IN12 Gate3[i].GpioData[0].12 IN13 Gate3[i].GpioData[0].13 IN14 Gate3[i].GpioData[0].14 IN15 Gate3[i].GpioData[0].15 Output data is stored in each bit of the register as shown below. Output Register OUT0 Gate3[i].GpioData[0].16 OUT1 Gate3[i].GpioData[0].17 OUT2 Gate3[i].GpioData[0].18 OUT3 Gate3[i].GpioData[0].19...

  • Page 96: Analog Input Unit

    3 Configuration Units Analog Input Unit This section describes the Analog Input Unit. 3-5-1 Models and Specifications Models and Outline of Specifications The models and outline of specifications are given below. Unit type Model Number of inputs Input range Analog Input Unit CK3W-AD2100 4 points -10 to 10 V CK3W-AD3100 8 points -10 to 10 V...

  • Page 97: Part Names And Functions

    3 Configuration Units For single-ended input Input 0+ to 7+ Input 0- to 7- AGND • If any of Input 0- to Input 7- is single ended input, apply a short-circuit between the input and AGND. • Use a shielded cable and ground at both ends of the ca- ble.

  • Page 98: Operation Indicators

    3 Configuration Units 3-5-3 Operation Indicators The LED indicator shows the unit operating status of the Analog Input Unit. The operating statuses corresponding to the colors and statuses of the indicators are shown below. Indicator name Color Status Description Green Power is supplied.

  • Page 99: Terminal Arrangement

    3 Configuration Units 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 source by setting the register. If the Unit that serves as the clock supply source is connected to the Expansion Rack, an error occurs because the CPU Unit cannot recognize clock signals.

  • Page 100: Analog Input Data

    3 Configuration Units No. Signal No. Signal AIN0+ AIN0- AIN1+ AIN1- AIN2+ AIN2- AIN3+ AIN3- AGND AGND AIN4+ AIN4- AIN5+ AIN5- AIN6+ AIN6- AIN7+ AIN7- AGND AGND 3-5-6 Analog Input Data This section describes the correspondence between input analog signals and analog input data. The graph shows that a voltage between -10 to 10 V is converted to data between 80D2 and 7F2E hex (-32,558 to 32,558).

  • Page 101: Input Filter

    3 Configuration Units Note that the conversion timing of AIN0, AIN1, AIN4, AIN5 and that of AIN2, AIN3, AIN6, AIN7 are not the same. To capture analog input data correctly, the following register settings are required. These register settings are the default. Gate3[i].AdcAmpClockDiv = 5 or 4 (5 by default) Gate3[i].AdcAmpCtrl = $FFFFFC01 Gate3[i].AdcAmpDelay = 0...
  • Page 102 3 Configuration Units Input Input filter cut-off frequency (kHz) Setting AIN6 3.2 (Default) Gate3[i].GpioData[0].12=0, Gate3[i].GpioData[0].13=0 Gate3[i].GpioData[0].12=1, Gate3[i].GpioData[0].13=0 12.2 Gate3[i].GpioData[0].12=0, Gate3[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 Gate3[i].GpioData[0].14=1, Gate3[i].GpioData[0].15=0 12.2 Gate3[i].GpioData[0].14=0, Gate3[i].GpioData[0].15=1 24.5 Gate3[i].GpioData[0].14=1, Gate3[i].GpioData[0].15=1 3-58 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 103: Expansion Master Unit And Expansion Slave Unit

    3 Configuration Units Expansion Master Unit and Expan- sion Slave Unit This section describes the Expansion Master Unit and the Expansion Slave Unit. 3-6-1 Models and Specifications Models and Outline of Specifications The models and outline of specifications are given below. Unit type Model Expansion Master Unit CK3W-EXM01...

  • Page 104: Part Names And Functions

    3 Configuration Units 3-6-2 Part Names and Functions Letter Name Function Slider Holds the Units together. Power supply status indicator Shows the power supply status. Connector Connect the Expansion Master Unit and the Expansion Slave Unit. Unit connector Connector that connects to the Unit. DIN Track mounting hook Used to mount the Unit to a DIN Track.
  • Page 105 3 Configuration Units Letter Name Model Expansion Master Unit CK3W-EXM01 Expansion cable CK3W-CAX003A Expansion Slave Unit CK3W-EXS02 3-61 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 106 3 Configuration Units 3-62 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 107: Installation

    Installation This section describes how to install the CK3M-series Programmable Multi-Axis Con- troller as well as details on installation locations. Processing at Power ON and Power OFF ............ 4-2 4-1-1 Power ON Operation ..................4-2 4-1-2 Power OFF Operation..................4-2 Fail-safe Circuits ....................

  • Page 108: Processing At Power On And Power Off

    4 Installation Processing at Power ON and Power 4-1-1 Power ON Operation Once the power supply to the Power Supply Unit starts, the CPU Unit enters the program operation ready status after the following time elapses. In addition, when the Unit is in the operation-ready status, the RDY LED lights up. ...
  • Page 109 4 Installation Establish an SSH connection, and execute the sync command from the terminal that you con- nected to. Wait for at least 5 seconds and turn OFF the power supply.  Procedure to Download to the Built-in Flash Memory (Version 2.5 or Later) For PMAC firmware revision version 2.5 or later, you can also use the following procedure to store the user program into the built-in flash memory.

  • Page 110: Fail-Safe Circuits

    4 Installation Fail-safe Circuits WARNING Provide safety measures in external circuits to ensure safety in the sys- tem if an abnormality occurs due to malfunction of the system due to other external factors affecting operation. Not doing so may result in se- rious accidents due to incorrect operation.

  • Page 111: Mounting Units

    4 Installation Mounting Units This section describes how to mount Units to the CK3M-series Controller. Precautions for Safe Use Always turn OFF the power supply to the Controller before attempting any of the following. • Mounting or removing CK3W-AX Units or Motion Controllers •...
  • Page 112 4 Installation Control panel CK3M -series Controller Louver  Accessibility for Operation and Maintenance • To ensure safe access for operation and maintenance, separate the Controller as much as possi- ble from high-voltage equipment and power machinery. • It will be easy to operate the Controller if it is mounted at a height of 1.0 to 1.6 m above the floor. ...
  • Page 113 4 Installation Mounting with the DIN Track on the Bottom Mounting with the DIN Track on the Top DIN Track DIN Track Mounting with the DIN Track Installed Vertically Mounting with the Rack Upside Down Additional Information A Controller must be mounted on a DIN Track. It cannot be mounted with screws. ...
  • Page 114 4 Installation  Wiring Duct Example 83.6 to 102.8 mm Rack 30mm 30mm Mounting bracket 40mm Duct  Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the tops of the Rack and any other objects (e.g., ceiling, wiring ducts, structural supports, devices, etc.) to provide enough space for air circulation and replacement of Units.

  • Page 115: Connecting Adjacent Units

    4 Installation 4-3-2 Connecting Adjacent Units The Units that make up a CK3M-series Controller can be connected simply by pressing the Units to- gether and locking the sliders by moving them toward the back of the Units. The End Cover is con- nected in the same way to the Unit on the far right side of the Controller.

  • Page 116: Mounting To Din Track

    4 Installation CPU Rack Power Supply CPU Unit Expansion Configuration Units End Cover Unit Master Unit (4 max.) (included with CPU Unit) Expansion Expansion cable Rack Power Supply Expansion Configuration Units End Cover Unit Slave Unit (4 max.) (included with Expansion Slave Unit) Precautions for Correct Use •...
  • Page 117 4 Installation DIN Track Lock all the DIN Track mounting pins. DIN Track mounting pins Install a DIN Track End Plate on each end of the Controller. To mount an End Plate, hook from the underside (1), hook to the upper side, and then pull downward (2).

  • Page 118: Din Track And Accessories

    4 Installation Precautions for Safe Use Always turn OFF the power supply to the Controller before attempting any of the following. • Mounting or removing CK3W-AX Units or CPU Units. • Assembling the Units. • Setting rotary switches. • Connecting cables or wiring the system. •...

  • Page 119: Assembled Appearance And Dimensions

    4 Installation 4-3-5 Assembled Appearance and Dimensions The CK3M-series Units are connected to each other. An End Cover is connected to the right end. Dimensions  Power Supply Unit Model Unit width (mm) CK3W-PD048  CPU Unit Model Unit width (mm) CK3M-CPU101 63.2 CK3M-CPU111...
  • Page 120 4 Installation  Digital I/O Unit, Analog Input Unit, Expansion Master Unit, and Expansion Slave Unit Model Unit width (mm) CK3W-MD7110 31.6 CK3W-MD7120 CK3W-AD2100 CK3W-AD3100 CK3W-EXM01 CK3W-EXS02  Design Example for Width W CPU Unit Power Supply Unit Expansion Master Unit Configuration Units Unit width Subtotal unit...
  • Page 121 4 Installation Installation Height The installation height of a CK3M-series Controller is 80.0 mm. 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 depth in the control panel containing the Controller.
  • Page 122 4 Installation  For CK3W-AD Unit 120 mm 80 mm  For CK3W-EXM01 and CK3W-EXS02 155 mm 80 mm 4-16 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 123: Control Panel Installation

    4 Installation Control Panel Installation To ensure system reliability and safety, the system must be designed and configured according to the installation environment (temperature, humidity, vibration, shock, corrosive gases, overcurrent, noise, etc.). 4-4-1 Temperature Panels have been reduced in size due to space-saving and miniaturization in devices and systems, and the temperature inside the panel may be at least 10 to 15°C higher than outside the panel.

  • Page 124: Humidity

    4 Installation  Forced Ventilation (by Fan at Top of Panel) Controller Controller Air filter Forced Ventilation Method  Forced Air Circulation (by Fan in Closed Panel) Controller Controller Forced Air Circulation  Room Cooling (Cooling the Entire Room Where the Control Panel Is Lo- cated) Cooler Control panel...

  • Page 125: Vibration And Shock

    4 Installation Control panel Moisture absorber Controller Power ON Heater Examples of Measures against Condensation 4-4-3 Vibration and Shock The Controller is tested for conformity with the sine wave vibration test method (IEC 60068-2-6) and the shock test method (IEC 60068-2-27) of the Environmental Testing for Electrotechnical Products. It is designed so that malfunctioning will not occur within the specifications for vibration and shock.
  • Page 126 4 Installation Example of Recommended Equipment Arrangement Controller Control panel Control panel High-voltage power panel Example of Poor Equipment Arrangement Controller Control panel Control panel High-voltage power panel Examples of Equipment Arrangement in Panel with High-voltage Devices Arrangement of Controller and Units The coils and contacts in electromagnetic contacts and relays in an external circuit are sources of noise.
  • Page 127 4 Installation • Use an isolating transformer to significantly reduce noise between the Controller and the ground. In- stall the isolating transformer between the Controller power supply and the noise filter, and do not ground the secondary coil of the transformer. •...
  • Page 128 4 Installation • If the signal lines and power lines cannot be routed in separate ducts, use shielded cable. Connect the shield to the ground terminal at the Controller, and leave it unconnected at the input device. • Wire the lines so that common impedance does not occur. Such wiring will increase the number of wires, so use common return circuits.
  • Page 129 4 Installation Partition Power Signal Signal Signal supply cables cables cables cables (group A) (group B) (group C) Signal cables Signal cables Signal cables Power supply cables Power supply cables Partitioning Methods for Signal and Power Supply Cables • To avoid overheating the conduits when using conduits for wiring, do not place wires for a single circuit in separate conduits.

  • Page 130: Grounding

    4 Installation High-voltage power panel Metal tubing Power lines Power lines 200 mm Controller Controller Ground to 100 Ω or less 200 mm Example: Separating Controller from Power Lines  Other Precautions • Digital I/O Units have both plus and minus commons, so pay attention to the polarity when wir- ing.
  • Page 131 4 Installation  Equipotential Bonding System Equipotential bonding is an earthing method in which steel frames and building structures, metal ducts and pipes, and metal structures in floors are connected together and make connections to the earth trunk line to achieve a uniform potential everywhere across the entire building. We recom- mend this earthing method.
  • Page 132 4 Installation NX-series CPU Unit CK3M-series Programmable Multi-Axis Controller A device that could Control panel Other device be a noise source 10 m min. b. Installation by connecting devices and noise sources to a common earth electrode This is an earthing method to connect the device that is connected with a communications ca- ble, other devices, and a device that could be a noise source, to a common earth electrode.
  • Page 133 4 Installation NX-series CPU Unit CK3M-series Programmable Multi-Axis Controller A device that could Control panel Other device be a noise source Precautions for Grounding  General Precautions • To prevent electrical shock, do not connect devices to ground poles (or steel frames) with non- equalized potential to which multiple devices are connected.
  • Page 134 4 Installation  Controller Ground Terminals The Controller has the following ground terminal. Grounding Symbol Connection type Functional Ground this terminal when power supply noise causes malfunc- Grounding tioning. When the functional ground terminal is correctly grounded, it is generally effective in suppressing power supply common noise.
  • Page 135 Wiring This section describes how to wire the CK3M-series Programmable Multi-Axis Control- ler. Power Supply Wiring ..................5-2 5-1-1 Power Supply Unit CK3W-PD048..............5-2 5-1-2 Power Supply Used ..................5-2 5-1-3 Applicable Wires ..................... 5-2 5-1-4 Grounding ....................... 5-3 5-1-5 Required Tools....................

  • Page 136: Power Supply Wiring

    We recommend the following power supply. Recommended Power Manufacturer Supply S8VK-S series OMRON Precautions for Correct Use Always wire the CPU Rack and Expansion Rack to the same power supply. 5-1-3 Applicable Wires The wires that you can connect to the terminal block are twisted wires, solid wires, and ferrules that are attached to the twisted wires.

  • Page 137: Grounding

    5 Wiring Using Ferrules If you use ferrules, attach the twisted wires to them. Observe the application instructions for your ferrules for the wire stripping length when attaching fer- rules. Always use plated one-pin ferrules. Do not use unplated ferrules or two-pin ferrules. The applicable ferrules, wires, and crimping tools are listed in the following table.

  • Page 138: Required Tools

    5 Wiring 5-1-5 Required Tools Use a flat-blade screwdriver to remove wires. The recommended screwdriver is as follows. Model Manufacturer SZF 0-0,4X2,5 Phoenix Contact 5-1-6 Connecting Ferrules Insert the ferrule straight into the terminal hole. It is not necessary to press a flat-blade screwdriver into the release hole. Ferrule After you make a connection, make sure that the ferrule is securely connected to the terminal block.

  • Page 139: Removing Wires

    5 Wiring Remove the flat-blade screwdriver from the release hole. After you make a connection, make sure that the twisted wire or the solid wire is securely connected to the terminal block. Precautions for Safe Use • Make sure that all wiring is correct. •...
  • Page 140 5 Wiring Precautions for Safe Use • Make sure that all wiring is correct. • Do not bend the cable forcibly. Doing so may break the cable. CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 141: Cpu Unit Wiring

    5 Wiring CPU Unit Wiring 5-2-1 Laying the EtherCAT Network This section describes how to install EtherCAT networks. Supported Network Topologies The EtherCAT port on the CK3M-series Programmable Multi-Axis Controller can be connected using daisy chain connections with no branching, or with branching connections using Junction Slaves. Examples of topology without branching and with branching (Junction Slaves) are shown below.
  • Page 142 5 Wiring  Branching EtherCAT Master Junction Slave Junction Slave Remote I/O Slave Junction Slave Remote I/O Slave Remote I/O Slave Servo Drive Slave Servo Drive Slave Remote I/O Slave Servo Servo Servo Drive Remote I/O Drive Drive Slave Slave : Output port Slave Slave...
  • Page 143 The table below lists 4-pair cables with 27 AWG conductors. Cable Manufac- Contact informa- length (m) Product name Model turer tion Cable with Connectors on OMRON XS6W-6LSZH8SS30CM- OMRON Customer Both Ends Corpora- Service Center (RJ45/RJ45) tion TEL: 0120-919-066 XS6W-6LSZH8SS50CM- Standard RJ45 connector type XS6W-6LSZH8SS100C XS6W-6LSZH8SS1000C For the latest list of the Cables, refer to the Industrial Ethernet Connectors Catalog (Cat.
  • Page 144 5 Wiring Cable Manufac- Contact informa- length (m) Product name Model turer tion Cable with Connectors on OMRON XS5W-T421-AMD-K OMRON Customer Both Ends Corpora- Service Center XS5W-T421-BMD-K (RJ45/RJ45) tion TEL: 0120-919-066 XS5W-T421-CMD-K Rugged RJ45 connector type XS5W-T421-DMD-K XS5W-T421-GMD-K XS5W-T421-JMD-K Cable with Plugs on Both...
  • Page 145 JMACS Japan Co., Ltd. PNET/B TEL: 03-3239-5204 TEL: 06-4796-0080 RJ45 Assembly Connec- OMRON Corporation OMRON Customer Serv- XS6G-T421-1 tors ice Center TEL: 0120-919-066 We recommend that you use combinations of the above cables and connectors.  Attaching the Connectors to the Cable and Pin Assignments Use straight wiring to attach the connectors to the communications cable, as shown below.

  • Page 146: Laying The Ethernet Network

    5 Wiring Pin No. Signal name Abbreviation Signal direction Transmission data + Output Transmission data − TD− Output Reception data + Input Not used. Not used. Reception data − RD− Input Not used. Not used. Hood Frame ground 5-2-2 Laying the Ethernet Network Installation Precautions Basic precautions for the installation of Ethernet networks are provided below.
  • Page 147 JMACS Japan Co., Ltd. JMACS Japan Co., Ltd. PNET/B TEL: 03-3239-5204 TEL: 06-4796-0080 RJ45 Assembly Connec- OMRON Corporation OMRON Customer Serv- XS6G-T421-1 tors ice Center TEL: 0120-919-066 We recommend that you use combinations of the above cables and connectors. 5-13...
  • Page 148 5 Wiring The table below lists 4-pair cables with 0.5-mm conductors and connectors for 100BASE-TX. Product name Manufacturer Model Contact information Cables Fujikura Ltd. F-LINK-E 0.5 mm × 4 Planning Department, Pairs Kanetsu Co., Ltd. TEL: 075-662-0996 RJ45 Connectors Panduit Corporation MPS588 Panduit Corporation US Headquarters...

  • Page 149: Watchdog Timer Output Wiring

    5 Wiring 5-2-3 Watchdog Timer Output Wiring Applicable Wires The wires that you can connect to the terminal block are twisted wires, solid wires, and ferrules that are attached to the twisted wires. The following section describes the dimensions and processing methods for applicable wires.
  • Page 150 5 Wiring Ferrule After you make a connection, make sure that the ferrule is securely connected 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. Press a flat-blade screwdriver straight into the release hole.

  • Page 151: Usb Memory Device Connection

    5 Wiring 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 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.

  • Page 152: Axis Interface Unit Wiring

    5 Wiring Axis Interface Unit Wiring 5-3-1 Encoder Connector Wiring Connector Arrangement for Digital Quadrature Encoder This section describes the connector arrangement for the CK3W-AX1313£/-AX1414£/-AX1515£ Units. The Unit side connector is a high-density D-sub 15-pin female connector (MIL-C-24308 compliant, lock screw #4-40 UNC). Digital Quadrature En- Digital Quadrature Encoder Symbol...
  • Page 153 5 Wiring Digital Quadrature En- Digital Quadrature Encoder Symbol coder Serial Encoder + Serial Encoder + UVW signal Encoder Power Common Encoder Pow- Com- Encoder Power Common Supply (GND) er Supply Supply (GND) (GND) OutFlagB Output OutFlagB Output OutFlagB Output OutFlagB Shell SHELL...
  • Page 154 5 Wiring Sinusoidal encoder Serial Encoder Sinusoidal encoder Symbol + UVW signal + UVW signal + Serial Encoder Not wired Not wired Not wired Shell SHELL Shield Shield Shield Precautions for Correct Use Do not connect a digital quadrature encoder to a CK3W-AX2323£ Unit. If you connect a digital quadrature encoder, the Unit may be damaged.
  • Page 155 5 Wiring Type Pin No. Cable color Mark Signal Pair 3 Green Black Encoder B+ Green Encoder B- Pair 4 Orange Black Encoder C+ Orange Encoder C- Pair 5 Gray Black OutFlagB Gray Inside the connector, Pin 1 and Pin 5 are short-circuited. Inside the connector, Pin 6 and Pin 10 are short-circuited.
  • Page 156 5 Wiring  For Serial Encoder 3000 24AWG x 3 Pairs Shield Type Pin No. Cable color Mark Signal Pair 1 Blue Black Encoder Power Supply (+5 VDC) Blue Encoder Power Supply (GND) Pair 2 Pink Black Encoder CLK+ Pink Encoder CLK- Pair 3 Green...
  • Page 157 5 Wiring Signal Type Pin No. Cable color Mark U, V, W Serial Encoder Pair 2 Pink Black Hall sensor U Serial Encoder CLK+ Pink Hall sensor V Serial Encoder CLK- Pair 3 Green Black Hall sensor W Serial Encoder DAT+ Green Hall sensor T Serial Encoder DAT-...

  • Page 158: Amplifier Connector Wiring

    5 Wiring Signal Type Pin No. Cable color U, V, W Serial Encoder Pair 1 Blue Encoder Power Supply (+5 VDC) White Encoder Power Supply (GND) Pair 2 Black Hall sensor U Serial Encoder CLK+ Green Hall sensor V Serial Encoder CLK- Pair 3 Yellow Hall sensor W Serial Encoder DAT+...
  • Page 159 5 Wiring Dedicated Cable  For FilteredPWM/TrueDAC type This section describes the cable used for the CK3W-AX1414£/-AX1515£ Units. The dedicated cable for wiring to the FilteredPWM/TrueDAC type amplifier connector is provided as an option. The amplifier connection side has discrete wires. Wire in accordance with the Servo Drive specifi- cations.

  • Page 160: Flag Terminal Block/General I/O Terminal Block Wiring

    5 Wiring Type Model Length (L) For DirectPWM type CK3W-CAAD009A 0.9 m CK3W-CAAD018A 1.8 m CK3W-CAAD036A 3.6 m 5-3-3 Flag Terminal Block/General I/O Terminal Block Wiring This section describes the wiring for the flag connection terminal block and the general digital I/O con- nection terminal block.
  • Page 161 5 Wiring Conductor length Wire type Conductor cross-sectional area (stripping length) Solid wire 10 mm 0.14 to 1.5 mm Twisted wire  Required Tools Use a flat-blade screwdriver to remove wires. The recommended screwdriver is as follows. Model Manufacturer SZF 0-0,4X2,5 Phoenix Contact ...
  • Page 162 5 Wiring Pull the flat-blade screwdriver away from the release button. After you make a connection, make sure that the twisted wire or the solid wire is securely connect- ed to the terminal block. Precautions for Safe Use • Make sure that all wiring is correct. •...
  • Page 163 5 Wiring Precautions for Safe Use • Make sure that all wiring is correct. • Do not bend the cable forcibly. Doing so may break the cables.  Installing a Terminal Block Insert the terminal block into the main body, and press hard to click the terminal block into place on the Unit.
  • Page 164 5 Wiring  Relation between ON voltage of the general digital input / flag input and sensor residual voltage ≤ V : ON voltage of general digital input and flag input : Input voltage of general digital input and flag input : Output residual voltage of sensor ...
  • Page 165 5 Wiring General digital input Two-wire sensor and flag input : Power supply voltage : Output residual voltage of sensor : ON voltage of general digital input and flag input : Sensor control output (load current) : OFF voltage of general digital input and flag input I : Sensor leakage current leak : ON current of general digital input and flag input...
  • Page 166 5 Wiring NPN type PNP type Transistor Output Transistor Output Unit Unit Countermeasure 2 Mount a limiting resistor. NPN type PNP type Transistor Output Transistor Output Unit Unit 5-32 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 167: Digital I/O Unit Wiring

    5 Wiring Digital I/O Unit Wiring This section describes the wiring for the digital I/O connection terminal block. 5-4-1 Wiring the Terminals Applicable Wires The wires that you can connect to the terminal block are twisted wires, solid wires, and ferrules that are attached to the twisted wires.
  • Page 168 5 Wiring Connecting Ferrules Insert the ferrule straight into the terminal hole. It is not necessary to press a flat-blade screwdriver against the release button. Ferrule After you make a connection, make sure that the ferrule is securely connected 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.
  • Page 169 5 Wiring After you make a connection, make sure that the twisted wire 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 cables. Removing Wires Use the following procedure to remove the wires from the terminal block.

  • Page 170: Precautions When Connecting A Two-Wire Dc Sensor

    5 Wiring Installing a Terminal Block Insert the terminal block into the main body, and press hard to click the terminal block into place on the Unit. After 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.
  • Page 171 5 Wiring Relation between Input Current to the Digital Input and Sensor Control Output (Load Current) (min) ≤ I ≤ I (max) Precautions for Correct Use The digital input is constant current type input. For constant current type input, the input current does not increase linearly with the input volt- age.

  • Page 172: Precautions When Connecting To Digital Output

    5 Wiring : ON voltage of digital input : Sensor control output (load current) : OFF voltage of digital input I : Sensor leakage current leak : ON current of digital input R: Bleeder resistor : OFF current of digital input Precautions for Sensor Inrush Current An incorrect input may occur due to sensor inrush current if a sensor is turned ON after the Unit has started up to the point where inputs are possible.
  • Page 173 5 Wiring  Countermeasure 2 Mount a limiting resistor. NPN type PNP type Transistor Output Transistor Output Unit Unit 5-39 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 174: Analog Input Unit Wiring

    5 Wiring Analog Input Unit Wiring This section describes the wiring for the analog input connection terminal block. 5-5-1 Wiring the Terminals Applicable Wires The wires that you can connect to the terminal block are twisted wires, solid wires, and ferrules that are attached to the twisted wires.
  • Page 175 5 Wiring Connecting Ferrules Insert the ferrule straight into the terminal hole. It is not necessary to press a flat-blade screwdriver against the release button. Ferrule After you make a connection, make sure that the ferrule is securely connected 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.
  • Page 176 5 Wiring After you make a connection, make sure that the twisted wire 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 cables. Removing Wires Use the following procedure to remove the wires from the terminal block.
  • Page 177 5 Wiring Installing a Terminal Block Insert the terminal block into the main body, and press hard to click the terminal block into place on the Unit. After 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.

  • Page 178: Expansion Master Unit And Expansion Slave Unit Wiring

    5 Wiring Expansion Master Unit and Expan- sion Slave Unit Wiring For connection 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 5-44 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 179: Troubleshooting

    Troubleshooting This section describes the confirmation methods and corrections for errors that occur in the CK3M-series Programmable Multi-Axis Controller. Types of Errors ....................6-2 Using the Indicators to Check Errors............6-3 6-2-1 Indicator Types ....................6-3 6-2-2 Procedure for Identifying Errors..............6-3 Troubleshooting for Errors................

  • Page 180: Types Of Errors

    6 Troubleshooting Types of Errors The errors in the Motion Controller are classified into the following two major categories. • Fatal 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 still operating.

  • Page 181: Using The Indicators To Check Errors

    6 Troubleshooting Using the Indicators to Check Errors 6-2-1 Indicator Types The Motion Controller indicators used for error checks and their functions are as shown below. Unit Indicator name Description Power Supply Unit PWR Shows that power is being supplied to the Unit. CPU Unit Shows the CPU Unit internal power status.
  • Page 182 6 Troubleshooting Error occurs. Fatal errors in the CPU Unit Power Power Supply Unit Supply Unit Power supply error PWR (green) CPU Unit CPU Unit power supply error PWR (green) CPU Unit Hardware watchdog timer error ERR (red) Initial process error Power CPU Unit PMAC IDE...

  • Page 183: Troubleshooting For Errors

    6 Troubleshooting Troubleshooting for Errors 6-3-1 Fatal Errors in the CPU Unit For fatal errors in the CPU Unit, take the following corrective actions depending on the nature of the error. Description Cause Corrective action Power Supply Unit Power is not supplied Check the following items and adequately supply power to the power supply error to the Power Supply...

  • Page 184: Non-Fatal Errors In The Cpu Unit

    6 Troubleshooting Description Cause Corrective action Hardware watchdog Unit disconnection Make sure that the Units are connected correctly. timer error during operations Illegal user program Refer to 6-3-3 Initialization of CPU Unit Using USB Memory on page 6-8, and execute re-initialization. Ingress of conductive If there is conductive material nearby, blow air through the CPU object...
  • Page 185 6 Troubleshooting Description Cause Corrective action Ethernet physical layer link not The Ethernet cable used for If the Ethernet cable is broken or if the speci- established Ethernet communications is fied cable is not being used, replace the cable. broken or the specified cable is not being used.

  • Page 186: Initialization Of Cpu Unit Using Usb Memory

    6 Troubleshooting Description Cause Corrective action Position data for encoder con- The wiring is incorrect. Check that the wiring is correct. nected to CK3W-AX Unit not The connected device is faul- Replace the connected device. converted correctly The settings are incorrect. Correct the settings.

  • Page 187: Sys.status Register

    6 Troubleshooting Sys.Status Register 6-4-1 Sys.Status Register List If an error cannot be identified with indicators, the error status can be confirmed in the Sys.Status reg- ister. If an error occurs during operation, check the Sys.Status register with the user program and take suit- able action to avoid dangerous operation.
  • Page 188 6 Troubleshooting  CK3WHWChange Register name Sys.CK3WHWChange Description The CK3W hardware configuration was changed during operation. Range 0 to 1 Details Checks if there were any changes in the configurations of the connected CK3W Unit and End Cover during operation. 0: No changes in hardware configurations during operation 1: Changes in hardware configurations during operation Detection timing...
  • Page 189 6 Troubleshooting  CK3WConfigErr Register name Sys.CK3WConfigErr Description There is an error in the CK3W hardware configuration. Range 0 to 7 Details Checks that there are no errors in the configurations of the connected CK3W Unit and End Cover. 0: No hardware configuration error 1: No End Cover 2: Five or more CK3W Units are installed to the CPU Rack or Expansion Rack, except for the Expansion Master Unit and Expansion Slave Unit.
  • Page 190 6 Troubleshooting Noise If the error occurs even af- Implement noise counter- • ter making the above cor- measures. Data corruption in bus signals rection, check noise entry • paths such as the FG and Malfunction of bus inter- face circuit the power supply lines and implement noise counter- measures as required.
  • Page 191 6 Troubleshooting  AbortAll Register name Sys.AbortAll Description Stop based on Abort all input Range 0 to 1 Details 0: No stop based on Abort all input 1: Stopped based on Abort all input, or stopped in the past based on "Abort all" input. Detection timing With Abort all input Recovery...
  • Page 192 6 Troubleshooting  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 ($$$***).
  • Page 193 6 Troubleshooting  HWChangeErr Register name Sys.HWChangeErr Description After the save, the hardware configuration was changed. Range 0 to 1 Details 0: No change in hardware configuration. 1: After the save, the hardware configuration was changed. Detection timing When power is turned ON or reset Recovery Cycle the power supply, reset command ($$$) Effects...
  • Page 194 6 Troubleshooting  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 reset Recovery Cycle the power supply, reset command ($$$) Effects Operate at default settings.
  • Page 195 6 Troubleshooting  ProjectLoadErr Register name Sys.ProjectLoadErr Description User Project File Read Error Range 0 to 1 Details 0: No error 1: User Project File Read Error Detection timing When power is turned ON or reset Recovery Cycle the power supply, reset command ($$$), downloading Effects Operate at default settings.
  • Page 196 6 Troubleshooting  WDTFault Register name Sys.WDTFault Description Software Watchdog Timer Error Status Range 0 to 3 Details Sys.WDTFault shows the software watchdog timer operation status with 2-bit data. Bit0: Background software watchdog timer error 0: No background watchdog timer 1: Background watchdog timer operates Bit1: Real-time interruption software watchdog timer error 0: No real-time interruption watchdog timer...

  • Page 197: Inspection And Maintenance

    Inspection and Maintenance This section describes the cleaning, inspection, and maintenance of the CK3M-series Programmable Multi-Axis Controller. Cleaning and Maintenance ................7-2 7-1-1 Cleaning......................7-2 7-1-2 Periodic Inspections..................7-2 Maintenance Procedures................7-4 7-2-1 Unit Replacement Precautions ............... 7-4 7-2-2 Backup......................7-4 7-2-3 Unit Replacement ...................

  • Page 198: Cleaning And Maintenance

    7 Inspection and Maintenance Cleaning and Maintenance This section describes daily maintenance and the cleaning and inspection methods. Daily or periodic inspections are required in order to maintain the CK3M-series Programmable Multi- Axis Controller's functions in peak operating condition. 7-1-1 Cleaning Perform the following cleaning procedures periodically to ensure the CK3M-series Programmable Mul- ti-Axis Controller is maintained in the best operating condition.
  • Page 199 7 Inspection and Maintenance Inspec- Inspection details Criteria Correction tion item Ambient Check the ambient tempera- 0 to 55°C Use a thermometer to check the tempera- environ- ture and ensure that the ambient tempera- ture. ment ture remains within the allowed range of 0 to 55°C.

  • Page 200: Maintenance Procedures

    7 Inspection and Maintenance Maintenance Procedures This section describes the procedures to back up the data in the CPU Unit and to replace the Unit. Use Power PMAC IDE Ver.4.0 or a higher version. 7-2-1 Unit Replacement Precautions If you find any faulty Units during inspection, replace the Unit according to the following points. •...
  • Page 201 7 Inspection and Maintenance Step Description Reference Execute save In the terminal window, input the save command, and save the pro- gram in the built-in flash memory. Execute reset In the terminal window, input the reset command $$$, and reset the CPU Unit.
  • Page 202 7 Inspection and Maintenance CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 203: Appendices

    Appendices The appendices provide the general specifications, the Unit dimensions, and restric- tions on using the OMRON EtherCAT Coupler Unit. General Specifications ................. A-2 Dimensions ....................A-3 A-2-1 CPU Unit......................A-3 A-2-2 Power Supply Unit ..................A-4 A-2-3 Axis Interface Unit................... A-4 A-2-4 CK3W-MD and CK3W-AD Units ..............

  • Page 204: A-1 General Specifications

    Appendices A-1 General Specifications This section describes the Motion Controller specifications. Item Specification Enclosure Mounted in a panel Grounding Method Ground to less than 100 Ω. Ambient Operating 0 to 55°C Temperature Ambient Operating Hu- 10% to 95% (with no condensation or icing) midity Atmosphere Must be free of corrosive gases.

  • Page 205: A-2 Dimensions

    Appendices A-2 Dimensions Dimensions are shown below. The unit of dimension is millimeters. A-2-1 CPU Unit 63.2 63.2 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 206: A-2-2 Power Supply Unit

    Appendices A-2-2 Power Supply Unit A-2-3 Axis Interface Unit 9 10 11 12 13 14 15 9 10 11 12 13 14 15 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 207: A-2-4 Ck3W-Md And Ck3W-Ad Units

    Appendices A-2-4 CK3W-MD and CK3W-AD Units CK3W-MD Unit 31.6 CK3W-AD Unit 31.6 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 208: A-2-5 Expansion Master Unit And Expansion Slave Unit

    Appendices A-2-5 Expansion Master Unit and Expansion Slave Unit Expansion Master Unit 31.6 Expansion Slave Unit 31.6 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 209: A-2-6 End Cover

    Appendices A-2-6 End Cover 15.6 15.6 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 210: Restrictions On Using The Nx-Series Ethercat Coupler Unit

    A-3 Restrictions on Using the NX-series EtherCAT Coupler Unit When OMRON NX-series EtherCAT Coupler Units are used as slaves with the CPU Unit as the Ether- CAT master, the following models and unit versions of EtherCAT Coupler Units can be connected.

  • Page 211: Omron Servo Drive Connection Example

    Appendices A-4 OMRON Servo Drive Connection Ex- ample This section shows an example of a connection between a CK3W-AX1414£ or CK3W-AX1515£ Unit and an OMRON G5-series Servo Drive R88D-KT£££. Main circuit power supply Main circuit contactor OFF ON Three-phase, 200 to 240 VAC,...

  • Page 212: A-5 Version Information

    Appendices A-5 Version Information This section provides version information that you need to know when connecting a CK3W Unit to a CPU Unit and PowerPMAC IDE. The table below specifies the correspondence between each CK3W Unit and the versions of CPU Unit and Power PMAC IDE.

  • Page 213: A-6 How To Read The Lot Number

    Day of production: 1 to 31 Month of production: 1 to 9, X (October), Y (November), Z (December) Year of production: Last two digits of the year OMRON’s control number £ A-11 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 214 Appendices A-12 CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

  • Page 215: Index

    Index CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
  • Page 216 Index Index Output Status..............3-7 Applicable Wires......5-2, 5-15, 5-26, 5-33, 5-40 Performance Specifications..........3-3 Power Supply Unit............3-10 Basic Configuration............ 1-2, 2-2 PWR.................. 3-6 Cleaning................7-2 RDY................... 3-7 CPU Rack................2-2 Recommended Power Supplies........3-10 CPU Unit................3-3 Crimping Tool........5-3, 5-15, 5-26, 5-33, 5-40 Slider.................
  • Page 218 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2018-2019 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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