Omron CK3M-CPU1 1 Series Startup Manual
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Omron CK3M-CPU1 1 Series Startup Manual

Omron CK3M-CPU1 1 Series Startup Manual

Serial encoder biss-c/endat 2.1/2.2/1s motor
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Programmable Multi-Axis Controller
Startup Guide
for Serial Encoder
BiSS-C/EnDAT 2.1/2.2/1S Motor
CK3M-CPU1
1
CK3W-ECS300
O051-E1-01

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Summary of Contents for Omron CK3M-CPU1 1 Series

  • Page 1 Programmable Multi-Axis Controller Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor  CK3M-CPU1 CK3W-ECS300 O051-E1-01...
  • 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. • Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsi- bility for errors or omissions.
  • Page 3 Sections in this Manual Sections in this Manual Introduction Device Configuration Serial Encoder Connection Procedures Serial Encoder Status and Error Information Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

  • Page 4: Table Of Contents

    CONTENTS CONTENTS Sections in this Manual ................... 3 Related Manuals....................... 5 Revision History....................... 6 Terms and Definitions....................7 Precautions ......................8 Section 1 Introduction Summary..........................1-2 1-1-1 Intended Audience ........................1-2 Section 2 Device Configuration Device Configuration......................2-2 Section 3 Serial Encoder Connection Procedures Work Flow..........................3-2 Controller Setting Preparations....................3-3 3-2-1...

  • Page 5: Related Manuals

    “Precautions for Safe Use”, and other contents of the manuals or user’s guides, including “Precautions for Correct Use”, before use. The manuals provided by OMRON Corporation (hereinafter, “OMRON”) and Delta Tau Data Systems Inc. (hereinafter “DT”) are as shown below.

  • Page 6: 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. Cat. No. O051-E1-01 Revision code Revision Date Revised content code May 2021 Original production Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

  • Page 7: Terms And Definitions

    Terms and Definitions Terms and Definitions Term Description and definition PMAC An acronym for Programmable Multi-Axis Controller. Power PMAC IDE Computer software that is used to configure the Controller, create user programs, and perform monitoring. Serial Encoder An encoder that uses communications to perform data transfer. Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

  • Page 8: Precautions

    • No part or the whole of this document may be copied, duplicated, or redistributed without the per- mission of OMRON Corporation. • The contents of this document are current as of May 2021. The contents of this document may be subject to change without notice for the purpose of improve- ment.
  • Page 9 Introduction This section provides an introduction of this document. Summary ......................1-2 1-1-1 Intended Audience ..................1-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

  • Page 10: Intended Audience

    1 Introduction Summary This document summarizes the procedures and confirmation methods for connecting a Serial Encoder that supports the BiSS-C, EnDAT2.1/2.2, or 1S Motor serial communications protocol with the OM- RON Programmable Multi-Axis Controller CK3M-CPU1£1 (hereinafter called “Controller”). Understanding the settings and key points of the setting procedures described in Section 3 Serial En- coder Connection Procedures on page 3-1, helps you configure the Controller to communicate with a Serial Encoder that supports each protocol and receive absolute position information.

  • Page 11: Device Configuration

    Device Configuration This section describes the configuration of devices. Device Configuration ..................2-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
  • Page 12 CK3W-CAES03A (for BiSS-C or EnDat2.2/2.1) S8VK- R88A-CR1A (for 1S Motor) Serial Encoder Manufacturer Name Model Version OMRON Programmable Multi-Axis Controller CK3M-CPU1£1 Ver. 2.6.1 or lat- CPU Unit OMRON Programmable Multi-Axis Controller CK3W-ECS300 Axis Interface Unit OMRON Programmable Multi-Axis Controller...

  • Page 13: Serial Encoder Connection Procedures

    Serial Encoder Connection Proce- dures This section describes the procedures to connect the Controller and Serial Encoder. The description assumes that the Controller is set to factory default. Work Flow ....................... 3-2 Controller Setting Preparations ..............3-3 3-2-1 Creation of a New Project ................3-3 3-2-2 Controller Initial Setting ...................

  • Page 14: Work Flow

    3 Serial Encoder Connection Procedures Work Flow The procedures for connecting the Controller and Serial Encoder are shown below. 3-2 Controller Setting Preparations on page Perform the Controller setting preparations. 3-2-1 Creation of a New Project on page 3-3 3-2-2 Controller Initial Setting on page 3-4 3-3 Serial Encoder Wiring on page 3-6 Perform wiring for each device.

  • Page 15: Controller Setting Preparations

    3 Serial Encoder Connection Procedures Controller Setting Preparations Perform the Controller setting preparations. Install the Power PMAC IDE on the PC beforehand. 3-2-1 Creation of a New Project Follow the procedure below to create a new project. Connect the Controller and computer with an Ethernet cable.

  • Page 16: Controller Initial Setting

    3 Serial Encoder Connection Procedures From the File menu, select New ‒ Project. Input a project name and save destina- tion, and select the OK button. 3-2-2 Controller Initial Setting Follow the procedure below to perform the initial settings for the Controller. Precautions for Correct Use Since all memory is cleared by the initial settings, be sure to save any data remaining in the Controller that you may need.
  • Page 17 3 Serial Encoder Connection Procedures Type the save command in the Power PMAC IDE Terminal. • When the save is completed, "Save Completed" is displayed in the Termi- nal. Type the $$$ command in the Power PMAC IDE Terminal. • When the reset is completed, "PowerPMAC Reset complete"...

  • Page 18: Serial Encoder Wiring

    3 Serial Encoder Connection Procedures Serial Encoder Wiring Perform wiring for the Axis Interface Unit and various Serial Encoders in accordance with the wiring diagrams below. • If BiSS-C Encoder Is Used CK3W-ECS300 RL26 Encoder Connector BiSS-C Encoder Connector CK3W-CAES03A Signal Pin No.

  • Page 19: Various Controller Settings And Checking Operation

    3 Serial Encoder Connection Procedures Various Controller Settings and Checking Operation Perform the settings for connecting the Controller to the Serial Encoder. Open the global definitions.pmh under PMAC Script Language – Global Includes in the Solution Explorer. Write the text shown on the right to the Sys.WpKey = $AAAAAAAA global definitions.pmh.
  • Page 20 3 Serial Encoder Connection Procedures Add the text shown on the right to the glob- For BiSS-C encoders with the following conditions • al definitions.pmh. The bit transmission rate is 2 MHz. • The settings must be written according to A trigger is received at the rising edge of every phase clock cy- the encoder specifications.
  • Page 21 3 Serial Encoder Connection Procedures Download the project. Right click on the Solution Explorer project name at the upper right of the Pow- er PMAC IDE screen, select Build and Download All Programs, and execute Build and Download. Make sure that there are no errors in the Output window.
  • Page 22 3 Serial Encoder Connection Procedures Precautions for Correct Use If the save command is not successfully completed, the transferred project is not saved in the Controller. If the power to the Controller is switched OFF without the project being saved, the transferred project is destroyed.

  • Page 23: Serial Encoder Status And Error Information

    Serial Encoder Status and Error Information This section describes the status and error information for various Serial Encoders. This information is stored in Gate3[i].Chan[j].SerialEncDataB. For details, refer to the Power PMAC Software Reference Manual (SBCE-405) provided by DT. BiSS-C Encoder Error Information ............... 4-2 EnDAT2.2 Encoder Status and Error Information ........

  • Page 24: Biss-C Encoder Error Information

    4 Serial Encoder Status and Error Information BiSS-C Encoder Error Information For the BiSS-C encoder, Gate3[i].Chan[j].SerialEncDataB is set as follows. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Error Status...

  • Page 25: Endat2.2 Encoder Status And Error Information

    4 Serial Encoder Status and Error Information EnDAT2.2 Encoder Status and Error Information For the EnDAT2.2 encoder, Gate3[i].Chan[j].SerialEncDataB is set as follows. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Error Position...

  • Page 26: Motor Encoder Status And Error Information

    4 Serial Encoder Status and Error Information 1S Motor Encoder Status and Error Information For the 1S Motor encoder, Gate3[i].Chan[j].SerialEncDataB is set as follows. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Error Position...
  • Page 28 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 2021 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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