Omron CK3W-GC2200 Manuals

Manuals and User Guides for Omron CK3W-GC2200. We have 3 Omron CK3W-GC2200 manuals available for free PDF download: Hardware User Manual, Application Manual

Omron CK3W-GC2200 Hardware User Manual (288 pages)

Programmable Multi-Axis Controller

Brand: Omron | Category: Controller | Size: 9 MB

Intended Audience
3
Applicable Products
3
Manual Structure
4
Page Structure
4
Special Information
5
Sections in this Manual
7
Table of Contents
8
Terms and Conditions Agreement
13
Warranty, Limitations of Liability
13
Application Considerations
14
Disclaimers
14
Statement of Security Responsibilities for Assumed Use Cases and against Threats
15
Safety Precautions
16
Definition of Precautionary Information
16
Symbols
16
Warning
17
Cautions
19
Precautions for Safe Use
20
Precautions for Correct Use
25
Regulations and Standards
27
Conformance to EU Directives
27
Condition for Compliance with EU Directives
27
Conformance to UL and CSA Standards
28
Conformance to KC Certification
28
Versions
29
Checking Versions
29
Related Manuals
30
Terminology
31
Revision History
32
Introduction to Motion Controllers
33
Features and System Configuration
34
Motion Controller Features
34
Introduction to the System Configurations
34
Support Software
35
Basic Configuration
35
CK3W Unit Configuration
35
Ethercat Network Configuration
36
Basic Configuration
40
CK3W Unit Configuration
40
Ethercat Network Configuration
40
Connecting to the Power PMAC IDE
43
Ethernet Network Configuration
44
CPU Unit
47
Models and Specifications
47
Part Names and Functions
49
Operation Status Indicators
50
Watchdog Output Terminal Block
51
USB Memory Device
53
Power Supply Unit
54
Models and Specifications
54
Part Names and Functions
55
Axis Interface Unit
56
Models and Specifications
56
Part Names and Functions
58
Operation Status Indicators
59
Address Switch Setting
60
Encoder Connector Specifications
60
Encoder Loss Detection
66
Pulse Input Timing Specifications for Digital Quadrature Encoder
67
Input Specifications for Sinusoidal Encoder
69
Outflag Function
71
Amplifier Connector Specifications
72
Output Method
75
Directpwm Output Method
76
Flag Connection Terminal Block Specifications
77
General Digital I/O Connection Terminal Block Specifications
82
Digital I/O Unit
89
Models and Specifications
89
Part Names and Functions
93
Operation Indicators
94
Address Switch Setting
94
Terminal Arrangement
95
I/O Data
96
Analog Input Unit
98
Models and Specifications
98
Part Names and Functions
99
Operation Indicators
100
Address Switch Setting
100
Terminal Arrangement
101
Analog Input Data
102
Input Filter
103
Encoder Input Unit
105
Models and Specifications
105
Part Names and Functions
107
Operation Indicators
107
Address Switch Setting
107
Terminal Arrangement
108
Software Settings
108
Laser Interface Unit
110
Models and Specifications
110
Part Names and Functions
114
Operation Indicators
115
Address Switch Setting
115
Terminal Arrangement
116
XY2-100 Interface
116
SL2-100 Interface
120
PWM Output Function
124
TCR Output Function
126
Software Settings
128
Expansion Master Unit and Expansion Slave Unit
131
Models and Specifications
131
Part Names and Functions
132
Operation Indicators
133
System Configuration
133
Processing at Power on and Power off
136
Power on Operation
136
Power off Operation
136
Fail-Safe Circuits
138
Unit Installation
140
Installation in a Control Panel
140
Connection between Units
144
Mounting to DIN Track
145
DIN Track and Accessories
147
Assembled Appearance and Dimensions
148
Control Panel Installation
153
Temperature
153
Humidity
154
Vibration and Shock
155
Atmosphere
155
Electrical Environment
155
Grounding
160
Wiring
165
Power Supply Wiring
166
Power Supply Unit CK3W-PD048
166
Power Supply Used
166
Applicable Wires
166
Grounding
167
Required Tools
168
Connecting Ferrules
168
Connecting Twisted Wires/Solid Wires
168
Removing Wires
169
CPU Unit Wiring
171
Laying the Ethercat Network
171
Laying the Ethernet Network
176
Watchdog Timer Output Wiring
178
USB Memory Device Connection
181
Axis Interface Unit Wiring
182
Encoder Connector Wiring
182
Amplifier Connector Wiring
188
Flag Terminal Block/General I/O Terminal Block Wiring
190
Digital I/O Unit Wiring
197
Wiring the Terminals
197
Precautions When Connecting a Two-Wire DC Sensor
200
Precautions When Connecting to Digital Output
202
Analog Input Unit Wiring
204
Wiring the Terminals
204
Encoder Input Unit
208
Encoder Connector Wiring
208
Dedicated Cable
208
Laser Interface Unit
210
Galvo Scanner Connector Wiring
210
Laser Connector Wiring
212
Expansion Master Unit and Expansion Slave Unit Wiring
214
Troubleshooting
215
Types of Errors
216
Using the Indicators to Check Errors
217
Indicator Types
217
Procedure for Identifying Errors
217
Troubleshooting for Errors
219
Fatal Errors in the CPU Unit
219
Non-Fatal Errors in the CPU Unit
220
Initialization of CPU Unit Using USB Memory
223
Sys.status Register
224
Sys.status Register List
224
Details of Flags
225
Ethernet/Ip Connection Status Codes and Troubleshooting
234
Inspection and Maintenance
237
Cleaning and Inspection
238
Cleaning
238
Periodic Inspections
238
Maintenance Procedures
240
Unit Replacement Precautions
240
Backup
240
Unit Replacement
240
Appendices
243
A-1 General Specifications
245
A-2 Dimensions
246
A-2-1 CPU Unit
246
CPU Unit
246
A-2-2 Power Supply Unit
247
A-2-3 Axis Interface Unit
247
A-2-4 CK3W-MD and CK3W-AD Units
248
A-2-5 CK3W-ECS and CK3W-GC Units
249
A-2-6 Expansion Master Unit and Expansion Slave Unit
250
A-2-7 End Cover
251
Restrictions on Using the NX-Series Ethercat Coupler Unit
252
OMRON Servo Drive Connection Example
253
A-5 Version Information
254
A-6 How to Read the Lot Number
255
A-7 Supported CIP Objects
256
A-7-1 Identity Object (Class ID: 01 Hex
256
Identity Object (Class ID: 01 Hex
256
A-7-2 Assembly Object (Class ID: 04 Hex
257
TCP/IP Interface Object (Class ID: F5 Hex
258
A-7-4 Ethernet Link Object (Class ID: F6 Hex
259
Software Reference of Encoder Input Unit
263
A-8-1 Gate3[I].Serialencctrl (Serial Encoder Control
263
Gate3[I].Serialencctrl (Serial Encoder Control
263
A-8-2 Gate3[I].Chan[J].Serialencena (Serial Encoder Enable
266
A-8-3 Gate3[I].Chan[J].Serialenccmd (Serial Encoder Command
266
A-8-4 Gate3[I].Chan[J].Serialencdataa (Serial Encoder Data a
269
A-8-5 Gate3[I].Chan[J].Serialencdatab (Serial Encoder Data B
270
A-8-6 Gate3[I].Chan[0].Status (Internal Memory Error Detection
273
Software Reference of Laser Interface Unit
275
Gate3[I].Serialencctrl (Control Register
275
A-9-2 Gate3[I].Chan[J].Dac[0] (Setting of Command Position and Control Command
276
A-9-3 Gate3[I].Chan[J].Dac[1] (Setting of Command Position Compensation Value
277
A-9-3 Gate3[I].Chan[J].Dac[1] (Setting of Command Position Compensa- Tion Value
277
A-9-4 Gate3[I].Chan[J].Serialencdataa (Command Position after Interpolation, Reception Data
277
A-9-4 Gate3[I].Chan[J].Serialencdataa (Command Position after Interpola- Tion, Reception Data
277
A-9-5 Gate3[I].Chan[J].Serialencdatab (Status Data
278
A-9-6 Gate3[I].Chan[0].Compa (PWM Output Setting
279
A-9-7 Gate3[I].Chan[1].Compa (PWM Output Delay Setting
280
A-9-8 Gate3[I].Chan[2].Compa (PWM Output Pulse Count
280
Gate3[I].Chan[0].Compb (TCR Output Command Distance Setting
281
A-9-10 Gate3[I].Chan[1].Compb (TCR Output Comparison Table Setting
281
A-9-11 Gate3[I].Chan[2].Compb (TCR Output Control Register
281
A-9-12 Gate3[I].Chan[3].Compb (TCR Output Status Register
282
A-9-13 Gate3[I].Chan[0].Status (Internal Memory Error Detection
282

Omron CK3W-GC2200 Application Manual (90 pages)

Programmable Multi-Axis Controller

Brand: Omron | Category: Controller | Size: 8 MB

Table of Contents
4
Sections in this Manual

6
Related Manuals

6
Revision History

7
Terms and Definitions

8
Precautions

9
- Symbols
  9
  - Introduction
    11
1-1 Introduction

13
- Device Configuration
  13
2-1 Device Configuration

17
- Connection Procedures
  17
Work Flow

18
Controller Setting Preparations

20
- Creation of a New Project
  20
- Controller Initial Setting
  21
Setup of the MOTF

23
- Programming
  23
- Determination of Filter's Coefficients
  29
Setup of the Motors and Encoder

37
- Wiring of Devices
  37
- Programming
  38
- Tuning of the Current Loop
  42
- Establishment of the Phase Reference
  44
- Open-Loop Testing
  45
- Position Loop Auto-Tuning
  46
- Position Loop Interactive Tuning
  47
- Tuning of the y Axis
  51
- Confirmation of the Tuning Results
  52
Setup of Overtravel Limit Switches and Home Positions

55
Setup of the Galvo Scanner

60
- Wiring of Devices
  60
- Programming
  61
- Setup of Control Commands
  63
- Confirmation of the Settings
  65
- Verification of the MOTF on the Actual Machine
  66
Setup of the Laser Oscillator

67
- Wiring of Devices
  67
- Guide Laser Output
  67
- Programming
  69
- Setup of the Laser Oscillator
  72
- Confirmation of the Settings
  74
Globaldefinitions.pmh

78
Motiononthefly.pmh

79
Motorcontrol.pmh

80
Sensorcontrol.pmh

83
Galvano.pmh

84
Lasercontrol.pmh

86
Tcrconfigurations.pmh

87

Omron CK3W-GC2200 Application Manual (90 pages)

Programmable Multi-Axis Controller

Brand: Omron | Category: Controller | Size: 8 MB

Table of Contents
4
Precautions
6
Symbols
6
Related Manuals
7
Terms and Definitions
8
Revision History
9
About this Guide
11
Introduction
12
Target Device and Device Configuration
13
Device Configuration
14
Connection Procedures
17
Work Flow
18
Controller Setting Preparations
20
Creation of a New Project
20
Controller Initial Setting
21
Setup of the MOTF
23
Programming
23
Determination of Filter's Coefficients
29
Setup of the Motors and Encoder
37
Wiring Devices
37
Programming
38
Tuning of the Current Loop
42
Establishment of the Phase Reference
44
Open-Loop Testing
45
Position Loop Auto-Tuning
46
Position Loop Interactive Tuning
47
Tuning of the y Axis
51
Confirmation of the Tuning Results
52
Setup of Overtravel Limit Switches and Home Positions
55
Wiring of Devices
55
Programming
55
Confirmation of the Settings (Overtravel Limit Switches)
57
Setup of Home Positions
58
Setup of the Galvo Scanner
60
Wiring of Devices
60
Programming
61
Setup of Control Commands
63
Confirmation of the Settings
65
Verification of the MOTF on the Actual Machine
66
Setup of the Laser Oscillator
67
Wiring of Devices
67
Guide Laser Output
67
Programming
69
Setup of the Laser Oscillator
72
Confirmation of the Settings
74
Globaldefinitions.pmh
78
Motiononthefly.pmh
79
Motorcontrol.pmh
80
Sensorcontrol.pmh
83
Galvano.pmh
84
Lasercontrol.pmh
86
Tcrconfigurations.pmh
87

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Omron CK3W-GC2200 Manuals

Omron CK3W-GC2200 Hardware User Manual (288 pages)

Table of Contents

Omron CK3W-GC2200 Application Manual (90 pages)

Table of Contents

Sections in this Manual

Related Manuals

Revision History

Terms and Definitions

Precautions

1-1 Introduction

2-1 Device Configuration

Work Flow

Controller Setting Preparations

Setup of the MOTF

Setup of the Motors and Encoder

Setup of Overtravel Limit Switches and Home Positions

Setup of the Galvo Scanner

Setup of the Laser Oscillator

Globaldefinitions.pmh

Motiononthefly.pmh

Motorcontrol.pmh

Sensorcontrol.pmh

Galvano.pmh

Lasercontrol.pmh

Tcrconfigurations.pmh

Omron CK3W-GC2200 Application Manual (90 pages)

Table of Contents

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