How it Works
Omron
Loading...
CK3E-1210
User Manual
82 pgs4.8 Mb0
Table of contents
Loading...

Omron CK3E-1210 User Manual

Download
CK3E-series
Programmable Multi-Axis Controller
Hardware User’s Manual
CK3E-110
Programmable Multi-Axis Controller
I610-E1-01
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. 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 responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction

Thank you for purchasing a CK3E-series Programmable Multi-Axis Controller.
This manual contains information that is necessary to use the CK3E-series Programmable Multi-Axis Controller. Please read this manual and make sure you understand the functionality and performance of the CK3E-series Programmable Multi-Axis Controller before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys­tems (ie: be of the rank of electrical engineer or equivalent).
• Personnel in charge of introducing FA devices.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA devices.
• Personnel in charge of managing FA facilities.
Introduction

Applicable Products

This manual covers the following products.
• CK3E-series Programmable Multi-Axis Controller
Model CK3E-
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1

Manual Structure

Manual Structure

Page Structure and Icons

The following page structure and icons are used in this manual.
Level 2 heading
Level 3 heading
A step in a procedure
Indicates a procedure.
Special information
Icons indicate precautions, additional information, or reference information.
4 Installation and Wiring
4-3 Mounting Units
4-3-1 Connecting Controller Components
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locki ng the slide rs by moving the m toward the back of the U nits. The End Cover is connect ed in the same way to the Unit on the far right side of the Controller.
1 Join the Units so that the connectors fit exactly.
2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Precautions for Correct UsePrecautions for Correct Use
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, and CPU Bus Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.
Hook
Connector
Move the sliders toward the back until they lock into place.
Hook holes
Release
Lock
Slider
Level 1 heading Level 2 heading Level 3 heading
Gives the current headings.
stinU gnitnuoM 3-4
4
stnenopmoC rellortnoC gnitcennoC 1-3-4
Page tab
Gives the number of the main section.
Manual name
Note This illustration is provided as a sample only. It may not literally appear in this manual.
2
NJ-series CPU Unit Hardware User’s Manual (W500)
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4-9

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.
This information is provided to increase understanding or make operation easier.
Manual Structure
Note References are provided to more detailed or related information.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
3

CONTENTS

CONTENTS
Introduction ..............................................................................................................1
Intended Audience....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1
Manual Structure ......................................................................................................2
Page Structure and Icons ............................................................................................................................ 2
Special Information ...................................................................................................................................... 3
CONTENTS................................................................................................................4
Terms and Conditions Agreement..........................................................................7
Warranty, Limitations of Liability .................................................................................................................. 7
Application Considerations .......................................................................................................................... 8
Disclaimers .................................................................................................................................................. 8
Safety Precautions...................................................................................................9
Definition of Precautionary Information........................................................................................................ 9
Symbols....................................................................................................................................................... 9
WARNING ................................................................................................................................................. 10
Precautions for Safe Use.......................................................................................12
Precautions for Correct Use..................................................................................15
Regulations and Standards ...................................................................................17
Conformance to EU Directives .................................................................................................................. 17
Software Licenses and Copyrights ............................................................................................................ 17
Related Manuals .....................................................................................................18
Terms and Acronyms.............................................................................................19
Revision History .....................................................................................................20
Sections in this Manual .........................................................................................21
Section 1 Features and System Configuration
1-1 Features.................................................................................................................................. 1-2
1-2 Introduction to the System Configurations ........................................................................ 1-3
1-3 Support Software................................................................................................................... 1-5
1-4 Application Procedure .......................................................................................................... 1-6
Section 2 Specifications
2-1 Programmable Multi-Axis Controller ................................................................................... 2-2
2-1-1 Model ..........................................................................................................................................2-2
2-1-2 General Specifications ................................................................................................................2-3
2-1-3 Features and Performance Specifications ..................................................................................2-4
2-2 Specifications of Peripherals ............................................................................................... 2-5
2-2-1 USB Memory Device...................................................................................................................2-5
2-2-2 Power Supply.............................................................................................................................. 2-5
4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Section 3 Part Names and Functions
3-1 Part Names............................................................................................................................. 3-2
3-2 Operation Indicators ............................................................................................................. 3-3
3-3 ID Information Indication Label............................................................................................ 3-4
Section 4 Mounting and Wiring
4-1 Mounting the Programmable Multi-Axis Controller ........................................................... 4-2
4-1-1 Mounting the Programmable Multi-Axis Controller..................................................................... 4-2
4-1-2 Mounting Direction in Control Panels ......................................................................................... 4-3
4-1-3 Mounting Method in Control Panels............................................................................................ 4-3
4-2 Power Supply Wiring............................................................................................................. 4-4
4-2-1 Power Supply Connector Specifications..................................................................................... 4-4
4-2-2 Wiring the Power Supply Connector........................................................................................... 4-4
4-3 Laying the EtherCAT Network .............................................................................................. 4-7
4-3-1 Supported Network Topologies................................................................................................... 4-7
4-3-2 Installation Precautions............................................................................................................... 4-8
4-3-3 Installing EtherCAT Communications Cables ............................................................................. 4-9
4-4 Laying the Ethernet Network.............................................................................................. 4-12
4-4-1 Installation Precautions............................................................................................................. 4-12
4-4-2 Installing Ethernet Networks..................................................................................................... 4-13
4-5 USB Memory Device Connection ....................................................................................... 4-16
CONTENTS
4-6 Grounding ............................................................................................................................ 4-17
4-6-1 Considerations for Earthing Methods ....................................................................................... 4-17
4-6-2 Earthing Methods...................................................................................................................... 4-18
Section 5 Error Processing
5-1 Classification of Errors ......................................................................................................... 5-2
5-2 Using the Indicators to Check Errors .................................................................................. 5-3
5-2-1 Indicator Types ........................................................................................................................... 5-3
5-2-2 Procedure for Determining Errors............................................................................................... 5-4
5-3 Corrective Actions for Errors ............................................................................................... 5-5
5-3-1 Fatal Errors in the Programmable Multi-Axis Controller ............................................................. 5-5
5-3-2 Non-fatal Errors in the Programmable Multi-Axis Controller....................................................... 5-6
Section 6 Inspection and Maintenance
6-1 Cleaning and Maintenance ................................................................................................... 6-2
6-1-1 Cleaning...................................................................................................................................... 6-2
6-1-2 Periodic Inspections.................................................................................................................... 6-2
6-2 Maintenance Procedures ...................................................................................................... 6-4
6-2-1 Unit Replacement Precautions ................................................................................................... 6-4
6-2-2 Backup........................................................................................................................................ 6-4
6-2-3 Unit Replacement....................................................................................................................... 6-4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5
CONTENTS
Appendices
A-1 Dimension Diagram ...............................................................................................................A-2
A-2 Restrictions on Using the OMRON NX-Series EtherCAT Coupler Unit ............................A-3
Index
6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties
z Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman­ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
z Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.
z Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com­plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combi­nation with any electrical or electronic components, circuits, system assemblies or any other materi­als or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON­SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY 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.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
7
Terms and Conditions Agreement

Application Considerations

Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a com­plete determination of the suitability of the Product in combination with the end product, machine, sys­tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica­tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor­mance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; how­ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
8
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of the CK3E-series Programmable Multi-Axis Controller.
The safety precautions that are provided are extremely important to help ensure safety. Always read and heed the information provided in all safety precautions.
The following notation is used.
Indicates a potentially hazardous situation which, if not avoided,
WARNING
could result in death or serious injury. Additionally, there may be severe property damage.
Safety Precautions

Symbols

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.
Caution
The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates that disassembling is prohibited.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution against electric shock.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for an action you must carry out.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
9
Safety Precautions

WARNING

During Power Supply
Do not attempt to take any Unit apart.
In particular, high-voltage parts are present in the product while power is supplied or imme­diately after power is turned OFF. Touching any of these parts may result in electric shock. There are sharp parts inside the Unit that may cause injury.
Fail-safe Measures
Provide safety measures in external circuits to ensure safety in the system if an abnormality occurs due to malfunction of the system due to other external factors affecting operation.
Not doing so may result in serious accidents due to incorrect operation.
Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.
WARNING
You must take fail-safe measures to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents due to incorrect operation.
The use of an Uninterruptible Power Supply (UPS) allows normal operation to continue even if a momentary power interruption occurs, possibly resulting in the reception of an erroneous signal from an external device affected by the momentary power failure. Take external fail-safe measures. Where necessary, monitor the power supply voltage on the system for external devices and use it as an interlock condition.
Unintended behavior may occur when an error occurs in internal memory of the product. As a countermeasure for such problems, external safety measures must be provided to ensure safe operation of the system.
The Controller will turn OFF all outputs from Output Units in the following cases. The slaves will operate according to the settings in the slaves.
• If a power supply error occurs
• If the power supply connection becomes faulty
• When a CPU error (watchdog timer error) or CPU reset occurs
• If a Controller error in the major fault level occurs
• While the Controller is in startup status until RUN mode is entered after the power is turned ON.
• If a system initialization error occurs
External safety measures must be provided to ensure safe operation of the system in such cases.
10
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Safety Precautions
Transferring
Always confirm the safety status at the destination before you transfer a user program, con­figuration data, or setup data from POWER PMAC IDE. The devices or machines may per­form unexpected operations regardless of the operating mode of the Controller.
After you transfer the user program, the Controller is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications.
The time that communications are cut off depends on the EtherCAT network configuration.
Before you transfer the user program, confirm that the system will not be adversely affected.
Test Run
Before you start a Test Run, make sure that the operation parameters are set correctly.
Actual Operation
Check the user program, data, and parameter settings for proper execution before you use them for actual operation.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
11

Precautions for Safe Use

Precautions for Safe Use
Transporting
• Do not drop the Controller or expose it to abnormal vibration or shock. Doing so may result in the Controller malfunctioning or burning.
Mounting
• Be sure that the connectors and other items with locking devices are correctly locked into place.
Installation
• Always connect to a ground of 100 Ω or less when installing the Controller.
Wiring
• Follow the instructions in this manual to correctly perform connector wiring and insertion. Dou­ble-check all wiring and connector insertion before turning ON the power supply.
• If the external power supply to a slave has polarity, connect it with the correct polarity. If the polarity is reversed, current may flow in the reverse direction and damage the connected devices regardless of the operation of the Controller.
• Before you connect a computer to the Controller, disconnect the power supply plug of the computer from the AC outlet. Also, if the computer has an FG terminal, make the connections so that the FG terminal has the same electrical potential as the FG on the product. A difference in electrical potential between the computer and Controller may cause a failure or malfunction.
• Do not pull on the cables or bend the cables beyond their natural limit.
• Do not place any objects on top of the cables or other wiring lines. Doing so may cause the cables to break.
• Always use power supply wires with sufficient wire diameters to prevent voltage drop and burning. Make sure that the current capacity of the wire is sufficient. Otherwise, excessive heat may be gener­ated. 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.
Power Supply Design
• In the system, only use the power supply within the rated supply capacity range specified in this man­ual.
12
Turning ON the Power Supply
• It takes approximately several tens of seconds to enter RUN mode after the power supply is turned ON. During that time, outputs will be OFF or the values will be as according to settings in the Unit or slaves. Also, external communications will not be able to be performed. The outputs during this period will behave according to the slave and Unit specifications. Implement fail-safe circuits so that external devices do not operate incorrectly.
• Surge current occurs when the power supply is turned ON. When selecting fuses or breakers for external circuits, consider the above precaution and allow sufficient margin in shut-off performance. Refer to this manual for surge current specifications.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
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 accessing the USB memory device. Data may become corrupted, and the Controller will not operate correctly if it uses corrupted data.
• Always turn OFF the power supply before you attempt any of the following.
Connecting cables or wiring the system
Connecting or disconnecting the connectors
• If the product experiences a sudden loss of power or disconnecting the cable while saving a setting or transfer of data is underway, the changes may not be stored and unexpected behavior may occur.
Operation
Confirm that no adverse effects will occur in the system before you attempt any of the following.
• Changing the operating mode of the Controller (including changing the setting of the Startup Mode)
• Changing the user program or settings
• Changing set values or present values
EtherCAT Communications
• Make sure that the communications distance, number of nodes connected, and method of connec­tion for EtherCAT are within specifications.
Do not connect EtherCAT communications to EtherNet/IP, a standard in-house LAN, or other net­works. An overload may cause the network to fail or malfunction.
• If the Fail-soft Operation parameter is set to stop operations, process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave. For this reason, if Servo Drives are connected, the Servos for all axes will be turned OFF. At that time, the Servo Drive will operate according to the Servo Drive specifications. Make sure that the Fail-soft Operation parameter setting results in safe operation when a device error occurs.
• If noise occurs or an EtherCAT slave is disconnected from the network, any current communications frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation may occur. The slave outputs behave according to the slave specifications. For details, refer to rele­vant manuals for each slave.
• When an EtherCAT slave is disconnected or disabled, communications will stop and control of the outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Confirm that the system will not be adversely affected before you disconnect or disable a slave.
• You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use one of these, a major fault level error or other error may occur.
• 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 opera­tions.
• If you need to disconnect the cable from an EtherCAT slave during operation, first reset the EtherCAT and EtherCAT slaves that are connected after it to the Init state, then disconnect the EtherCAT slave.
• For EtherCAT and EtherNet, use the connection methods and cables that are specified in this man­ual. Otherwise, communications may be faulty.
• Make sure that all of the slaves to be restored are participating in the network before you reset the EtherCAT Master Function Module. If any slave is not participating when any of these errors is reset, the EtherCAT Master Function Module may access a slave with a different node address than the specified node address, or the error may not be reset correctly.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
13
Precautions for Safe Use
Motion Control
• The motor is stopped if communications are interrupted between POWER PMAC IDE and the Con­troller during a Test Run. Connect the communications cable securely and confirm that the system will not be adversely affected before you perform a Test Run.
• EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variables in the user program to confirm that communications are estab­lished before attempting control operations.
Unit Replacement
• After replacing the Controller, make sure that the required data, including the user program, configu­rations, settings, and values of variables, has been transferred to the Controller that was replaced, as well as to externally connected devices before restarting operation.
Maintenance
• Do not attempt to disassemble, repair, or modify the Controller. Doing so may result in a malfunction or fire.
• Do not use corrosive chemicals to clean the Controller. Doing so may result in a failure or malfunction of the Controller.
14
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

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 a malfunction or halt operations.
a) Locations subject to direct sunlight
b) Locations subject to temperatures or humidity outside the range specified in the specifications
c) Locations subject to condensation as a result of severe changes in temperature
d) Locations subject to corrosive or flammable gases
e) Locations subject to dust (especially iron dust) or salts
f) Locations subject to exposure to water, oil, or chemicals
g) Locations subject to shock or vibration
• Take appropriate and sufficient countermeasures when installing the Controller in the following loca­tions.
a) Locations subject to strong, high-frequency noise
b) Locations subject to static electricity or other forms of noise
c) Locations subject to strong electromagnetic fields
d) Locations subject to possible exposure to radioactivity.
e) Locations close to power lines
• Install the Controller away from sources of heat and ensure appropriate ventilation. Not doing so may result in a malfunction, operations halting, or burning.
• Always touch a grounded piece of metal to discharge static electricity from your body before starting an installation or maintenance procedure.
Precautions for Correct Use
Wiring
• Do not allow wire clippings, shavings, or other foreign material to enter the Controller. Otherwise, the Controller may experience a failure, malfunction, or ignite. Cover the Controller or take other suitable countermeasures, in particular when carrying out wiring work.
• Always ensure the rated supply voltage is connected to the Controller.
Task Settings
• If a Task Period Exceeded error occurs, shorten the programs to fit in the task or increase the setting of the task period.
Operation
• Do not disconnect the communications cable while the system is running. Doing so may result in a failure or malfunction of the system.
Motion Control
• Do not download motion control settings during a Test Run.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
15
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.
a) Continuous refreshing of process data communications will not be possible.
b) Continuous refreshing of process data communications will not end during the set cycle.
USB Device
• Always use USB memory devices that comply with the USB standards.
16
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Regulations and Standards

Conformance to EU Directives

Applicable Directives
•EMC Directives
Concepts
z 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
Regulations and Standards
Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer. EMC-related performance of the OMRON devices that comply with EU Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.
*1. Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61326 EMI (Electromagnetic Interference): EN 61326 (Radiated emission: 10-m regulations).
z Conformance to EU Directives
The CK3E-series Controllers comply with EU Directives. To ensure that the machine or device in which the CK3E-series Controllers are used complies with EU Directives, the following precautions must be observed.
• The CK3E-series Controllers must be installed within a control panel.
• You must use SELV power supply for the DC power supplies that are connected as the Unit power supplies and I/O power supplies for the CK3E-series Controllers.
We recommend that you use the OMRON S8JX-series Power Supplies. EMC standard compli­ance was confirmed for the recommended Power Supplies.
• CK3E-series Controllers that comply with EU Directives also conform to the Common Emission Standard (EN 61326). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the control panel used, other devices connected to the control panel, wir­ing, and other conditions.
You must therefore confirm that the overall machine or equipment in which the CK3E-series Con­trollers are used complies with EU Directives.
• This is a Class A product (for industrial environments). In a residential environment, it may cause radio interference. If radio interference occurs, the user may be required to take appropriate mea­sures.
• Attach a clamp core to the Ethernet communications cable. Refer to Recommended Clamp Core and Attachment Procedure on page 4-15 for details of the procedure to attach the clamp core.

Software Licenses and Copyrights

This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
17

Related Manuals

Related Manuals
The following manuals are related. Contact your OMRON representative for information on how to pro­cure these manuals. Use these manuals for reference.
Manual name Cat.No. Application Description
Power PMAC User’s Manual
Power PMAC Software Reference Manual
Power PMAC IDE User Manual
Power PMAC-NC16 Quick Start Manual
Power PMAC-NC16 .ini Configuration Manual
Power PMAC-NC16 Software User Manual
Power PMAC-NC16 Mill G-Code Manual
Acontis EC-Engineer manual
O014 Learning the features and usage
examples of the CK3E-series Pro­grammable Multi-Axis Controller.
O015 Learning how to program a
CK3E-series Programmable Multi-Axis Controller.
O016 Learning how to operate Power
PMAC IDE, the integrated develop­ment environment of the Controller.
O017 Understanding the basic usage of
Power PMAC-NC16 quickly.
O018 Constructing an application for CNC
devices by using Power PMAC-NC16.
O019 Learning about usage and features
of Power PMAC-NC16, Support Soft­ware required when using the Con­troller for CNC devices.
O020 Creating programs for CNC devices
by using Power PMAC-NC16.
--- Configuring an EtherCAT network by using a CK3E-series Programmable Multi-Axis Controller as the EtherCAT master.
The following information is provided on a CK3E-series Programmable Multi-Axis Controller.
• Basic features of the motion controller Power Programmable Multi-Axis Con­troller possessed by the Programma­ble Multi-Axis Controller.
• Setup examples
• Programming examples
The following information is provided on a CK3E-series Programmable Multi-Axis Controller.
• Details of commands
• Details of data structure
Describes the operating procedures of Power PMAC IDE, and examples of how to start the system.
Describes a Quick setup procedure to run Power PMAC-NC16 on a desktop PC by using an example. Describes how to set up “PowerPmacNC.ini”, the setup data file to be loaded when Power PMAC-NC16 starts. The following information is provided on Power PMAC-NC16.
• How to use the software
• Features included in the software
• Features that can be customized
Describes the basic G-code set and the instructions that can be used for Power PMAC-NC16. Operating procedure of Support Soft­ware used for EtherCAT network config­uration is described.
18
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Terms and Acronyms

Terms and Acronyms
Term or acronym Description
CNC The acronym for Computerized Numerical Control.
A method to numerically control machining processes in production by using computers. CNC has been further automatized over conventional numerical control machine tools (NC machine tools).
CPU Central Processing Unit. Core hardware mounted in computers that executes instructions
from computer programs.
ESI file ESI is the acronym for EtherCAT Slave Information. The ESI file contains information
unique to the EtherCAT slaves in XML format.
ENI file ENI is the acronym for EtherCAT Network Information. The ENI file contains the network
configuration information related to EtherCAT slaves. Ethernet A network communications protocol used in TCP/IP networks. EtherCAT The acronym for Ethernet for Control Automation Technology.
EtherCAT is the real-time Ethernet protocol standards. EtherCAT master The EtherCAT master node that manages the EtherCAT network, monitors the status of
slaves, and exchanges I/O data with slaves. It has one output port. G-code A type of language used to create NC programs. Modbus/TCP A protocol used for the Modbus communication on TCP/IP. PLC Programmable Logic Controller PMAC The acronym for Programmable Multi-Axis Controller USB Universal Serial Bus Servo Drive/Encoder input slave Vision sensor A sensor that calculates the area, center of gravity, length, position, and other feature quan-
Axis A functional unit within the Motion Control Function Module. An axis is assigned to the drive
Node address The node address is used to identify Units connected to EtherCAT. General-purpose slave Any of the EtherCAT slaves that cannot be assigned to an axis. Programmable terminal A human-machine interface used to facilitate the operation and control of machines. Motion control Motion control can achieve intended operation by providing a target value to the axis to be
Any of the EtherCAT slaves that is assigned to an axis.
tities of objects by processing images captured using a camera, and outputs the data and
judgment results.
mechanism in an external Servo Drive or the sensing mechanism in an external Encoder
Input Slave Unit.
controlled, or by controlling state transitions.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
19

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.
I610-E1-01
Revision code
Revision
code
01 August 2016 Original production
Date Revised content
20
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Sections in this Manual

Sections in this Manual
1
Features and System
1A
2I
3
4
5
6
Configuration
Specifications
Part Names and Functions
Mounting and Wiring
Error Processing
Inspection and Maintenance
2
3
4
5
6
A
I
A
I
Appendices
Index
9
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
9
21
Sections in this Manual
22
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1
Features and System Configura­tion
This section describes the features and system configuration of the Programmable Multi-Axis Controller.
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 Introduction to the System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-3 Support Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-4 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 - 1
1 Features and System Configuration

1-1 Features

The CK3E-series is the Programmable Multi-Axis Controller that supports the EtherCAT master func­tions.
The CK3E-series Programmable Multi-Axis Controller has the following features.
Fast Multi-Axis Control
The Controller uses Programmable Multi-Axis Controller, developed by Delta Tau Data Systems, Inc., a manufacturer specializing in motion controllers.
It allows for multi-axis control of up to 32 axes per unit (when CK3E-1410 is used), and the fast control which motion control period is 250 μs or more.
Constructing Systems with Greater Flexibility
Programs can be written in G-code, C language, or Programmable Multi-Axis Controller specific lan­guage for the Controller. Such function design flexibility allows you to create functions that are opti­mized for your equipment.
Various EtherCAT-compatible products such as vision sensors and I/O as well as motion controls can be connected, allowing you to construct original systems to suit the equipment.
Compactness
The Controller is compact and has less wiring due to the use of the EtherCAT network, which helps to downsize devices.
Additional Information
What is EtherCAT?
EtherCAT is an Ethernet (IEEE802.3) compliant, open, and super-fast industrial network system. Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed. A mechanism that allows sharing of clock information enables high-precision synchro­nized control with low communications jitter.
1 - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 Features and System Configuration
1-2 Introduction to the System
1-2 Introduction to the System Configu-
rations
The following shows the configurations of motion control systems using a Programmable Multi-Axis Controller. The basic configurations include the EtherCAT network configuration, Ethernet network con­figuration, and Support Software.
EtherCAT Network Configuration
By using the EtherCAT master communications port on the Programmable Multi-Axis Controller, Ether­CAT slaves such as servo drives, frequency inverters, machine vision systems, digital and analog I/O, and other general-purpose slaves can be connected.
The Controller also supports EtherCAT Slave Terminals. The EtherCAT Slave Terminal helps you to save space and construct flexible systems using a broad range of types of NX Units.
However, when OMRON NX-series EtherCAT Coupler Units are used for the EtherCAT Slave Terminal, only limited models and unit versions of EtherCAT Coupler Units can be connected. Refer to A-2 Restrictions on Using the OMRON NX-Series EtherCAT Coupler Unit on page A-3.
Ethernet Network Configuration
Configurations
1
The Ethernet communications port on the Programmable Multi-Axis Controller supports the MOD­BUS-TCP protocol. It can be connected to devices such as a PLC or a programmable terminal that sup­ports the MODBUS-TCP protocol.
Support Software
Connect a personal computer with the Support Software installed to the Programmable Multi-Axis Con­troller via the Ethernet network. Refer to 1-3 Support Software on page 1-5 for details of the Support Software.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 - 3
1 Features and System Configuration
Support Software
PLC
Programmable terminal
Programmable terminal
Modbus-TCP
Ethernet network
Industrial
Ethernet
switch
Slave
terminal
CK3E-series Programmable
Multi-Axis Controller
EtherCAT network
Servo drive/
Encoder
General-purpose
input slaves
slaves
1 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1-3 Support Software
The following table shows the Support Software used to configure, monitor, program, and debug the Programmable Multi-Axis Controller.
Software Name Application How to Procure
Power PMAC IDE
Power PMAC-NC16
EC-Engineer This computer software is used to configure
*1. Use Power PMAC IDE Ver.2.2 or a later version.
*1
Power PMAC-NC16 SDK
Power PMAC-NC16 Runtime
This computer software is used to configure the Controller, create user programs, and debug the programs.
This computer software is used to control working machines and other CNC machines with the Controller. Use this software when you want to customize the HMI screen. The prod­uct contains extension source codes used for customization. This computer software is used to control working machines and other CNC machines with the Controller. Use this software when you do not customize the HMI screen.
and monitor the EtherCAT network by using the Controller as the EtherCAT master.
1 Features and System Configuration
This is free software. Contact your OMRON representa­tive for information on how to procure.
This is non-free software. Contact your OMRON repre­sentative for information on how to procure.
This is non-free software. Contact your OMRON repre­sentative for information on how to procure. This is free software. Contact your OMRON representa­tive for information on how to procure.

1-3 Support Software

1
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 - 5
1 Features and System Configuration

1-4 Application Procedure

This section describes the procedure to construct a motion control system by using the Multi-Axis Con­troller.
No. Step Description Reference
1 Preparation
before carrying out work
2 Mounting and
wiring of the Programma­ble Multi-Axis Controller
3 Settings and
wiring of the EtherCAT slave hard­ware.
4 Wiring of the EtherCAT communi-
cation and grounding of the sys­tem
5 Preparation for
setting the Programma­ble Multi-Axis Controller
6 Turning the Power ON Turn on the power to the devices
Check for speci-
fication compati-
bility
Selection of
peripheral
devices
Preparation of
Support Soft-
ware
Mounting Mount the Programmable
Wiring Connect the unit power supply of
Node address
settings
Mounting Mount EtherCAT slaves. Refer to the manual for the Ether-
Wiring Wire EtherCAT slaves.
Creation of a
new project
Initialization of
the Controller
Check whether the system is compatible with specifications of the Programmable Multi-Axis Controller.
• General specifications
• Mounting direction Select peripheral devices to be used for the Programmable Multi-Axis Controller. Procure and install the Support Software required for the system.
Multi-Axis Controller.
the Programmable Multi-Axis Controller.
Use the hardware switches on all of the EtherCAT slaves in the net­work to set the node addresses.
• Wiring of the unit power supply
• I/O wiring Ground and wire the EtherCAT communication cable.
Connect the computer with the Support Software installed to the Programmable Multi-Axis Con­troller. Then start Power PMAC IDE and create a new project.
Initialize the Programmable Multi-Axis Controller by using Power PMAC IDE.
configuring the system.
2-1-2 General Specifications on page 2-3
2-2 Specifications of Peripherals on page 2-5
1-3 Support Software on page 1-5
4-1 Mounting the Programmable Multi-Axis Controller on page 4-2 4-2 Power Supply Wiring on page
4-4
Refer to the manual for the Ether­CAT slave.
CAT slave. Refer to the manual for the Ether­CAT slave.
4-3 Laying the EtherCAT Network on page 4-7
4-6 Grounding on page 4-17
Refer to “Power PMAC IDE User
Manual” for details.
Refer to “Power PMAC IDE User
Manual” for details.
---
1 - 6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 Features and System Configuration
No. Step Description Reference
7 Construction
of the Ether­CAT network
8 Settings of the
Programma­ble Multi-Axis Controller operation
9 Transferring project data and
checking the operation
Installation of ESI files
EtherCAT slave settings
Activation of the EtherCAT net­work
Programming Create user programs on Power
Motor settings Set the motor operations for the
Install the ESI files of EtherCAT slaves to be connected to EC-Engineer.
Configure the EtherCAT commu­nication settings by using EC-Engineer. Then, create an ENI file used to download the configured settings to the Pro­grammable Multi-Axis Controller. Download the ENI file to the Pro­grammable Multi-Axis Controller by using Power PMAC IDE. Make sure that the ENI file has been correctly downloaded, and then activate the EtherCAT network.
PMAC IDE.
Programmable Multi-Axis Con­troller by using Power PMAC IDE. Transfer the created project data and check that operations work as expected.
Refer to “Acontis EC-Engineer manual” for details.
For information on the ESI file, refer to the manual for the Ether­CAT slave.
Refer to “Acontis EC-Engineer manual” for details.
Refer to “Power PMAC IDE User
Manual” for details.
Refer to “Power PMAC User’s Manual” and “Power PMAC Soft­ware Reference Manual” for details.
Refer to “Power PMAC IDE User
Manual” for details.
Refer to “Power PMAC IDE User
Manual” for details.
1-4 Application Procedure
1
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
1 - 7
1 Features and System Configuration
1 - 8
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Specifications
This section describes the specifications of the Programmable Multi-Axis Controller and configuration devices.
2-1 Programmable Multi-Axis Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-1-1 Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-1-2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-1-3 Features and Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-2 Specifications of Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-1 USB Memory Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2
2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
2 - 1
2 Specifications

2-1 Programmable Multi-Axis Controller

The following provides the models and major specifications of the Programmable Multi-Axis Controller and configuration devices.

2-1-1 Model

Model Naming
CK3E-series Programmable Multi-Axis Controller model names are assigned according to the following rule.
Maximum number of controlled axes 12 : 8 axes 13 : 16 axes 14 : 32 axes
Number of EtherCAT ports
1 : 1 port
Always 0
Model List
Specifications
Model
CK3E-1210 Main memory: 1 GB CK3E-1310 16 axes CK3E-1410 32 axes
Memory Port
Flash memory: 1 GB
Ethernet port: 1 EtherCAT port: 1
Maximum
number of
controlled axes
8 axes
2 - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
2 Specifications
2-1-2 General Specifications
Item
Model CK3E-1210 Model CK3E-1310 Model CK3E-1410
Enclosure Mounted in a panel Grounding methods Ground of 100 Ω or less Dimensions (height × depth × width) 130.4 × 28.6 × 170.9 mm (H × D × W) Weight 540 g or less Unit power supply rated voltage 24 VDC (20.4 to 26.4 VDC) Unit power current consumption 660 mA or less Operating environ­ment
Ambient operating temperature Ambient operating
0 to 45°C
10 to 95% RH (without condensation and icing)
humidity Atmosphere Must be free of corrosive gases. Ambient storage tem-
-25 to +70°C (without condensation and icing)
perature Vibration resistance Conforms to IEC 60068-2-6.
5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz, acceleration of 9.8 m/s X, Y, and Z directions 100 min (10 sweeps of 10 min each = 100 min total)
Shock resistance
Conforms to IEC 60068-2-27, 147 m/s
Applicable standards *1 EU: EN 61326, RCM
*1. For the latest applicable standards for each model, visit the OMRON website (www.fa.omron.co.jp or
www.ia.omron.com), or contact your OMRON representative.
Specifications
2
, 3 times each in X, Y, and Z directions
2
each in
2-1 Programmable Multi-Axis Controller
2

2-1-2 General Specifications

CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
2 - 3
2 Specifications

2-1-3 Features and Performance Specifications

Item
Memory Main memory: 1 GB
External terminals [Communications connector]
Motion con­trol
EtherCAT communi­cations specifica­tions
Ethernet communi­cations specifica­tions
USB port Physical layer USB 3.0 compliant, type A connector. Output voltage: 5 V, 0.9 A max.
Maximum number of controlled axes Motion control period 250 μs or more Control method Issuing control commands using EtherCAT communications Communications pro­tocol Baud rate 100 Mbps Physical layer 100BASE-TX (IEEE 802.3) Topology Line, daisy chain, and branching Transmission media Twisted-pair cable of category 5 or higher (double-shielded cable with aluminum
Transmission distance Distance between nodes: 100 m or less Maximum number of
slaves Range of node addresses that can be set Physical layer 1000BASE-T/100BASE-TX Frame length 1,514 bytes max. Media access method CSMA/CD Modulation Baseband Topology Star Transmission media Twisted-pair cable of category 5, 5e, or higher (shielded cable) Maximum transmis­sion distance between Ethernet switch and node Maximum number of cascade connections
Transmission distance 3 m max.
Model CK3E-1210 Model CK3E-1310 Model CK3E-1410
Flash memory: 1 GB
For EtherCAT communications
•RJ45 × 1 (Shield supported)
For Ethernet communications
•RJ45 × 1 (Shield supported) [Power supply input terminal]
For unit power supply × 1 [USB port] For external memory connection, USB 3.0 host × 1 Type A 8 axes 16 axes 32 axes
EtherCAT protocol
tape and braiding)
32
1 to 32
100 m
There are no restrictions if an Ethernet switch is used.
Specifications
2 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
2-2 Specifications of Peripherals
2-2-1 USB Memory Device
The following shows details of the recommended USB memory device.
OMRON is not responsible for the operation, performance, or write life of any other USB memory devices.
Recommended USB
memory
Model FZ-MEM2G OMRON USB memory device (2 GB) Model FZ-MEM8G OMRON USB memory device (8 GB)
You can use the USB memory device for the following applications.
• Uploading data
• Downloading data
• Saving relevant data
Description
2 Specifications

2-2 Specifications of Peripherals

2

2-2-1 USB Memory Device

2-2-2 Power Supply

The following shows details of the recommended power supply.
Recommended power supply: Model S8JX series (OMRON)
For specifications and manuals of Model S8JX, visit the OMRON website (http://www.fa.omron.co.jp/products/family/1989/lineup.html).
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
2 - 5
2 Specifications
2 - 6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
3
Part Names and Functions
This section describes the names and functions of the Programmable Multi-Axis Con­troller.
3-1 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-2 Operation Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-3 ID Information Indication Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
3 - 1
3 Part Names and Functions

3-1 Part Names

(C)
(B)
(A)
(D)
(E)
(J)
(I)
Letter Name Function
(A) USB 3.0 connector The connector of USB 3.0 interface, used to connect a USB
memory device. (B) Maintenance mode LED Not used. Used for maintenance. (C) Maintenance mode enter button Not used. Used to enter Maintenance mode. The user does
not use it. (D) USB 2.0 connector Not used. Used for maintenance. The user does not use it. (E) Power supply connector Connects to the Unit power supply. (F) EtherCAT communications port opera-
tion indicators
(G) Ethernet communications port opera-
tion indicators (H) Unit operation indicators Show the operation status of the Unit using multiple indicators. (I) Ethernet communications connector Connects to an Ethernet network communications cable. (J) EtherCAT communications connector Connects to an EtherCAT network communications cable.
Show the operation status of EtherCAT.
Show the operation status of Ethernet.
(F)
(G)
(H)
3 - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
3-2 Operation Indicators
The Programmable Multi-Axis Controller is equipped with indicators to show the current operations sta­tus of the Unit.
(A)
(B)
3 Part Names and Functions

3-2 Operation Indicators

3
(C)
(D)
(E) (F)
(G)
The operating statuses corresponding to colors and status of the indicators are shown below.
Letter Indicator Color Status Description
(A) DIAG.MODE Green Lit Not used. (B) ECAT LINK Orange Lit The EtherCAT link is established.
Not lit The EtherCAT link is not established.
(C) ECAT ACT Yellow Lit The EtherCAT link is established.
Flashing Data communications are in progress after the
EtherCAT link is established. Flashes every time data is sent or received.
Not lit The EtherCAT link is not established.
(D) Ethernet LINK Green/
Orange
(E) Ethernet ACT Yellow Lit The Ethernet link is established.
(F) PWR/ERR Green/Red Lit in green Power is supplied to the Unit.
(G) RDY Green Lit Power is supplied to the Unit, and the Unit is in
Lit in green The Ethernet link is established at 1 Gbps. Lit in orange The Ethernet link is established at 100 Mbps. Not lit The Ethernet link is not established.
Flashing Data communications are in progress after the
Ethernet link is established. Flashes every time data is sent or received.
Not lit The Ethernet link is not established.
Lit in red Watchdog or another hardware error Not lit Power is not supplied to the Unit.
operation-ready status.
Not lit Power is not supplied to the Unit, or initial pro-
cessing is in progress.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
3 - 3
3 Part Names and Functions

3-3 ID Information Indication Label

The ID information indication label provides information relevant to the Programmable Multi-Axis Con­troller.
(A)
(B)
(C)
(D)
(E)
Item Name Description
(A) Model Refer to 2-1-1 Model on page 2-2. (B) Product name Motion Controller (C) Power supply rat-
ing (D) Standard logos Logos used to represent applicable standards (E) Lot number Information on the date of manufacturing.
Details of power supply rating
The lot number of the C3KE-series Programmable Multi-Axis Controller is specified in the form of DDMYY,where “DD” is the day, “M” is the month, and “YY” is the year the product is manufactured. “” is a character used by OMRON. For “M”, digits “1” to “9” respectively represent January to September, “X” represents Octo­ber, “Y” November, and “Z” December.
3 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Mounting and Wiring
This section describes the procedures for mounting the Programmable Multi-Axis Con­troller, wiring the power supply used for the Programmable Multi-Axis Controller, and wiring the Programmable Multi-Axis Controller.
4-1 Mounting the Programmable Multi-Axis Controller . . . . . . . . . . . . . . . . . . 4-2
4-1-1 Mounting the Programmable Multi-Axis Controller . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-2 Mounting Direction in Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-1-3 Mounting Method in Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-2 Power Supply Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-1 Power Supply Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-2 Wiring the Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-3 Laying the EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-3-1 Supported Network Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-3-2 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-3-3 Installing EtherCAT Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-4 Laying the Ethernet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4-1 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-4-2 Installing Ethernet Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4-5 USB Memory Device Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4
4
4-6 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-6-1 Considerations for Earthing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-6-2 Earthing Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 1
4 Mounting and Wiring
4-1 Mounting the Programmable
Multi-Axis Controller

4-1-1 Mounting the Programmable Multi-Axis Controller

z Installation in Cabinets or Control Panels
When installing the Programmable Multi-Axis Controller in a cabinet or control panel, consider the ambient temperature, accessibility for operation and maintenance, noise immunity, as well as the mounting direction.
z Temperature Control
The allowable ambient operating temperature range of the Programmable Multi-Axis Controller is 0 to 45°C. When necessary, take the following steps to maintain the appropriate temperature.
• Provide sufficient space for adequate air flow.
• Do not install the Controller directly above equipment that generates a large amount of heat such as heaters, transformers, or high-capacity resistors.
• If the ambient temperature exceeds 45°C, install a cooling fan or air conditioner.
Control panel
Louver
Fan
CK3E-series Programmable Multi-Axis Controller
z Accessibility for Operation and Maintenance
• To ensure safe access for operation and maintenance, move the Controller as far away as possi­ble from high-voltage equipment and electrical machinery.
• It will be easy to operate the Controller if it is mounted at a height of 1,000 to 1,600 mm above the floor.
z Improving Noise Resistance
• Do not mount the Controller in a control panel containing high-voltage equipment.
• Install the Controller at least 200 mm away from power lines.
Power lines
4 - 2
200 mm min.
CK3E-series
Programmable
Multi-Axis Controller
200 mm min.
• Ground the mounting plate between the Controller and the mounting surface.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 Mounting and Wiring
4-1-2 Mounting Direction in Control Panels
The Programmable Multi-Axis Controller can be installed facing the front or sideways.
The Controller must be mounted in an upright position to provide appropriate cooling.
Front mounting Sideways mounting
4-1 Mounting the Programmable Multi-Axis Controller
4

4-1-2 Mounting Direction in Control Panels

4-1-3 Mounting Method in Control Panels

The following shows the mounting method of the Programmable Multi-Axis Controller. It is recom­mended that M4 screws be used for mounting.
1 Create holes for the screws used to mount the Programmable Multi-Axis Controller.
The screw positions are as follows.
Front mounting Sideways mounting
88±0.5
119±0.5
119±0.5
2 Insert the screws into the designated positions to mount the Programmable Multi-Axis Control-
ler.
3 Tighten the screws with 1.2 N-m torque to secure.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 3
4 Mounting and Wiring

4-2 Power Supply Wiring

4-2-1 Power Supply Connector Specifications

The following power supply connector is used for the Programmable Multi-Axis Controller.
One power supply connector is included in the Programmable Multi-Axis Controller package.
Model Manufacturer
MVSTBW 2.5/3-ST-5,08 (1792760) Phoenix Contact
The following shows the pin assignment of the power supply connector used for the Programmable Multi-Axis Controller.
123
Pin Description
124 VDC 20 VDC 3 Functional ground terminal

4-2-2 Wiring the Power Supply Connector

Compatible Wires
Wires that can be connected to terminal holes of the power supply connector are bar terminals attached to twisted wires, twisted wires, and solid wires.
Select a power supply conductor by considering voltage drops and heat due to the cable length within your installation environment. The following table provides information about the conductors that are compatible with this connector.
Wire type
Solid wire
Twist ed wire
Twisted wire with bar terminal, without plastic sleeve
Twisted wire with bar terminal, with plastic sleeve
Conductor cross-sec-
tional area
0.2 to 2.5 mm
0.2 to 2.5 mm
0.25 to 2.5 mm
0.25 to 2.5 mm
2
2
2
2
Conductor length (stripping length)
7 mm
7 mm
7 mm
7 mm
4 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 Mounting and Wiring
Grounding
The type of ground terminal on the Programmable Multi-Axis Controller is a functional ground terminal.
A functional ground terminal takes protective measures for device and system functions, including pre­vention of noises from external sources, and prevention of noises from devices or equipment that may have harmful effects on other devices or equipment.
• Ground to 100 Ω or less, and as possible use a separate ground from those of other devices.
• If using an independent ground is not possible, then use a common ground. Connect to the ground pole of the other device.
• Never use a common ground particularly with a motor, inverter, or other type of high-power equip­ment. Use an independent ground so that they do not affect each other.
• To reduce the risk of receiving an electric shock, do not connect devices to ground poles to which multiple devices are connected.
• Use a ground pole as close to the Programmable Multi-Axis Controller as possible and keep the ground line as short as possible.
4-2 Power Supply Wiring
Tools Used
Use a flat-head screwdriver to connect and remove wires.
The recommended screwdriver is as follows.
Model Manufacturer
SZF 0-0,4X2,5 Phoenix Contact
4
4-2-2 Wiring the Power Supply Connector
Procedure for Wiring the Power Supply Connector
The following shows the procedure for wiring the power supply connector.
1 Peel off the sheath from the power supply cable.
The stripping length is 7 mm if a bar terminal is not used.
If a bar terminal is used, the stripping length must be determined according to the specification of the bar terminal.
7 mm
2 Loosen the screws securing wires on the top of the power supply connector to release the wire
insertion ports.
Screws securing wires
Wire insertion ports
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 5
4 Mounting and Wiring
3 Insert the wires and tighten the screws.
Tighten the screws with 0.5 to 0.6 N-m torque.
Do not apply force to the cable after connecting the wires.
4 - 6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 Mounting and Wiring
4-3 Laying the EtherCAT Network
This section describes how to install EtherCAT networks.
4-3-1 Supported Network Topologies
The 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.
z No Branching
EtherCAT Master
Remote I/O Slave
Remote I/O Slave
Servo Drive Slave
Remote I/O Slave

4-3 Laying the EtherCAT Network

4

4-3-1 Supported Network Topologies

Output port
Input port
z Branching
EtherCAT Master
Junction Slave Junction Slave
Servo Drive
Slave
Junction Slave
Servo Drive
Slave
Servo Drive
Slave
Remote I/O
Slave
Remote I/O
Slave
Servo Drive
Slave
Remote I/O Slave
Remote I/O Slave
Servo Drive Slave
Remote I/O
Slave
Output port
Input port
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 7
4 Mounting and Wiring

4-3-2 Installation Precautions

Basic precautions for the installation of EtherCAT networks are provided below.
Precautions when Installing a Network
• When you install an EtherCAT network, take sufficient safety precautions and follow the standards and specifications. (Refer to JIS X5252 or to electrical facility technical references.) An expert well versed in safety measures and the standards and specifications should be asked to perform the installation.
• Do not install EtherCAT network equipment near sources of noise. If the network must be installed in an area with noise, take steps to address the noise, such as placing equipment in metal cases.
Precautions when Installing Communications Cables
• Check the following items on the communications cables that are used in the network.
a) Are there any breaks?
b) Are there any shorts?
c) Are there any connector problems?
• When you connect the cable to the communications connectors on devices, firmly insert the commu­nications cable connector until it locks in place.
• Do not lay the communications cables together with high-voltage lines.
• Do not lay the communications cable near devices that generate noise.
• Do not lay the communications cables in locations subject to high temperatures or high humidity.
• Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminants.
• There are limitations on the bending radius of communications cables. Check the specifications of the communications cable for the bending radius.
4 - 8
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4-3-3 Installing EtherCAT Communications Cables
Ethernet communications cables and connectors are used to connect the EtherCAT port of Program­mable Multi-Axis Controller with EtherCAT slaves.
Use a straight, shielded twisted-pair cable (double shielding with aluminum tape and braiding) of Ether­net category 5 (100BASE-TX) or higher. Following products are recommended.
Cable with Connectors
z Sizes and Conductor Pairs: AWG 27 × 4 Pairs
4 Mounting and Wiring
4-3 Laying the EtherCAT Network
Product name Manufacturer
Cable with Connectors on Both Ends (RJ45/RJ45)
Standard RJ45 plugs type
*1. For the latest list of the Cables, refer to the Industrial Ethernet Connectors Catalog (Cat. No. G019).
*2. The Cables are single-shielded, but the communication and noise characteristics are ensured to satisfy the
standard values.
OMRON Corporation
Cable length [m]
0.3 XS6W-6LSZH8SS30
0.5 XS6W-6LSZH8SS50
1 XS6W-6LSZH8SS100
10 XS6W-6LSZH8SS100
*1
CM-Y
CM-Y
CM-Y
0CM-Y
Model Contact information
OMRON Customer
*2
*2
*2
*2
Service Center
z Sizes and Conductor Pairs: AWG 22 × 2 Pairs
Product name Manufacturer
Cable with Connectors on Both Ends (RJ45/RJ45)
Rugged RJ45 plugs type
Cable with Connectors on Both Ends (M12/M12)
Shield Strengthening Connector cable
M12/Smartclick Connec­tors
Cable with Connectors on Both Ends (M12 /RJ45)
Shield Strengthening Connector cable
M12/Smartclick Connec­tors
Rugged RJ45 plugs type
OMRON Corporation
OMRON Corporation
OMRON Corporation
Cable length [m]
0.3 XS5W-T421-AMD-K OMRON Customer
0.5 XS5W-T421-BMD-K
1 XS5W-T421-CMD-K
2 XS5W-T421-DMD-K
5 XS5W-T421-GMD-K
10 XS5W-T421-JMD-K
0.5 XS5W-T421-BM2-SS
1 XS5W-T421-CM2-SS
2 XS5W-T421-DM2-SS
3 XS5W-T421-EM2-SS
5 XS5W-T421-GM2-SS
10 XS5W-T421-JM2-SS
0.5
1
2
3
5
10
*1
XS5W-T421-BMC-SS
XS5W-T421-CMC-SS
XS5W-T421-DMC-SS
XS5W-T421-EMC-SS
XS5W-T421-GMC-SS
XS5W-T421-JMC-SS
Model Contact information
Service Center
4

4-3-3 Installing EtherCAT Communications Cables

*1. For the latest list of the Cables, refer to the Industrial Ethernet Connectors Catalog (Cat. No. G019).
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 9
4 Mounting and Wiring
Cables and Connectors
z Sizes and Conductor Pairs: AWG 24 × 4 Pairs
Part name Manufacturer Model Contact information
Cables Hitachi Metals, Ltd. NETSTAR-C5E SAB
RJ45 Connectors Panduit Corporation
*1. We recommend that you use combinations of the above Cables and Connectors.
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd.
JMACS Japan Co., Ltd.
0.5 × 4P
KETH-SB
FAE-5004
IETP-SB
MPS588
Planning Department,
*1
*1
*1
Kanetsu Co., Ltd.
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd.
*1
*1
JMACS Japan Co., Ltd.
Panduit Corporation US Headquarters
z Sizes and Conductor Pairs: AWG 22 × 2 Pairs
Part name Manufacturer Model Contact information
Cables Kuramo Electric Co., Ltd.
SWCC Showa Cable
KETH-PSB-OMR
FAE-5002
Systems Co., Ltd.
*1
RJ45 Assembly Connec-
JMACS Japan Co., Ltd.
OMRON Corporation
PNET/B
XS6G-T421-1
tors
*1. We recommend that you use combinations of the above Cables and Connectors.
*1
*1
*1
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd.
JMACS Japan Co., Ltd.
OMRON Customer Ser­vice Center
4 - 10
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 Mounting and Wiring
Attaching the Connectors to the Cable and Pin Assignments
Use straight wiring to attach the connectors to the communications cable.
Pin No. Wire color
1 White-Green
2Green
3 White-Orange
4Blue
5White-Blue
6Orange
7 White-Brown
8Brown
Hood Shield
*1. Connect the cable shield to the connector hood at both ends of the cable.
*2. There are two connection methods for Ethernet: T568A and T568B. The T568A connection method is shown
above, but the T568B connection method can also be used.
Wire color Pin No.
White-Green 1
Green 2
White-Orange 3
Blue 4
White-Blue 5
Orange 6
White-Brown 7
Brown 8
Shield Hood
z Connector Specifications
Item Specification
Electrical characteristics Conforms to IEEE 802.3 standards.
Connector structure RJ45 8-pin modular connector (Conforms to ISO 8877.)
z Pin Assignments
4-3 Laying the EtherCAT Network
4
4-3-3 Installing EtherCAT Communications Cables
Pin No. Signal name Abbreviation Signal direction
1 Transmission data + TD+ Output
2 Transmission data − TD− Output
3 Reception data + RD+ Input
8
1
4 Not used. --- ---
5 Not used. --- ---
6 Reception data − RD− Input
7 Not used. --- ---
8 Not used. --- ---
Hood Frame ground FG ---
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 11
4 Mounting and Wiring

4-4 Laying the Ethernet Network

4-4-1 Installation Precautions

Basic precautions for the installation of Ethernet networks are provided below.
Precautions when Installing a Network
• When you install an Ethernet network, take sufficient safety precautions and follow the standards and specifications. (Refer to JIS X5252 or to electrical facility technical references.)
An expert who is well trained in safety measures, standards and specifications should be asked to perform the installation.
• Do not install Ethernet network equipment near sources of noise.
If the network must be installed in an area subject to noise, take steps to address the noise, such as placing equipment in metal cases.
Precautions when Installing Communications Cables
• Check the following items on the communications cables that are used in the network.
a) Are there any breaks?
b) Are there any shorts?
c) Are there any connector problems?
• When you connect the cable to the communications connectors on devices, firmly insert the commu­nications cable connector until it locks into place.
• Do not lay the communications cables together with high-voltage lines.
• Do not lay the communications cable near devices that generate noise.
• Do not lay the communications cables in locations subject to high temperatures or high humidity.
• Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminants.
• There are limitations on the bending radius of communications cables. Check the specifications of the communications cable for the bending radius.
4 - 12
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4-4-2 Installing Ethernet Networks
The following products are recommended as devices to be used to configure an Ethernet network.
4 Mounting and Wiring
Ethernet Switches
Manufacturer Model Function
OMRON Corpora­tion
Model W4S1-03B Priority control (QoS): Control data of EtherNet/IP is prioritized.
Model W4S1-05B
Model W4S1-05C
Failure detection: Broadcast storm, LSI error detection, 10/100BASE-TX, Auto negotiation
Number of ports
(Model W4S1-03B:3, Model W4S1-05B:5, Model W4S1-05C:5) Cisco Systems Inc. Contact the manufacturer. CONTEC Co., Ltd. Contact the manufacturer. Phoenix Contact Contact the manufacturer.
4-4 Laying the Ethernet Network
4
Twisted-pair Cables, Connectors

4-4-2 Installing Ethernet Networks

z Sizes and Conductor Pairs: AWG 24 × 4 Pairs (for 1000BASE-T/100BASE-TX)
Part name Manufacturer Model Contact
Cables Hitachi Metals, Ltd. NETSTAR-C5ESAB 0.5 ×
*1
4P
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems
KETH-SB
FAE-5004
*1
*1
Co., Ltd.
RJ45 Connectors Panduit Corporation
MPS588
*1
*1. We recommend that you use combinations of the above-mentioned Cables and Connectors.
Planning Department, Kanetsu Co., Ltd.
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd. Panduit Corporation
Osaka office, Japan branch
z Sizes and Conductor Pairs: AWG 22 × 2 Pairs (for 100BASE-TX)
Part name Manufacturer Model Contact
Cables Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd. JMACS Japan Co., Ltd.
RJ45 Assembly
OMRON Corporation
Connectors
*1. We recommend that you use combinations of the above-mentioned Cables and Connectors.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
KETH-PSB-OMR
FAE-5002
PNET/B
*1
*1
Model XS6G-T421-1
*1
Kuramo Electric Co., Ltd.
SWCC Showa Cable Systems Co., Ltd. JMACS Japan Co., Ltd.
*1
OMRON Customer Service Center
4 - 13
4 Mounting and Wiring
z Size and conductor pairs: 0.5 mm × 4 Pairs (for 100BASE-TX)
Part name Manufacturer Model Contact
Cables Fujikura Ltd. F-LINK-E 0.5 mm × 4
RJ45 Connectors Panduit Corporation MPS588 Panduit Corporation
Attaching the Connectors to the Cable and Pin Assignments
Use straight wiring to attach the connectors to the communications cable.
Pairs
Planning Department, Kanetsu Co., Ltd.
Osaka office, Japan branch
Pin No. Wire color
1 White-Green
2Green
3 White-Orange
4Blue
5White-Blue
6Orange
7 White-Brown
8Brown
Hood Shield
*1. Connect the cable shield to the connector hood at both ends of the cable.
*2. There are two connection methods for Ethernet: T568A and T568B. The T568A connection method is shown
above, but the T568B connection method can also be used.
Wire color Pin No.
White-Green 1
Green 2
White-Orange 3
Blue 4
White-Blue 5
Orange 6
White-Brown 7
Brown 8
Shield Hood
z Connector Specifications
Item Specification
Electrical characteristics Conforms to IEEE 802.3 standards.
Connector structure RJ45 8-pin modular connector (Conforms to ISO 8877.)
z Pin Assignments
4 - 14
Physical layer standards: 100BASE-TX
Pin No. Signal name
1 Transmission data + TD+ Output 2 Transmission data − TD- Output
8
1
3 Reception data + RD+ Input 4 Not used. --- --­5 Not used. --- --­6 Reception data − RD- Input 7 Not used. --- --­8 Not used. --- ---
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Abbrevia-
tion
Signal direc-
tion
Physical layer standards: 1000BASE-T
4 Mounting and Wiring
Pin No. Signal name
1 Communication data DA+ BI_DA+ Input/output 2 Communication data DA- BI_DA- Input/output
8
1
3 Communication data DB+ BI_DB+ Input/output 4 Communication data DC+ BI_DC+ Input/output 5 Communication data DC- BI_DC- Input/output 6 Communication data DB- BI_DB- Input/output 7 Communication data DD+ BI_DD+ Input/output 8 Communication data DD- BI_DD- Input/output
Abbrevia-
tion
Signal direc-
tion
4-4 Laying the Ethernet Network
Recommended Clamp Core and Attachment Procedure
An Ethernet communications error may occur even when the recommended cable and RJ45 connector are used. In that case, attach a clamp core to the Ethernet communications cable.
The following shows the recommended clamp core and the procedure to attach it. The EU Directive (EN 61326) ensures the compliance of the recommended clamp core in the state where it is attached using the recommended procedure.
z Recommended Clamp Core Model
Manufacturer Product name Model
NEC TOKIN Clamp core ESD-SR-160
4
4-4-2 Installing Ethernet Networks
z Dimensions of the Recommended Product
20.0
~φ9
20.2 39.0
z Recommended Attachment Procedure
(a) Attaching the clamp core to the cable
Make one loop with the Ethernet communications cable as shown in the figure below.
(b) Attachment position
Secure the clamp core to the Ethernet communications cable close to the Ethernet communications connector as shown in the figure below.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 15
4 Mounting and Wiring

4-5 USB Memory Device Connection

Connect a USB memory device to the USB host port (Type A) on the Programmable Multi-Axis Control­ler to upload and download data as well as to save relevant data.
Refer to 2-2-1 USB Memory Device on page 2-5 for information on the recommended USB memory devices.
4 - 16
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4-6 Grounding
This section describes the earthing methods and precautions.
4-6-1 Considerations for Earthing Methods
Local potential fluctuations due to lightning or noise occurred by power devices will cause potential fluc­tuations between ground terminals of devices. This potential fluctuation may result in device malfunc­tion or damage.To prevent this, it is necessary to suppress the occurrence of a difference in electrical potential between ground terminals of devices. You need to consider the earthing methods to achieve this objective.
4 Mounting and Wiring

4-6 Grounding

Earthing methods
Specification of communications cables
for EtherCAT and EtherNet
The cable shield connected to the connector hood at both ends of the communications cable
Equipoten-
tial bonding
system
Recom­mended
Star earthing
Connecting
devices and
noise sources
to separate
earth elec-
trodes
Recommended Not recom-
Connecting
devices and
noise sources
to a common
earth electrode
mended
Daisy chain
Not recom­mended
4

4-6-1 Considerations for Earthing Methods

Additional Information
• In a country or region where the earthing method is regulated, you must comply with the reg­ulations. Refer to the applicable local and national ordinances of the place where you install the system, or other international laws and regulations.
• When using Ethernet switches, ask the Ethernet switch manufacturer for information on the environmental resistance of the Ethernet switch to use, the grounding between Ethernet switches, or the specifications of cables.
The recommended earthing methods are given in the following table.
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 - 17
4 Mounting and Wiring

4-6-2 Earthing Methods

Each of these earthing methods is given below.
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 recommend this earthing method.
The following figure shows an example of an equipotential bonding system.
Connect the main earthing terminal and building structures together with equipotential bonding conduc­tors and embed the mesh ground line in each floor.
Connect the ground line of each control panel to the equipotential bonding system.
Earth trunk line
Equipotential bonding conductor
Building structure
Power device
Information device
Control panel Control panelControl panel
Hub
Metal duct and pipe
Noise source
Metal structure in floor
Main earthing terminal
Earth electrode
4 - 18
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
4 Mounting and Wiring
Star Earthing
If the earthing method used for the building is not equipotential bonding or the earthing system is unknown, choose (a) from among the earthing methods given below.
(a) Connecting devices and noise sources to separate earth electrodes
This is an earthing method to separately ground an earth electrode of the device that is connected with a communications cable or other devices and an earth electrode of a high-power device that could be a noise source, such as a motor or inverter.
Each earth electrode must be grounded to 100 Ω or less.
Connect the ground lines of the device that is connected with a communications cable and other devices as a bundle to a single earth electrode. Be sure that the earth electrode is separated by a minimum of 10 m from any other earth electrode of a device that could be a noise source.
4-6 Grounding
A device that could be a noise source
PLC
Control panel
Other device
CK3E-series Programmable Multi-Axis Controller
Hub
10 m min.
(b) 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 cable, other devices, and a device that could be a noise source, to a common earth electrode.
This earthing method is not recommended because the device that could be a noise source may interfere electromagnetically with other devices.
A device that could be a noise source
Control panel
Other device
CK3E-series Programmable Multi-Axis Controller
4
4-6-2 Earthing Methods
Hub
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
PLC
4 - 19
4 Mounting and Wiring
Daisy Chain
This is an earthing method to connect the device that is connected with a communications cable, other devices, and a device that could be a noise source using a daisy-chain topology to a common earth electrode.
This earthing method is not recommended because the device that could be a noise source may inter­fere electromagnetically with other devices.
Control panel
Other device
CK3E-series Programmable Multi-Axis Controller
Hub
A device that could be a noise source
PLC
4 - 20
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
Error Processing
This section describes the procedures for checking errors that may occur during opera­tion of the Programmable Multi-Axis Controller and taking corrective actions for the errors.
5
5-1 Classification of Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-2 Using the Indicators to Check Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2-1 Indicator Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2-2 Procedure for Determining Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-3 Corrective Actions for Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3-1 Fatal Errors in the Programmable Multi-Axis Controller . . . . . . . . . . . . . . . . . 5-5
5-3-2 Non-fatal Errors in the Programmable Multi-Axis Controller . . . . . . . . . . . . . . 5-6
5
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5 - 1
5 Error Processing

5-1 Classification of Errors

The errors in the Programmable Multi-Axis Controller are classified into the following two major catego­ries.
z Fatal errors in the Programmable Multi-Axis Controller
Errors that occurred as the result of the Programmable Multi-Axis Controller being disabled.
z Non-fatal errors in the Programmable Multi-Axis Controller
Errors that can be detected and managed by the Programmable Multi-Axis Controller itself that is still operating.
5 - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5 Error Processing
5-2 Using the Indicators to Check Errors
5-2-1 Indicator Types
The following shows the indicators on the Programmable Multi-Axis Controller and their functions.

5-2 Using the Indicators to Check Errors

Indicator Function
ECAT LINK Shows the link status of EtherCAT communications. ECAT ACT Shows the data communications status of EtherCAT communications. Ethernet LINK Shows the link status of Ethernet communications. Ethernet ACT Shows the data communications status of Ethernet communications. PWR/ERR Shows the power supply status to the Unit and the error status. RDY Shows whether the Unit is in operation-ready status.
5

5-2-1 Indicator Types

CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5 - 3
5 Error Processing

5-2-2 Procedure for Determining Errors

When an error occurs in the Programmable Multi-Axis Controller, use the following flowchart to check the indicators and determine whether the error is “fatal” or “non-fatal”.
Error occurs.
Fatal errors in the Programmable Multi-Axis Controller
Lit in red.
Lit in green.
PWR/ERR
indicator (green/red)
RDY indicator
(green)
Lit.
ECAT LINK
Indicator (orange)
Lit.
Ethernet LINK
Indicator (orange)
Lit.
Not lit.
Not lit.
Not lit.
Not lit.
Power supply error
Watchdog timer error
Initial process error
Non-fatal errors in the Program­mable Multi-Axis Controller
The EtherCAT physical layer link is not established.
The Ethernet physical layer link is not established.
The details of the error cannot be determined solely by checking the indi­cators.
If communications between Power PMAC IDE and Programmable Multi-Axis Controller are not available, refer to “Interrupted communications between Power PMAC IDE and Pro­grammable Multi-Axis Controller” in
5-3-2 Non-fatal Errors in the Program­mable Multi-Axis Controller on page
5-6.
If the error state persists even after communications are established, or if errors other than the ones mentioned above persist, use PMAC Power IDE to check details. Refer to “Power PMAC IDE User Manual” for details.
5 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5 Error Processing
5-3 Corrective Actions for Errors
5-3-1 Fatal Errors in the Programmable Multi-Axis Controller
For fatal errors in the Programmable Multi-Axis Controller, take the following corrective actions depend­ing on the nature of the error.
Details Cause Corrective action
Power supply error The unit’s input power is not supplied. Check the following items and adequately sup-
ply adequate power to the unit.
• Is the power turned on?
• Is the power cable wired correctly?
• Is the power cable free of damage?
The unit’s input power voltage is outside the permissible range.
The power supply unit of the Programma­ble Multi-Axis Controller failed.
Watchdog timer error
Initial process error Intrusion of noise Check the FG, power supply lines, communi-
Intrusion of noise Check the FG, power supply lines, communi-
Software watchdog trip caused by the insufficient task processing time or failed task interruption.
A momentary power interruption occurred in the Programmable Multi-Axis Controller during operation caused by a momentary power interruption of the unit’s power sup­ply. The Programmable Multi-Axis Controller failed.
The Programmable Multi-Axis Controller failed.
Check the following items and adjust the volt­age so that it falls within the permissible range.
• Is the power voltage within the specification range?
• Is the power capacity sufficient?
• Is the power supply failing?
If the error still persists even after the above corrective actions have been taken, replace the Programmable Multi-Axis Controller.
cations lines, and other noise entry paths, and implement noise-related countermeasures as required. For details, refer to the following manuals.
• Power PMAC User’s Manual
• Power PMAC Software Reference Manual
Take appropriate measures to ensure that the specified power with the rated voltage and fre­quency is supplied in places where the power supply is unstable.
Replace the Programmable Multi-Axis Control­ler.
cations lines, and other noise entry paths, and implement noise-related countermeasures as required. Replace the Programmable Multi-Axis Control­ler.

5-3 Corrective Actions for Errors

5

5-3-1 Fatal Errors in the Programmable Multi-Axis Controller

CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
5 - 5
5 Error Processing
5-3-2

Non-fatal Errors in the Programmable Multi-Axis Controller

For non-fatal errors in the Programmable Multi-Axis Controller, take the following corrective actions depending on the nature of the error.
Details Cause Corrective action
The EtherCAT physical layer link is not established.
The Ethernet physi­cal layer link is not established.
Interrupted commu­nications between Power PMAC IDE and Programmable Multi-Axis Controller
The Ethernet cable used for EtherCAT com­munications is broken or the specified cable is not being used. A connector on the Ethernet cable used for EtherCAT communications is disconnected, the contact is faulty, or parts are faulty. Noise Check noise entry paths, and implement
A slave within the EtherCAT network config­uration failed. The Programmable Multi-Axis Controller failed.
The Ethernet cable used for Ethernet com­munications is broken or the specified cable is not being used. A connector on the Ethernet cable used for Ethernet communications is disconnected, the contact is faulty, or parts are faulty. Noise Check noise entry paths, and implement
A device within the Ethernet network config­uration failed. The Programmable Multi-Axis Controller failed. The Ethernet cable used for Ethernet com­munications between Power PMAC IDE and Programmable Multi-Axis Controller is dis­connected and then reconnected while communications are being established, which caused communications to be inter­rupted.
The power to the Ethernet switch between Power PMAC IDE and Programmable Multi-Axis Controller is turned OFF and then ON while communications are being estab­lished, which caused communications to be interrupted. The power to Programmable Multi-Axis Controller is turned OFF and then ON while communications are being established, which caused communications to be inter­rupted. Communications are temporarily interrupted by noise.
If the Ethernet cable is broken or if the specified cable was not used, replace the cable.
Reconnect the connector and check to ensure it is mated correctly.
noise-related countermeasures as required. Replace the slave.
Replace the Programmable Multi-Axis Control­ler.
If the Ethernet cable is broken or if the specified cable was not used, replace the cable.
Reconnect the connector and check to ensure it is mated correctly.
noise-related countermeasures as required. Replace the device.
Replace the Programmable Multi-Axis Control­ler. If communications are interrupted between Power PMAC IDE and Programmable Multi-Axis Controller while Ethernet communications are established between them, the communications cannot be reestablished simply by rectifying the problem that interrupted the communications. To reestablish the communication, you need to restart Power PMAC IDE or reestablish the com­munications by using Power PMAC IDE. Refer to “Power PMAC IDE User Manual” for details.
Check noise entry paths, and implement noise-related countermeasures as required. Then reestablish communications between Power PMAC IDE and Programmable Multi-Axis Controller. To reestablish the communication, you need to restart Power PMAC IDE or reestablish the com­munications by using Power PMAC IDE. Refer to “Power PMAC IDE User Manual” for details.
5 - 6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6
Inspection and Maintenance
This section describes the procedures for the cleaning, inspection, and maintenance of the Programmable Multi-Axis Controller.
6-1 Cleaning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-1-1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-1-2 Periodic Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-2 Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-2-1 Unit Replacement Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-2-2 Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-2-3 Unit Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6 - 1
6 Inspection and Maintenance

6-1 Cleaning and Maintenance

6-1-1 Cleaning

Perform the following cleaning procedures periodically to ensure the Programmable Multi-Axis Control­ler is maintained in optimum operating condition.
• During daily cleaning, wipe off dust and dirt using a soft, dry cloth.
• If any dust or dirt remains even after wiping using a soft, dry cloth, wipe over with a cloth that has been wet with a sufficiently diluted detergent (2%) and wrung dry.
• Smudges may remain on the Unit from gum, vinyl, or tape that was left on for a long time. Remove the smudges when cleaning.

6-1-2 Periodic Inspections

The Programmable Multi-Axis Controller can deteriorate under adverse environmental conditions. Peri­odic inspections are thus required to ensure that the required conditions are being maintained.
Inspection is recommended at least once every six months to a year, but more frequent inspections will be necessary in adverse environments.
Take immediate steps to correct the situation if any of the conditions in the following table are not met.
Periodic Inspection Items
No. Item Inspection details Criteria Correction
1 External power sup-
ply
2 Ambient environment Check the ambient tem-
Check for voltage fluctu­ations at the power sup­ply terminals.
perature.
(Inside the control panel if the Controller is in a control panel.)
Check the ambient humidity. (Inside the con­trol panel if the Controller is in a control panel.)
Check that the Controller is not in direct sunlight.
Check for accumulation of dirt, dust, salt, metal powder, etc.
The voltage must be within the allowable volt­age fluctuation range.
0 to 45°C Use a thermometer to
Relative humidity must be 10% to 95% with no condensation.
Not in direct sunlight Protect the Controller if
No accumulation Clean and protect the Con-
Take necessary steps to bring the voltage of the supplied power to within the allowable voltage fluc­tuation range.
check the temperature and ensure that the ambient temperature remains within the allowed range of 0 to 45°C. Use a hygrometer to check the humidity and ensure that the ambient relative humidity remains between 10% and 95%. Make sure that no condensation forms due to rapid changes in temperature.
necessary.
troller if necessary.
6 - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6 Inspection and Maintenance
No. Item Inspection details Criteria Correction
2 Ambient environment Check for water, oil, or
chemical sprays hitting the Controller.
Check for corrosive or flammable gases in the area of the Controller. Check the level of vibra­tion or shock.
Check for noise sources near the Controller.
3 Mounting and wiring
status
Check that cable con­nectors are fully inserted and locked. Check for damaged external wiring cables.
No spray Clean and protect the Con-
troller if necessary.
No corrosive or flamma­ble gases
Vibration resistance and shock resistance must be within specifications. No significant noise sources
No looseness Fully inserted and lock the
No visible damage Check visually and replace
Check by smell or use a sensor.
Install cushioning or shock absorbing equipment if necessary. Either separate the Con­troller and noise source or protect the Controller.
connectors.
cables if necessary.
6-1 Cleaning and Maintenance
Tools Required for Inspections
z Required Tools
• Flat-head screwdriver
• Phillips screwdriver
• Voltage tester or digital voltmeter
• Industrial alcohol and clean cotton cloth
• Antistatic gas duster
z Tools Required Occasionally
• Oscilloscope
• Thermometer and hygrometer
6
6-1-2 Periodic Inspections
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6 - 3
6 Inspection and Maintenance

6-2 Maintenance Procedures

This section describes the procedures for backing up the Programmable Multi-Axis Controller data and replacing a Unit.

6-2-1 Unit Replacement Precautions

Note the following when replacing any faulty Unit.
• Do not replace a Unit until the power is turned OFF.
• Check the new Unit to ensure that there are no errors.
• If you return a faulty Unit for repair, describe the problem in as much detail as possible and enclose this description with the Unit.

6-2-2 Backup

Back up the Programmable Multi-Axis Controller data so that the data can be restored when a failure or other problems occur.
Use Power PMAC IDE to create a backup file. Power PMAC IDE is also used to restore the backup file to the Programmable Multi-Axis Controller.
For details of the backup and restoration procedures, refer to “Power PMAC IDE User Manual”.

6-2-3 Unit Replacement

Procedure for Replacing the Programmable Multi-Axis Controller
The following describes the basic procedure for replacing the Programmable Multi-Axis Controller.
No. Step Description Reference
1 Creation of a backup
file
2 Deactivation of the cur-
rently connected net­work
3 Removal Turn OFF the power to the Programmable
4 Mounting Replace the Programmable Multi-Axis Controller
5 Connection with Power
PMAC IDE
Create a backup file for the Programmable Multi-Axis Controller by using Power PMAC IDE.
The backup file can be saved on the computer hard disk where Power PMAC IDE is installed or on a USB memory device connected to the com­puter. Deactivate the EtherCAT network.
If the Programmable Multi-Axis Controller has been connected to the Ethernet network, take appropriate measures so that disconnection of the Controller from the network does not affect your operations.
Multi-Axis Controller, and disconnect cables.
with a new one, connect the cables, and turn the power ON. Establish communications between Power PMAC IDE and the new Programmable Multi-Axis Con­troller.
Refer to “Power PMAC
IDE User Manual” for details.
Refer to “Power PMAC
IDE User Manual” for details.
---
---
Refer to “Power PMAC
IDE User Manual” for details.
6 - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6 Inspection and Maintenance
No. Step Description Reference
6 Restoration and verifi-
cation
7 Activation of the Ether-
CAT network
8 Checking operation By using Power PMAC IDE and the actual
Restore the backup file to the Programmable Multi-Axis Controller by using Power PMAC IDE.
Then, verify the file restored to the Programmable Multi-Axis Controller with the backup file to ensure that the backup file has been adequately restored.
Activate the EtherCAT network by using Power PMAC IDE and change the state of the connected EtherCAT slaves to an operational state.
machine, check the motor settings and that the program has been adequately restored.
Refer to “Power PMAC
IDE User Manual” for details.
Refer to “Power PMAC
IDE User Manual” for details.
Refer to “Power PMAC
IDE User Manual” for details.
Procedure to Replace an EtherCAT Slave
To replace an EtherCAT slave connected to the Programmable Multi-Axis Controller, you can only dis­connect the target slave and slaves connected after it from the EtherCAT network. This enables you to replace slaves without interrupting the total communication system when performing maintenance or replacement work in the case a slave malfunctions.
6-2 Maintenance Procedures
The following describes the basic procedure to replace a slave connected to the Programmable Multi-Axis Controller.
No. Step Description Reference
1 State transition instruc-
tion
2 Disconnection of the
Unit to be replaced
3 Mounting of a Unit Connect a new slave to the EtherCAT network, and
4 Mounting and wiring of
the Programmable Multi-Axis Controller
5 Confirmation of con-
nection
By using Power PMAC IDE, instruct the slave to be replaced and slaves connected after it to change to the init state. The init state is a state where com­munications cannot be carried out.
Then, ensure that the state transition of the slaves has been completed successfully. Turn OFF the unit power supply of the slave to be replaced or remove the EtherCAT communications cable to disconnect the slave from the EtherCAT network.
turn ON the unit power supply of the slave. In doing so, reconfigure the settings, if required, by referring to the manual for the slave. By using Power PMAC IDE, instruct the slave in the init state to change to the communications sta­tus (pre-operational state, safe-operational state, or operational state) and allow it to connect to the EtherCAT network. Refer to “Power PMAC Soft­ware Reference Manual” for detailed instructions. Make sure that the state transition of the slaves has been completed successfully.
Refer to “Power PMAC Software Reference Man­ual”.
---
Refer to the manual for the EtherCAT slave.
Refer to “Power PMAC Software Reference Man­ual”.
Refer to “Acontis EC-Engi­neer manual” and “Power PMAC Software Refer­ence Manual”.
6
6-2-3 Unit Replacement
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
6 - 5
6 Inspection and Maintenance
6 - 6
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Appendices

The following provides the dimension diagram, and restrictions on using the OMRON EtherCAT Coupler Unit.
A-1 Dimension Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A-2 Restrictions on Using the OMRON NX-Series EtherCAT Coupler Unit . . . . . . . . . . A-3
A
A
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
A - 1
Appendices

A-1 Dimension Diagram

The following shows the dimension diagrams of the Programmable Multi-Axis Controller. The unit of dimension is millimeter.
z Main Body Only
28.6
25.8
110
z With Power Connector
28.6
25.8
14.9
11.6
15.2
170.9
170.9
150.5
150.5
125
94.1
5.4
110
z Mounting Dimensions
Front mounting Sideways mounting
170.9
14.9
28.6
2-M4 PAN HEAD SCREW
119
125
4-M4 PAN HEAD SCREW
125
43.4 88
119
125
A - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
A-2 Restrictions on Using the OMRON
NX-Series EtherCAT Coupler Unit
Appendices
When OMRON NX-series EtherCAT Coupler Units are used as slaves of the Programmable Multi-Axis Controller as the EtherCAT master, the following models and unit versions of EtherCAT Coupler Units can be connected.
Model Unit version Connectable/Unconnectable
Model NX-ECC203 Ver. 1.4 or later Connectable
Ver. 1.3 or earlier Unconnectable Model NX-ECC202 All versions Model NX-ECC201 All versions

A-2 Restrictions on Using the OMRON NX-Series EtherCAT Coupler Unit

A
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
A - 3
Appendices
A - 4
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)

Index

I
I
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
I - 1
Index
Index
B
branching connections ................................................... 4-7
C
Compatible Wires ........................................................... 4-4
D
daisy chain connections with no branching .................... 4-7
DIAG.MODE ................................................................... 3-3
E
ECAT ACT ...................................................................... 3-3
ECAT LINK ..................................................................... 3-3
EC-Engineer ................................................................... 1-5
EtherCAT communications connector ............................ 3-2
EtherCAT communications port operation indicators ..... 3-2
EtherCAT master ............................................................ 1-2
Ethernet ACT .................................................................. 3-3
Ethernet communications connector .............................. 3-2
Ethernet communications port operation indicators ....... 3-2
Ethernet LINK ................................................................. 3-3
F
Fatal errors in the Programmable
Multi-Axis Controller .................................................... 5-2
Functional ground terminal ............................................. 4-4
G
Grounding ....................................................................... 4-5
I
Initial process error ......................................................... 5-5
N
Non-fatal errors in the Programmable
Multi-Axis Controller .................................................... 5-2
P
Power PMAC IDE ........................................................... 1-5
Power PMAC-NC16 Runtime ......................................... 1-5
Power PMAC-NC16 SDK ............................................... 1-5
Power supply connector ................................................. 3-2
Power supply error ......................................................... 5-5
Procedure for Wiring the Power Supply Connector ....... 4-5
Programmable Multi-Axis Controller .............................. 1-2
Programmable Multi-Axis Controller specific language .. 1-2
PWR/ERR ...................................................................... 3-3
R
RDY ................................................................................ 3-3
Recommended Clamp Core ......................................... 4-15
Recommended power supply ......................................... 2-5
recommended screwdriver ............................................. 4-5
recommended USB memory .......................................... 2-5
T
twisted-pair cable ........................................................... 4-9
U
Unit operation indicators ................................................ 3-2
USB 2.0 connector ......................................................... 3-2
USB 3.0 connector ......................................................... 3-2
W
Watchdog timer error ...................................................... 5-5
J
Junction Slaves .............................................................. 4-7
M
Maintenance mode enter button ..................................... 3-2
Maintenance mode LED ................................................. 3-2
Maximum number of controlled axes ............................. 2-2
MODBUS-TCP ............................................................... 1-3
I - 2
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
OMRON Corporation Industrial Automation Company
Kyoto, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2), Alexandra Technopark, Singapore 119967 Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200 Hoffman Estates, IL 60169 U.S.A. Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road, PuDong New Area, Shanghai, 200120, China Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
Authorized Distributor:
© OMRON Corporation 2016 All Rights Reserved.
In the interest of product improvement, specifications are subject to change without notice.
Cat. No. I610-E1-01
0816
Loading...
Buy Points How it Works FAQ Contact Us Questions and Suggestions Privacy Policy Cookie Policy Terms of Use