Omron CK3E-1210 User Manual

CK3E-series

Programmable Multi-Axis Controller

Hardware
User’s Manual

CK3E-110

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