Omron CK3W-AX1313, CK3W-AX2323 Startup Manual
Programmable Multi-Axis Controller
Startup Guide
for DirectPWM Interface
CK3W-AX1313
CK3W-AX2323
O047-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
• 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.
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.
• 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/.
Sections in this Manual
1
2
3
Summary of Materials
Target Equipment and Device Configuration
DirectPWM Interface Connection Procedure
1
2
3
Sections in this Manual
CK3M-series Startup Guide DirectPWM Interface (O047)
3
CONTENTS
CONTENTS
Sections in this Manual ........................................................................................... 3
Related Manuals....................................................................................................... 5
Revision History
....................................................................................................... 6
Terms and Definitions.............................................................................................. 7
Precautions .............................................................................................................. 8
Section 1 Summary of Materials
1-1 Summary of Materials............................................................................................................1-2
1-1-1 Intended Audience
......................................................................................................................1-2
Section 2 Target Equipment and Device Configuration
2-1 Device Configuration.............................................................................................................2-2
Section 3 DirectPWM Interface Connection Procedure
3-1 Work Flow...............................................................................................................................3-2
3-2 Controller Setting Preparations
3-2-1 Creation of a New Project ...........................................................................................................3-3
3-2-2 Controller Initial Setting ...............................................................................................................3-4
3-3 Various Equipment Connection............................................................................................3-6
3-4 Various Controller Settings...................................................................................................3-8
3-4-1 Notes List ..................................................................................................................................3-13
3-5 Confirmation of Settings ..................................................................................................... 3-17
3-6 Motor Tuning ........................................................................................................................3-19
3-6-1 Open Loop Test.........................................................................................................................3-19
3-6-2 Current Loop Gain Setting ........................................................................................................3-20
3-6-3 Bandwidth Automatic Setting ....................................................................................................3-21
3-6-4 Manual Setting of Bandwidth ....................................................................................................3-23
3-6-5 Feed-Forward Value Setting......................................................................................................3-25
3-6-6 Checking of Operation and Creation of Tuning Parameter Project...........................................3-27
............................................................................................3-3
4
CK3M-series Startup Guide DirectPWM Interface (O047)
Related Manuals
To safely utilize the system, obtain a manual or user's guide for each device and piece of equipment,
confirm their content, including “Safety Precautions”, “Precautions for Safe Use”, and other precautions related to safety, and then proceed with use.
The manuals for OMRON Corporation (hereafter, “OMRON”) and Delta Tau Data Systems Inc. (hereafter “DT”) are as shown below.
Related Manuals
Manufac-
turer
OMRON O036
DT O014 --- Power PMAC User's Manual
DT O015 --- Power PMAC Software Reference Manual
DT O016 --- Power PMAC IDE User's Manual
Cat. No. Model Manual Name
CK3M-£
-
CK3W
£
Programmable Multi-Axis Controller Hardware User's Manual
CK3M-series Startup Guide DirectPWM Interface (O047)
5
O047-E1-01
Revision code
Revision History
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers.
Revision
code
01 July 2019 Original production
Revision date Revised content
6
CK3M-series Startup Guide DirectPWM Interface (O047)
Terms and Definitions
Terms Descriptions and Definitions
PMAC This is the acronym for Programmable Multi-Axis Controller.
Power PMAC IDE This is computer software that is used to configure the Motion Controller, create
user programs, and perform monitoring.
DirectPWM This is a proprietary interface method developed by Delta Tau Data Systems, Inc.
for connecting Servo Drives.
Digital Quadrature Encod-erThis is a type of encoder that outputs pulse signals.
Terms and Definitions
CK3M-series Startup Guide DirectPWM Interface (O047)
7
Precautions
Precautions
• For actual system construction, check the specifications for each device and piece of equipment that
makes up the system, use a method with sufficient margin for ratings and performance, and adopt
safety circuits and other safety measures to minimize risks even if a breakdown occurs.
• To safely utilize the system, obtain a manual or user's guide for each device and piece of equipment
that makes up the system, confirm and understand their content, including “Safety Precautions”,
“Precautions for Safe Use”, and other precautions related to safety, and then proceed with use.
• The customer must check all regulations, laws, and rules that are applicable to the system themselves.
• Copying, duplication, or redistribution of part or all of these materials without the permission of OMRON Corporation is prohibited.
• The content listed in these materials is valid as of July 2019.
The content listed in these materials may be changed without notice for purposes of improvement.
The marks used in these materials are defined as follows.
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 and make operation easier.
8
CK3M-series Startup Guide DirectPWM Interface (O047)
Summary of Materials
This section lists a summary of these materials.
1
1
1-1 Summary of Materials
1-1-1 Intended Audience.......................................................................................... 1-2
.................................................................................... 1-2
CK3M-series Startup Guide DirectPWM Interface (O047)
1-1
1 Summary of Materials
1-1
1-1-1
Summary of Materials
This document summarizes the procedures and confirmation methods for connecting a Servo Drive
that is compatible with the DirectPWM interface method to the OMRON Programmable Multi-Axis Controller CK3M-££££ (hereinafter called “Controller”).
By understanding the setting content and setting procedure points described in Section 3 DirectPWM
Interface Connection Procedure on page 3-1, you can configure the Controller to send commands
to the DirectPWM interface-capable Servo Drive and control Servomotors.
The connection procedure in this document describes an example when a digital quadrature encoder
is used to perform position and velocity feedback for CK3W-AX1313£.
*1.
If CK3W-AX2323£ is used, the same DirectPWM interface as CK3W-AX1313£
setting needs to be changed because a different type of encoder needs to be connected. Refer to the following documents for encoder settings.
• Startup Guide Sinusoidal Encoder
• Startup Guide for SSI/Mitutoyo/EnDat 2.1/2.2 Serial Encoder
Intended Audience
This guide is intended for the following personnel, who must also have knowledge of electrical systems (electrical or the equivalent).
• Personnel in charge of introducing F
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
A systems.
*1
is available but the encoder
Also, this guide is intended for personnel who understand the contents described in the DT manual.
1-2
CK3M-series Startup Guide DirectPWM Interface (O047)
2
Target Equipment and Device
Configuration
This section lists the target equipment and system configurations for connections in
these materials.
2-1 Device Configuration
..................................................................................... 2-2
2
CK3M-series Startup Guide DirectPWM Interface (O047)
2-1
Programmable Multi-Axis Controller
CK3M-CPU1£1
CK3W-AX1313£
CK3W-PD048
CK3W-TER11
CK3W-CAED03A
CK3W-CAAD0££A
R88ACAKA0££S
Servo Drive
Servomotor
Coupling
Digital
Quadrature
Encoder
S8VK-£
Ethernet
cable
Windows PC
Power PMAC IDE
2 Target Equipment and Device Configuration
2-1
Device Configuration
The configuration devices for reproducing the connection procedures in this document are shown below.
This example shows a DirectPWM interface setting using the configuration where the digital quadrature encoder is connected to the output axis of a motor. This configuration is used only to show a setting example and is not a standard configuration.
Precautions for Correct Use
Always secure a Servomotor and encoder. Starting the motor that is not secured leads to a failure.
Manufacturer Name Model Version
OMRON Programmable Multi-Axis Controller
CPU Unit
OMRON Programmable Multi-Axis Controller
Axis Interface Unit
OMRON Programmable Multi-Axis Controller
Power Supply Unit
OMRON Programmable Multi-Axis Controller
End Cover
OMRON DirectPWM Cable
OMRON Motor Cable
OMRON Encoder Cable CK3W-CAES03A --Servotronix Servo Drive CDHD-0032APB0 --OMRON Servomotor R88M-K05030T --OMRON Digital Quadrature Encoder E6B2-CWZ1X --OMRON Coupling E69-C68B
OMRON Switching Power Supply
CK3M-CPU1£1
CK3W-AX1313£
CK3W-PD048 ---
CK3W-TER11 ---
CK3W-CAAD0££A
R88A-CAKA0££S
S8VK-£
Version 2.5.2 or
later
---
---
---
---
2-2
CK3M-series Startup Guide DirectPWM Interface (O047)
2 Target Equipment and Device Configuration
Manufacturer Name Model Version
--- Windows PC --- --DT Power PMAC Setting Tool Power PMAC IDE Version 4.3 or
later
2-1 Device Configuration
2
CK3M-series Startup Guide DirectPWM Interface (O047)
2-3
2 Target Equipment and Device Configuration
2-4
CK3M-series Startup Guide DirectPWM Interface (O047)
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