Omron CK3W-AX2 2 Startup Manual

Download

Programmable Multi-Axis Controller

Startup Guide

for Sinusoidal Encoder

CK3W-AX22

O048-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

Summary of Materials

Target Equipment and Device Configuration

Sinusoidal Encoder Connection Procedure

Sections in this Manual

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 Sinusoidal Encoder 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 Sinusoidal Encoder Wiring ...................................................................................................3-6

3-4 Various Controller Settings and Checking Operation........................................................3-7

............................................................................................3-3

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 precau-

tions related to safety, and then proceed with use.

The manuals for OMRON Corporation (hereafter, “OMRON”) and Delta Tau Data Systems Inc. (here-

after “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 Sinusoidal Encoder (O048)

O048-E1-01

Revision code

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

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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.

Sinusoidal Encoder A type of encoder that outputs SIN/COS waveforms at 1 Vpp.

Terms and Definitions

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 them-

selves.

• Copying, duplication, or redistribution of part or all of these materials without the permission of OM-

RON 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.

CK3M-series Startup Guide Sinusoidal Encoder (O048)

Summary of Materials

This section lists a summary of these materials.

1-1 Summary of Materials

1-1-1 Intended Audience.......................................................................................... 1-2

.................................................................................... 1-2

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 Sinusoidal En-

coder with the OMRON Programmable Multi-Axis Controller CK3M-££££ (hereinafter called “Con-

troller”).

By understanding the setting content and setting procedure points described in Section 3 Sinusoidal

Encoder Connection Procedure on page 3-1, the Controller can communicate with each Sinusoidal

Encoder, and position information can be received.

Intended Audience

This guide is intended for the following personnel, who must also have knowledge of electrical sys-

tems (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.

Also, this guide is intended for personnel who understand the contents described in the DT manual.

A systems.

1-2

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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

CK3M-series Startup Guide Sinusoidal Encoder (O048)

2-1

CK3W-CAEA03A

Sinusoidal Encoder

S8VK-£

Ethernet cable

Windows PC Power PMAC IDE

Programmable Multi-Axis Controller CK3M-CPU1£1 CK3W-AX2£2££ CK3W-PD048 CK3W-TER11

2 Target Equipment and Device Configuration

2-1

Device Configuration

The configuration devices for reproducing the connection procedures in this document are shown be-

low.

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 Switch Mode Power Supply

OMRON Encoder Cable CK3W-CAEA03A ---

HEIDENHAIN Sinusoidal Encoder ROD480-5000 ---

--- Windows PC --- ---

DT Power PMAC Setting Tool Power PMAC IDE Version 4.3 or

CK3M-CPU1£1

CK3W-AX2£2££

CK3W-PD048 ---

CK3W-TER11 ---

S8VK-£

Version 2.5.2 or later

---

later

2-2

CK3M-series Startup Guide Sinusoidal Encoder (O048)

Sinusoidal Encoder Connection Procedure

This section describes the procedures to connect the Controller and Sinusoidal Encoder. The description assumes that the Controller is set to factory default.

3-1

Work Flow .......................................................................................................3-2

3-2 Controller Setting Preparations.................................................................... 3-3

3-2-1 Creation of a New Project............................................................................... 3-3

3-2-2 Controller Initial Setting................................................................................... 3-4

3-3 Sinusoidal Encoder Wiring............................................................................ 3-6

3-4 Various Controller Settings and Checking Operation ................................ 3-7

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-1

3 Sinusoidal Encoder Connection Procedure

3-1

Work Flow

The procedures for connecting the Controller and Sinusoidal Encoder are shown below.

3-2 Controller Setting Preparations on page 3-3

▼

Creation of a New Project on page 3-3

3-2-1

▼

3-2-2 Controller Initial Setting on page 3-

▽

3-3 Sinusoidal Encoder Wiring on page 3-

▽

3-4 Various Controller Settings and Checking Operation on page 3-7

Perform the Controller setting preparations.

Perform wiring for each device.

Perform the Controller settings and operation check.

3-2

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3 Sinusoidal Encoder Connection Procedure

3-2

3-2-1

Controller Setting Preparations

Perform the Controller setting preparations.

Install the Power PMAC IDE on the PC beforehand.

Creation of a New Project

Follow the procedure below to create a new project.

Connect the Controller and computer

with an Ethernet cable.

Turn ON the power supply to the Con-

troller

Start up Power PMAC IDE.

• If a dialog for checking access rights

is displayed at the time of startup, select the option for starting up.

The Communication screen is dis-

played, so specify the IP address of the Controller to be connected to, and click the Connect button.

• The default IP address for the Con-

troller is "192.168.0.200".

• If necessary

address to "192.168.0.X".

, change the Windows IP

3-2 Controller Setting Preparations

3-2-1 Creation of a New Project

Power PMAC IDE starts up, and the

Controller will come online.

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-3

3 Sinusoidal Encoder Connection Procedure

From the File menu, select New ‒

Project.

3-2-2

Input a project name and save destina-

tion, and select the OK button.

Controller Initial Setting

Follow the procedure below to perform the initial settings for the Controller.

Precautions for Correct Use

Since all memory is cleared by the initial settings, be sure to save any data remaining in the Controller that you may need.

3-4

Type the $$$*** command from the T

minal, and set the Controller to the factory default state.

er-

CK3M-series Startup Guide Sinusoidal Encoder (O048)

Type the save command in the Power

PMAC IDE T

• When the save is completed,

Completed" is displayed in the Terminal.

Type the $$$ command in the Power

PMAC IDE Terminal.

• When the reset is completed,

"PowerPMAC Reset complete played in the Terminal.

erminal.

"Save

" is dis-

3 Sinusoidal Encoder Connection Procedure

3-2 Controller Setting Preparations

3-2-2 Controller Initial Setting

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-5

CK3W-AX2£2££ Encoder Connector Sinusoidal Encoder

Signal Signal

Up Sensor/Up 0V Sensor/0V A+ AB+ BR+ R-

Pin No.

Type

Cable color Color

Brown/Green Blue White/Green White Brown Green Gray Pink Red Black

Encoder Power Supply (+5VDC)

Encoder Power Supply (GND)

Sinusoidal Encoder SIN+ Sinusoidal Encoder SINSinusoidal Encoder COS+ Sinusoidal Encoder COSSinusoidal Encoder INDEX+ Sinusoidal Encoder INDEX-

1 6 2 7 3 8

Black

pair1

pair2

pair3

pair4

Blue

Black Red Black White Black Green

3 Sinusoidal Encoder Connection Procedure

3-3

Sinusoidal Encoder Wiring

Perform wiring for the Axis Interface Unit and Sinusoidal Encoder in accordance with the wiring dia-

gram below.

3-6

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3 Sinusoidal Encoder Connection Procedure

3-4 Various Controller Settings and Checking Operation

3-4

Various Controller Settings and Checking Operation

Perform the settings for connecting the Controller to the Sinusoidal Encoder.

Open the global definitions.pmh under

PMAC Script Language ‒ Global Includes in the Solution Explorer

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-7

3 Sinusoidal Encoder Connection Procedure

Write the text on the right to the global

definitions.pmh.

• T

o use the hardware-interpolated sinusoidal encoder posi-

tion

Sys.WpKey = $AAAAAAAA //Release write-pro

tect

//Default setting Sinusoidal Encoder*1

Gate3[0].EncClockDiv = 3

Gate3[0].AdcEncClockDiv = 3

Gate3[0].AdcEncCtrl = $3FFFC000

//Enable Sinusoidal Encoder

Gate3[0].Chan[0].AtanEna = 1

Motor[1].ServoCtrl = 1

//Setting Encoder table

EncTable[1].type = 1

EncTable[1].pEnc = Gate3[0].Chan[0].ServoCa

pt.a

EncTable[1].index1 = 0

EncTable[1].index2 = 0

EncTable[1].ScaleFactor = 1/4096

Motor[1].pEnc = EncTable[1].a

Motor[1].pEnc2 = EncTable[1].a

Sys.WpKey = $0 //Write-protect

Do not change the setting by which Sinusoidal Encod-

*1.

er values can be received correctly.

3-8

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3 Sinusoidal Encoder Connection Procedure

• To use software-based arctangent interpolated position

Sys.WpKey = $AAAAAAAA //Release write-pro

tect

//Default setting Sinusoidal Encoder*1

Gate3[0].EncClockDiv = 3

Gate3[0].AdcEncClockDiv = 3

Gate3[0].AdcEncCtrl = $3FFFC000

//Enable Sinusoidal Encoder

Gate3[0].Chan[0].AtanEna = 0

Motor[1].ServoCtrl = 1

//Setting Encoder table

EncTable[1].type = 4

EncTable[1].pEnc = Gate3[0].Chan[0].Status.

EncTable[1].pEnc1 = Gate3[0].Chan[0].AdcEn

c[0].a

EncTable[1].index3 = 0

EncTable[1].index5 = 1

EncTable[1].ScaleFactor = 1/65536

Motor[1].pEnc = EncTable[1].a

Motor[1].pEnc2 = EncTable[1].a

3-4 Various Controller Settings and Checking Operation

//Setting correction factor value*2

EncTable[1].SinBias

EncTable[1].CosBias

EncTable[1].CoverSerror

EncTable[1].TanHalfPhi

Sys.WpKey = $0 //Write-protect

Do not change the setting by which Sinusoidal Encod-

*1.

er values can be received correctly. Set values other than 0 to correct incompleteness of

*2.

signals. For details on the settings, refer to DT’s

Power PMAC User's Manual (Cat. No. O014), SETTING UP THE ENCODER CONVERSION TABLE ‒ Conversion Method Details ‒ Type 4: Software Arctangent Sinusoidal Encoder Extension.

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-9

$$$

3 Sinusoidal Encoder Connection Procedure

Right click on the Solution Explorer

project name at the upper right of the Power PMAC IDE screen, select Build and Download All Programs, and execute Build and Download.

Make sure that there are no errors in

the Output Window.

• If the transfer failed, check the con-

tent of the error in the Output Window

. If there is a program error, fix

the program.

Type the save command in the Power

PMAC IDE T

• When the save is completed,

Completed" is displayed in the Terminal.

Type the $$$ command in the T

Check that the value in the Power

PMAC IDE position window is changed by rotating the encoder.

erminal.

"Save

erminal.

3-10

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3 Sinusoidal Encoder Connection Procedure

Precautions for Correct Use

If the save command is not successfully completed, the transferred project is not saved in the Controller. If the power to the Controller is switched OFF without the project being saved, the transferred project is destroyed.

3-4 Various Controller Settings and Checking Operation

CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-11

3 Sinusoidal Encoder Connection Procedure

3-12

CK3M-series Startup Guide Sinusoidal Encoder (O048)

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:

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. O048-E1-01

0719

Omron CK3W-AX2 2 Startup Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Sections in this Manual

CONTENTS

Related Manuals

Revision History

Terms and Definitions

Precautions

1 Summary of Materials

Intended Audience

Device Configuration

Work Flow

3-2 Controller Setting Preparations

3-2-1 Creation of a New Project

Controller Initial Setting

Sinusoidal Encoder Wiring

3-4 Various Controller Settings and Checking Operation