Omron CK3W-PD048, CK3M-CPU101, CK3M-CPU121, CK3M-CPU111, CK3W-AX1313N User Manual

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CK3M-series

Programmable Multi-Axis Controller Hardware

User's Manual

CK3M-CPU1£1 CK3W CK3W-AX1313£/-AX1414£/-AX1515£/-AX2323£ CK3W-MD71£0 CK3W-AD£100 CK3W-EXM01/-EXS02

-PD048

Programmable Multi-Axis Controller

O036-E1-02

NOTE

transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or oth-

erwise, without the prior written permission of OMRON.

• No patent liability is assumed with respect to the use of the information contained herein.

Moreover

tion contained in this manual is subject to change without notice.

, because OMRON is constantly striving to improve its high-quality products, the informa-

• Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as-

sumes 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, Excel, and V

crosoft Corporation in the United States and other countries.

• EtherCAT

GmbH, Germany.

Other company names and product names in this document are the trademarks or registered trade-

marks of their respective companies.

is registered trademark and patented technology, licensed by Beckhoff Automation

isual Basic are either registered trademarks or trademarks of Mi-

Copyrights

• Microsoft product screen shots reprinted with permission from Microsoft Corporation.

• This product incorporates certain third party software. The license and copyright information associ-

ated with this software is available at

http://www.fa.omron.co.jp/nj_info_e/.

Introduction

Thank you for purchasing a CK3M-series Programmable Multi-Axis Controller (may be called Motion Controller hereinafter). This manual contains information that is necessary to use the CK3M-series Programmable Multi-Axis Controller. Please read this manual and make sure you understand the functionality and performance of the product 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 (electrical engineers or the equivalent).

• Personnel in charge of introducing FA systems.

• 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.

Introduction

Applicable Products

This manual covers the following products.

• CK3M-series Programmable Multi-Axis Controller CK3M-CPU1£1 CK3W-PD048 CK3W-AX1313£/-AX1414£/-AX1515£/-AX2323£ CK3W-MD71£0 CK3W-AD£100 CK3W-EXM01/-EXS02

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

4-9

Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

gnitn

3-4

rel

noC

4-3 Mounting Units

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected 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

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

Move the sliders toward the back until they lock into place.

Level 1 heading Level 2 heading Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current headings.

Indicates a procedure.

Icons indicate precautions, additional information, or reference information.

Gives the number of the main section.

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.

Manual Structure

Page Structure

The following page structure is used in this manual.

Note This illustration is provided only as a sample. It may not literally appear in this manual.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

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 and make operation easier

Manual Structure

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Manual Structure

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Sections in this Manual

Introduction to Motion Controllers

System Configuration

Configuration Units

Installation

iring

Appendices

Troubleshooting

Inspection and Maintenance

Index

Sections in this Manual

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

CONTENTS

Introduction .............................................................................................................. 1

Intended Audience

Applicable Products ......................................................................................................................................... 1

Manual Structure...................................................................................................... 2

Page Structure.................................................................................................................................................2

Special Information .......................................................................................................................................... 3

Sections in this Manual ........................................................................................... 5

Terms and Conditions Agreement........................................................................ 10

Warranty, Limitations of Liability ....................................................................................................................10

Application Considerations ............................................................................................................................11

Disclaimers ....................................................................................................................................................11

Safety Precautions................................................................................................. 13

Definition of Precautionary Information.......................................................................................................... 13

Symbols ......................................................................................................................................................... 13

WARNING......................................................................................................................................................14

Cautions.........................................................................................................................................................16

...........................................................................................................................................1

Precautions for Safe Use ...................................................................................... 17

Precautions for Correct Use ................................................................................. 22

Regulations and Standards .................................................................................. 24

Conformance to EU Directives ......................................................................................................................24

Condition for Compliance with EU Directives ................................................................................................25

Conformance to UL and CSA Standards.......................................................................................................25

Conformance to KC Certification ...................................................................................................................25

Versions.................................................................................................................. 26

Checking Versions.........................................................................................................................................26

Related Manuals..................................................................................................... 27

Terminology............................................................................................................ 28

Revision History..................................................................................................... 29

Section 1 Introduction to Motion Controllers

1-1 Features and System Configuration ....................................................................................1-2

1-1-1

1-1-2 Introduction to the System Configurations ..................................................................................1-2

1-1-3 Support Software ........................................................................................................................1-4

1-2 CK3M-series Operating Procedure ......................................................................................1-5

Motion Controller Features..........................................................................................................1-2

Section 2 System Configuration

2-1 Basic Configuration...............................................................................................................2-2

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

2-1-1 CK3W Unit Configuration ............................................................................................................2-2

2-1-2

EtherCAT Network Configuration................................................................................................2-3

2-2 Connecting to the Power PMAC IDE .................................................................................... 2-5

2-3 Ethernet Network Configuration...........................................................................................2-6

Section 3 Configuration Units

3-1 CPU Unit .................................................................................................................................3-3

3-1-1

3-1-2 Part Names and Functions..........................................................................................................3-5

3-1-3 Operation Status Indicators.........................................................................................................3-6

3-1-4 Watchdog Output Terminal Block................................................................................................3-7

3-1-5 USB Memory Device...................................................................................................................3-8

3-2 Power Supply Unit ...............................................................................................................3-10

3-2-1 Models and Specifications ........................................................................................................3-10

3-2-2 Part Names and Functions........................................................................................................ 3-11

3-3 Axis Interface Unit ...............................................................................................................3-12

3-3-1 Models and Specifications ........................................................................................................3-12

3-3-2 Part Names and Functions........................................................................................................3-14

3-3-3 Operation Status Indicators.......................................................................................................3-15

3-3-4 Address Switch Setting .............................................................................................................3-16

3-3-5 Encoder Connector Specifications ............................................................................................3-16

3-3-6 Encoder Loss Detection ............................................................................................................3-21

3-3-7 Pulse Input Timing Specifications for Digital Quadrature Encoder............................................3-22

3-3-8 Input Specifications for Sinusoidal Encoder..............................................................................3-24

3-3-9 OutFlag Function.......................................................................................................................3-26

3-3-10 Amplifier Connector Specifications ...........................................................................................3-27

3-3-11 DA Output Method ....................................................................................................................3-30

3-3-12 DirectPWM Output Method .......................................................................................................3-31

3-3-13 Flag Connection Terminal Block Specifications ........................................................................3-32

3-3-14 General Digital I/O Connection Terminal Block Specifications..................................................3-36

3-4 Digital I/O Unit ......................................................................................................................3-43

3-4-1 Models and Specifications ........................................................................................................3-43

3-4-2 Part Names and Functions........................................................................................................3-47

3-4-3 Operation Indicators..................................................................................................................3-48

3-4-4 Address Switch Setting .............................................................................................................3-48

3-4-5 Terminal Arrangement...............................................................................................................3-49

3-4-6 I/O Data.....................................................................................................................................3-50

3-5 Analog Input Unit ................................................................................................................. 3-52

3-5-1 Models and Specifications ........................................................................................................3-52

3-5-2 Part Names and Functions........................................................................................................3-53

3-5-3 Operation Indicators..................................................................................................................3-54

3-5-4 Address Switch Setting .............................................................................................................3-54

3-5-5 Terminal Arrangement...............................................................................................................3-55

3-5-6 Analog Input Data .....................................................................................................................3-56

3-5-7 Input Filter .................................................................................................................................3-57

3-6 Expansion Master Unit and Expansion Slave Unit ...........................................................3-59

3-6-1 Models and Specifications ........................................................................................................3-59

3-6-2 Part Names and Functions........................................................................................................3-60

3-6-3 Operation Indicators..................................................................................................................3-60

3-6-4 System Configuration................................................................................................................3-60

Models and Specifications ..........................................................................................................3-3

CONTENTS

Section 4 Installation

4-1 Processing at Power ON and Power OFF............................................................................4-2

4-1-1

4-1-2 Power OFF Operation .................................................................................................................4-2

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Power ON Operation...................................................................................................................4-2

CONTENTS

4-2 Fail-safe Circuits .................................................................................................................... 4-4

4-3

Mounting Units.......................................................................................................................4-5

4-3-1 Installation in a Control Panel .....................................................................................................4-5

4-3-2 Connecting Adjacent Units..........................................................................................................4-9

4-3-3 Mounting to DIN Track ..............................................................................................................4-10

4-3-4 DIN Track and Accessories.......................................................................................................4-12

4-3-5 Assembled Appearance and Dimensions .................................................................................4-13

4-4 Control Panel Installation....................................................................................................4-17

4-4-1 Temperature ..............................................................................................................................4-17

4-4-2 Humidity ....................................................................................................................................4-18

4-4-3 Vibration and Shock ..................................................................................................................4-19

4-4-4 Atmosphere...............................................................................................................................4-19

4-4-5 Electrical Environment ..............................................................................................................4-19

4-4-6 Grounding .................................................................................................................................4-24

Section 5 Wiring

5-1 Power Supply Wiring ............................................................................................................. 5-2

5-1-1

5-1-2 Power Supply Used.....................................................................................................................5-2

5-1-3 Applicable Wires .........................................................................................................................5-2

5-1-4 Grounding ...................................................................................................................................5-3

5-1-5 Required Tools ............................................................................................................................5-4

5-1-6 Connecting Ferrules....................................................................................................................5-4

5-1-7 Connecting Twisted Wires/Solid Wires .......................................................................................5-4

5-1-8 Removing Wires..........................................................................................................................5-5

5-2 CPU Unit Wiring .....................................................................................................................5-7

5-2-1 Laying the EtherCAT Network .....................................................................................................5-7

5-2-2 Laying the Ethernet Network.....................................................................................................5-12

5-2-3 Watchdog Timer Output Wiring .................................................................................................5-15

5-2-4 USB Memory Device Connection..............................................................................................5-17

5-3 Axis Interface Unit Wiring ...................................................................................................5-18

5-3-1 Encoder Connector Wiring ........................................................................................................5-18

5-3-2 Amplifier Connector Wiring .......................................................................................................5-24

5-3-3 Flag Terminal Block/General I/O Terminal Block Wiring............................................................5-26

5-4 Digital I/O Unit Wiring .......................................................................................................... 5-33

5-4-1 Wiring the Terminals..................................................................................................................5-33

5-4-2 Precautions When Connecting a Two-wire DC Sensor.............................................................5-36

5-4-3 Precautions When Connecting to Digital Output.......................................................................5-38

5-5 Analog Input Unit Wiring.....................................................................................................5-40

5-5-1 Wiring the Terminals..................................................................................................................5-40

5-6 Expansion Master Unit and Expansion Slave Unit Wiring ............................................... 5-44

Power Supply Unit CK3W-PD048 ...............................................................................................5-2

Section 6 Troubleshooting

6-1 Types of Errors.......................................................................................................................6-2

6-2

Using the Indicators to Check Errors ..................................................................................6-3

6-2-1 Indicator Types............................................................................................................................6-3

6-2-2 Procedure for Identifying Errors ..................................................................................................6-3

6-3 Troubleshooting for Errors ................................................................................................... 6-5

6-3-1 Fatal Errors in the CPU Unit........................................................................................................6-5

6-3-2 Non-fatal errors in the CPU Unit .................................................................................................6-6

6-3-3 Initialization of CPU Unit Using USB Memory.............................................................................6-8

6-4 Sys.Status Register ...............................................................................................................6-9

6-4-1 Sys.Status Register List ..............................................................................................................6-9

6-4-2 Details of Flags ...........................................................................................................................6-9

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Section 7 Inspection and Maintenance

7-1 Cleaning and Maintenance....................................................................................................7-2

7-1-1

7-1-2 Periodic Inspections ....................................................................................................................7-2

7-2 Maintenance Procedures ......................................................................................................7-4

7-2-1 Unit Replacement Precautions....................................................................................................7-4

7-2-2 Backup ........................................................................................................................................7-4

7-2-3 Unit Replacement........................................................................................................................7-4

Cleaning ......................................................................................................................................7-2

Appendices

A-1 General Specifications ......................................................................................................... A-2

A-2

Dimensions............................................................................................................................ A-3

A-2-1 CPU Unit .................................................................................................................................... A-3

A-2-2 Power Supply Unit...................................................................................................................... A-4

A-2-3 Axis Interface Unit ...................................................................................................................... A-4

A-2-4 CK3W-MD and CK3W-AD Units ................................................................................................ A-5

A-2-5 Expansion Master Unit and Expansion Slave Unit..................................................................... A-6

A-2-6 End Cover .................................................................................................................................. A-7

A-3 Restrictions on Using the NX-series EtherCAT Coupler Unit........................................... A-8

A-4 OMRON Servo Drive Connection Example......................................................................... A-9

A-5 Version Information ............................................................................................................ A-10

A-6 How to Read the Lot Number............................................................................................. A-11

CONTENTS

Index

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

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.

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.

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

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, W

ARRANTY, 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.

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 er’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.

Terms and Conditions Agreement

’s application or use of the Product. At Buy-

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES 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 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.

. It may represent the result of

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

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

, some specifications of the Product may

Terms and Conditions Agreement

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’ 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.

s representative at any

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Safety Precautions

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

WARNING

aution

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of the CK3M-series Programmable Multi-Axis Controller. The safety precautions that are provided are extremely important for safety. Always read and heed the information provided in all safety precautions. The following notation is used.

Safety Precautions

Symbols

The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the This example indicates that disassembly is prohibited.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the This example indicates a general precaution.

The filled circle symbol indicates operations that you must do. The specific operation is shown in the This example shows a general precaution for something that you must do.

circle and explained in text.

triangle and explained in text.

circle and explained in text.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

WARNING

Internal

power

supply

circuit

(Non-isolat-

ed)

Power Supply Unit

Cable

External device

External power supply

Power supply connection terminal block

Non-isolated DC

power supply

CK3W Unit

Safety Precautions

WARNING

Wiring

Connect this Controller correctly to the servo amplifier, encoder, and limit sensors according to the instructions in this manual. Not doing so may cause the motor to run away

, resulting in serious accidents.

For the Power Supply Unit or any other power supply connected to peripheral devices, connect the 0-V side to ground, or do not ground them at all. Depending on how devices connected to the non-insulated circuit are grounded, the power supply may be short-circuited. Never ground the 24-V side of the power supply

, as shown in the following figure.

During Power Supply

Do not attempt to take any Unit apart. In particular

, high-voltage parts are present in the Power Supply Unit 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 products or due to other external factors af ing 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.

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.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

fect-

Safety Precautions

The UPS used enables normal operation to continue for a certain period of time if a momentary power interruption occurs. This means that the CK3M-series Controller may receive incorrect signals from external devices that are also af interruption. Accordingly, take suitable actions, such as establishing external fail-safe measures and interlock conditions, to monitor the power supply voltage of the external device as required.

Unintended outputs may occur if an error occurs in internal data of the Controller. As a countermeasure for these problems, external safety measures must be provided to ensure safe operation of the system.

The Controller will turn OFF all outputs of output units in the following cases and the slaves will operate according to the settings in the slaves.

•

If a power supply error occurs

• If the connected power supply is faulty

• If a CPU Unit error (watchdog timer error) or CPU Unit reset occurs

• If a major fault level Controller error occurs

• While the Controller is on standby 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.

The outputs may remain ON or OFF due to welding or burning of the output relays or destruction of the output transistors. As a countermeasure for these problems, external safety measures must be provided to ensure safe operation of the system.

fected by the power

To ensure safe use of the Controller, correctly make the limit settings for the position, speed, acceleration, jerk, current, and following error tection.

For devices that move in a vertical direction, use a motor brake to prevent them from falling down when the servo control is stopped.

, as well as the encoder loss de-

Downloading

Always confirm safety at the destination before you transfer a user program, configuration data, or setup data from the Power PMAC IDE. The devices or machines may perform unexpected operation regardless of the operating mode of the Controller

After you transfer the user program, the Controller is restarted and communications with the EtherCA cording 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.

T slaves are cut off. During that period, the slave outputs behave ac-

Test Run

Before you start a Test Run, make sure that the operation parameters are set correctly.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Caution

Safety Precautions

Actual Operation

Check the user program, servo algorithm, data, and parameter settings for proper execution before you use them for actual operation.

Cautions

Design

To control the motor safely and correctly, the servo algorithm design and gain setting work must be performed by engineers who understand control theories and the specifications of this product.

Test Run

When you perform a test run, take fail-safe measures and run the motor at a sufficiently low speed to ensure safety

Downloading

Before you download a project written in C language, execute the re-initialization command ($$$***).

If you download a validated program to a different product, check the operation of the program again on the product because it may have dif

ferent settings.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Precautions for Safe Use

Transporting

• Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunction or burning.

Mounting

• Be sure that the terminal blocks, connectors, and other items with locking devices are correctly locked into place before use.

• When connecting the Power Supply Unit, CPU Unit, and CK3W Unit, connect the Units together, then slide the sliders on the top and bottom until they click into place, and lock securely.

• Always mount an end cover for use. Note that if an end cover is not mounted, the Unit may not function satisfactorily.

• The number of CK3W Units connected to the CPU Unit must be within the specified range.

Precautions for Safe Use

Installation

• Always connect to a ground of 100 Ω or less when installing the Units.

• For DIN Track installation, correctly follow the instructions in this manual.

Wiring

• Follow the instructions in this manual to correctly perform terminal block and connector wiring and insertion. Double-check all wiring and connector insertion before turning ON the power supply.

• If the external power supply to a digital output or 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, connect it such that the FG terminal has the same electrical potential as the FG on the product. A difference in electrical potential between the computer and the Controller may cause a failure or malfunction.

• Do not pull on the cables or bend the cables beyond their natural limit.

• Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cables.

• 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.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Precautions for Safe Use

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.

•

Do not allow wire clippings, shavings, or other foreign material to enter the Controller. Otherwise, Controller burning, failure, or malfunctions may occur. Cover the Controller or take other suitable countermeasures, in particular when carrying out wiring work.

• To ensure safe use of the functions of the CK3W Units, observe the following points when wiring to avoid the effects of the noise. a) Use twisted-pair shielded wire for the encoder connection lines, amplifier connection lines, and

analog input lines.

b) Wire the encoder connection lines, amplifier connection lines, and analog input lines separately

from the AC power lines, motor power lines, and other power lines, and do not insert into the same duct.

c) If there are noise effects from power supply lines when using the same power supply to power

an electrical welder or an electric discharge machine, or there is a high-frequency source nearby, insert a noise filter into the power supply input section.

Power Supply Design

• In the system, only use a power supply within the rated supply capacity range specified in this manual.

•

Install external breakers and take other safety measures against short-circuiting and overcurrents in external wiring.

• Do not apply voltages to the Input Units in excess of the rated input voltage.

• Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity.

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. 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 user's manual for surge current specifications.

• Configure the external circuits so that the power supply to the digital output turns ON only after the power supply to the Controller has turned ON. If the power supply to the Controller is turned ON after the digital output power supply, the digital output may suddenly malfunction when the power supply is turned ON to the Controller.

Actual Operation

• Build a program such that the Sys.Status flag is constantly monitored and safe operations are taken if any errors occur

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

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. a) Mounting or removing the Units b) Assembling the Units c) Setting rotary switches d) Connecting cables or wiring the system e) Connecting or disconnecting the terminal blocks or connectors

• Do not disconnect the cable or turn OFF the power supply to the product when downloading data or programs from the Support Software. You may be unable to download the correct data, which could result in malfunctions.

• Do not turn OFF the power supply when performing write processes to the built-in flash memory. Data may be corrupted, which could result in malfunctions.

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 operation mode setting when power is turned ON)

• 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 EtherCA Do not connect EtherCAT communication 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 Setting parameter is set to Stop, process data communications will stop for all the slaves when an EtherCAT communications error is detected in a slave. This means that if a Servo Drive is connected, the Servo turns OFF for all the axes. At that time, the Servo Drive will operate according to the Servo Drive specifications. Make sure that the fail-soft operation 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 will behave according to the slave specifications. For details, refer to the manual for the 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.

T are within specifications.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Precautions for Safe Use

• EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variables and the EtherCA 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 in the network 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.

• There is a time lag between the moment when this Controller sends a command value to the EtherCAT type Servo Drive and the moment when it receives the feedback value. Perform servo control taking this time lag into consideration.

T Coupler Unit device variables in the user

Motion Control

• The motor is stopped if communications are interrupted between the Power PMAC IDE and the Controller during a T tem 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.

• When you create a servo algorithm, take fail-safe measures in the user program which includes the servo algorithm.

est Run. Connect the communications cable securely and confirm that the sys-

Unit Replacement

• Make sure that the required data, including the user program, configurations, settings, and variables, is transferred to the Controller that was replaced and to externally connected devices before restarting operation.

Upgrading the Power PMAC IDE

• After you upgrade a project file created with an older version of the Power PMAC IDE for use with a newer version of Power PMAC IDE, perform a test run before use to check that the project file was upgraded correctly

Maintenance

• Do not attempt to disassemble, repair, or modify the Controller. Doing so may result in a malfunction or fire.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Precautions for Safe Use

• Do not use corrosive chemicals to clean the Controller. Doing so may result in a failure or malfunction of the Controller

• Dispose of the product according to local ordinances as they apply.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

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 burning, in operation stopping, or in malfunction. 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 the 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

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up.

• Install the Controller away from sources of heat and ensure proper ventilation. Not doing so may result in malfunction, in operation stopping, or in burning.

Wiring

• Use the rated power supply voltage for the products.

Task Settings

• If a Task Period Exceeded error occurs, shorten the programs to fit in the task period or increase the setting of the task period.

During 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.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

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 Devices

• Always use USB memory devices that comply with the USB standards.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Regulations and Standards

Conformance to EU Directives

Applicable Directives

• EMC Directives

Concepts

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 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 Suscept-

ibility): EN61326 EMI (Electromagnetic Interference): EN61326 (Radiated emission: 10-m regulations).

Conformance to EU Directives



The CK3M-series Units comply with EU Directives. To ensure that the machine or device in which the CK3M-series Units are used complies with EU Directives, the following precautions must be observed.

• The CK3M-series Units must be installed within a control panel.

• You must use double or reinforced insulation power supply for the DC power supplies that are connected as the Unit power supplies for the CK3M-series Units. We recommend that you use the OMRON S8VK-S series DC Power Supplies. EMC standard compliance was confirmed for the recommended Power Supplies.

• The CK3M-series Units that comply with EU Directives also conform to the Common Emission Standard (EN61326). 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 CK3M-series Units 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.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Condition for Compliance with EU Directives

The immunity test condition for the CK3M-series Analog Input Units is as shown below.

Unit type Overall accuracy

Analog Input Unit +6%/-6%

To connect an Analog Input Unit, use 2-core twisted-pair shielded wire. Note that compliance was confirmed with the shielded wire grounded at both ends.

Conformance to UL and CSA Standards

The CK3M-series Units comply with UL and CSA standards. For how to make your machine or device compliant with these standards, refer to the INSTRUCTION SHEET The INSTRUCTION SHEET provides usage conditions to make it compliant with the standards.

included with the product.

Regulations and Standards

Conformance to KC Certification

When you use this product in South Korea, observe the following precautions.

This product meets the electromagnetic compatibility requirements for business use. There is a risk of radio interference when this product is used in home.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Enter “vers”

Versions

PMAC firmware revisions are used to manage the motion control firmware in CK3M-series CPU Units. The PMAC firmware revision is updated each time there is a change in motion control firmware. Even when two CPU Units have the same model number, they will have functional or performance differences if they have different PMAC firmware revisions.

Checking Versions

You can check the PMAC firmware revision in Power PMAC IDE.

Checking with Power PMAC IDE

1 Connect the CK3M-series CPU Unit and Power PMAC IDE online.

2 Input vers to the terminal window

The firmware revision is displayed on the command line.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Related Manuals

The following manuals are related. Use these manuals for reference. Contact your OMRON representative for information on how to procure these manuals.

Manual name Cat. No. Application Description

CK3M-series Programmable Multi-Axis Controller Hardware User

Power PMAC User’s Manual

Power PMAC Software Reference Manual

Power PMAC IDE User Manual

Power PMAC-NC-16 Quick Start Manual

Power PMAC-NC16 .ini Configuration Manual

Power PMAC-NC16 Software User Manual

Power PMAC-NC16 Mill GCode Manual

’s Manual

O036 Learning the basic

O014 Learning the features

O015 Learning how to pro-

O016 Learning how to oper-

O017 Briefly understanding

O018 Configuring an appli-

O019 Learning about usage

O020 Creating programs for

specifications of the CK3M-series Programmable Multi-Axis Controller, including introductory information, design, installation, and maintenance. Mainly hardware information is provided.

and usage examples of the

CK3M-series Programmable MultiAxis Controller.

gram a CK3M-series Programmable MultiAxis Controller

ate Power PMAC IDE, the integrated development environment of the Controller.

the basic usage of Power PMAC-NC16.

cation for CNC devices by using Power PMAC-NC16.

and features of Power PMAC-NC16, Support Software required to use the Controller for CNC devices.

CNC devices by using Power PMAC-NC16.

Related Manuals

An introduction to the entire CK3M-series system is provided along with the following information.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

The following information is provided on the CK3M-series Programmable Multi-Axis Controller.

• Basic functions

• Setup examples

• Programming examples

The following information is provided on the CK3M-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 the Quick setup procedure to run Power PMAC-NC16 on a desktop PC by showing some examples.

Describes how to set up PowerPmacNC.ini, the setup data file to be loaded when Power PMACNC16 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 that can be used for Power PMAC-NC16, and relevant instructions.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Terminology

Term Description

PMAC The acronym for Programmable Multi-Axis Controller.

Motion control Motion control can achieve intended operation by providing a target value to the axis to be con-

trolled, or by controlling state transitions.

Axis A functional unit within the Motion Control Function Module. An axis is assigned to the drive

mechanism in an external Servo Drive, etc.

NC 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).

G-code A type of language used to create NC programs.

CPU Central Processing Unit. Hardware that executes instructions from computer programs.

MODBUS/TCP A protocol used for the Modbus communications on TCP/IP.

EtherCAT The acronym for Ethernet for Control Automation Technology.

EtherCA

ENI file ENI is the acronym for EtherCAT Network Information.

The ENI file contains the network configuration information related to EtherCA

ESI file ESI is the acronym for EtherCAT Slave Information.

The ESI file contains information unique to the EtherCA

PMAC3 Style DSPGate3 IC

Gate3 index IC index for PMAC3 Style DSPGate3 IC.

DirectPWM A Servo Drive interface unique to Delta Tau Data Systems, Inc.

FilteredPWM Method for creating analog output by smoothing the PWM pulse.

TrueDAC Method for creating analog output using a DA converter.

Serial encoder An encoder that uses communications to perform data transfer.

Digital quadrature encoder

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

Encoder loss detection function

Hall sensor A sensor that detects the rotor position of the motor by detecting the magnetic field.

Motion control IC developed by the U.S. company Delta Tau Data Systems, Inc.

Gate3 index is set with the DIP switch of the Unit. If index is i, the CPU Unit accesses the CK3W Unit with Gate3[i] data structure.

A type of encoder that outputs pulse signals.

Function that detects if encoder is not connected.

T is the real-time Ethernet protocol standards.

T slaves.

T slaves in XML format.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Revision History

O036-E1-02

Revi

sion code

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Revision History

Revision

code

01 July 2018 Original production

02 July 2019

Date Revised content

• Made changes accompanying the addition of CK3W

MD71£0/-AD£100/-EXM01/-EXS02 Units.

• Corrected mistakes.

-AX1313£/-AX2323£/-

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Revision History

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Introduction to Motion Controllers

This section describes the features, system configuration, and operating procedure of a CK3M-series Programmable Multi-Axis Controller

1-1 Features and System Configuration ............................................................ 1-2

1-1-1 Motion Controller Features ............................................................................. 1-2

1-1-2 Introduction to the System Configurations...................................................... 1-2

1-1-3 Support Software ............................................................................................ 1-4

1-2 CK3M-series Operating Procedure............................................................... 1-5

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

1-1

1 Introduction to Motion Controllers

1-1

1-1-1

Features and System Configuration

This section describes the features and basic system configuration of the CK3M-series Programmable Multi-Axis Controller and Support Software.

Motion Controller Features

Fast Multi-Axis Control

The Motion Controller uses the Programmable Multi Axis Controller, developed by Delta Tau Data Systems, Inc. (hereinafter referred to as “Delta Tau”), a manufacturer specializing in motion controllers. This enables control of a maximum of 16 axes of an analog input type or DirectPWM type Servo Drive (when using four CK3W-AX£££££ Units and an Expansion Rack) at high speeds using the Axis Interface Unit.

Constructing Systems with Greater Flexibility

Programs for the Motion Controller can be written in G-code, C language, or Programmable Multi-Axis Controller specific language. This function design flexibility allows you to create functions that are optimized for your equipment.

arious EtherCAT-compatible products such as image sensors and I/O as well as motion controls can

V be connected, allowing you to construct original systems to suit the equipment.

1-1-2

Compactness

The Controller is compact and has less wiring due to the use of the EtherCAT network, which helps to downsize devices.

Introduction to the System Configurations

The Motion Controller supports the following system configurations. The basic configurations include the CK3W Unit configuration, EtherCA net network configuration, and Support Software.

T network configuration, Ether-

Basic Configuration

• CK3W Unit Configuration Up to four CK3W Units (or up to two CK3W

Unit type Model

Axis Interface Unit

Digital I/O Unit

Analog Input Unit

CK3W-AX1313£/-AX1414£/-AX1515£/-AX2323£

CK3W-MD71£0

CK3W-AD£100

-AX Units) can be connected to the CPU Unit.

1-2

In addition to the CPU Rack, an Expansion Rack can be used to install additional CK3W Units.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

1 Introduction to Motion Controllers

You can add up to four CK3W Units (or up to two CK3W-AX Units) with the Expansion Rack.

1-1 Features and System Config-

By connecting an analog input type or DirectPWM type Servo Drive to a

CK3W-AX Unit, high-speed axis control is enabled. One CK3W-AX Unit controls up to four axes. With the Expansion Rack, one CK3M-series CPU Unit can connect up to four CK3W-AX Units and control a maximum of 16 axes in total. A digital quadrature encoder, serial encoder, or sinusoidal encoder may be connected to the CK3WAX Units as encoder input for feedback. The CK3W-AX Units have general digital I/O with 16-point input and 16-point output.

• EtherCAT Network Configuration By using the EtherCAT master communications port on the CPU Unit, EtherCAT slaves such as servo drives, inverters, machine vision systems, digital and analog I/O, and other general-purpose slaves can be connected. The CPU Unit also supports connections with 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, there are restrictions on the models and unit versions of EtherCAT Coupler Units that can be connected. Refer to A-3 Restrictions on Using the NX-series EtherCAT Coupler Unit on page A-8 for details.

uration

1-1-2 Introduction to the System Configurations

• Ethernet Network Configuration The Ethernet communications port on the CPU Unit supports the Modbus-TCP protocol. It can be connected to devices such as PLCs and programmable terminals that support the Modbus-TCP protocol.

• Support Software Connect a computer with the Support Software installed to the Motion Controller via the Ethernet network. Refer to 1-1-3 Support Software on page 1-4 for details of the Support Software.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

1-3

Encoder (Digital quadrature encoder, serial encoder)

Servo drive (analog input type) or Stepper motor

EtherCAT network

Support Software

PLC

Industrial Ethernet switch

Programmable

terminal

Ethernet

Networks

Modbus-TCP

Slave

terminal

Servo

drive/

Encoder

input

slaves

General-

purpose

slaves

1 Introduction to Motion Controllers

1-1-3

Support Software

The following table shows the Support Software used to configure, monitor, program, and debug the Motion Controller

Configuration software Application How to Procure

Power PMAC IDE

Power PMAC-NC16

*1. Refer to A-5 V *2. Contact your OMRON representative for information on how to procure.

Power PMAC-NC16 SDK

Power PMAC-NC16 Runtime

ersion Information on page A-10 for the supported Power PMAC IDE versions.

This computer software is used to configure the Motion Controller and debug the programs.

This computer software is used to control working machines and other CNC machines with the Motion Controller to customize HMI screens. The product contains extension source codes for customization.

This computer software is used to control working machines and other CNC machines with the Motion Controller when you do not customize HMI screens.

, create user programs,

. Use this software

This is free software.

This is non-free software.

1-4

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

1 Introduction to Motion Controllers

1-2 CK3M-series Operating Pro-

1-2

CK3M-series Operating Procedure

This section describes the procedure to construct a motion control system by using the CK3M-series Programmable Multi-Axis Controller.

No. Step Description Reference

1 Preparation for

work

Check for specification compatibility

Check compatibility with specifications of each Unit.

• General specifications

A-1 General Specifications on

A-2

page

• Mounting direction

2 Mounting and

wiring of the tion Controller

3 Settings and wir-

ing of the Ether-

T slave hard-

ware

Mo-

Selection of peripheral devices

Preparation of Support Software

Mounting Mount the Motion Controller.

Address switch setting

Wiring Perform Motion Controller wiring. Section 5 Wiring on page

Node address settings

Mounting Mount EtherCAT slaves. Refer to the manual for the

Wiring Wire EtherCAT slaves.

Select peripheral devices to be used with the Motion Controller.

Procure and install the Support Software required for the system.

• Connecting adjacent Units

• Mounting to DIN Track

Set the address switches for the CK3W Units.

Use the hardware switches on all of the EtherCAT slaves in the network to set the node addresses.

• Wiring of the unit power supply

1-1-3 Support Software on page

4-3 Mounting Units on page 4-5

3-3-4 Address Switch Setting on page 3-16

5-1

Refer to the manual for the EtherCAT slave.

EtherCA

Refer to the manual for the EtherCA

T slave.

• I/O wiring

EtherCAT communications wiring

5 Turn ON the power supply to Ether-

T slaves.

6 Construction of

the EtherCA

network

Installation of ESI

files

EtherCAT slave settings

Activation of the EtherCA

T network

Perform wiring for the EtherCAT communications cables.

Turn on the power to the devices configuring the system.

Install the ESI files of EtherCAT slaves to be connected.

Configure the EtherCAT communications settings. Then, create an ENI file used to download the configured settings to the Motion Controller

Use Power PMAC IDE to download the ENI file to the Motion Controller. Make sure that the ENI file has been correctly downloaded, and then activate the EtherCAT network.

5-2-1 Laying the EtherCAT Network on page 5-7

Refer to Power PMAC IDE User Manual (Cat. No. O016) for de-

tails. For information on the ESI file, refer to the manual for the EtherCAT slave.

Refer to Power PMAC IDE User Manual (Cat. No. O016) for details.

cedure

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

1-5

1 Introduction to Motion Controllers

No. Step Description Reference

7 Preparation for

setting the Motion Controller

8 Settings of the

Motion Controller operation

9 Transferring project data and check-

ing the operation

*1. Perform settings for the CK3M-CPU111/CPU121 only.

Creation of a new project

Initialization of the Controller

Motor settings Use Power PMAC IDE to set the motor

Programming Create user programs on Power PMAC

Connect the computer with the Support Software installed to the ler, and then start Power PMAC IDE and create a new project.

Use Power PMAC IDE to initialize the Motion Controller

operations for the

IDE.

Transfer the created project data and check that operations work as expected.

Motion Control-

Motion Controller.

Refer to Power PMAC IDE User Manual (Cat. No. O016) for details.

Refer to Power PMAC User

Manual (Cat. No. O014) and Power PMAC Software Reference Manual (Cat. No. O015) for details.

Refer to Power PMAC IDE User Manual (Cat. No. O016) for de-

tails.

1-6

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

System Configuration

This section describes the basic system configuration used for CK3M-series Motion Controller

2-1 Basic Configuration .......................................................................................2-2

2-2 Connecting to the Power PMAC IDE ............................................................2-5

2-3 Ethernet Network Configuration................................................................... 2-6

2-1-1 CK3W Unit Configuration................................................................................ 2-2

2-1-2 EtherCAT Network Configuration.................................................................... 2-3

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

2-1

2 System Configuration

2-1

Basic Configuration

A Motion Controller supports the following two types of configurations.

• Basic Configuration The basic configurations include the CPU Unit and the Configuration Units that are controlled directly by the CPU Unit. There are two basic configurations. a) CK3W Unit Configuration b) EtherCAT network configuration

• Other Network Configuration This is the configuration of the system that is connected to the CPU Unit’s built-in EtherNet/IP port.

Basic System Configurations

CK3W Unit Configuration



The CPU Rack is configured with CK3W Units. In addition to the CPU Rack, an Expansion Rack can be used to install additional CK3W Units. Motion control is enabled by connecting a DirectPWM type Servo Drive, an analog input type Servo Drive, or a stepper motor to the Axis Interface Unit.

2-1-1

EtherCAT Network Configuration



With a CK3M-series CPU Unit, you can use an EtherCAT network. Motion control is enabled by connecting an EtherCAT type Servo Drive to the CPU Unit.

CK3W Unit Configuration

The following shows the configuration of CK3W Units.

CPU Rack

The CK3W Unit configuration in the CPU Rack consists of a Power Supply Unit, CPU Unit, CK3W-AX Unit, CK3W-MD Unit, CK3W-AD Unit, and End Cover. Up to four CK3W Units (or up to two CK3W-AX Units) can be connected to the CPU Unit.

Expansion Rack

One Expansion Rack can be connected per CPU Unit. To connect an Expansion Rack, use the Expansion Master Unit (CK3W-EXM01) and Expansion Slave Unit (CK3W-EXS02). Up to four CK3W Units (or up to two CK3W-AX Units) can be installed to the Expansion Rack. Connect the Expansion Master Unit (CK3W-EXM01) adjacent to the right side of the CPU Unit. Connect the Expansion Slave Unit (CK3W-EXS02) adjacent to the right side of the Power Supply Unit. Unless the Expansion Master Unit (CK3W-EXM01) is connected adjacent to the right side of the CPU Unit, the Sys.Status register CK3WConfigErr becomes “5”.

2-2

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

E or F

Power supply

E or F

2 System Configuration

Letter Configuration Remarks

A Power Supply Unit Input the 24 V power source. Always wire the CPU Rack and Expansion Rack

to the same power supply.

B CK3M-series CPU Unit This is the Unit at the center of the motion control, which executes the motion

program.

C CK3W-EXM01 Expansion Master Unit. Connect this Unit adjacent to the right side of the CPU

Unit in the Expansion Rack.

D CK3W-AX Unit Axis Interface Unit. For axis control, connect this to a Servo Drive and encod-

E CK3W-MD Unit Digital I/O Unit. You can add 16 digital inputs and 16 digital outputs.

F CK3W-AD Unit Analog Input Unit. You can add 4 or 8 voltage inputs.

G End Cover Must be connected to the right end of the CPU Rack and Expansion Rack.

The CPU Unit and the Expansion Slave Unit are each provided with one End

Cover

H CK3W-EXS02 Expansion Slave Unit. Use this in the Expansion Rack. Connect this Unit adja-

cent to the right side of the Power Supply Unit.

I Expansion cable Use this cable to connect the Expansion Master Unit and the Expansion Slave

Unit. The cable length is 30 cm. Be sure to use the CK3W cable.

-CAX003A (30 cm)

2-1 Basic Configuration

2-1-2 EtherCAT Network Configuration

2-1-2

EtherCAT Network Configuration

The EtherCAT network configuration consists of a Power Supply Unit, CPU Unit, End Cover, and

T slaves.

EtherCA Use the built-in EtherCAT port on the CK3M-series CPU Unit to connect EtherCAT slaves.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

2-3

Slave terminal

EtherCA

T slaves

Servo drive/

Encoder input slaves

General-

purpose

slaves

2 System Configuration

EtherCAT is synchronized with the servo cycle of the CK3M-series CPU Unit. This enables acquisition of the I/O data of slave terminals that are synchronized with the servo cycle.

Precautions for Correct Use

Before you connect a slave from another manufacturer, refer to the relevant manual and be sure to check its operation. EtherCA

T setup software that is provided by other manufacturers cannot be connected to

CK3M-series CPU Units.

2-4

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Power PMAC IDE

CK3M-series

Ethernet

Built-in EtherNet/IP port

Power Supply Unit

CPU Unit

Ethernet switch

2 System Configuration

2-2 Connecting to the Power PMAC IDE

2-2

Connecting to the Power PMAC IDE

Connect the CK3M-series CPU Unit and the Power PMAC IDE through Ethernet.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

2-5

HMI

NJ-series

CK3M-series

Ethernet

Built-in EtherNet/IP port

Power Supply Unit

CPU Unit

Ethernet switch

2 System Configuration

2-3

Ethernet Network Configuration

The Ethernet communications port on the CK3M-series CPU Unit supports the Modbus-TCP protocol. It can be connected to devices such as PLCs and programmable terminals that support the ModbusTCP protocol.

2-6

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Configuration Units

This section describes configuration devices in the CK3M-series Motion Controller configuration.

3-1

CPU Unit.......................................................................................................... 3-3

3-1-1 Models and Specifications .............................................................................. 3-3

3-1-2 Part Names and Functions ............................................................................. 3-5

3-1-3 Operation Status Indicators ............................................................................ 3-6

3-1-4 Watchdog Output Terminal Block.................................................................... 3-7

3-1-5 USB Memory Device ...................................................................................... 3-8

3-2 Power Supply Unit........................................................................................ 3-10

3-2-1 Models and Specifications ............................................................................ 3-10

3-2-2 Part Names and Functions ............................................................................3-11

3-3 Axis Interface Unit........................................................................................ 3-12

3-3-1 Models and Specifications ............................................................................ 3-12

3-3-2 Part Names and Functions ........................................................................... 3-14

3-3-3 Operation Status Indicators .......................................................................... 3-15

3-3-4 Address Switch Setting................................................................................. 3-16

3-3-5 Encoder Connector Specifications................................................................ 3-16

3-3-6 Encoder Loss Detection................................................................................ 3-21

3-3-7 Pulse Input Timing Specifications for Digital Quadrature Encoder ............... 3-22

3-3-8 Input Specifications for Sinusoidal Encoder ................................................. 3-24

3-3-9 OutFlag Function .......................................................................................... 3-26

3-3-10 Amplifier Connector Specifications ............................................................... 3-27

3-3-11 DA Output Method ........................................................................................ 3-30

3-3-12 DirectPWM Output Method........................................................................... 3-31

3-3-13 Flag Connection Terminal Block Specifications ............................................ 3-32

3-3-14 General Digital I/O Connection Terminal Block Specifications ..................... 3-36

3-4 Digital I/O Unit............................................................................................... 3-43

3-4-1 Models and Specifications ............................................................................ 3-43

3-4-2 Part Names and Functions ........................................................................... 3-47

3-4-3 Operation Indicators ..................................................................................... 3-48

3-4-4 Address Switch Setting................................................................................. 3-48

3-4-5 Terminal Arrangement .................................................................................. 3-49

3-4-6 I/O Data ........................................................................................................ 3-50

3-5 Analog Input Unit .........................................................................................3-52

3-5-1 Models and Specifications ............................................................................ 3-52

3-5-2 Part Names and Functions ........................................................................... 3-53

3-5-3 Operation Indicators ..................................................................................... 3-54

3-5-4 Address Switch Setting................................................................................. 3-54

3-5-5 Terminal Arrangement .................................................................................. 3-55

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-1

3 Configuration Units

3-5-6 Analog Input Data ......................................................................................... 3-56

3-5-7 Input Filter..................................................................................................... 3-57

3-6 Expansion Master Unit and Expansion Slave Unit ................................... 3-59

3-6-1 Models and Specifications ............................................................................ 3-59

3-6-2 Part Names and Functions ........................................................................... 3-60

3-6-3 Operation Indicators ..................................................................................... 3-60

3-6-4 System Configuration ................................................................................... 3-60

3-2

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3 Configuration Units

3-1

3-1-1

CPU Unit

This section describes the models and major specifications of the CK3M-series CPU Units.

Models and Specifications

Models and Outline of Specifications

The models and outline of specifications are given below.

Maximum number of con-

Unit type Model Memory capacity EtherCAT port

CPU Unit CK3M-CPU101 RAM: 1 GB

Built-In Flash Memory: 1 GB

CK3M-CPU111 RAM: 1 GB

Built-In Flash Memory: 1 GB

CK3M-CPU121 RAM: 1 GB

Built-In Flash Memory: 1 GB

None ---

EtherCAT: 1 port (DC sync)

trolled axes at EtherCA

port

4 axes

8 axes

3-1 CPU Unit

3-1-1 Models and Specifications

Performance Specifications

The performance specifications are shown below.

Item CK3M-CPU101 CK3M-CPU111 CK3M-CPU121

Memory

Number of connectable CK3W Units (when using Expansion Rack)

External connection terminals

Maximum number of control-

CK3W-AX Unit

Motion control

EtherCAT

led axes

Control method

Maximum number of controlled axes

Control method

Main memory: 1 GB Built-In Flash Memory: 1 GB

8 Units max. Or 4 CK3W

No EtherCAT For EtherCAT communications

For Ethernet communications RJ45 × 1 (Shield supported)

USB port For external memory connection, USB 2.0 host × 1

ype A

16 axes (when using four CK3W-AX Units)

Speed and torque control using analog output Stepper motor control using pulse output Commutation control using DirectPWM output

None 4 axes 8 axes

-AX Units max.

RJ45 × 1 (Shield supported)

Issuing control commands using EtherCA

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-3

3 Configuration Units

EtherCAT communications specifications

Ethernet communications specifications

USB port

Current consumption

Dimensions (height × depth × width) 90(H)/80(D)/63.2(W)

Weight (including End Cover) 220 g max. 230 g max.

Item CK3M-CPU101 CK3M-CPU111 CK3M-CPU121

Communications protocol None EtherCAT protocol

Baud rate 100 Mbps

Physical layer 100BASE-TX (IEEE 802.3)

Topology Line, daisy chain, and branching

Twisted-pair cable of category 5 or

Transmission media

Transmission distance

Maximum number of slaves 32

Range of node addresses that can be set

Baud rate 100 Mbps

Physical layer 100BASE-TX (IEEE 802.3)

Frame length 1,514 bytes max.

Media access method CSMA/CD

Modulation Baseband

Topology Star

Transmission media

Maximum transmission distance between Ethernet switch and node

Maximum number of cascade connections

Physical layer

Transmission distance 3 m max.

Twisted-pair cable of category 5, 5e, or higher (shielded cable)

100 m

There are no restrictions if an Ethernet switch is used.

USB 2.0 compliant, type A connector. Output voltage:

, 0.5 A max.

5 V

CK3M-CPU101: 5 VDC 7.2 W max. CK3M-CPU1 (including End Cover)

higher (double-shielded cable with aluminum tape and braiding)

Distance between nodes: 100 m or less

1 to 32

11/CPU121: 5 VDC 7.8 W max.

3-4

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

(A)

(B)

(J)

(I)

(H)

(G)

(C)

(D)

(E)

(F)

(K)

(L)

3 Configuration Units

3-1-2

Part Names and Functions

3-1 CPU Unit

3-1-2 Part Names and Functions

Letter Name Function

A Slider Holds the Units together.

B CPU Unit operation indicators Shows the operation status of the CPU Unit using multiple in-

C EtherCAT communications connector Connects to an EtherCAT network communications cable.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

dicators.

3-5

3 Configuration Units

Letter Name Function

D EtherCAT communications port opera-

tion indicators

E Unit connector Connector that connects to the Unit.

F Ethernet communications port opera-

tion indicators

G Ethernet communications connector Connects to an Ethernet network communications cable.

H Watchdog output terminal block Normally in ON state, and switches to OFF when watchdog is

I USB 2.0 connector USB 2.0 interface connector.

J USB connector for maintenance Do not use.

K USB connector for maintenance Do not use.

L DIN Track mounting hook Used to mount the Unit to a DIN Track.

Shows the operation status of EtherCAT.

Shows the operation status of Ethernet.

activated.

Connects the USB memory

3-1-3

Operation Status Indicators

CPU Unit Operation Status Indicators

The CPU Unit is equipped with indicators to show the current operations status.

3-6

CPU Unit Status Indicators



The operating statuses corresponding to the colors and statuses of the indicators are shown below.

Indicator name Color Status Description

PWR Green Lit. Power is supplied to the Unit.

Not lit. Power is not supplied to the Unit.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Terminal block

3 Configuration Units

Indicator name Color Status Description

RDY Green Lit. Power is supplied to the Unit, and the Unit is in operation-

ready status.

Not lit. Power is not supplied to the Unit, or initial processing is in

progress.

ERR Red Lit. Watchdog error or another hardware error

Not lit. The Unit is operating normally.

ECAT LINK Orange Lit. The EtherCAT link is established.

Not lit. The EtherCAT link is not established.

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.

Ethernet LINK Orange Lit. The Ethernet link is established.

Not lit. The Ethernet link is not established.

Ethernet ACT Yellow Lit. The Ethernet link is 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.

3-1 CPU Unit

3-1-4 Watchdog Output Terminal Block

3-1-4

Watchdog Output Terminal Block

The Watchdog Output Terminal Block is described below.

Terminal Arrangement

Abbreviation Signal name

+ WDTOUT+

- WDTOUT-

Output Status

In normal operation, it is ON, and at other times it is OFF.

Status Output

When unit power is OFF OFF

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-7

WDTOUT+

DTOUT-

Internal

circuit

WDTOUT+

4 VDC

WDTOUT-

Load

WDTOUT+

4 VDC

WDTOUT-

Load

3 Configuration Units

During normal operation ON

When hardware watchdog error occurs OFF

When software watchdog error occurs OFF

Output Specifications

Rated voltage 24 VDC

Operating load voltage range 20.4 to 26.4 VDC

Maximum load current 0.1 A

Leakage current 0.1 mA max.

Residual voltage 1.5 V max.

ON/OFF response time 10 ms max./10 ms max.

Isolation method Photocoupler isolation

Status Output

Item Specification

Circuit configuration

Terminal connection diagram

NPN type

PNP type

3-1-5

3-8

USB Memory Device

You can use a USB memory device for the following applications.

Saving relevant data

•

• Initializing the CPU Unit

The following shows details of the recommended USB memory devices. OMRON is not responsible for the operation of any other USB memory devices.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Recommended USB memories Description

FZ-MEM2G OMRON USB memory device (2 GB)

FZ-MEM8G OMRON USB memory device (8 GB)

3 Configuration Units

3-1 CPU Unit

3-1-5 USB Memory Device

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-9

Noise

ilter

circuit

DC-DC

Converter

(Not isolated)

24 VDC input +

24 VDC input -

+5 VDC output

+24 VDC output

0 V

3 Configuration Units

3-2

3-2-1

Power Supply Unit

This section describes the model and major specifications of the Power Supply Unit.

Models and Specifications

Models and Outline of Specifications

The models and outline of specifications are given below.

Unit type Model Specification

Power Supply Unit CK3W-PD048 Rated output voltage: 5 VDC/24 VDC

Maximum output power: 5 VDC 23 W

Specifications

The specifications are shown below.

Item Specification

Power supply voltage 24 VDC

Allowable power supply voltage range

Power consumption 101.7 W max.

Rated output voltage 5 VDC/24 VDC

Maximum output power

Isolation method Not isolated

20.4 to 26.4 VDC

5 VDC 23 W 24 VDC 66 W

, 24 VDC 66 W

3-10

Circuit configuration

Weight 130 g max.

Dimensions (height × depth × width) 90(H)/80(D)/45(W)

*1. Internal components in the Power Supply Unit may deteriorate or be damaged if the Power Supply Unit is

used for an extended period of time exceeding the power supply output capacity or used when the outputs are shorted.

Recommended Power Supplies

Use a SELV power supply that meets the following conditions.

Has overcurrent protection.

•

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

• Has double or reinforced insulation between the input and output.

(B)

(C)

(D)

(A)

Recommended Power Supplies: S8VK-S series (manufactured by OMRON)

3 Configuration Units

3-2-2

Part Names and Functions

Letter Name Function

A Power supply connection terminal

block

B Power supply status indicator Lights when 5 V is output from the Power Supply Unit.

C CPU Unit connector Connector that connects to the CPU Unit.

D DIN Track mounting hook Used to mount the Unit to a DIN Track.

Connects the power supply.

3-2 Power Supply Unit

3-2-2 Part Names and Functions

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-11

3 Configuration Units

3-3

3-3-1

Axis Interface Unit

This section describes the models and major specifications of the Axis Interface Units.

Models and Specifications

Models and Outline of Specifications

The models and outline of specifications are given below.

Unit type Model Amplifier interface Encoder interface

Axis Interface Unit

CK3W-AX1313N DirectPWM output Digital quadrature en-

CK3W-AX1414N DA output (FilteredPWM)

CK3W-AX1515N DA output (TrueDAC)

CK3W-AX2323N DirectPWM output Sinusoidal encoder/

CK3W-AX1313P DirectPWM output Digital quadrature en-

CK3W-AX1414P DA output (FilteredPWM)

CK3W-AX1515P DA output (TrueDAC)

CK3W-AX2323P DirectPWM output Sinusoidal encoder/

coder/Serial encoder

Serial encoder

coder/Serial encoder

Serial encoder

FLAG input,

general digi-

tal input/

output type

NPN type

PNP type

Axis Interface Unit Specifications

The main specifications for axis interface are given below.

CK3W-AX1414£/-AX1515£



Item

Address setting range 0 to F

Number of channels 4 channels/Unit

Encoder power supply output

Digital quadrature encoder input

Serial encoder input

Digital Hall sensor 4 points/channel (U, V, W, T)

OUTFlagB output 1 point/channel

Input form Line receiver input

Maximum response frequency

Supported protocol

AX1414N AX1414P AX1515N AX1515P

5 VDC 500 mA/channel or less However

Phases A, B, and C: 10 MHz

Contact your OMRON representative for information on the support protocols.

, the total output current of each Unit is 1 A or less.

Specification (CK3W-)

3-12

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3 Configuration Units

Item

Analog output

Pulse output Output form Line driver output

Amp enable output 1 point/channel

Fault input 1 point/channel

Flags Digital input 4 points/channel (HOME, PLIM, NLIM, USER)

General digital I/O

Power consumption 5 VDC: 4.5 W max.

Dimensions (height × depth × width)

Weight 520 g max.

Method FilteredPWM type TrueDAC type

Number of points

Output range Between DACA+/DACB+ and DACA-/DACB-: -20 to 20 V

Output meth-odPulse output + directional output, or phase difference output

Maximum output frequency

Digital output 1 point/channel (EQU)

Number of points

Internal common

AX1414N AX1414P AX1515N AX1515P

1 point/channel 2 points/channel

Between DACA+/DACB+ and AGND: -10 to 10 V

10 MHz

16 inputs, 16 outputs

NPN PNP NPN PNP

24 VDC: 10.8 W max.

90(H)/80(D)/130(W)

Specification (CK3W-)

5 VDC: 4.5 W max. 24 VDC: 12.5 W max.

3-3 Axis Interface Unit

3-3-1 Models and Specifications

CK3W-AX1313£/-AX2323£



Item

Address setting range 0 to F

Number of channels 4 channels/Unit

Encoder power supply output

Digital quadrature encoder input

Serial encoder input

Sinusoidal encoder input

Digital Hall sensor 4 points/channel (U, V, W, T)

DirectPWM output Amplifier interface unique to Delta Tau

Amp enable output 1 point/channel (built into DirectPWM)

Fault input 1 point/channel (built into DirectPWM)

Flags Digital input 4 points/channel (HOME, PLIM, NLIM, USER)

Input form Line receiver input ---

Maximum response frequency

Supported protocol

Input signal --- 1-Vpp SIN/COS signal

Maximum input frequency

Digital output 1 point/channel (EQU)

AX1313N AX1313P AX2323N AX2323P

5 VDC 500 mA/channel or less However

Phases A, B, and C: 10 MHz

Contact your OMRON representative for information on the support protocols.

, the total output current of each Unit is 1 A or less.

Specification (CK3W-)

2 MHz

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-13

(F)

(G)

(H)(I)

(J)

(K)

(A) (B) (C) (D) (E)

1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

OUT

3 Configuration Units

3-3-2

Specification (CK3W-)

General digital I/O

Item

Number of points

Internal com-

AX1313N AX1313P AX2323N AX2323P

16 inputs, 16 outputs

NPN PNP NPN PNP

mon

Power consumption 5 VDC: 3.4 W max.

24 VDC: 12.5 W max.

Dimensions (height × depth

90(H)/80(D)/130(W)

5 VDC: 3.0 W max. 24 VDC: 13.1 W max.

× width)

Weight 480 g max. 490 g max.

Part Names and Functions

CK3W-AX1414£/-AX1515£

Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Amp enable status indicator Shows the Amp enable status.

D Encoder connector Connects the encoder.

E General digital input/output status indicator Shows the general digital input/output status.

F General digital I/O connection terminal block Connects the general digital input/output.

G Unit connector Connector that connects to the Unit.

H Amplifier connector Connects the amplifier.

I DIN Track mounting hook Used to mount the Unit to a DIN Track.

J Flag connection terminal block Connects the HOME/PLIM/NLIM/USER inputs and EQU

K Address switch Sets the Gate3 Index.

3-14

output.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

CK3W-AX1313£/-AX2323£

(E)

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15

OUT

(A)

(K)

(J)

(I) (H)

(B) (C) (D)

(G)

(F)

3 Configuration Units

3-3 Axis Interface Unit

3-3-3 Operation Status Indicators

Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Amp enable status indicator Shows the Amp enable status.

D Encoder connector Connects the encoder.

E General digital input/output status indicator Shows the general digital input/output status.

F General digital I/O connection terminal block Connects the general digital input/output.

G Unit connector Connector that connects to the Unit.

H Amplifier connector Connects the amplifier.

I DIN Track mounting hook Used to mount the Unit to a DIN Track.

J Flag connection terminal block Connects the HOME/PLIM/NLIM/USER inputs and EQU

K Address switch Sets the Gate3 Index.

3-3-3

Operation Status Indicators

The LED indicators show the unit operating status of the Axis Interface Unit. The operating statuses corresponding to the colors and statuses of the indicators are shown below

Indicator name Color Status Description

PWR Green Lit. Power is supplied.

AMP ENAB0 to 3 Yellow Lit. Command values output to Servo Drive.

IN 0 to 15 Yellow Lit. The input contact is ON.

OUT 0 to 15 Yellow Lit. The output contact is ON.

output.

Not lit. Power is not being supplied.

Not lit. Command values not output to Servo Drive.

Not lit. The input contact is OFF.

Not lit. The output contact is OFF.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-15

3 Configuration Units

3-3-4

Address Switch Setting

This Unit is equipped with a PMAC3 style DSPGate3 IC. Refer to the Power PMAC User

The address switch settings are used to set the Gate3 Index. The setting range is from 0 to F. (Factory setting: 0)

Address switch setting

0 0

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

A 10

B 11

C 12

D 13

E 14

F 15

’s Manual (Cat. No. O014) for the PMAC3 style DSPGate3 IC.

Power PMAC

“Gate3” Index

3-3-5

3-16

For example, if the address switch setting is 0, the Gate3 Index becomes 0. In this case, this Unit is accessed with a Gate3[0] data structure. Make sure that the address switch settings of Units do not overlap. If they overlap, the Sys.Status register CK3WConfigErr becomes 7. Refer to 6-4 Sys.Status Register on page 6-9 for Sys.Status.

One CK3W Unit in the system supplies servo clock and phase clock signals to all the other Units. The supply-source CK3W Unit must be installed to the CPU Rack. Connect the Unit with the smallest address value to the CPU Rack because, by default, it is the supply source of clock signals. You may specify the Unit with a desired address as the clock supply source by setting the register. If the Unit that serves as the clock supply source is connected to the Expansion Rack, an error occurs because the CPU Unit cannot recognize clock signals. If this error occurs, the Sys.Status register Sys.NoClocks becomes 1.

Encoder Connector Specifications

The electrical specifications for the encoder connector are as follows.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Encoder A+ Encoder A-

Internal

circuit

For encoder loss detection

120

+5 V

0 V

+5 V

0 V

Encoder B+ Encoder B-

Encoder C+ Encoder C-

Connector shell

Encoder

Encoder A+ Encoder A-

Encoder B+ Encoder B-

Encoder C+ Encoder CEncoder power supply

(+5 VDC) Encoder power supply

(GND) Connector shell

+5 V

3 Configuration Units

For the connector arrangement of the encoder connector, refer to 5-3-1

Encoder Connector Wiring on

page 5-18.

Isolation method Not isolated (between internal circuit and encoder circuit)

Encoder power supply output

Digital quadrature encoder input

Rated output voltage 5 VDC

Output voltage range 4.9 to 5.25 VDC (5 VDC +5%/-2%)

Maximum output current 500 mA/channel or less

However

Input form Line receiver input (differential or single-ended input)

Counting unit Pulse

Input voltage Differential input: EIA standard RS-422A line driver levels

Single-ended input *2: ON voltage 3.0 V or more, OFF voltage 1.0 V or less

Maximum input voltage Differential input: EIA standard RS-422A line driver levels

Single-ended input: -0.3 to 6.0 VDC

Maximum response frequency Phases A, B, and C: 10 MHz

Encoder loss detection Differential input: Detectable

With single-ended input: Detection disabled

Circuit configuration

, the total output current of each Unit is 1 A or less.

3-3 Axis Interface Unit

3-3-5 Encoder Connector Specifications

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Terminal connection diagram With differential input

3-17

Encoder

Encoder A+

Encoder AEncoder B-

Encoder C-

Encoder B+

Encoder C+

(+5 VDC)

Encoder power supply

Encoder power supply (GND)

Connector shell

+5 V

0 V

Serial

encoder

CLK+ Serial

encoder

CLK-

Serial

encoder

DAT+ Serial

encoder

DAT-

Connect

or shell

Hall sensor T

Hall sensor V

Hall sensor W

Hall sensor U

Internal

circuit

+5 V

120

0 V

3 Configuration Units

With single-ended input

3-18

Serial encoder input

With single-ended input, use twisted-pair wire to improve noise resistance, and pair the respective signals of encoder A+, B+, C+ with GND.

Supported protocol Contact your OMRON representative for information on the

support protocols.

Clock output EIA standard RS-422A line driver levels

Data I/O EIA standard RS-485 line driver/receiver level

Circuit configuration

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

120 Ω

SIN+

SIN-

120 Ω

COS+

+5 V

COS-

120 Ω

3.3 kΩ

330 Ω

3.3 kΩ

2.2 kΩ

INDEX+ INDEX-

Connector shell

Internal

circuit

0 V

Connector shell

Encoder Power Supply (GND)

Encoder Power Supply (+5 V)

Encoder

INDEX-

INDEX+

COS-

COS+

SIN-

SIN+

+5 V

INDEX

COS-

COS+

SIN-

SIN+

0 V

3 Configuration Units

Sinusoidal encoder in-

put

Input form Line receiver input + AD conversion

Number of inputs 2 points/channel (SIN signal, COS signal)

Maximum rated input voltage 0 to Encoder Power Supply (+5 V)

Encoder Power Supply as GND reference

Allowable differential input

0.6 to 1.35 Vpp

voltage range

Allowable input voltage range 0 to 4.0 V

Encoder Power Supply as GND reference

Maximum input frequency 2 MHz

AD converter resolution 16 bits

Maximum cable length 20 m

Circuit configuration

3-3 Axis Interface Unit

3-3-5 Encoder Connector Specifications

Terminal connection diagram To reduce the effects of the noise, we recommend that you

use a double-shielded cable and connect the inner shields to the Encoder Power Supply (GND) pin and the outer shield to the connector shell.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Digital Hall

sensor

ON Voltage 3.0 VDC min.

OFF Voltage 0.9 VDC max.

Maximum input rating -0.3 to 6.0 VDC

3-19

Serial encoder CLK+ Se

rial encoder CLKSerial encoder DAT+ Serial encoder DAT-

Hall sensor U

Hall sensor V

Hall sensor W

Hall sensor T

Connector shell

Internal

circuit

+5 V

0 V

Hall sensor

Hall sensor U

Hall sensor V

Hall sensor W

Hall sensor T

Encoder Power Supply (+5 VDC)

Encoder Power Supply (GND)

Connector shell

+5 V

OutFlagB

GND

0 V

Internal

circuit

3 Configuration Units

Circuit configuration

OutFlagB output speci-

fications

Terminal connection diagram

Output signal 1 point/channel

Rated output voltage 5 VDC

Maximum load current whenON5 mA

Residual voltage when ON 0.4 V max.

Isolation method Not isolated from internal circuit

Circuit configuration

3-20

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Connector shell

utFlagB

GND

coder A+/B+

Encoder A-/B-

3 Configuration Units

Connection diagram

For the GND, use an encoder power source (GND).

*1.

This function is available with the CK3W-AX1313£/-AX1414£/-AX1515£ Units.

*2. With single-ended input, only a voltage output type encoder can be connected. Open collector type encod-

ers cannot be connected.

*3.

This function is available with the CK3W-AX2323£ Units.

*4. A Hall sensor is a sensor that detects the rotor position of the motor by detecting the magnetic field. This is

normally used to check the position when the power is turned ON. *5. HALL T is not normally used, however, it can be used as a general 5V digital input. *6.

This output function is available with the CK3W-AX1414£/1515£ Units.

3-3 Axis Interface Unit

3-3-6 Encoder Loss Detection

3-3-6

Encoder Loss Detection

Encoder Loss Detection in Digital Quadrature Encoder

Encoder loss detection is a function for detecting the encoder detachment. It can detect the encoder loss, and stop the motor

In the differential input for the digital quadrature encoder, when a correct signal arrives in encoder A +/A-, encoder B+/B-, if the signal level is H in one side, the signal level of the other side is always L.

You can detect the encoder loss by setting a circuit so that both signals turn H or L when the encoder is not connected.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Encoder A+/B+ Encoder A-/B- Encoder loss detection

H L Normal

L H Normal

H H Detects loss

L L Detects loss

If loss is detected, the value of Gate3[i].Chan[j].LossStatus becomes 1. Motor[x].EncLossCount coder loss is not detected. However, the minimum value of Motor[x].EncLossCount is 0, and it will never become a negative val-

adds 1 to the count when encoder loss is detected, and subtracts 1 when en-

ue.

3-21

3 Configuration Units

You can set the motor to stop if Motor[x].EncLossCount exceeds the value set in the Motor[x].EncLossLimit. However Therefore, when you use the function to stop the motor at encoder loss, take the possibility of misdetection during pulse input into consideration, and set the Motor[x].EncLossLimit register to 40 or more.

Precautions for Correct Use

If the digital quadrature encoder is used with single-ended input, you cannot use encoder loss detection since the encoder loss may be detected even if the encoder is connected correctly

Encoder Loss Detection in Sinusoidal Encoder

Normally, the sum of SIN squared and COS squared is always a constant value. The sinusoidal encoder detects encoder loss by checking the sum of SIN squared and COS squared. If loss is detected, the value of Gate3[i].Chan[j].SosError becomes 1.

, in a pulse input state, mis-detection of encoder loss may occur.

3-3-7

Pulse Input Timing Specifications for Digital Quadrature Encoder

There are two types of input methods, differential input and single-ended input, for the digital quadrature encoder The respective pulse input timing specifications are given below.

3-22

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

With Differential Input

ON Voltage

Voltage

OFF

A/B(+)

A/B(-)

OFF

Encoder input (Phases A & B) Input pulse duty = 50%

Voltage

Terminal Input

A A

F F

Voltage

OFF

A(+)

A (-)

OFF

Voltage

OFF

C(+)

C(-)

OFF

Encoder input (Phase C)

Relationship between Phase A and Phase B for Phase Differential Pulse Inputs

Phase A

Phase B

OFF

B (+)

B(-)

OFF

Voltage

A A

3 Configuration Units

3-3 Axis Interface Unit

3-3-7 Pulse Input Timing Specifications for Digital Quadrature Encoder

< 2.5 ns > 50 ns > 100 ns > 50 ns > 100 ns > 25 ns > 50 ns

(With Gate3[i].EncClockDiv = 0 : 100MHz

A B C D E F G

Timing conditions (with 10 MHz input)

setting)

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-23

Phase A/ Phase B

OFF

OFF Voltage

ON Vol-

tage

Voltage

Encoder input (Phases A & B) Input pulse duty = 50%

Encoder input (Phase C)

Terminal Input

Phase C

Terminal Input

A A

FFFF

Voltage

OFF

Voltage

OFF

Voltage

Relationship between Phase A and Phase B for Phase Differential Pulse Inputs

Phase A

Phase B

A A

Voltage

3 Configuration Units

Single-Ended Input

3-3-8

3-24

A B C D E F G

< 2.5 ns > 50 ns > 100 ns > 50 ns > 100 ns > 25 ns > 50 ns

(With Gate3[i].EncClockDiv = 0: 100MHz setting)

Input Specifications for Sinusoidal Encoder

This section describes the input specifications for the sinusoidal encoder.

Input Waveform

For the sinusoidal encoder, input a sinusoidal differential signal with an amplitude of 1 Vpp between SIN+ and SIN-. With GND as the reference voltage, the SIN+ waveform has an amplitude of 0.5 Vpp with the center line at approximately 2.5 V

, whereas the waveform is inverted for SIN-.

Timing conditions (with 10 MHz input)

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

SIN+

(SIN+) - (SIN-)

4.0 V

Allowable input voltage range: 0 to 4.0 V (GND reference)

Allowable differential input voltage range:

0.6 to 1.35 Vpp

0.5 Vpp

Typical: 1 Vpp

0 V

Approx. 2.5 V

SIN-

4.0 V

Allowable input voltage range: 0 to 4.0 V (GND reference)

0.5 Vpp

0 V

Approx. 2.5 V

Differential signal

SIN+

SIN-

RS422 receiver

x4 pulse counter

Arithmetic

-logic

section

Integer section

Decimal

section

RS422 receiver

COS+

COS-

AD converter

3 Configuration Units

3-3 Axis Interface Unit

Between COS+ and COS-, input a waveform with a phase shift of +90° or -90° from the sinusoidal wave.

Make sure that the SIN and COS dif

ferential signals are within the range of 0.6 to 1.35 V. Also, make sure that the SIN+, SIN-, COS+, and COS- signals are within the range of 0 to 4.0 V relative to the GND reference. The encoder may not convert the input signal correctly if it is out of the specified range.

Data Processing

SIN and COS signals are input to both the RS-422 receivers and the AD converters. The RS-422 receivers count the number of pulses with the x4 pulse counter and capture data at the timing of the servo clock. The AD converters obtain analog data at the timing of the servo clock and perform an arctangent operation to determine the sinusoidal phase for the obtained analog data. By combining these two types of data, it is possible to generate high-accuracy position data.

3-3-8 Input Specifications for Sinusoidal Encoder

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-25

3 Configuration Units

To read values from the sinusoidal encoder correctly, the following register settings are required. These register settings are the default.

Gate3[i].EncClockDiv = 3 Gate3[i].AdcEncClockDiv = 3 Gate3[i].AdcEncCtrl = $3FFFC000 Gate3[i].AdcEncDelay = 0 Gate3[i].AdcEncHeaderBits = 0 Gate3[i].AdcEncStrobe = $3FFFC0 Gate3[i].AdcEncUtoS = 0

3-3-9

OutFlag Function

The OutFlagB to D functions can be used to perform settings for the encoder. The details for the functions are described below

OutFlagB Function

This function can be used with the CK3W-AX1414£/1515£ Unit.

Applications



Use this function as a signal to connect with the SEN signal that is necessary to acquire the absolute encoder value when connecting with the OMRON G5-series Servo Drives with General-purpose Pulse T

Details on the Function



You can switch the output transistor state of the 15-pin of the encoder connector by manipulating the Gate3[i].Chan[j].OutFlagB register.

0 (Default) OFF

1 ON

rain or Analog Inputs.

3-26

OutFlagC Function

Applications



Use this function when a servo clock signal must be output externally for synchronization with other devices.

Details on the Function



You can switch the serial encoder CLK+/- signal to the servo clock signal by manipulating the Gate3[i].Chan[j].OutFlagC register

0 (Default) Serial encoder CLK+/- signal

1 Servo clock +/- signal

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3 Configuration Units

OutFlagD Function

Applications



When connecting with the OMRON G5-series Servo Drives with General-purpose Pulse Train or Analog Inputs, the encoder A+/- terminal and the serial encoder DA and used to enable obtaining the absolute encoder value sent from the Servo Drive. Use this function to disable the terminating resistance of the serial encoder DAT+/- terminal, because the terminating resistances of the short-circuited encoder A+/- terminal and the serial encoder DAT +/- terminal overlap.

Details on the Function



You can enable or disable the terminating resistance of the serial encoder DAT+/- terminal as shown in the table below by setting the Gate3[i].Chan[j].OutFlagD register and the Gate3[i].Chan[j].SerialEncEna register, which is for switching between enabling and disabling the serial encoder.

T+/- terminal are short circuited

3-3 Axis Interface Unit

3-3-10 Amplifier Connector Specifications

3-3-10

Gate3[i].Chan[j].OutFlagD Gate3[i].Chan[j].SerialEncEna Terminating resistance

0 (Default) 0 (Default) Disabled

1 Enabled

1 0 Disabled

1 Disabled

Amplifier Connector Specifications

This section describes the connector arrangement and electrical specifications for the amplifier con-

nector For the connector arrangement of the amplifier connector, refer to 5-3-2 Amplifier Connector Wiring on page 5-24.

Analog output (FilteredPWM type)

Number of outputs

Output method Between DACA+ and DACA-: Differential output

Output range

Allowable load resistance

Resolution Refer to 3-3-1

Isolation method Isolation by Digital Isolator (between analog output and internal cir-

1 point/channel

Between DACA+ and AGND: Single-ended output

Between DACA+ and DACA-: -20 to 20V Between DACA+ and AGND: -10 to 10V

5 kΩ min.

1 DA Output Method on page 3-30.

cuit)

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-27

AMP

Pulse - voltage Conversion circuit

Inter-

nal

circuit

Isolation circuit

Analog output A+

Analog output A-

Analog GND

Connector shell

Inter-

nal

circuit

Converter

Iso-

tion

cir-

cuit

Analog output A+

Analog output B+

Analog output B-

Analog GND Connector shell

Analog output A-

AMP

3 Configuration Units

Circuit configuration

Analog output

rueDAC type)

Number of outputs

Output method Between DACA+/DACB+ and DACA-/DACB-: Differential output

Output range

Allowable load resistance

Resolution 1/65535 (full scale)

Isolation method Isolation by Digital Isolator (between analog output and internal cir-

Circuit configuration

2 points/channel

Between DACA+/DACB+ and AGND: Single-ended output

Between DACA+/DACB+ and DACA-/DACB-: -20 to 20 V Between DACA+/DACB+ and AGND: -10 to 10V

5 kΩ min.

cuit)

3-28

DirectPWM output

Pulse output

Communications method

Connectable amplifier

Output form Line driver output

Input form Line driver input

Isolation method Not isolated from internal circuit

Cables For connection with an amplifier, be sure to use the following cables.

Output signal Output: 2 points/channel

Pulse output method

Pulse output form

Controller-Servo Drive interface unique to Delta Tau

Contact your OMRON representative.

• CK3W

-CAAD009A (0.9 m)

• CK3W-CAAD018A (1.8 m)

• CK3W-CAAD036A (3.6 m)

Pulse output + directional output, or phase difference output

Line driver output

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Output voltage EIA standard RS-422A line driver levels

Internal

rcuit

Pulse output +

Directional output + Directional output -

Connector shell

0 V

GND

Pulse output -

Servo Drive

Pulse output +

Pulse output -

Directional output +

Directional output -

Connector shell

Servo Drive

Pulse output +

Pulse output -

Directional output +

Directional output -

Connector shell

Maximum output frequency

Cable length 10 m max.

Isolation method Not isolated from internal circuit

Circuit configuration

10 MHz

3 Configuration Units

3-3 Axis Interface Unit

3-3-10 Amplifier Connector Specifications

Amp enable out-

put

Terminal connection diagram

Number of outputs

Output method Relay output (N.O. + N.C.)

Maximum switching capacity

Minimum switching capacity

Relay service life 100,000 operations

ON/OFF response time

Isolation method Isolation by Relay (between amp enable output and internal circuit)

Connection with a Servo Drive with line receiver input

Connection with a Servo Drive with 5-VDC photocoupler input

1 point/channel

24 VDC/0.5 A

5 VDC, 1 mA

10 ms max./10 ms max.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-29

Internal

rcuit

Amp enable NO

Amp enable common

Amp enable NC

Fault input +

Internal

circuit

Fault input -

Current

control circuit

3 Configuration Units

Circuit configuration

Fault input

*1. In DACA-, the reversed voltage of the DACA+ is output. In other words, when DACA+ = +10 V, then DACA-

*2. *3.

= -10 V

. In this case, between DACA+ and DACA-, a 20 V potential difference is generated. The same applies to DACB+/DACB-. Available with the CK3W-AX1414£/1515£ Units. For connection with a Servo Drive with 5-VDC photocoupler input, only CK3W-AX1414£/-AX1515£ Units whose date of production is July 1, 2019 or later (Lot number 01719K and later) are available. Refer to A-6 How to Read the Lot Number on page

Number of inputs 1 point/channel

Rated input voltage

Maximum input voltage

Input current 7 mA typical (24 VDC)

ON voltage/ON current

OFF current 0.1 mA max.

ON/OFF response time

Isolation method Isolation by Photocoupler (between fault input and internal circuit)

Circuit configuration

5 to 24 VDC

26.4 VDC

3 VDC min./1 mA min.

20 μs min./400 μs max.

A-11 for the lot number.

3-3-11

3-30

DA Output Method

The following two methods are available for DA output.

FilteredPWM

•

• TrueDAC This section describes each of the methods.

FilteredPWM

This is a method for creating analog output by smoothing the PWM pulse. The relationship between the set value and output voltage is shown below

Set value

-16384 -20 V -10 V

Voltage between analog output +

and analog output -

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Voltage between analog output +

and analog GND

PWM

PwmFreqMult

IntPhase

PwmFreqMult+1

: PWM frequency

: Value set at Gate3[i].Chan[j].PwmFreqMult (Setting range: 0 to 7)

: Internal phase clock frequency (Set at Gate3[i].PhaseFreq)

3 Configuration Units

Set value

0 0 V 0 V

16383 +20 V +10 V

Voltage between analog output +

and analog output -

Voltage between analog output +

and analog GND

PWM frequency is determined by the formula below.

In addition, while the setting is between -16384 and 16383, the actual effective resolution can be calculated as follows. 300000÷f

PWM

(kHz)

Since this is a method for smoothing out the PWM pulse, the higher the PWM frequency, the smaller the ripple, but the resolution also declines. To adequately reduce the ripple, set the PWM frequency to 30 kHz or more. If the PWM frequency is set to 30 kHz, from the above formula, the full-scale effective resolution is a 10000 resolution.

3-3 Axis Interface Unit

3-3-12 DirectPWM Output Method

3-3-12

TrueDAC

This is a method for creating analog output using a DA converter. The relationship between the set value and output voltage is shown below

Set value

-32768 -20 V -10 V

0 0 V 0 V

32767 +20 V +10 V

Voltage between analog output +

and analog output -

Voltage between analog output +

and analog GND

In TrueDAC, the setting range and effective resolution are the same.

DirectPWM Output Method

DirectPWM is a Servo Drive interface unique to Delta Tau, and only DirectPWM-compatible Servo Drives can be connected to this interface. Contact your OMRON representative for information on DirectPWM-compatible Servo Drives.

DirectPWM allows the Motion Controller monitor the actual motor current. Because the Motion Controller directly sends motor current commands and monitors the motor current, high-speed precision motion control is enabled.

to directly send motor current commands to Servo Drives and

To use the DirectPWM output, the following settings are required. These register settings are the default.

Gate3[i].AdcAmpClockDiv = 5

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-31

3 Configuration Units

Gate3[i].AdcAmpStrobe = $FFFFFC Gate3[i].AdcAmpDelay = 0 Gate3[i].AdcAmpHeaderBits = 2

3-3-13

Additionally

, set the phase clock frequency and the PWM frequency for each channel to 40 KHz or

less.

Flag Connection Terminal Block Specifications

This section describes the terminal arrangement and electrical specifications of the flag connection terminal block.

Terminal Arrangement

NPN Type



No. Signal No. Signal (4ch type)

1 EQU0 14 EQU2

2 EQU1 15 EQU3

3 COM_EQU 16 COM_EQU

4 HOME0 17 HOME2

5 PLIM0 18 PLIM2

6 NLIM0 19 NLIM2

7 USER0 20 USER2

8 V_FLAG0 21 V_FLAG2

9 HOME1 22 HOME3

10 PLIM1 23 PLIM3

11 NLIM1 24 NLIM3

12 USER1 25 USER3

13 V_FLAG1 26 V_FLAG3

Signal Signal name

EQUn Position comparison output Output

COM_EQU Position comparison output (Common) Common

3-32

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Signal Signal name

HOMEn Zero Position Detection Flag Input

PLIMn Positive Limit Flag Input

NLIMn Negative Limit Flag Input

USERn General-purpose Flag Input

V_FLAGn Flag (Common) Common

PNP Type



3 Configuration Units

3-3 Axis Interface Unit

3-3-13 Flag Connection Terminal Block Specifications

No. Signal No. Signal (4ch type)

1 EQU0 14 EQU2

2 EQU1 15 EQU3

3 COM_EQU 16 COM_EQU

4 HOME0 17 HOME2

5 PLIM0 18 PLIM2

6 NLIM0 19 NLIM2

7 USER0 20 USER2

8 G_FLAG0 21 G_FLAG2

9 HOME1 22 HOME3

10 PLIM1 23 PLIM3

11 NLIM1 24 NLIM3

12 USER1 25 USER3

13 G_FLAG1 26 G_FLAG3

Signal Signal name

EQUn Position comparison output Output

COM_EQU Position comparison output (Common) Common

HOMEn Zero Position Detection Flag Input

PLIMn Positive Limit Flag Input

NLIMn Negative Limit Flag Input

USERn General-purpose Flag Input

G_FLAGn Flag (Common) Common

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-33

HOME 0 to 3

PLIM 0 to 3

NLIM 0 to 3

USER 0 to 3

V_FLAG 0 to 3

Current control

circuit

Current control

circuit

Current control

circuit

Current control

circuit

Internal

circuit

HOME 0 to 3

PLIM 0 to 3

NLIM 0 to 3

USER 0 to 3

G_FLAG 0 to 3

Current

control circuit

Current

control circuit

Current

control circuit

Current

control circuit

Internal

circuit

3 Configuration Units

Electrical Specifications of Flag Connection Terminal Block

This section describes the electrical specifications for the flag connection terminal block.

Digital Input Specifications

Input signal HOME, PLIM, NLIM, USER/Channel

Rated input voltage 5 to 24 VDC

Maximum input voltage 26.4 VDC

Input current HOME, PLIM, NLIM: 7.0 mA typical (24 VDC)

USER: 9.3 mA typical (24 VDC)

ON voltage/ON current 3 VDC min. / 1 mA min.

OFF voltage/OFF current*11.0 VDC max. / 0.1 mA max.

ON/OFF response time HOME, PLIM, NLIM: 20 μs max./400 μs max.

USER: 20 μs max./20 μs max.

Isolation method Isolation by Photocoupler (between input and internal cir-

cuit)

Circuit configuration NPN type

3-34

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

PNP type

Connection diagram NPN type

V_FLAG 0 to 3

HOME 0 to 3

PLIM 0 to 3

NLIM 0 to 3

USER 0 to 3

5 to 24 VDC

HOME 0 to 3

PLIM 0 to 3

NLIM 0 to 3

USER 0 to 3

G_FLAG 0 to 3

5 to 24 VDC

Internal

rcuit

330

EQUn

COM_EQU

0 V

+5 V

3 Configuration Units

3-3 Axis Interface Unit

3-3-13 Flag Connection Terminal Block Specifications

Digital Output Specifications

PNP type

Output signal EQU/Channel

Rated output voltage 5 VDC

Maximum load current when ON

Residual voltage when ON 0.4 V max.

Isolation method Internal circuits and not isolated

Circuit configuration

35 mA

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-35

COM_EQU

3 Configuration Units

3-3-14

Connection diagram

*1. Since the OFF current is small, connection to the two-wire sensor may not be successful. Refer to Precau-

tions When Connecting a T

*2. For high-speed output, we recommend the use of shielded wiring.

wo-wire DC Sensor on page 5-29 for information on using the two-wire sensor.

General Digital I/O Connection Terminal Block Specifications

This section describes the terminal arrangement and electrical specifications of the general digital I/O connection terminal block.

Terminal Arrangement

NPN Type



3-36

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

No. Signal No. Signal

1 IN00 19 IN08

2 IN01 20 IN09

3 IN02 21 IN10

4 IN03 22 IN11

5 IN04 23 IN12

6 IN05 24 IN13

7 IN06 25 IN14

8 IN07 26 IN15

9 V1 27 V1

10 OUT00 28 OUT08

11 OUT01 29 OUT09

12 OUT02 30 OUT10

13 OUT03 31 OUT11

14 OUT04 32 OUT12

15 OUT05 33 OUT13

16 OUT06 34 OUT14

17 OUT07 35 OUT15

18 V2 36 G2

3 Configuration Units

3-3 Axis Interface Unit

3-3-14 General Digital I/O Connection Terminal Block Specifications

PNP Type



CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-37

3 Configuration Units

No. Signal No. Signal

1 IN00 19 IN08

2 IN01 20 IN09

3 IN02 21 IN10

4 IN03 22 IN11

5 IN04 23 IN12

6 IN05 24 IN13

7 IN06 25 IN14

8 IN07 26 IN15

9 G1 27 G1

10 OUT00 28 OUT08

11 OUT01 29 OUT09

12 OUT02 30 OUT10

13 OUT03 31 OUT11

14 OUT04 32 OUT12

15 OUT05 33 OUT13

16 OUT06 34 OUT14

17 OUT07 35 OUT15

18 V2 36 G2

Electrical Specifications of General Digital I/O Connection Terminal Block

General digital input (NPN/PNP)

Number of inputs 16 points

Rated input voltage 24 VDC

Maximum input voltage 26.4 VDC

Input current 3.9 mA typical (24 VDC)

ON voltage/ON current 15 VDC min./3 mA min.

OFF voltage/OFF current 5 VDC max./1 mA max.

ON/OFF response time 20 μs max./400 μs max.

Isolation method Isolation by Photocoupler (between input and internal cir-

cuit)

3-38

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Circuit configuration NPN type

IN00

IN01

IN15

Current

control circuit

Current

control circuit

Current

control circuit

Internal

circuit

IN00

IN15

Current

control circuit

Current

control circuit

Current

control circuit

Internal

circuit

IN01

3 Configuration Units

3-3 Axis Interface Unit

3-3-14 General Digital I/O Connection Terminal Block Specifications

PNP type

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-39

24 VDC

N00

IN01

IN15

24 VDC

N00

IN01

IN15

3 Configuration Units

Connection diagram NPN type

General digital output (NPN)

PNP type

Internal common NPN

Rated voltage 12 to 24 VDC

Current consumption 40 mA max.

Operating load voltage range

Maximum load current 0.5 A/point, 2 A/Unit

Maximum inrush current 4.0 A/point, 10 ms max.

Leakage current 0.1 mA max.

Residual voltage 1.0 V max.

ON/OFF response time 0.1 ms max./0.8 ms max.

Isolation method Isolation by Photocoupler (between output and internal cir-

Load short-circuit prevention

10.2 to 26.4 VDC

cuit)

Not provided

3-40

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Circuit configuration

Internal

rcuit

OUT00

OUT01

OUT15

12 to 24 VDC

OUT

OUT01

OUT15

3 Configuration Units

3-3 Axis Interface Unit

General digital output (PNP)

Connection diagram NPN type

Internal common PNP

Rated voltage 12 to 24 VDC

Current consumption 80 mA max.

Operating load voltage range

Maximum load current 0.5 A/point, 2 A/Unit

Maximum inrush current 4.0 A/point, 10 ms max.

Leakage current 0.1 mA max.

Current voltage 1.0 V max.

ON/OFF response time 0.1 ms max./0.8 ms max.

Isolation method Isolation by Photocoupler (between output and internal cir-

Load short-circuit prevention

10.2 to 26.4 VDC

cuit)

Provided

3-3-14 General Digital I/O Connection Terminal Block Specifications

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-41

Internal

circuit

OUT00

OUT01

OUT15

Short-circuit

protection

Short-circuit

protection

Short-circuit

protection

12 to 24 VDC

OUT

OUT01

OUT15

3 Configuration Units

Circuit configuration

Connection diagram PNP type

3-42

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

IN00

IN01

IN15

Current

control circuit

Current

control circuit

Current

control circuit

Internal

circuit

3 Configuration Units

3-4

3-4-1

Digital I/O Unit

This section describes the Digital I/O Unit.

Models and Specifications

Models and Outline of Specifications

The models and outline of specifications are given below.

Unit type Model Number of inputs Number of outputs I/O type

Digital I/O Unit CK3W-MD7110 16 points 16 points NPN

CK3W-MD7120 16 points 16 points PNP

Specifications

Digital input (NPN/PNP)

Number of inputs 16 points

Rated input voltage 24 VDC

Maximum input voltage 26.4 VDC

Input current 3.9 mA typical (24 VDC)

ON voltage/ON current 15 VDC min./3 mA min.

OFF voltage/OFF current 5 VDC max./1 mA max.

ON/OFF response time 20 μs max./400 μs max.

Isolation method Isolation by Photocoupler (between input and internal cir-

cuit)

Circuit configuration NPN type

3-4 Digital I/O Unit

3-4-1 Models and Specifications

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-43

IN00

IN15

Current

control circuit

Current

control circuit

Current

control circuit

Internal

circuit

IN01

24 VDC

N00

IN01

IN15

3 Configuration Units

PNP type

Connection diagram NPN type

3-44

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

PNP type

24 VDC

N00

IN01

IN15

Internal

rcuit

OUT00

OUT01

OUT15

3 Configuration Units

3-4 Digital I/O Unit

Digital output (NPN)

Internal common NPN

Rated voltage 12 to 24 VDC

Current consumption 40 mA max.

Operating load voltage range

Maximum load current 0.5 A/point, 2 A/Unit

Maximum inrush current 4.0 A/point, 10 ms max.

Leakage current 0.1 mA max.

Residual voltage 1.0 V max.

ON/OFF response time 0.1 ms max./0.8 ms max.

Isolation method Isolation by Photocoupler (between output and internal cir-

Load short-circuit prevention

Circuit configuration

10.2 to 26.4 VDC

cuit)

Not provided

3-4-1 Models and Specifications

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-45

12 to 24 VDC

OUT

OUT01

OUT15

Internal

circuit

OUT00

OUT01

OUT15

Short-circuit

protection

Short-circuit

protection

Short-circuit

protection

3 Configuration Units

Connection diagram

Digital output (PNP)

Internal common PNP

Rated voltage 12 to 24 VDC

Current consumption 80 mA max.

Operating load voltage range

Maximum load current 0.5 A/point, 2 A/Unit

Maximum inrush current 4.0 A/point, 10 ms max.

Leakage current 0.1 mA max.

Residual voltage 1.0 V max.

ON/OFF response time 0.1 ms max./0.8 ms max.

Isolation method Isolation by Photocoupler (between output and internal cir-

Load short-circuit prevention

Circuit configuration

10.2 to 26.4 VDC

cuit)

Provided

3-46

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Connection diagram

12 to 24 VDC

OUT

OUT01

OUT15

(A)

(C)

(G)

(B)

(D)

(E)

(F)

3 Configuration Units

3-4 Digital I/O Unit

3-4-2

Power consumption 5 V: 1.0 W max.

Dimensions (height × depth × width) 90(H)/80(D)/31.6(W)

Weight 150 g max.

Part Names and Functions

3-4-2 Part Names and Functions

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Digital input/output status indicator Shows the digital input/output status.

D Terminal block Connects the digital input/output.

E Unit connector Connector that connects to the Unit.

F DIN Track mounting hook Used to mount the Unit to a DIN Track.

G Address switch Sets the Gate3 Index.

3-47

3 Configuration Units

3-4-3

3-4-4

Operation Indicators

The LED indicators show the unit operating status of the Digital I/O Unit. The operating statuses corresponding to the colors and statuses of the indicators are shown below

Indicator name Color Status Description

PWR Green ON Power is supplied.

OFF Power is not being supplied.

IN 0 to 15 Yellow ON The input contact is ON.

OFF The input contact is OFF.

OUT 0 to 15 Yellow ON The output contact is ON.

OFF The output contact is OFF.

Address Switch Setting

This Unit is equipped with a PMAC3 style DSPGate3 IC. Refer to the Power PMAC User

The address switch settings are used to set the Gate3 Index. The setting range is from 0 to F. (Factory setting: 0)

’s Manual (Cat. No. O014) for the PMAC3 style DSPGate3 IC.

Address switch setting

0 0

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

A 10

B 11

C 12

D 13

E 14

F 15

Power PMAC

“Gate3” Index

6-9 for Sys.Status.

3-48

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3 Configuration Units

ou may specify the Unit with a desired address as the clock supply source by setting the register. If the Unit that serves as the clock supply source is connected to the Expansion Rack, an error occurs because the CPU Unit cannot recognize clock signals. If this error occurs, the Sys.Status register Sys.NoClocks becomes 1.

3-4 Digital I/O Unit

3-4-5

Terminal Arrangement

This section describes the terminal arrangement of the digital I/O connection terminal block.

CK3W-MD7110

No. Signal No. Signal

1 IN00 19 IN08

2 IN01 20 IN09

3 IN02 21 IN10

4 IN03 22 IN11

5 IN04 23 IN12

6 IN05 24 IN13

7 IN06 25 IN14

8 IN07 26 IN15

9 V1 27 V1

10 OUT00 28 OUT08

11 OUT01 29 OUT09

12 OUT02 30 OUT10

13 OUT03 31 OUT11

14 OUT04 32 OUT12

15 OUT05 33 OUT13

16 OUT06 34 OUT14

17 OUT07 35 OUT15

18 V2 36 G2

3-4-5 Terminal Arrangement

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-49

3 Configuration Units

CK3W-MD7120

No. Signal No. Signal

1 IN00 19 IN08

2 IN01 20 IN09

3 IN02 21 IN10

4 IN03 22 IN11

5 IN04 23 IN12

6 IN05 24 IN13

7 IN06 25 IN14

8 IN07 26 IN15

9 G1 27 G1

10 OUT00 28 OUT08

11 OUT01 29 OUT09

12 OUT02 30 OUT10

13 OUT03 31 OUT11

14 OUT04 32 OUT12

15 OUT05 33 OUT13

16 OUT06 34 OUT14

17 OUT07 35 OUT15

18 V2 36 G2

3-4-6

I/O Data

The CPU Unit can access I/O data via the Gate3[i].GpioData[0] register

Input data is stored in each bit of the register as shown below.

Input Register

3-50

IN0 Gate3[i].GpioData[0].0

IN1 Gate3[i].GpioData[0].1

IN2 Gate3[i].GpioData[0].2

IN3 Gate3[i].GpioData[0].3

IN4 Gate3[i].GpioData[0].4

IN5 Gate3[i].GpioData[0].5

IN6 Gate3[i].GpioData[0].6

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Input Register

IN7 Gate3[i].GpioData[0].7

IN8 Gate3[i].GpioData[0].8

IN9 Gate3[i].GpioData[0].9

IN10 Gate3[i].GpioData[0].10

IN11 Gate3[i].GpioData[0].11

IN12 Gate3[i].GpioData[0].12

IN13 Gate3[i].GpioData[0].13

IN14 Gate3[i].GpioData[0].14

IN15 Gate3[i].GpioData[0].15

Output data is stored in each bit of the register as shown below.

Output Register

OUT0 Gate3[i].GpioData[0].16

OUT1 Gate3[i].GpioData[0].17

OUT2 Gate3[i].GpioData[0].18

OUT3 Gate3[i].GpioData[0].19

OUT4 Gate3[i].GpioData[0].20

OUT5 Gate3[i].GpioData[0].21

OUT6 Gate3[i].GpioData[0].22

OUT7 Gate3[i].GpioData[0].23

OUT8 Gate3[i].GpioData[0].24

OUT9 Gate3[i].GpioData[0].25

OUT10 Gate3[i].GpioData[0].26

OUT11 Gate3[i].GpioData[0].27

OUT12 Gate3[i].GpioData[0].28

OUT13 Gate3[i].GpioData[0].29

OUT14 Gate3[i].GpioData[0].30

OUT15 Gate3[i].GpioData[0].31

3 Configuration Units

3-4 Digital I/O Unit

3-4-6 I/O Data

To capture the I/O data correctly, the following register settings are required. These register settings are the default.

Gate3[i].GpioDir[0] = $FFFF0000 Gate3[i].GpioPol[0] = $00000000 Gate3[i].GpioCtrl[0] = $00000000

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-51

510 KΩ 510 KΩ

AMP

AGND

Input 0- to 7-

Input 0+ to 7+

Internal

circuit

FG FG

Input 0- to 7-

Input 0+ to 7+

3 Configuration Units

3-5

3-5-1

Analog Input Unit

This section describes the Analog Input Unit.

Models and Specifications

Models and Outline of Specifications

The models and outline of specifications are given below.

Unit type Model Number of inputs Input range

Analog Input Unit CK3W-AD2100 4 points -10 to 10 V

CK3W-AD3100 8 points -10 to 10 V

Specifications

Analog input

Input method

Input range -10 to 10 V

Absolute maximum rating ±12 V (GND reference)

Input impedance 1 MΩ min.

Resolution 1/65116 (full scale)

Accuracy (25°C) ±1.0%FS

Effect of temperature ±0.018%FS/°C

Isolation method Between input and internal circuit: Power supply = Trans-

Circuit configuration

Differential or single-ended input

, Signal = Digital isolator (Not isolated between in-

former puts)

3-52

Terminal connection diagram

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

AGND: Analog circuit GND

For differential input

FG FG

Input 0- to 7-

AGND

Input 0+ to 7+

(A)

(F)

(B)

(C)

(D)

(E)

3 Configuration Units

For single-ended input

• If any of Input 0- to Input 7- is single ended input, apply a

short-circuit between the input and AGND.

• Use a shielded cable and ground at both ends of the ca-

ble.

Power consumption CK3W-AD3100: 5 V 0.9 W max., 24 V 2.0 W max.

CK3W

-AD2100: 5 V 0.9 W max., 24 V 1.4 W max.

Dimensions (height × depth × width) 90(H)/80(D)/31.6(W)

Weight CK3W-AD3100: 140 g max.

-AD2100: 120 g max.

CK3W

*1. Differential input and single-ended input can be mixed in a Unit.

3-5 Analog Input Unit

3-5-2 Part Names and Functions

3-5-2

Part Names and Functions

Letter Name Function

A Slider Holds the Units together.

B Power supply status indicator Shows the power supply status.

C Terminal block Connects the analog input.

D Unit connector Connector that connects to the Unit.

E DIN Track mounting hook Used to mount the Unit to a DIN Track.

F Address switch Sets the Gate3 Index.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-53

3 Configuration Units

3-5-3

3-5-4

Operation Indicators

The LED indicator shows the unit operating status of the Analog Input Unit. The operating statuses corresponding to the colors and statuses of the indicators are shown below

Indicator name Color Status Description

PWR Green ON Power is supplied.

OFF Power is not being supplied.

Address Switch Setting

This Unit is equipped with a PMAC3 style DSPGate3 IC. Refer to the Power PMAC User

The address switch settings are used to set the Gate3 Index. The setting range is from 0 to F. (Factory setting: 0)

’s Manual (Cat. No. O014) for the PMAC3 style DSPGate3 IC.

Address switch setting

0 0

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

A 10

B 11

C 12

D 13

E 14

F 15

Power PMAC

“Gate3” Index

6-9 for Sys.Status.

3-54

One CK3W Unit in the system supplies servo clock and phase clock signals to all the other Units. The supply-source CK3W Unit must be installed to the CPU Rack.

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3 Configuration Units

Connect the Unit with the smallest address value to the CPU Rack because, by default, it is the supply source of clock signals. Y

3-5 Analog Input Unit

3-5-5

Terminal Arrangement

This section describes the terminal arrangement of the analog input connection terminal block.

CK3W-AD2100

3-5-5 Terminal Arrangement

No. Signal No. Signal

1 AIN0+ 11 AIN0-

2 AIN1+ 12 AIN1-

3 AIN2+ 13 AIN2-

4 AIN3+ 14 AIN3-

5 AGND 15 AGND

6 NC 16 NC

7 NC 17 NC

8 NC 18 NC

9 NC 19 NC

10 AGND 20 AGND

CK3W-AD3100

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

3-55

-10 V-10.064 V 1

0 V10.064 V

0000 (0)

7FFF (32,768) 7F2E (32,558)

80D2 (-32,558)

Converted data Hexadecimal (Decimal)

8000 (-32,768)

0 V

Voltage

3 Configuration Units

No. Signal No. Signal

1 AIN0+ 11 AIN0-

2 AIN1+ 12 AIN1-

3 AIN2+ 13 AIN2-

4 AIN3+ 14 AIN3-

5 AGND 15 AGND

6 AIN4+ 16 AIN4-

7 AIN5+ 17 AIN5-

8 AIN6+ 18 AIN6-

9 AIN7+ 19 AIN7-

10 AGND 20 AGND

3-5-6

Analog Input Data

This section describes the correspondence between input analog signals and analog input data.

The graph shows that a voltage between -10 to 10 V is converted to data between 80D2 and 7F2E hex (-32,558 to 32,558). When a negative voltage is input, it is expressed as the two’

Analog input data is stored in the upper 16 bits of the following register.

o use a register value, divide it by 216 by using the program.

s complement (hexadecimal).

3-56

Input Register Bit position

AIN0 Gate3[i].Chan[0].ADCAmp[0] [31:16]

AIN1 Gate3[i].Chan[0].ADCAmp[1] [31:16]

AIN2 Gate3[i].Chan[0].ADCAmp[2] [31:16]

AIN3 Gate3[i].Chan[0].ADCAmp[3] [31:16]

AIN4 Gate3[i].Chan[1].ADCAmp[0] [31:16]

AIN5 Gate3[i].Chan[1].ADCAmp[1] [31:16]

AIN6 Gate3[i].Chan[1].ADCAmp[2] [31:16]

AIN7 Gate3[i].Chan[1].ADCAmp[3] [31:16]

The following table shows the conversion timing of analog input.

AIN0, AIN1, AIN4, AIN5 At the rising edge of the phase clock

AIN2, AIN3, AIN6, AIN7 At the falling edge of the phase clock

Input Conversion timing

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Omron CK3W-PD048, CK3M-CPU101, CK3M-CPU121, CK3M-CPU111, CK3W-AX1313N User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Applicable Products

Manual Structure

Page Structure

Special Information

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Definition of Precautionary Information

Symbols

WARNING

Cautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Conformance to EU Directives

Condition for Compliance with EU Directives

Conformance to UL and CSA Standards

Conformance to KC Certification

Versions

Checking Versions

Related Manuals

Terminology

Revision History

Features and System Configuration

Motion Controller Features

Introduction to the System Configurations

Support Software

CK3M-series Operating Procedure

Basic Configuration

CK3W Unit Configuration

2-1-2 EtherCAT Network Configuration

2-2 Connecting to the Power PMAC IDE

Ethernet Network Configuration

3-1 CPU Unit

3-1-1 Models and Specifications

3-1-2 Part Names and Functions

Operation Status Indicators

3-1-4 Watchdog Output Terminal Block

USB Memory Device

Power Supply Unit

Models and Specifications

3-2-2 Part Names and Functions

Axis Interface Unit

Models and Specifications

Part Names and Functions

3-3-3 Operation Status Indicators

Address Switch Setting

Encoder Connector Specifications

3-3-6 Encoder Loss Detection

Input Specifications for Sinusoidal Encoder

OutFlag Function

3-3-10 Amplifier Connector Specifications

DA Output Method

3-3-12 DirectPWM Output Method

Flag Connection Terminal Block Specifications

General Digital I/O Connection Terminal Block Specifications

3-4 Digital I/O Unit

3-4-1 Models and Specifications

3-4-2 Part Names and Functions

Operation Indicators

Address Switch Setting

3-4-5 Terminal Arrangement

I/O Data

Analog Input Unit

Models and Specifications

3-5-2 Part Names and Functions

Operation Indicators

Address Switch Setting

3-5-5 Terminal Arrangement

Analog Input Data