Omron CK3W-GC 00 Series

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Manual Structure

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

Main Page

Intended Audience3
Applicable Products3
Manual Structure4
Page Structure4
Special Information5
Sections in this Manual7
Table of Contents8
Terms and Conditions Agreement13
Warranty, Limitations of Liability13
Application Considerations14
Disclaimers14
Statement of Security Responsibilities for Assumed Use Cases and against Threats15
Safety Precautions16
Definition of Precautionary Information16
Symbols16
Warning17
Cautions19
Precautions for Safe Use20
Precautions for Correct Use25
Regulations and Standards27
Conformance to EU Directives27
Condition for Compliance with EU Directives27
Conformance to UL and CSA Standards28
Conformance to KC Certification28
Versions29
Checking Versions29
Related Manuals30
Terminology31
Revision History32
Introduction to Motion Controllers33
Features and System Configuration34
Motion Controller Features34
Introduction to the System Configurations34
Support Software35
Basic Configuration35
CK3W Unit Configuration35
Ethercat Network Configuration36
Basic Configuration40
CK3W Unit Configuration40
Ethercat Network Configuration40
Connecting to the Power PMAC IDE43
Ethernet Network Configuration44
CPU Unit47
Models and Specifications47
Part Names and Functions49
Operation Status Indicators50
Watchdog Output Terminal Block51
USB Memory Device53
Power Supply Unit54
Models and Specifications54
Part Names and Functions55
Axis Interface Unit56
Models and Specifications56
Part Names and Functions58
Operation Status Indicators59
Address Switch Setting60
Encoder Connector Specifications60
Encoder Loss Detection66
Pulse Input Timing Specifications for Digital Quadrature Encoder67
Input Specifications for Sinusoidal Encoder69
Outflag Function71
Amplifier Connector Specifications72
Output Method75
Directpwm Output Method76
Flag Connection Terminal Block Specifications77
General Digital I/O Connection Terminal Block Specifications82
Digital I/O Unit89
Models and Specifications89
Part Names and Functions93
Operation Indicators94
Address Switch Setting94
Terminal Arrangement95
I/O Data96
Analog Input Unit98
Models and Specifications98
Part Names and Functions99
Operation Indicators100
Address Switch Setting100
Terminal Arrangement101
Analog Input Data102
Input Filter103
Encoder Input Unit105
Models and Specifications105
Part Names and Functions107
Operation Indicators107
Address Switch Setting107
Terminal Arrangement108
Software Settings108
Laser Interface Unit110
Models and Specifications110
Part Names and Functions114
Operation Indicators115
Address Switch Setting115
Terminal Arrangement116
XY2-100 Interface116
SL2-100 Interface120
PWM Output Function124
TCR Output Function126
Software Settings128
Expansion Master Unit and Expansion Slave Unit131
Models and Specifications131
Part Names and Functions132
Operation Indicators133
System Configuration133
Processing at Power on and Power off136
Power on Operation136
Power off Operation136
Fail-Safe Circuits138
Unit Installation140
Installation in a Control Panel140
Connection between Units144
Mounting to DIN Track145
DIN Track and Accessories147
Assembled Appearance and Dimensions148
Control Panel Installation153
Temperature153
Humidity154
Vibration and Shock155
Atmosphere155
Electrical Environment155
Grounding160
Wiring165
Power Supply Wiring166
Power Supply Unit CK3W-PD048166
Power Supply Used166
Applicable Wires166
Grounding167
Required Tools168
Connecting Ferrules168
Connecting Twisted Wires/Solid Wires168
Removing Wires169
CPU Unit Wiring171
Laying the Ethercat Network171
Laying the Ethernet Network176
Watchdog Timer Output Wiring178
USB Memory Device Connection181
Axis Interface Unit Wiring182
Encoder Connector Wiring182
Amplifier Connector Wiring188
Flag Terminal Block/General I/O Terminal Block Wiring190
Digital I/O Unit Wiring197
Wiring the Terminals197
Precautions When Connecting a Two-Wire DC Sensor200
Precautions When Connecting to Digital Output202
Analog Input Unit Wiring204
Wiring the Terminals204
Encoder Input Unit208
Encoder Connector Wiring208
Dedicated Cable208
Laser Interface Unit210
Galvo Scanner Connector Wiring210
Laser Connector Wiring212
Expansion Master Unit and Expansion Slave Unit Wiring214
Troubleshooting215
Types of Errors216
Using the Indicators to Check Errors217
Indicator Types217
Procedure for Identifying Errors217
Troubleshooting for Errors219
Fatal Errors in the CPU Unit219
Non-Fatal Errors in the CPU Unit220
Initialization of CPU Unit Using USB Memory223
Sys.status Register224
Sys.status Register List224
Details of Flags225
Ethernet/Ip Connection Status Codes and Troubleshooting234
Inspection and Maintenance237
Cleaning and Inspection238
Cleaning238
Periodic Inspections238
Maintenance Procedures240
Unit Replacement Precautions240
Backup240
Unit Replacement240
Appendices243
A-1 General Specifications245
A-2 Dimensions246
A-2-1 CPU Unit246
CPU Unit246
A-2-2 Power Supply Unit247
A-2-3 Axis Interface Unit247
A-2-4 CK3W-MD and CK3W-AD Units248
A-2-5 CK3W-ECS and CK3W-GC Units249
A-2-6 Expansion Master Unit and Expansion Slave Unit250
A-2-7 End Cover251
Restrictions on Using the NX-Series Ethercat Coupler Unit252
OMRON Servo Drive Connection Example253
A-5 Version Information254
A-6 How to Read the Lot Number255
A-7 Supported CIP Objects256
A-7-1 Identity Object (Class ID: 01 Hex256
Identity Object (Class ID: 01 Hex256
A-7-2 Assembly Object (Class ID: 04 Hex257
TCP/IP Interface Object (Class ID: F5 Hex258
A-7-4 Ethernet Link Object (Class ID: F6 Hex259
Software Reference of Encoder Input Unit263
A-8-1 Gate3[I].Serialencctrl (Serial Encoder Control263
Gate3[I].Serialencctrl (Serial Encoder Control263
A-8-2 Gate3[I].Chan[J].Serialencena (Serial Encoder Enable266
A-8-3 Gate3[I].Chan[J].Serialenccmd (Serial Encoder Command266
A-8-4 Gate3[I].Chan[J].Serialencdataa (Serial Encoder Data a269
A-8-5 Gate3[I].Chan[J].Serialencdatab (Serial Encoder Data B270
A-8-6 Gate3[I].Chan[0].Status (Internal Memory Error Detection273
Software Reference of Laser Interface Unit275
Gate3[I].Serialencctrl (Control Register275
A-9-2 Gate3[I].Chan[J].Dac[0] (Setting of Command Position and Control Command276
A-9-3 Gate3[I].Chan[J].Dac[1] (Setting of Command Position Compensation Value277
A-9-3 Gate3[I].Chan[J].Dac[1] (Setting of Command Position Compensa- Tion Value277
A-9-4 Gate3[I].Chan[J].Serialencdataa (Command Position after Interpolation, Reception Data277
A-9-4 Gate3[I].Chan[J].Serialencdataa (Command Position after Interpola- Tion, Reception Data277
A-9-5 Gate3[I].Chan[J].Serialencdatab (Status Data278
A-9-6 Gate3[I].Chan[0].Compa (PWM Output Setting279
A-9-7 Gate3[I].Chan[1].Compa (PWM Output Delay Setting280
A-9-8 Gate3[I].Chan[2].Compa (PWM Output Pulse Count280
Gate3[I].Chan[0].Compb (TCR Output Command Distance Setting281
A-9-10 Gate3[I].Chan[1].Compb (TCR Output Comparison Table Setting281
A-9-11 Gate3[I].Chan[2].Compb (TCR Output Control Register281
A-9-12 Gate3[I].Chan[3].Compb (TCR Output Status Register282
A-9-13 Gate3[I].Chan[0].Status (Internal Memory Error Detection282

Omron CK3W-GC 00 Series - Page 6

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