Omron CK M-CPU1 1 Series Guida utente

CK5M-CPU11

CK3M-CPU11

CK3E-

Programmable Multi-Axis Controller

Startup Guide

for G5-Series Servo Drive

(IDEv4)

O038-E1-02

any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior

written permission of OMRON.

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

Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained

in this manual is subject to change without notice.

3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsi-

bility for errors or omissions.

Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other

countries for OMRON factory automation products.

• Microsoft, Windows, Excel, Visual Basic, and Microsoft Edge are either registered trademarks or trademarks of

Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Other company names and product names in this document are the trademarks or registered trademarks of their

respective companies.

Trademarks

Copyrights

NOTE

• Microsoft product screen shots used with permission from Microsoft.

• This product incorporates certain third party software. The license and copyright information associated with this

software is available at http://www.fa.omron.co.jp/nj_info_e/.

Contents

1. Related Manuals .................................................................................. 4

2. Terms and Definitions ......................................................................... 5

3. Precautions .......................................................................................... 6

4. Overview ............................................................................................... 7

5. Applicable Devices and Device Configuration ................................. 8

5.1. Applicable Devices ................................................................................ 8

5.2. Device Configuration ............................................................................. 9

6. EtherCAT Connection Procedure .................................................... 10

6.1. Workflow .............................................................................................. 10

6.2. Preparation for the Controller Setup.................................................... 12

6.3. Installation of ESI Files ........................................................................ 17

6.4. EtherCAT Communications Setup ....................................................... 18

6.5. Controller Settings ............................................................................... 27

7. Appendix Saving and Loading a Project ........................................ 39

7.1. Saving a Project ................................................................................... 39

7.2. Loading and Downloading a Project.................................................... 41

8. Appendix Troubleshooting ............................................................... 44

8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions

............................................................................................................. 44

8.2. How to Check for Errors ...................................................................... 45

9. Appendix ECAT[i] Structure Elements ............................................ 48

10. Revision History ................................................................................ 49

1. Related Manuals

To ensure system safety, always read and follow the information provided in all Safety

Precautions and Precautions for Safe Use in the manuals for each device that is used in the

system.

The following shows the manuals for OMRON Corporation (hereafter referred to as OMRON)

and Delta Tau Data Systems, Inc (DT).

Manufacturer

Manual No.

Model

Manual name

OMRON

I610-E1

Model CK3E-1 10

CK3E-series Programmable

Multi-Axis Controller Hardware

User’s Manual

OMRON

O036-E2

Model CK3M-CPU11

Model CK5M-CPU11

CK3M-series Programmable

Multi-Axis Controller

Hardware User’s Manual

OMRON

I576-E1

Model R88M-K

Model

R88D-KN-ECT

Servomotors/Servo Drives (Built-in

EtherCAT® Communications)

User’s Manual

O014-E

Power PMAC User’s Manual

O015-E

Power PMAC Software Reference

Manual

O016-E

Power PMAC IDE Users Manual

2. Terms and Definitions

Term

Explanation and Definition

Slave

Slaves are devices connected to EtherCAT. There are various types of

slaves such as servo drivers handling position data and I/O terminals

handling the bit signals.

Object

Represents information such as in-slave data and parameters.

PDO

communications

(Communications

using Process Data

Objects)

One type of EtherCAT communications in which Process Data Objects

(PDOs) are used to exchange information cyclically and in real time.

This is also called “process data communications”.

PDO Mapping

The association of objects used for PDO communications.

PDO Entry

PDO entries are the pointers to individual objects used for PDO

mapping.

ESI file

(EtherCAT Slave

Information file)

An ESI file contains information unique to the EtherCAT slaves in XML

format.

You can load ESI files into the Power PMAC IDE, to easily allocate

slave process data and make other settings.

ENI file

(EtherCAT Network

Information file)

An ENI file contains the network configuration information related to

EtherCAT slaves.

Power PMAC IDE

This computer software is used to configure the Controller, create user

programs, and monitor the programs.

PMAC is an acronym for Programmable Multi-Axis Controller.

3. Precautions

(1) Understand the specifications of devices that are used in the system. Allow some margin

for ratings and performance. Provide safety measures, such as for installing a safety

circuit, in order to ensure safety and minimize the risk of abnormal occurrences.

(2) To ensure system safety, always read and follow the information provided in all Safety

Precautions and Precautions for Safe Use in the manuals for each device that is used in

the system.

(3) The user is encouraged to confirm the standards and regulations that the system must

conform to.

(4) It is prohibited to copy, reproduce, or distribute a part or the whole of this document

without the permission of OMRON Corporation.

(5) The information contained in this document is current as of September 2022.

It is subject to change without prior notice for improvement purposes.

The following notations are used in this document.

Indicates a potentially hazardous situation which, if not avoided,

may result in minor or moderate injury, or may result in serious

injury or death. 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.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure correct operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operations easier.

Symbols

The filled circle symbol indicates operations that you must carry out.

The specific operation is shown in the circle and explained in text.

This example indicates a “general precaution” for something that you must

carry out.

4. Overview

This document describes the procedures used to operate the OMRON servo drivers

(G5-series EtherCAT communication built-in type, hereafter referred to as Servo Driver) using

the motion program for OMROM Programmable Multi-Axis Controller (hereafter referred to as

the Controller), model CK3E-□□□□/CK3M-CPU11/CK5M-CPU11, as well as for

checking the operation.

In the document, Servo Driver and servomotors to be connected are collectively called motion

control devices. Servo Driver may also be referred to as a slave depending on the

explanation.

Refer to Section 6. EtherCAT Connection Procedure to learn about the setting methods and

key points to perform PDO communications via EtherCAT. In this document, the motion

program is used to check operations.

The range of usage of this document is checking the connection of motion

control devices connected via EtherCAT. When using instructions and

constructing systems that are not described in this document, always read and

follow the information provided in all Safety Precautions and Precautions for

Safe Use in the manuals for each device that is used in the system.

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer

Name

Model

OMRON

Programmable Multi-Axis Controller

Model CK3E-□□□□

OMRON

Programmable Multi-Axis Controller

Model CK3M-CPU11

Model CK5M-CPU11

OMRON

Servo Driver

Model R88D-KN-ECT

Model R88D-KN-ECT-L

OMRON

AC Servomotor

Model R88M-K□

Precautions for Correct Use

In this document, the devices with models and versions listed in Section 5.2 are used as

examples of applicable devices to describe the procedures to connect the devices and check

their connections.

You cannot use devices with versions lower than the versions listed in Section 5.2.

To use the devices mentioned above with models not listed in Section 5.2 or versions higher

than those listed in Section 5.2, check the differences in the specifications by referring to the

manuals before operating the devices.

Additional Information

This document describes the procedures to establish the network connections. It does not

provide information on operations, installations, wiring methods, device functionalities, or

device operations, which are not related to the connection procedures. For more information,

refer to the manuals or contact your OMRON representative.

5.2. Device Configuration

The hardware components to reproduce the connection procedures in this document are as

follows:

Manufacturer

Name

Model

Version

OMRON

Programmable Multi-Axis

Controller

Model CK3M-CPU1□1

Ver.2.7

OMRON

Servo Driver (G5-series

with Built-in EtherCAT

Communications)

Model R88D-KN01L-ECT

Ver.2.1

OMRON

Ethernet cable (with

industrial Ethernet

connector)

Model

XS5W-T421-M-K

Power PMAC IDE

Ver.4.6

Precautions for Correct Use

Prepare the ESI file described in this section in advance. Contact your OMRON

representative for information on how to procure the ESI file.

Precautions for Correct Use

Do not share the connection line of EtherCAT communications with other Ethernet networks.

Do not use devices for Ethernet such as a switching hub.

Use the Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or

higher, and use the shielded connector of Category 5 or higher.

Connect the cable shield to the connector hood at both ends of the cable.

Additional Information

This document describes model CK3M-CPU1□1as an example. The same procedures can

apply to model CK3E-□□□□/ CK5M-CPU1□1.

Model CK5M-CPU1□1

Model R88D-KN-ECT

Model R88D-KN-ECT-L

EtherCAT

communications

Power PMAC IDE

6. EtherCAT Connection Procedure

This section describes the procedures to connect the Controller and Servo Driver via

EtherCAT, and to operate the motion control devices. The description assumes that the

Controller is set to factory default.

If an uninitialized Controller is used, the motion control devices may perform

unexpected operations upon power-on depending on the Controller status,

resulting in a personal injury to the user.

To prevent unexpected operations of motion control devices, be sure to initialize

the Controller before connecting the motion control devices and the Controller

via Ethernet cable.

6.1. Workflow

Take the following steps to operate the motion control devices after connecting the Controller

and Servo Driver via EtherCAT.

6.2 Preparation for the Controller Setup

Prepare the Controller settings.

▼

6.2.1 Creation of a New Project

▼

6.2.2 Initial Settings of the Controller

▽

6.3 Installation of ESI Files

Install the ESI file for Servo Driver

into Power PMAC IDE.

▽

6.4 EtherCAT Communications Setup

Set up EtherCAT communications.

▼

6.4.1 Communications Setup for the EtherCAT Master

▼

6.4.2 Distributed Clock Setup

6.4.3 PDO Map Settings

▼

6.4.4 Creation of an EtherCAT Network Information File

▽

6.5 Controller Settings

Set up the Controller.

▼

6.5.1 EtherCAT Communications Check

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