Omron CK3W-AX2323 Series User guide

CK3W-AX1313
CK3W-AX2323
Programmable Multi-Axis Controller
Startup Guide
for DirectPWM Interface
O047-E1-02

1. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
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.
• 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/.

Sections in this Manual
Sections in this Manual
3
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
1
2
3
Summary of Materials
Target Equipment and Device Configuration
DirectPWM Interface Connection Procedure
1
2
3

CONTENTS
Sections in this Manual ........................................................................................... 3
Precautions .............................................................................................................. 5
Related Manuals....................................................................................................... 6
Terms and Definitions.............................................................................................. 7
Revision History....................................................................................................... 8
Section 1 About This Guide
1-1 Introduction ............................................................................................................................1-2
1-1-1 Intended Audience ......................................................................................................................1-2
Section 2 Target Equipment and Device Configuration
2-1 Device Configuration.............................................................................................................2-2
Section 3 DirectPWM Interface Connection Procedure
3-1 Work Flow...............................................................................................................................3-2
3-2 Controller Setting Preparations............................................................................................3-3
3-2-1 Creation of a New Project ...........................................................................................................3-3
3-2-2 Controller Initial Setting ...............................................................................................................3-4
3-3 Connecting Devices...............................................................................................................3-6
3-4 Various Controller Settings...................................................................................................3-8
3-4-1 List of Notes ..............................................................................................................................3-14
3-5 Confirmation of Settings .....................................................................................................3-17
3-6 Motor Tuning ........................................................................................................................3-19
3-6-1 Open Loop Test.........................................................................................................................3-19
3-6-2 Current Loop Gain Setting ........................................................................................................3-20
3-6-3 Bandwidth Automatic Setting ....................................................................................................3-21
3-6-4 Manual Setting of Bandwidth ....................................................................................................3-23
3-6-5 Feed-Forward Value Setting......................................................................................................3-25
3-6-6 Checking of Operation and Creation of Tuning Parameter Project ...........................................3-27
CONTENTS
4CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

Precautions
• For actual system construction, check the specifications for each device and piece of equipment that
makes up the system, use a method with sufficient margin for ratings and performance, and adopt
safety circuits and other safety measures to minimize risks even if a breakdown occurs.
• To safely utilize the system, obtain a manual or user's guide for each device and piece of equipment
that makes up the system, confirm and understand their content, including “Safety Precautions”,
“Precautions for Safe Use”, and other precautions related to safety, and then proceed with use.
• The customer must check all regulations, laws, and rules that are applicable to the system them-
selves.
• Copying, duplication, or redistribution of part or all of these materials without the permission of OM-
RON Corporation is prohibited.
• The content listed in these materials may be changed without notice for purposes of improvement.
The marks used in these materials are defined as follows.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure correct operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding and make operation easier.
Precautions
5
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

Related Manuals
To safely utilize the system, obtain a manual or user's guide for each device and piece of equipment,
confirm their content, including “Safety Precautions”, “Precautions for Safe Use”, and other precau-
tions related to safety, and then proceed with use.
The manuals for OMRON Corporation (hereafter, “OMRON”) and Delta Tau Data Systems Inc. (here-
after “DT”) are as shown below.
Manufac-
turer Cat. No. Model Manual Name
OMRON O036 CK5M-£
CK3M-£
CK3W-£
Programmable Multi-Axis Controller Hardware User's Man-
ual
DT O014 --- Power PMAC User's Manual
DT O015 --- Power PMAC Software Reference Manual
DT O016 --- Power PMAC IDE User's Manual
Related Manuals
6CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

Terms and Definitions
Terms Descriptions and Definitions
PMAC This is the acronym for Programmable Multi-Axis Controller.
Power PMAC IDE This is computer software that is used to configure the Motion Controller, create
user programs, and perform monitoring.
DirectPWM This is a proprietary interface method developed by Delta Tau Data Systems, Inc.
for connecting Servo Drives.
Digital Quadrature Encod-
er
This is a type of encoder that outputs pulse signals.
Terms and Definitions
7
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers.
O047-E1-02
Revision code
Revision
code Revision date Revised content
01 July 2019 Original production
02 January 2023 •Revision due to change of applicable Servo Drives
•Corrected mistakes.
Revision History
8CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

1
About This Guide
This section lists a summary of these materials.
1-1 Introduction .................................................................................................... 1-2
1-1-1 Intended Audience .......................................................................................... 1-2
1-1
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
1

1-1 Introduction
This document describes the connecting procedure and confirmation for an OMRON Programmable
Multi-Axis Controller CK£M-££££ (hereinafter referred to as "Controller") and a DirectPWM inter-
face-capable Servo Drive.
By understanding the setting content and setting procedure points described in Section 3 DirectPWM
Interface Connection Procedure on page 3-1, you can configure the Controller to send commands
to the DirectPWM interface-capable Servo Drive and control Servomotors.
The connection procedure in this document describes an example when a digital quadrature encoder
is used to perform position and velocity feedback for CK3W-AX1313£. *1
*1. If CK3W-AX2323£ is used, the same DirectPWM interface as CK3W-AX1313£ is available but the encoder
setting needs to be changed because a different type of encoder needs to be connected. Refer to the follow-
ing documents for encoder settings.
•Startup Guide Sinusoidal Encoder
•Startup Guide for SSI/Mitutoyo/EnDat 2.1/2.2 Serial Encoder
1-1-1 Intended Audience
This guide is intended for the following personnel, who must also have knowledge of electrical sys-
tems (electrical or the equivalent).
• Personnel in charge of introducing 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.
Also, this guide is intended for personnel who understand the contents described in the DT manual.
1 About This Guide
1-2 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

2
Target Equipment and Device
Configuration
This section lists the target equipment and system configurations for connections in
these materials.
2-1 Device Configuration ..................................................................................... 2-2
2-1
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
2

2-1 Device Configuration
The configuration devices for reproducing the connection procedures in this document are shown be-
low.
This example shows a DirectPWM interface setting using the configuration where the digital quadra-
ture encoder is connected to the output axis of a motor. This configuration is used only to show a set-
ting example and is not a standard configuration.
Programmable Multi-Axis Controller
CK£M-CPU1£1
CK3W-AX1313£
CK3W-PD048
CK3W-TER11
CK3W-CAED03A
CK3W-CAAD0££AR88A-
CAKA0££S
Servo Drive Servomotor
Coupling
Digital
Quadrature
Encoder
S8VK-£
Ethernet
cable
Windows PC
Power PMAC IDE
Precautions for Correct Use
Always secure a Servomotor and encoder. Starting the motor that is not secured leads to a fail-
ure.
Manufacturer Name Model Version
OMRON Programmable Multi-Axis Controller
CPU Unit
CK£M-CPU1£1Version 2.5.2 or
later
OMRON Programmable Multi-Axis Controller
Axis Interface Unit
CK3W-AX1313£---
OMRON Programmable Multi-Axis Controller
Power Supply Unit
CK3W-PD048 ---
OMRON Programmable Multi-Axis Controller
End Cover
CK3W-TER11 ---
OMRON DirectPWM Cable CK3W-CAAD0££A---
OMRON Motor Cable R88A-CAKA0££S---
OMRON Encoder Cable CK3W-CAES03A ---
OMRON Servo Drive CK3A-G310L ---
OMRON Servomotor R88M-K05030T ---
OMRON Digital Quadrature Encoder E6B2-CWZ1X ---
OMRON Coupling E69-C68B
OMRON Switching Power Supply S8VK-£---
2 Target Equipment and Device Configuration
2-2 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

Manufacturer Name Model Version
--- Windows PC --- ---
DT Power PMAC Setting Tool Power PMAC IDE Version 4.3 or
later
2 Target Equipment and Device Configuration
2-3
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
2-1 Device Configuration
2

2 Target Equipment and Device Configuration
2-4 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

3
DirectPWM Interface Connection
Procedure
This section describes the procedures for connecting the Controller and Servo Drive,
and operating the motion control equipment with the DirectPWM interface. The de-
scription assumes that the Controller is set to factory default.
3-1 Work Flow ....................................................................................................... 3-2
3-2 Controller Setting Preparations.................................................................... 3-3
3-2-1 Creation of a New Project ............................................................................... 3-3
3-2-2 Controller Initial Setting ................................................................................... 3-4
3-3 Connecting Devices....................................................................................... 3-6
3-4 Various Controller Settings........................................................................... 3-8
3-4-1 List of Notes .................................................................................................. 3-14
3-5 Confirmation of Settings ............................................................................. 3-17
3-6 Motor Tuning................................................................................................. 3-19
3-6-1 Open Loop Test ............................................................................................. 3-19
3-6-2 Current Loop Gain Setting............................................................................. 3-20
3-6-3 Bandwidth Automatic Setting ........................................................................ 3-21
3-6-4 Manual Setting of Bandwidth......................................................................... 3-23
3-6-5 Feed-Forward Value Setting.......................................................................... 3-25
3-6-6 Checking of Operation and Creation of Tuning Parameter Project ............... 3-27
3-1
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
3

3-1 Work Flow
The procedures for connecting the Controller and Servo Drive, and operating the motion control equip-
ment with the DirectPWM interface, are shown below.
3-2 Controller Setting Preparations on page
3-3
Perform the Controller setting preparations.
▼
3-2-1 Creation of a New Project on page 3-3
▼
3-2-2 Controller Initial Setting on page 3-4
▽
3-3 Connecting Devices on page 3-6 Perform connection and wiring for each de-
vice.
▽
3-4 Various Controller Settings on page 3-8Perform the Controller settings.
▽
3-5 Confirmation of Settings on page 3-17 Check that the settings up to here are cor-
rect.
▽
3-6 Motor Tuning on page 3-19 Use Power PMAC IDE tuning tools to tune
the motor.
▼
3-6-1 Open Loop Test on page 3-19
▼
3-6-2 Current Loop Gain Setting on page 3-20
▼
3-6-3 Bandwidth Automatic Setting on page 3-21
▼
3-6-4 Manual Setting of Bandwidth on page 3-23
▼
3-6-5 Feed-Forward Value Setting on page 3-25
▼
3-6-6 Checking of Operation and Creation of Tuning Parameter
Project on page 3-27
3 DirectPWM Interface Connection Procedure
3-2 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

3-2 Controller Setting Preparations
Perform the Controller setting preparations.
Install the Power PMAC IDE on the PC beforehand.
3-2-1 Creation of a New Project
Follow the procedure below to create a new project.
1Connect the Controller and computer
with an Ethernet cable.
2Turn ON the power supply to the Con-
troller.
3Start up Power PMAC IDE.
•If a dialog for checking access rights
is displayed at the time of startup, se-
lect the option for starting up.
4The Communication screen is dis-
played, so specify the IP address of the
Controller to be connected to, and click
the Connect button.
•The default IP address for the Con-
troller is "192.168.0.200".
•If necessary, change the Windows IP
address to "192.168.0.X".
5Power PMAC IDE starts up, and the
Controller will come online.
3 DirectPWM Interface Connection Procedure
3-3
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
3-2 Controller Setting Preparations
3
3-2-1 Creation of a New Project

6From the File menu, select New ‒
Project.
7Input a project name and save destina-
tion, and select the OK button.
3-2-2 Controller Initial Setting
Follow the procedure below to perform the initial settings for the Controller.
Precautions for Correct Use
Since all memory is cleared by the initial settings, be sure to save any data remaining in the
Controller that you may need.
1Type the $$$*** command from the Ter-
minal, and set the Controller to the fac-
tory default state.
3 DirectPWM Interface Connection Procedure
3-4 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)

2Type the save command in the Power
PMAC IDE Terminal.
•When the save is completed, "Save
Completed" is displayed in the Termi-
nal.
3Type the $$$ command in the Power
PMAC IDE Terminal.
•When the reset is completed,
"PowerPMAC Reset complete" is dis-
played in the Terminal.
3 DirectPWM Interface Connection Procedure
3-5
CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
3-2 Controller Setting Preparations
3
3-2-2 Controller Initial Setting

3-3 Connecting Devices
The following diagram shows the connection between the axis interface unit and various equipment.
CK3W-AX1313£
CK3W-CAED03A
CK3W-CAAD0££AR88A-
CAKA0££S
Servo Drive
CK3A-G310L
Servomotor
Coupling
Digital
Quadrature
Encoder
d
abc
Follow the instructions below to connect a, b, c, and d shown in the diagram above.
a. Connection between the Controller and Servo Drive
Use the following dedicated cables to connect the CK3W-AX1313£ amplifier connector to the Ser-
vo Drive C2 connector.
Manufacturer Name Model Length
OMRON DirectPWM Cable CK3W-CAAD009A 0.9 m
CK3W-CAAD018A 1.8 m
CK3W-CAAD036A 3.6 m
b. Connection between the Servo Drive and Servomotor
Use the following dedicated cables to connect the Servo Drive P2 connector to the Servomotor
connector.
Manufacturer Name Model Length
OMRON Motor Cable R88A-CAKA003S 3 m
R88A-CAKA005S 5 m
R88A-CAKA010S 10 m
R88A-CAKA015S 15 m
R88A-CAKA020S 20 m
R88A-CAKA030S 30 m
R88A-CAKA040S 40 m
R88A-CAKA050S 50 m
c. Connection between the Servomotor and Encoder
Use the following coupling to connect the rotary axes of the Servomotor and digital quadrature en-
coder.
Coupling: E69-C68B
3 DirectPWM Interface Connection Procedure
3-6 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)