Omron CK5M-CPU1 1 Series User guide

CK5M-CPU11
CK3M-CPU11
CK3E-
Programmable Multi-Axis Controller
Startup Guide
for GX-Series I/O Terminals
(IDEv4)
O046-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.
• 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/.

3
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..................................................... 11
6.3. Installation of ESI Files ........................................................................ 16
6.4. EtherCAT Communications Setup ....................................................... 17
6.5. Controller Settings ............................................................................... 24
7. Appendix Saving and Loading a Project ........................................ 29
7.1. Saving a Project ................................................................................... 29
7.2. Loading and Downloading a Project.................................................... 31
8. Appendix Troubleshooting ............................................................... 34
8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions
............................................................................................................. 34
8.2. How to Check for Errors ...................................................................... 35
9. Appendix ECAT[i] Structure Elements ............................................ 38
10. Revision History ................................................................................ 39

4
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 the devices that are 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
W488-E1
Model GX-ID□□□□
Model GX-OD□□□□
Model GX-OC□□□□
Model GX-MD□□□□
Model GX-AD□□□□
Model GX-DA□□□□
Model GX-ILM□□□
Model XWT-ID□□□□
Model XWT-OD□□□□
EtherCAT® Slave Units User’s
Manual
DT
O014-E
-
Power PMAC User’s Manual
DT
O015-E
-
Power PMAC Software Reference
Manual
DT
O016-E
-
Power PMAC IDE Users Manual

5
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.

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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.

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4. Overview
This document describes the procedures used to connect the OMRON EtherCAT Remote I/O
Terminal model GX- (hereafter referred to as the Slave) using OMRON
Programmable Multi-Axis Controller model CK3E-□□□□/CK3M-CPU11/ CK5M-CPU11
(hereafter referred to as the Controller) and EtherCAT, as well as for checking the connection.
Refer to Section 6. EtherCAT Connection Procedure to learn about the setting methods and
key points to perform PDO communications via EtherCAT.

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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
EtherCAT Remote I/O Terminal
Model GX-
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.

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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
EtherCAT Remote I/O Terminal
Model GX-ID1611
Model GX-OD1611
Ver.1.1
OMRON
Ethernet cable (with industrial
Ethernet connector)
Model
XS5W-T421-M-K
DT
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□1 as an example. The same procedures can
apply to model CK3E-□□□□/CK5M-CPU11.
Model GX-ID1611
Model GX-OD1611
Model CK3M-CPU1□1
Power PMAC IDE
EtherCAT
communications

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6. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller with the Slave via
EtherCAT. The description assumes that the Controller is set to factory default.
6.1. Workflow
Take the following steps to operate the PDO communications via EtherCAT after connecting
the Controller with the Slave 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 the Slave 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
▼
6.5.2 Writing the User Program
▼
6.5.3 Project Data Transfer

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6.2. Preparation for the Controller Setup
Prepare the Controller settings.
Install Power PMAC IDE and Acontis EC-Engineer on the computer in advance.
Creation of a New Project
1
Turn on the power to the
Controller.
2
Start Power PMAC IDE.
* If the dialog for confirming
access rights appears upon
start-up, select starting of Power
PMAC IDE.
3
The Communication screen
appears. Specify the IP address
of the destination Controller and
click Connect.
* The IP address of the
Controller is set to
“192.168.0.200” by default.
* If necessary, change the
Windows IP address to
“192.168.0.X”.
4
Power PMAC IDE starts, and is
online to the Controller.

12
5
From the File menu, select New
then Project.
6
Enter a project name and
location, and select OK.

13
Initial Settings of the Controller
Configure the initial settings for the Controller.
Precautions for Correct Use
Configuring the initial settings clears all data in the Controller memory. Back up necessary
data in advance.
1
In the Terminal tab page, type
the $$$*** command to reset the
Controller to factory default.
2
Select System – CPU – System
in the Solution Explorer.

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3
Select Clock Settings.
4
Specify Servo Frequency.
Select the Servo Frequency
setting from 4 kHz, 2 kHz, or
1 kHz.
* Servo Frequency is set to
1 kHz for the example in this
document.
5
Click the Accept button.
6
If you have changed the servo
frequency setting, type the save
command in the Terminal tab
page of Power PMAC IDE.
When complete, the “Save
Complete” message appears in
the Terminal tab page.

15
7
Click Delta Tau –
Communication Setupon the
toolbar to display the
Communication Setupdialog
box.
8
In the Device Properties dialog
box, click the No Devicebutton.
This operation sets the
Controller to the offline state.
9
Restart the Controller.
The servo frequency that has
been set is reflected.
10
Wait until the startup process of
the Controller is complete. Then
click Delta Tau –
Communication Setup on the
toolbar to display the Device
Properties dialog box.
In the Device Properties dialog
box, return the IP Address to the
previous setting, then click the
Apply button.
This operation sets the
Controller to the online state.

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6.3. Installation of ESI Files
Install the ESI file for the Slave into Power PMAC IDE.
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.
1
From the EtherCAT menu of
Power PMAC IDE, select ESI
Manager.
2
Confirm that Omron GX-Digital
IO.xml is registered in the ESI
file list of ESI Manager.
If it is not yet registered, click
Add File and register Omron
GX-Digital IO.xml
.
3
Click Close to close the ESI
Manager page.

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6.4. EtherCAT Communications Setup
Set up EtherCAT communications.
Precautions for Correct Use
Before taking the following steps, make sure that the devices are connected via an Ethernet
cable. If they are not connected, turn OFF the power to the devices, and connect the Ethernet
cable.
Communications Setup for the EtherCAT Master
1
Connect the Controller with
slave devices using an Ethernet
cable.
* Refer to the manuals for slave
devices to configure them.
2
Select System – EtherCAT in
the Solution Explorer and
right-click on EtherCAT, then
select Add EtherCAT
Master(Acontis).

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3
Master0 (Deactivated) is added
to Solution Explorer.
4
In the Master tab page, specify
a communication period for
Cycle Time [us].
* You must specify the
communication period in
accordance with the servo
frequency of the Controller.
1000 us is set in this document.
Correspondence between the servo frequencies of the
Controller and communication periods is as follows:
4 kHz : 250 us
2 kHz : 500 us
1 kHz : 1000 us

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5
Select System – EtherCAT in
the Solution Explorer and
right-click on Master0
(Deactivated), then select
Scan EtherCAT Network.
6
Make sure that the slave is
displayed in the Solution
Explorer.

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Distributed Clock Setup
1
In the Project Explorer, select
the target slave GX-ID1611 to
display the Advanced Options
tab page.
2
In the Advanced Options tab
page, clear the Potential
Reference Clock check box.
3
In the same manner, clear the
Potential Reference Clock
check box for GX-OD1611.
Additional Information
Remote I/O Terminal model GX- does not support DC Mode.
Disable the reference clock by taking the steps shown above.