Omron CK3M-CPU1 1 Series User guide

CK3M-CPU11
CK3W-ECS300
Programmable Multi-Axis Controller
Startup Guide
for Serial Encoder
BiSS-C/EnDAT 2.1/2.2/1S Motor
O051-E1-01

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Sections in this Manual
Sections in this Manual
3
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
1
2
3
Introduction
Device Configuration
Serial Encoder Connection Procedures
1
2
3
4
4Serial Encoder Status and
Error Information

CONTENTS
Sections in this Manual ........................................................................................... 3
Related Manuals....................................................................................................... 5
Revision History....................................................................................................... 6
Terms and Definitions.............................................................................................. 7
Precautions .............................................................................................................. 8
Section 1 Introduction
1-1 Summary.................................................................................................................................1-2
1-1-1 Intended Audience ......................................................................................................................1-2
Section 2 Device Configuration
2-1 Device Configuration.............................................................................................................2-2
Section 3 Serial Encoder Connection Procedures
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 Serial Encoder Wiring............................................................................................................3-6
3-4 Various Controller Settings and Checking Operation ........................................................3-7
Section 4 Serial Encoder Status and Error Information
4-1 BiSS-C Encoder Error Information.......................................................................................4-2
4-2 EnDAT2.2 Encoder Status and Error Information...............................................................4-3
4-3 1S Motor Encoder Status and Error Information ................................................................4-4
CONTENTS
4Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

Related Manuals
To safely use the system, obtain manuals or user’s guides for devices and equipment that make up
the system, and confirm and understand the precautions related to safety such as “Safety Precau-
tions” and “Precautions for Safe Use”, and other contents of the manuals or user’s guides, including
“Precautions for Correct Use”, before use.
The manuals provided by OMRON Corporation (hereinafter, “OMRON”) and Delta Tau Data Systems
Inc. (hereinafter “DT”) are as shown below.
Manufac-
turer Cat. No. Model Manual name
OMRON O036 CK3M-CPU1£1
CK3W-ECS300
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
5
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
O051-E1-01Cat. No.
Revision code
Revision
code Date Revised content
01 May 2021 Original production
Revision History
6Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

Terms and Definitions
Term Description and definition
PMAC An acronym for Programmable Multi-Axis Controller.
Power PMAC IDE Computer software that is used to configure the Controller, create user programs,
and perform monitoring.
Serial Encoder An encoder that uses communications to perform data transfer.
Terms and Definitions
7
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

Precautions
• For actual system construction, check the specifications for devices and equipment that make up
the system, use a method with sufficient margin for ratings and performance, and adopt safety cir-
cuits and other safety measures to minimize risks even if a breakdown occurs.
• To safely use the system, obtain manuals or user’s guides for devices and equipment that make up
the system, and confirm and understand the precautions related to safety such as “Safety Precau-
tions” and “Precautions for Safe Use”, and other contents of the manuals or user’s guides, including
“Precautions for Correct Use”, before use.
• The customer themselves must check all regulations, laws, and rules that are applicable to the sys-
tem.
• No part or the whole of this document may be copied, duplicated, or redistributed without the per-
mission of OMRON Corporation.
• The contents of this document are current as of May 2021.
The contents of this document may be subject to change without notice for the purpose of improve-
ment.
Special information in this document is classified as follows:
Precautions for Correct Use
Precautions on what to do and what not to do to ensure correct operation and performance.
Precautions
8Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

1
Introduction
This section provides an introduction of this document.
1-1 Summary......................................................................................................... 1-2
1-1-1 Intended Audience .......................................................................................... 1-2
1-1
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
1

1-1 Summary
This document summarizes the procedures and confirmation methods for connecting a Serial Encoder
that supports the BiSS-C, EnDAT2.1/2.2, or 1S Motor serial communications protocol with the OM-
RON Programmable Multi-Axis Controller CK3M-CPU1£1 (hereinafter called “Controller”).
Understanding the settings and key points of the setting procedures described in Section 3 Serial En-
coder Connection Procedures on page 3-1, helps you configure the Controller to communicate with
a Serial Encoder that supports each protocol and receive absolute position information.
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 Introduction
1-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

2
Device Configuration
This section describes the configuration of devices.
2-1 Device Configuration ..................................................................................... 2-2
2-1
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
2

2-1 Device Configuration
The configuration devices for reproducing the connection procedures in this document are shown be-
low.
Address: 0 Address: 1
Programmable Multi-Axis
Controller
CK3M-CPU1£0
CK3W-ECS300
CK3W-PD048
CK3W-TER11
Serial Encoder
CK3W-CAES03A (for BiSS-C or EnDat2.2/2.1)
R88A-CR1A£(for 1S Motor)
S8VK-£
* Set rotary switches to
the above address.
Windows PC
Power PMAC IDE
Ethernet
cable
Manufacturer Name Model Version
OMRON Programmable Multi-Axis Controller
CPU Unit
CK3M-CPU1£1Ver. 2.6.1 or lat-
er
OMRON Programmable Multi-Axis Controller
Axis Interface Unit
CK3W-ECS300 ---
OMRON Programmable Multi-Axis Controller
Power Supply Unit
CK3W-PD048 ---
OMRON Programmable Multi-Axis Controller
End Cover
CK3W-TER11 ---
HEIDENHAIN Serial Encoder (EnDat2.1/2.2) ROQ437 ---
Renishaw Serial Encoder (BiSS-C) RL26£---
OMRON Servomotor R88M-1S£---
OMRON Encoder Cable R88A-CR1A£---
OMRON Switch Mode Power Supply S8VK-£---
OMRON Encoder Cable CK3W-CAES03A ---
--- Windows PC --- ---
DT Power PMAC Setting Tool Power PMAC IDE Ver. 4.5 or later
2 Device Configuration
2-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

3
Serial Encoder Connection Proce-
dures
This section describes the procedures to connect the Controller and Serial Encoder.
The description 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 Serial Encoder Wiring.................................................................................... 3-6
3-4 Various Controller Settings and Checking Operation ................................ 3-7
3-1
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
3

3-1 Work Flow
The procedures for connecting the Controller and Serial Encoder are shown below.
3-2 Controller Setting Preparations on page
3-3
Perform the Controller setting preparations.
q
3-2-1 Creation of a New Project on page 3-3
q
3-2-2 Controller Initial Setting on page 3-4
s
3-3 Serial Encoder Wiring on page 3-6Perform wiring for each device.
s
3-4 Various Controller Settings and Checking
Operation on page 3-7
Perform the Controller settings and opera-
tion check.
3 Serial Encoder Connection Procedures
3-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

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 Serial Encoder Connection Procedures
3-3
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
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 Serial Encoder Connection Procedures
3-4 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

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 Serial Encoder Connection Procedures
3-5
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
3-2 Controller Setting Preparations
3
3-2-2 Controller Initial Setting

3-3 Serial Encoder Wiring
Perform wiring for the Axis Interface Unit and various Serial Encoders in accordance with the wiring
diagrams below.
• If BiSS-C Encoder Is Used
Serial Encoder CLK+
CK3W-ECS300
Encoder Connector
Serial Encoder CLK-
Serial Encoder DAT+
Serial Encoder DAT-
Encoder Power Supply (+5 VDC)
Encoder Power Supply (GND)
Shell Shell
Signal
Pin No.
4
9
5
10
12
14
MA+
MA-
SLO+
SLO-
+5 V
0 V
FG
RL26£
BiSS-C Encoder Connector
Signal Pin No.
CK3W-CAES03A
Shielded multi-core twisted cable
2
3
6
7
4
8
• If EnDAT2.1/2.2 Encoder Is Used
Serial Encoder CLK+
CK3W-ECS300
Encoder Connector
Serial Encoder CLK-
Serial Encoder DAT+
Serial Encoder DAT-
Encoder Power Supply (+5 VDC)
Encoder Power Supply (GND)
Shell Shell
Signal
Pin No.
4
9
5
10
12
14
CLK+
CLK-
DATA+
DATA-
+ 5 V
0 V
FG
ROQ437
EnDAT2.2 Encoder
Signal
Pin No.
CK3W-CAES03A
Shielded multi-core twisted cable
-
7
6
3
4
8
5
• If 1S MOTOR Encoder Is Used
Disconnect the connector on the Servo Drive side of the R88A-CR1A£, and connect the CK3W-
ECS300 side of it to the high-density type D sub-15-pin female connector (MIL-C-24308 compliant,
lock screw #4-40 UNC).
CK3W-ECS300
Encoder Connector
Serial Encoder DAT+
Serial Encoder DAT-
Encoder Power Supply (+5 VDC)
Encoder Power Supply (GND)
Shell Shell
Signal Pin No.
5
10
12
14
DATA+
DATA-
+5 V
0 V
FG
R88M-1S£
1S Motor Encoder
Signal
Pin No.
7
4
6
3
1
R88A-CR1A£
Shielded multi-core twisted cable
3 Serial Encoder Connection Procedures
3-6 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)

3-4 Various Controller Settings and
Checking Operation
Perform the settings for connecting the Controller to the Serial Encoder.
1Open the global definitions.pmh under
PMAC Script Language – Global
Includes in the Solution Explorer.
2Write the text shown on the right to the
global definitions.pmh.
The settings are based on the following
conditions.
•Phase frequency: 8 kHz
•Servo period: 2 kHz
Sys.WpKey = $AAAAAAAA
Gate3[1].PhaseFreq=8000
Gate3[1].ServoClockDiv=3
Sys.ServoPeriod=1/2
EncTable[1].type = 1
EncTable[1].pEnc = Gate3[0].Chan[0].SerialEncData
A.a
EncTable[1].ScaleFactor = 1
Motor[1].ServoCtrl = 1
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
Gate3[0].Chan[0].SerialEncEna = 1
3 Serial Encoder Connection Procedures
3-7
Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
3-4 Various Controller Settings and Checking Operation
3

Add the text shown on the right to the glob-
al definitions.pmh.
The settings must be written according to
the encoder specifications. For details on
the registers, refer to Power PMAC
Software Reference Manual (SBCE-405)
provided by DT.
For BiSS-C encoders with the following conditions
•The bit transmission rate is 2 MHz.
•A trigger is received at the rising edge of every phase clock cy-
cle (no delay).
•The CRC polynomial is x6 + x1 + 1.
•Parity bits and gray codes are not used.
•26-bit position data and 2-bit status data are obtained.
Gate3[0].SerialEncCtrl=$3100000B
Gate3[0].Chan[0].SerialEncCmd=$0021149A
For EnDAT2.2 encoders with the following conditions
•The bit transmission rate is 2 MHz.
•A trigger is received at the rising edge of every phase clock cy-
cle (no delay).
•The command code is Reporting Position (0x07).
•37-bit position data is obtained.
Gate3[0].SerialEncCtrl=$01000003
Gate3[0].Chan[0].SerialEncCmd=$00071025
For 1S encoders with the following conditions
•A trigger is received at the rising edge of every phase clock cy-
cle (no delay).
•The command code is Position Data (0x00).
Gate3[0].SerialEncCtrl=$0000000E
Gate3[0].Chan[0].SerialEncCmd=$00001000
3To read the absolute position when the
power supply is turned ON, add the settings
shown on the right to the bottom of the
global definitions.pmh file.
•BiSS-C encoders (26-bit position data)
Motor[1].pAbsPos = Gate3[0].Chan[0].SerialEncDa
taA.a
Motor[1].AbsPosFormat = $01001A00
Motor[1].AbsPosSf = 1
Motor[1].PowerOnMode = 4
•EnDAT2.2 encoders (37-bit position data)
Motor[1].pAbsPos = Gate3[0].Chan[0].SerialEncDa
taA.a
Motor[1].AbsPosFormat = $01002500
Motor[1].AbsPosSf = 1
Motor[1].PowerOnMode = 4
•1S Motor encoder (39-bit position data)
Motor[1].pAbsPos = Gate3[0].Chan[0].SerialEncDa
taA.a
Motor[1].AbsPosFormat = $01002700
Motor[1].AbsPosSf = 1
Motor[1].PowerOnMode = 4
3 Serial Encoder Connection Procedures
3-8 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)