Omron CK3W-AX2 2 Series User guide

CK3W-AX22
Programmable Multi-Axis Controller
Startup Guide
for Sinusoidal Encoder
O048-E1-01

• Microsoft, Windows, Windows Vista, Excel, and Visual Basic 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
• 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.
• 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.
• 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 product screen shots reprinted with permission from Microsoft Corporation.
• 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
1
2
3
Summary of Materials
Target Equipment and Device Configuration
Sinusoidal Encoder Connection Procedure
1
2
3
Sections in this Manual
3
CK3M-series Startup Guide Sinusoidal Encoder (O048)

CONTENTS
Sections in this Manual ........................................................................................... 3
Related Manuals....................................................................................................... 5
Revision History....................................................................................................... 6
Terms and Definitions.............................................................................................. 7
Precautions .............................................................................................................. 8
Section 1 Summary of Materials
1-1 Summary of Materials............................................................................................................1-2
1-1-1 Intended Audience ......................................................................................................................1-2
Section 2 Target Equipment and Device Configuration
2-1 Device Configuration.............................................................................................................2-2
Section 3 Sinusoidal Encoder 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 Sinusoidal Encoder Wiring ...................................................................................................3-6
3-4 Various Controller Settings and Checking Operation ........................................................3-7
CONTENTS
4CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 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
5
CK3M-series Startup Guide Sinusoidal Encoder (O048)

Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers.
O048-E1-01
Revision code
Revision
code Revision date Revised content
01 July 2019 Original production
Revision History
6CK3M-series Startup Guide Sinusoidal Encoder (O048)

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.
Sinusoidal Encoder A type of encoder that outputs SIN/COS waveforms at 1 Vpp.
Terms and Definitions
7
CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 is valid as of July 2019.
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
8CK3M-series Startup Guide Sinusoidal Encoder (O048)

1
Summary of Materials
This section lists a summary of these materials.
1-1 Summary of Materials.................................................................................... 1-2
1-1-1 Intended Audience.......................................................................................... 1-2
1-1
CK3M-series Startup Guide Sinusoidal Encoder (O048)
1

1-1 Summary of Materials
This document summarizes the procedures and confirmation methods for connecting a Sinusoidal En-
coder with the OMRON Programmable Multi-Axis Controller CK3M-££££ (hereinafter called “Con-
troller”).
By understanding the setting content and setting procedure points described in Section 3 Sinusoidal
Encoder Connection Procedure on page 3-1, the Controller can communicate with each Sinusoidal
Encoder, and position information can be received.
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 Summary of Materials
1-2 CK3M-series Startup Guide Sinusoidal Encoder (O048)

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-series Startup Guide Sinusoidal Encoder (O048)
2

2-1 Device Configuration
The configuration devices for reproducing the connection procedures in this document are shown be-
low.
CK3W-CAEA03A
Sinusoidal Encoder
S8VK-£
Ethernet
cable
Windows PC
Power PMAC IDE
Programmable Multi-Axis Controller
CK3M-CPU1£1
CK3W-AX2£2££
CK3W-PD048
CK3W-TER11
Manufacturer Name Model Version
OMRON Programmable Multi-Axis Controller
CPU Unit
CK3M-CPU1£1Version 2.5.2 or
later
OMRON Programmable Multi-Axis Controller
Axis Interface Unit
CK3W-AX2£2££ ---
OMRON Programmable Multi-Axis Controller
Power Supply Unit
CK3W-PD048 ---
OMRON Programmable Multi-Axis Controller
End Cover
CK3W-TER11 ---
OMRON Switch Mode Power Supply S8VK-£---
OMRON Encoder Cable CK3W-CAEA03A ---
HEIDENHAIN Sinusoidal Encoder ROD480-5000 ---
--- Windows PC --- ---
DT Power PMAC Setting Tool Power PMAC IDE Version 4.3 or
later
2 Target Equipment and Device Configuration
2-2 CK3M-series Startup Guide Sinusoidal Encoder (O048)

3
Sinusoidal Encoder Connection
Procedure
This section describes the procedures to connect the Controller and Sinusoidal En-
coder. 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 Sinusoidal Encoder Wiring............................................................................ 3-6
3-4 Various Controller Settings and Checking Operation ................................ 3-7
3-1
CK3M-series Startup Guide Sinusoidal Encoder (O048)
3

3-1 Work Flow
The procedures for connecting the Controller and Sinusoidal Encoder 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 Sinusoidal Encoder Wiring on page 3-6Perform wiring for each device.
▽
3-4 Various Controller Settings and Checking
Operation on page 3-7
Perform the Controller settings and opera-
tion check.
3 Sinusoidal Encoder Connection Procedure
3-2 CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 Sinusoidal Encoder Connection Procedure
3-3
CK3M-series Startup Guide Sinusoidal Encoder (O048)
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 Sinusoidal Encoder Connection Procedure
3-4 CK3M-series Startup Guide Sinusoidal Encoder (O048)

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 Sinusoidal Encoder Connection Procedure
3-5
CK3M-series Startup Guide Sinusoidal Encoder (O048)
3-2 Controller Setting Preparations
3
3-2-2 Controller Initial Setting

3-3 Sinusoidal Encoder Wiring
Perform wiring for the Axis Interface Unit and Sinusoidal Encoder in accordance with the wiring dia-
gram below.
CK3W-AX2£2££
Encoder Connector Sinusoidal Encoder
Signal Signal
Up
Sensor/Up
0V
Sensor/0V
A+
A-
B+
B-
R+
R-
Pin No. Type Cable color Color
Brown/Green
Blue
White/Green
White
Brown
Green
Gray
Pink
Red
Black
Encoder Power Supply (+5VDC)
Encoder Power Supply (GND)
Sinusoidal Encoder SIN+
Sinusoidal Encoder SIN-
Sinusoidal Encoder COS+
Sinusoidal Encoder COS-
Sinusoidal Encoder INDEX+
Sinusoidal Encoder INDEX-
11
13
1
6
2
7
3
8
Black
pair1
pair2
pair3
pair4
Blue
Black
Red
Black
White
Black
Green
3 Sinusoidal Encoder Connection Procedure
3-6 CK3M-series Startup Guide Sinusoidal Encoder (O048)

3-4 Various Controller Settings and
Checking Operation
Perform the settings for connecting the Controller to the Sinusoidal Encoder.
1Open the global definitions.pmh under
PMAC Script Language ‒ Global
Includes in the Solution Explorer.
3 Sinusoidal Encoder Connection Procedure
3-7
CK3M-series Startup Guide Sinusoidal Encoder (O048)
3-4 Various Controller Settings and Checking Operation
3

2Write the text on the right to the global
definitions.pmh.
•To use the hardware-interpolated sinusoidal encoder posi-
tion
Sys.WpKey = $AAAAAAAA //Release write-pro
tect
//Default setting Sinusoidal Encoder*1
Gate3[0].EncClockDiv = 3
Gate3[0].AdcEncClockDiv = 3
Gate3[0].AdcEncCtrl = $3FFFC000
//Enable Sinusoidal Encoder
Gate3[0].Chan[0].AtanEna = 1
Motor[1].ServoCtrl = 1
//Setting Encoder table
EncTable[1].type = 1
EncTable[1].pEnc = Gate3[0].Chan[0].ServoCa
pt.a
EncTable[1].index1 = 0
EncTable[1].index2 = 0
EncTable[1].ScaleFactor = 1/4096
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
Sys.WpKey = $0 //Write-protect
*1. Do not change the setting by which Sinusoidal Encod-
er values can be received correctly.
3 Sinusoidal Encoder Connection Procedure
3-8 CK3M-series Startup Guide Sinusoidal Encoder (O048)