Omron CK M-CPU1 1 Series User guide

CK5M-CPU11
CK3M-CPU11
CK3E-
Programmable Multi-Axis Controller
Startup Guide
for G5-Series Servo Drive
(IDEv4)
O038-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.................................................... 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

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 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
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.

6
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 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.

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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
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.

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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
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
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□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

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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

11
▼
6.5.2 Motor Setup
▼
6.5.3 Creation of Operation Check Programs
▼
6.5.4 Project Data Transfer and Operation Check

12
6.2. Preparation for the Controller Setup
Prepare the Controller settings.
Install Power PMAC IDE 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.

13
5
From the File menu, select New
then Project.
6
Enter a project name and
location, and select OK.

14
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.
3
Select Clock Settings.

15
4
Specify Servo Frequency.
Select the Servo Frequency
setting from 4 kHz, 2 kHz, or
1 kHz.
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.
7
Click Delta Tau –
Communication Setup on the
toolbar to display the
Communication Setup dialog
box.

16
8
In the Device Properties dialog
box, click the No Device button.
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
Communication Setup dialog
box.
In the Device Properties dialog
box, click the Connect button.
This operation sets the
Controller to the online state.

17
6.3. Installation of ESI Files
Install the ESI file for Servo Driver 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
R88D-KNxxx-ECT.xml is
registered in the ESI file list of
ESI Manager.
If it is not yet registered, click
Add File and register Omron
R88D-KNxxx-ECT.xml.
3
Click Close to close the ESI
Manager page.

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6.4. EtherCAT Communications Setup
Set up EtherCAT communications.
Depending on the Controller status, unexpected operations of the motion
control devices may occur when the power to the Controller is turned on,
resulting in a personal injury to the user.
Pay attention to safety when the power is turned on.
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 –
Master0 (Deactivated) in the
Solution Explorer.

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3
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
4
Select System – EtherCAT in
the Solution Explorer and
right-click on Master0
(Deactivated), then select Scan
EtherCAT Network.

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5
Make sure that the slave is
displayed in the Solution
Explorer.