CK3M系列编程多轴控制器用户手册概述

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《CK3M系列可编程多轴控制器用户手册》(CK3M User_Manual)是一份详尽的技术文档，专为OMRON公司生产的CK3M系列控制器设计。这份手册详细介绍了CK3M系列产品的硬件构成，包括但不限于： 1. 控制器核心: CK3M-CPU1，它是整个系统的中央处理单元，负责执行控制逻辑和程序指令。 2. 电源模块: CK3W-PD048，提供稳定的电力供应，确保控制器的正常运行。 3. 轴扩展模块: CK3W-AX1313/AX1414/AX1515/AX2323，这些模块支持多轴控制，可以连接到不同的运动部件，实现精确和灵活的机械操作。 4. 电机驱动模块: CK3W-AD100，负责与电机通信，调节和监控电机的速度、扭矩等参数。 5. 扩展卡: CK3W-MD710，可能用于额外的功能扩展或接口连接。 6. 外部通信模块: CK3W-ECS300，用于与外部设备如计算机或其他控制器进行数据交换，支持标准通信协议。 7. 通用通信接口: CK3W-GC，可能是串口、以太网或USB接口，便于系统集成和远程控制。 8. 扩展模块: CK3W-EXM01和CK3W-EXS02，用于额外功能的扩展或故障诊断。版权声明: 所有内容受OMRON公司的版权保护，未经书面许可，禁止任何形式的复制、存储、传输或记录。此外，由于OMRON持续改进产品质量，手册中的信息可能会随时更新，不承担因使用手册中的信息导致的任何责任，也不对由此产生的损害负责。技术提示: 本手册涉及的操作系统和技术，如Microsoft Windows、Excel以及Visual Basic，是Microsoft公司的注册商标或商标，表明CK3M控制器可能支持这些平台进行软件开发和集成。《CK3M系列可编程多轴控制器用户手册》提供了关于控制器硬件配置、功能特性和接口使用的全面指南，为用户和开发者提供了在工业自动化环境中高效工作的必要工具。对于从事自动化控制或系统集成的工程师来说，理解和掌握这份手册的内容至关重要。

Safety Precautions

Definition of Precautionary Information

In this manual, precautions are shown with the following indications and symbols to ensure the safe

use of the CK3M-series Programmable Multi-Axis Controller.

The safety precautions that are provided are extremely important for safety. Always read and heed the

information provided in all safety precautions.

The following notation is used.

Indicates a potentially hazardous situation which, if

not avoided, could result in death or serious injury.

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.

WARNING

aution

Symbols

The circle and slash symbol indicates operations that you must not do.

The specific operation is shown in the circle and explained in text.

This example indicates that disassembly is prohibited.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the

circle and explained in text.

This example shows a general precaution for something that you must do.

Safety Precautions

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

You must take fail-safe measures to ensure safety in the event of incorrect, missing, or

abnormal signals caused by broken signal lines, momentary power interruptions, or

other causes.

The UPS used enables normal operation to continue for a certain period of time if a

momentary power interruption occurs. This means that the CK3M-series Controller

may receive incorrect signals from external devices that are also affected by the power

interruption. Accordingly

, take suitable actions, such as establishing external fail-safe

measures and interlock conditions, to monitor the power supply voltage of the external

device as required.

Unintended outputs may occur if an error occurs in internal data of the Controller. As a

countermeasure for these problems, external safety measures must be provided to en-

sure safe operation of the system.

The Controller will turn OFF all outputs of output units in the following cases and the

slaves will operate according to the settings in the slaves.

• If a power supply error occurs

•

If the connected power supply is faulty

• If a CPU Unit error (watchdog timer error) or CPU Unit reset occurs

• If a major fault level Controller error occurs

• While the Controller is on standby until RUN mode is entered after the power is

turned ON

• If a system initialization error occurs

External safety measures must be provided to ensure safe operation of the system in

such cases.

The outputs may remain ON or OFF due to welding or burning of the output relays or

destruction of the output transistors. As a countermeasure for these problems, external

safety measures must be provided to ensure safe operation of the system.

To ensure safe use of the Controller, correctly make the limit settings for the position,

speed, acceleration, jerk, current, and following error, as well as the encoder loss de-

tection.

For devices that move in a vertical direction, use a motor brake to prevent them from

falling down when the servo control is stopped.

Downloading

Always confirm safety at the destination before you transfer a user program, configura-

tion data, or setup data from the Power PMAC IDE.

The devices or machines may perform unexpected operation regardless of the operat-

ing mode of the Controller.

After you transfer the user program, the Controller is restarted and communications

with the EtherCAT slaves are cut of

f. During that period, the slave outputs behave ac-

cording to the slave specifications.

The time that communications are cut off depends on the EtherCAT network configura-

tion.

Before you transfer the user program, confirm that the system will not be adversely af-

fected.

Safety Precautions

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

Precautions for Safe Use

Transporting

• Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit mal-

function or burning.

Mounting

• Be sure that the terminal blocks, connectors, and other items with locking devices are correctly

locked into place before use.

• When connecting the Power Supply Unit, CPU Unit, and CK3W Unit, connect the units together,

then slide the sliders on the top and bottom until they click into place, and lock securely.

• Always mount an end cover for use. Note that if an end cover is not mounted, the Unit may not func-

tion satisfactorily.

• The number of CK3W Units connected to the CPU Unit must be within the specified range.

Installation

• Always connect to a ground of 100 Ω or less when installing the Units.

• For DIN Track installation, correctly follow the instructions in this manual.

Wiring

• Follow the instructions in this manual to correctly perform terminal block and connector wiring and

insertion.

Double-check all wiring and connector insertion before turning ON the power supply.

• If the external power supply to a digital output or a slave has polarity, connect it with the correct po-

larity.

If the polarity is reversed, current may flow in the reverse direction and damage the connected devi-

ces regardless of the operation of the Controller.

• Before you connect a computer to the Controller, disconnect the power supply plug of the computer

from the AC outlet.

Also, if the computer has an FG terminal, connect it such that the FG terminal has the same electri-

cal potential as the FG on the product.

A difference in electrical potential between the computer and the Controller may cause a failure or

malfunction.

• Do not pull on the cables or bend the cables beyond their natural limit.

• Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the ca-

bles.

• Always use power supply wires with sufficient wire diameters to prevent voltage drop and burning.

Make sure that the current capacity of the wire is sufficient. Otherwise, excessive heat may be gen-

erated.

Precautions for Safe Use

CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)

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