Omron CK3W-ECS300 User guide
CK5M-CPU11
CK3M-CPU11
CK3W-ECS300
Programmable Multi-Axis Controller
Startup Guide
for Serial Encoder
BiSS-C/EnDAT 2.1/2.2/1S Motor
O051-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.
• Microsoft, Windows, Excel, Visual Basic, and Microsoft Edge are either registered trademarks or trademarks of
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• 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/.
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
Summary of Materials
Target Device and Device Configuration
Serial Encoder Connection Procedures
1
2
3
4
4Serial Encoder Status and
Error Information
CONTENTS
Sections in this Manual ........................................................................................... 3
Precautions .............................................................................................................. 5
Related Manuals....................................................................................................... 6
Terms and Definitions.............................................................................................. 7
Revision History....................................................................................................... 8
Section 1 About This Guide
1-1 Introduction ............................................................................................................................1-2
1-1-1 Intended Audience ......................................................................................................................1-2
Section 2 Target Device and 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)
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 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
5
Startup 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 CK5M-CPU1£1
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
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)
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
O051-E1-02Cat. No.
Revision code
Revision
code Date Revised content
01 May 2021 Original production
02 January 2023 •Revisions due to the addition of the CK5M-CPU1£1
•Corrected mistakes.
Revision History
8Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
1
About This Guide
This section provides an introduction of this document.
1-1 Introduction .................................................................................................... 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 Introduction
This document describes the connecting procedure and confirmation for an OMRON Programmable
Multi-Axis Controller CK£M-CPU1£1 (hereinafter referred to as "Controller") and a serial encoder of
BiSS-C, EnDAT2.1/2.2, and 1S Motor with serial communication protocols.
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 About This Guide
1-2 Startup Guide for Serial Encoder BiSS-C/EnDAT 2.1/2.2/1S Motor (O051)
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2
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