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CK3M-CPU1[]1
Programmable Multi-Axis Controller CK3M-series CPU Unit
![CK3M-CPU1[]1](/Images/l_3725-22-285099-198x198.jpg)
Multi-axis control with a fastest servo cycle time of 50 μs/5 axes enables precision machining
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last update: September 14, 2020
General Specifications
This section describes the Motion Controller specifications.
| Item | Specification | |
|---|---|---|
| Enclosure | Mounted in a panel | |
| Grounding Method | Ground to less than 100 Ω | |
| Operating
Environment |
Ambient Operating Temperature | 0 to 55°C |
| Ambient Operating Humidity | 10% to 95% (with no condensation or icing) | |
| Atmosphere | Must be free of corrosive gases. | |
| Ambient Storage Temperature | -25 to 70°C (with no condensation or icing) | |
| Vibration Resistance | Conforms to IEC 60068-2-6.
5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz, acceleration of 9.8 m/s2 100 min each in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total) |
|
| Shock Resistance | Conforms to IEC 60068-2-27.
147 m/s2, 3 times each in X, Y, and Z directions |
|
| Insulation Resistance | 20 MΩ min. between isolated circuits (at 100 VDC) | |
| Dielectric Strength | 510 VAC between isolated circuits for 1 minute with a
leakage current of 5 mA max. |
|
| Applicable Standards | cULus, EU: EN 61326, RCM, KC, EAC | |
Performance Specifications
The performance specifications are shown below.
| Item | CK3M-CPU101 | CK3M-CPU111 | CK3M-CPU121 | ||
|---|---|---|---|---|---|
| Memory | Main memory: 1 GB
Built-In Flash Memory: 1 GB |
||||
| Number of connectable CK3W Units
(when using Expansion Rack) |
8 Units max.
Or 4 CK3W-AX Units max. |
||||
| External connection terminals | No EtherCAT | For EtherCAT communications
RJ45 × 1 (Shield supported) |
|||
| For Ethernet communications
RJ45 × 1 (Shield supported) |
|||||
| USB port
For external memory connection, USB 2.0 host × 1 Type A |
|||||
| Motion
control |
CK3W-AX
Unit |
Maximum number
of controlled axes |
16 axes (when using four CK3W-AX Units) | ||
| Control method | Speed and torque control using analog output
Stepper motor control using pulse output Commutation control using DirectPWM output |
||||
| EtherCAT | Maximum number
of controlled axes |
None | 4 axes | 8 axes | |
| Control method | Issuing control commands using EtherCAT | ||||
| EtherCAT
commu- nications specifi- cations |
Communications protocol | None | EtherCAT protocol | ||
| Baud rate | 100 Mbps | ||||
| Physical layer | 100BASE-TX (IEEE 802.3) | ||||
| Topology | Line, daisy chain, and branching | ||||
| Transmission media | Twisted-pair cable of category 5 or higher
(doubleshielded cable with aluminum tape and braiding) |
||||
| Transmission distance | Distance between nodes: 100 m or less | ||||
| Maximum number of slaves | 32 | ||||
| Range of node addresses
that can be set |
1 to 32 | ||||
| Ethernet
commu- nications specifi- cations |
Baud rate | 100 Mbps | |||
| Physical layer | 100BASE-TX (IEEE 802.3) | ||||
| Frame length | 1,514 bytes max. | ||||
| Media access method | CSMA/CD | ||||
| Modulation | Baseband | ||||
| Topology | Star | ||||
| Transmission media | Twisted-pair cable of category 5, 5e, or higher (shielded cable) *1 | ||||
| Maximum transmission distance
between Ethernet switch and node |
100 m | ||||
| Maximum number of cascade
connections |
There are no restrictions if an Ethernet switch is used. | ||||
| EtherNet/lP
tag data link (cyclic communica- tions) *2 |
Number of
connections |
32 | |||
| Requested packet
interval (RPI) |
1 to 1,000 ms (0.5 ms units) | ||||
| Allowed
communications bandwidth per Unit |
3,200 pps *3 | ||||
| IO connection size | Input: 504 bytes max.
Output: 504 bytes max. |
||||
| EtherNet/lP
CIP message service *2 |
UCMM
(unconnected message) |
Number of servers that can perform communications
simultaneously: 32 |
|||
| EtherNet/lP conformance test | CT17 comoliant | ||||
| USB port | Physical layer | USB 2.0 compliant, type A connector.
Output voltage: 5 V, 0.5 A max. |
|||
| Transmission distance | 3 m max. | ||||
| Current consumption | CK3M-CPU101: 5 VDC 7.2 W max.
CK3M-CPU111/CPU121: 5 VDC 7.8 W max. (including End Cover) |
||||
| Dimensions (height × depth × width) | 90(H)/80(D)/63.2(W) | ||||
| Weight (including End Cover) | 220 g max. | 230 g max. | |||
*1. Always use shielded cables for EtherNeUIP communications.
*2. EtherNet/IP is available only for targets and not available for originators. EtherNet/IP is available only for CPU Units
with PMAC firmware revision version 2.6.0 or later whose date of production is September 8th, 2020 or later (Lot
number 08920 and later). Use Power PMAC IDE Ver.4.4.1 or a later version.
*3. Represents Packet Per Second and indicates the number of sent or received packets that can be processed in a second.
*2. EtherNet/IP is available only for targets and not available for originators. EtherNet/IP is available only for CPU Units
with PMAC firmware revision version 2.6.0 or later whose date of production is September 8th, 2020 or later (Lot
number 08920 and later). Use Power PMAC IDE Ver.4.4.1 or a later version.
*3. Represents Packet Per Second and indicates the number of sent or received packets that can be processed in a second.
last update: September 14, 2020
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