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This section describes the Motion Controller specifications.
Item | Specification | |
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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) |
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Shock Resistance | Conforms to IEC 60068-2-27. 147 m/s2, 3 times each in X, Y, and Z directions |
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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. |
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Applicable Standards | cULus, EU: EN 61326, RCM, KC, EAC |
The performance specifications are shown below.
Item | CK3M-CPU101 | CK3M-CPU111 | CK3M-CPU121 | ||
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Memory | Main memory: 1 GB Built-In Flash Memory: 1 GB |
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Number of connectable CK3W Units (when using Expansion Rack) |
8 Units max. Or 4 CK3W-AX Units max. |
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External connection terminals | No EtherCAT | For EtherCAT communications RJ45 Ã 1 (Shield supported) |
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For Ethernet communications RJ45 Ã 1 (Shield supported) |
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USB port For external memory connection, USB 2.0 host à 1 Type A |
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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 |
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EtherCAT | Maximum number of controlled axes |
None | 4 axes | 8 axes | |
Control method | Issuing control commands using EtherCAT | ||||
EtherCAT communications specifications |
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) |
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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 communications specifications |
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) | ||||
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. | ||||
USB port | Physical layer | USB 2.0 compliant, type A connector. Output voltage: 5 V, 0.5 A max. |
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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) |
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Dimensions (height à depth à width) | 90(H)/80(D)/63.2(W) | ||||
Weight (including End Cover) | 220 g max. | 230 g max. |