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Programmable Multi-Axis Controller CK3M-series CPU Unit


Multi-axis control with a fastest servo cycle time of 50 μs/5 axes enables precision machining

General Specifications

This section describes the Motion Controller specifications.

Item Specification
Enclosure Mounted in a panel
Grounding Method Ground to less than 100 Ω
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
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
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
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
There are no restrictions if an Ethernet switch is used.
tag data link
Number of
Requested packet
interval (RPI)
1 to 1,000 ms (0.5 ms units)
bandwidth per Unit
3,200 pps *3
IO connection size Input: 504 bytes max.
Output: 504 bytes max.
CIP message
service *2
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.