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CK[]M-CPU1[]1

Programmable Multi-Axis Controller CK3M/CK5M CPU Unit

CK[]M-CPU1[]1

Multi-axis control with a fastest servo cycle time of 25 μs/5 axes enables precision machining

Software downloads

You can download Power PMAC IDE for the PMAC Controller.

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 *1

*1. The CK5M CPU Unit and CK5W-EXS01 are not EAC-compliant products.

Performance Specifications

The performance specifications are shown below.

Item CK3M-
CPU101
CK3M-
CPU111
CK3M-
CPU121
CK5M-
CPU131
CK5M-
CPU141
Memory Main memory: 1 GB
Built-In Flash Memory: 1 GB
Main memory: 2 GB
Built-In Flash Memory:
4 GB
Number of connectable CK3W Units
(when using Expansion Rack)
8 Units max.
Or 4 CK3W-AX Units max.
16 Units max.
Or 8 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)
32 axes (when using
eight CK3W-AX Unit
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 16 axes 32 axes
Communications
cycle
250 μs min. 62.5 μs min.
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, branching, and ring *1
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 64
Range of node addresses
that can be set
1 to 32 1 to 64
Ethernet
commu-
nications
specifi-
cations
Baud rate 100 Mbps 1 Gbps/100 Mbps
Physical layer 100BASE-TX (IEEE 802.3) 1000BASE-T
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) *2
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)
*3
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 *4 12,000 pps *4
IO connection size Input: 504 bytes max.
Output: 504 bytes max.
EtherNet/lP
CIP message
service*3
UCMM
(unconnected
message)
Number of servers that can perform communications
simultaneously: 32
EtherNet/lP conformance test CT17 comoliant CT18 compliant
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 5 VDC: 7.2 W
max.
(including End
Cover)
5 VDC: 7.8 W max.
(including End Cover)
5 VDC: 7.2 W max,
24 VDC: 3.3 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. 250 g max.

*1. A ring topology is available for CPU Units with PMAC firmware revision version 2.7.0 or later.
*2. Be sure to use a shielded cable for EtherNet/IP communications. When you are using communication at 1 Gbps, be
      sure to use a cable of category 5e or higher.
*3. 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.
*4. Represents Packet Per Second and indicates the number of sent or received packets that can be processed in a second.