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CK[]M-CPU1[]1
Programmable Multi-Axis Controller CK3M/CK5M CPU Unit
![CK[]M-CPU1[]1](/Images/l_3725-25-285099-198x198.jpg)
Multi-axis control with a fastest servo cycle time of 25 μs/5 axes enables precision machining
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last update: April 1, 2025
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 | |
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: 2 GB *1 |
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 *2 | ||||||
| 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) *3 | ||||||
| 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) *4 |
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 *5 | 12,000 pps *5 | |||||
| IO connection size | Input: 504 bytes max.
Output: 504 bytes max. |
||||||
| EtherNet/lP
CIP message service *4 |
UCMM
(unconnected message) |
Number of servers that can perform communications
simultaneously: 32 |
|||||
| EtherNet/lP conformance test | CT17 comoliant | CT18 compliant | |||||
| OPC UA *6 | Connection ports | OPC UA Server can be used simultaneously standard with PMAC Ethernet communications | |||||
| OPC UA Function | OPC UA Server | ||||||
| Transport Category | HTTPS UA-Binary
UA-TCP UA-SC UA-Binary |
||||||
| Supported Server Category | Core 2017 Server Facet
Embedded 2017 UA Server Profile Embedded DataChange Subscription Server Facet Event Subscription Server Facet Micro Embedded Device 2017 Server Standard 2017 Server Facet Standard DataChange Subscription 2017 Server Facet |
||||||
| Endpoint URL Server | opc.tcp://[IP address]: [port No. ]/
By default, the following URL is used. opc.tcp://192.168.0.200:4840/ |
||||||
| Maximum number of clients (Secure Channels) | 10 | ||||||
| Maximum number of subscriptions | 200 | ||||||
| Maximum number of monitored variables per server | 3,000 | ||||||
| Permissible Variables that can be published | Pointer Variables (M), Global Variables (P), EtherCAT IO Data Variables (Ecat[].Io[].Data) | ||||||
| OPC UA security mode and policy | Allowable security methods can be specified from the following (multiple specifications possible):
• Both signature and encryption required: SignAndEncrypt Signature and encryption algorithm Signing and encryption algorithms: Basic256-Sha256/Basic256/Basic128Rsa15 (multiple specifications possible) • Only signature required: Sign Signature algorithm Signature algorithm: Basic256Sha256/Basic256/Basic128Rsa15 (multiple specifications possible) • Neither signature nor encryption required |
||||||
| Application authentication | X.509 | ||||||
| User authentication | The following can be set:
• User name and Password • Anonymous |
||||||
| 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. The flash memory of the CPU unit firmware revision 2.7 or earlier is 1 GB.
*2. A ring topology is available for CPU Units with PMAC firmware revision version 2.7.0 or later.
*3. 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.
*4. 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.
*5. Represents Packet Per Second and indicates the number of sent or received packets that can be processed in a second.
*6. The OPC UA server functions are supported with firmware revision 2.8.1 or later.
last update: April 1, 2025
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