CKD ECR Series User manual

INSTRUCTION MANUAL

取扱説明書

Electric Actuator

ECR (Controller)

• Be sure to read this instruction manual before using the product.

• Pay especially close attention to the safety-related information contained within.

• Keep this instruction manual in a safe place so that it is readily available when needed.

SM-A10615-A

MSV-484083

SM-A10615-A PREFACE

i

PREFACE

Thank you for purchasing this CKD "ECR" controller for electric actuators. In order for this product to

be used to its fullest potential, this instruction manual describes basic topics such as how to mount and

use it. Read this manual thoroughly prior to use.

Keep this instruction manual in a safe place so that it is not lost.

The specifications and images in this instruction manual are subject to change without prior notice.

SM-A10615-A SAFETY INFORMATION

ii

SAFETY INFORMATION

When designing and manufacturing equipment using this product, you are obligated to manufacture safe

equipment. Therefore, confirm that the safety of the equipment's mechanisms and the system that runs

the electrical controls can be ensured.

It is important to select, use, handle and maintain CKD products appropriately to ensure their safe

usage.

Be sure to observe the warnings and precautions listed in this instruction manual to ensure equipment

safety.

This product is equipped with various safety measures. Even so, mishandling could cause an accident.

To prevent such an accident from occurring...

Make sure that you read this instruction manual thoroughly and understand its

content before use.

There are three levels of precautions to indicate the level and potential for danger or damage:

"DANGER", "WARNING" and "CAUTION".

DANGER

Mishandling could likely cause death or serious injury.

WARNING

Mishandling could cause death or serious injury.

CAUTION

Mishandling could cause injury or physical damage.

Note that some items indicated with "CAUTION" may lead to serious results depending on the

conditions.

All items contain important information and must be observed.

The following icon is used to indicate other general precautions and usage hints.

Indicates a general precaution or usage hint.

SM-A10615-A SAFETY INFORMATION

iii

Product precautions

DANGER

Do not use this product for the following applications.

• Medical devices involved in maintaining or managing human life or health

• Mechanisms or machines meant to transfer or transport people

• Important security parts in machines

WARNING

Use this product in accordance with specifications.

Disposal precautions

CAUTION

When disposing of the product, follow laws and regulations related to processing and

cleaning waste. Request a specialized waste processing vendor to dispose of waste.

SM-A10615-A CONTENTS

iv

CONTENTS

1. PRODUCT OVERVIEW ............................................................................................. 1

1.1 Controller Model number explanation................................................................. 1

1.2 System configuration .......................................................................................... 2

2. SPECIFICATIONS ..................................................................................................... 3

2.1 Basic specifications ............................................................................................ 3

2.2 Dimensions ......................................................................................................... 4

2.3 Panel details ....................................................................................................... 5

3. INSTALLATION ......................................................................................................... 7

3.1 Installation precautions ....................................................................................... 7

4. WIRING ...................................................................................................................... 8

4.1 Power supply wiring ............................................................................................ 8

4.1.1 Power supply connector specifications ........................................................ 8

4.1.2 Power supply circuit ..................................................................................... 9

4.1.3 Basic power supply configuration............................................................... 10

4.2 Actuator wiring ...................................................................................................11

4.2.1 Motor cable Model number explanation ...................................................... 11

4.2.2 Motor cable dimensions .............................................................................. 11

4.2.3 Encoder cable Model number explanation ................................................. 12

4.2.4 Encoder cable Model number explanation ................................................. 12

4.3 I/O wiring ........................................................................................................... 13

4.3.1 I/O cable Model number explanation ......................................................... 13

4.3.2 I/O cable dimensions .................................................................................. 13

4.3.3 I/O cable specifications .............................................................................. 13

4.3.4 Basic I/O cable configuration ..................................................................... 14

4.3.5 I/O cable assignment .................................................................................. 15

4.3.6 General purpose input/output signal assignment ...................................... 16

4.3.7 Input/output circuit ...................................................................................... 19

4.4 S-Tools setting software wiring ......................................................................... 20

4.4.1 Communication specifications .................................................................... 20

4.4.2 Connection method .................................................................................... 20

5. PARAMETERS DATA CONFIGURATION .............................................................. 21

5.1 Parameters List ................................................................................................. 21

5.2 Soft limit ............................................................................................................ 24

5.2.1 EBS/EBR/FLSH/FLCR ............................................................................... 24

5.2.2 FGRC.......................................................................................................... 24

5.3 Zone output ....................................................................................................... 25

5.4 Adjusting the gains............................................................................................ 26

6. POINT DATA CONFIGURATION ............................................................................ 27

6.1 Positioning point ................................................................................................ 27

6.2 Point data list .................................................................................................... 28

6.2.1 Selecting the position specification method ............................................... 29

6.2.2 Selecting the operation method ................................................................. 30

6.2.3 Setting the position ..................................................................................... 30

6.2.4 Setting the positioning width ...................................................................... 31

6.2.5 Setting the speed ....................................................................................... 32

6.2.6 Setting the acceleration .............................................................................. 34

6.2.7 Setting the deceleration .............................................................................. 35

6.2.8 Selecting the acceleration/deceleration method ........................................ 35

6.2.9 Selecting the stop method .......................................................................... 36

SM-A10615-A CONTENTS

v

6.2.10 Selecting the rotation direction ................................................................... 36

6.2.11 Setting the gain magnification .................................................................... 36

6.2.12 Setting the point zone ................................................................................. 37

6.2.13 Setting the pressing current ....................................................................... 38

6.2.14 Setting the pressing speed ......................................................................... 39

6.2.15 Setting the pressing distance ..................................................................... 41

7. OPERATION ............................................................................................................ 42

7.1 Emergency stop and release ............................................................................ 42

7.2 Force brake release .......................................................................................... 43

7.3 Servo ON/OFF .................................................................................................. 44

7.4 Power ON sequence ......................................................................................... 45

7.5 Home position return operation ........................................................................ 46

7.5.1 EBS / EBR .................................................................................................. 46

7.5.2 FLSH........................................................................................................... 48

7.5.3 FLCR .......................................................................................................... 50

7.5.4 FGRC.......................................................................................................... 52

7.6 Positioning operation ........................................................................................ 54

7.6.1 Normal mode (64-point, 128-point, 256-point and 512-point mode) ......... 54

7.6.2 Teaching 64-point mode ............................................................................. 56

7.6.3 Simple 7-point mode .................................................................................. 59

7.6.4 Solenoid valve mode (double 2 position type) ........................................... 61

7.6.5 Solenoid valve mode (double 3 position type) ........................................... 62

7.6.6 Solenoid valve mode (single type) ............................................................. 63

7.6.7 Other output signals ................................................................................... 64

7.7 Pressing operation ............................................................................................ 65

7.8 Operation when a new operation signal is input during operation ................... 66

7.9 Stop/pause signal input .................................................................................... 67

7.10 Holding operation after travel complete ............................................................ 68

8. TROUBLESHOOTING............................................................................................. 69

8.1 Alarm Indications and Countermeasures ......................................................... 69

8.2 What to Check when Trouble Occurs ............................................................... 71

8.3 Troubleshooting ................................................................................................ 72

9. EUROPEAN STANDARDS ..................................................................................... 74

9.1 EU command/European standards .................................................................. 74

9.2 Precautions when used in Europe (EU) ........................................................... 74

9.2.1 Suitable actuators ....................................................................................... 74

9.2.2 Working environment ................................................................................. 74

9.2.3 Installation method ..................................................................................... 75

10. WARRANTY PROVISIONS ................................................................................. 77

10.1 Warranty Conditions ....................................................................................... 77

10.2 Warranty Period .............................................................................................. 77

10.3 Remarks ........................................................................................................... 77

SM-A10615-A 1. PRODUCT OVERVIEW

1

1. PRODUCT OVERVIEW

1.1 Controller Model number explanation

*C: The I/O cable length can only be selected when the interface specification is I/O specification. In a

case other than the I/O specification, 00 only.

SM-A10615-A 1. PRODUCT OVERVIEW

2

1.2 System configuration

System components that can be purchased from CKD are listed below.

Items

Name

Product name、Model No.

Normal configuration

(when selecting the set

model number)

Controller

ECR Series

Actuator

EBS-M/EBR-M/FLSH/FLCR/FGRC Series

Motor cable

EA-CBLM1-※

Encoder cable

EA-CBLE1-※

I/O cable

EA-CBLNP1-※

Sold separately

24 VDC power supply

EA-PWR-KHNA240F-24

48 VDC power supply

EA-PWR-KHNA480F-48

Surge protector

AX-NSF-RAV-781BXZ-4

Noise filter

AX-NSF-NF2015A-OD

Ferrite core (7 pieces)

EA-NSF-FC01-SET

Freeware

PC setting software

S-Tools

Other devices must be provided by the customer.

Provided by

the customer

Ferrite core

USB cable (mini-B)

Ferrite core

Encoder cable

Motor cable

Controller

ECR Series

Surge

protector

DC power

supply

Noise filter

Ferrite

core

Applicable actuators

EBS-M Series

EBR-M Series

FLSH Series

FLCR Series

FGRC Series

I/O cable

SM-A10615-A 2. SPECIFICATIONS

3

2. SPECIFICATIONS

2.1 Basic specifications

Items

Descriptions

Applicable actuators

EBS-M/EBR-M/FLSH/FLCR/FGRC

Setting tool

Setting software (S-Tools)

Operation mode (PIO)

Teaching 64-point mode, 64-point mode, 128-point mode, 256-point mode,

512-point mode, Simple 7-point mode, Solenoid valve mode double 2 position type,

Solenoid valve mode double 3 position type, Solenoid valve mode single type

Number of inputs

16 points

Number of outputs

16 points

Power supply voltage

24 VDC ±10% or 48 VDC ±10%

Power capacity

Max. 480 W

Indicator lamps

SV: ON when servo ON, ALM: ON during alarm, ST: Load indication or alarm indication

Brake release input

24 VDC ±10% or 48 VDC ±10%

Emergency stop release input

24 VDC ±10% or 48 VDC ±10%

Insulation resistance

10 M Ω or more with 500 VDC

Withstand voltage

500 VAC for 1 min.

Specified ambient

temperature

0 to 40°C (no freezing)

Specified ambient humidity

35 to 80% RH (no condensation)

Storage ambient temperature

-10 to 50°C (no freezing)

Storage ambient humidity

35 to 80% RH (no condensation)

Specified atmosphere

No corrosive gas, explosive gas or dust

Degree of protection

IP20

Weight

Approx. 400g

Approx. 430 g (DIN rail mounting)

SM-A10615-A 2. SPECIFICATIONS

4

2.2 Dimensions

● Normal mounting

● DIN rail mounting

Grounding terminal

(M3  5 pan head screw)

SM-A10615-A 2. SPECIFICATIONS

5

2.3 Panel details

Code

Name

Description

SV

Servo lamp

Indicates whether servo is ON or OFF

Servo ON: Steady green

Servo OFF: Blinking green

ALM

Alarm lamp

Indicates an alarm/warning has occurred

Occurrence of alarm which cannot be released: Steady red

Occurrence of alarm which can be released: Blinking red (fast blinking)

Occurrence of warning: Blinking red (slow blinking)

ST

Status lamp

Operating: Displays the amount of electrical current to the motor (four levels)

During alarm: Displays the type of alarm

CN1

Power supply connector

Connector used to connect the controller to the power

Refer to 4.1 for information on wiring method

CN2

Motor connector

Connector used to connect the motor cable

Connection cable model No.: EA－CBLM1－***

CN3

Encoder connector

Connector used to connect the encoder cable

Connection cable model No.: EA－CBLE1－***

CN4

USB connector

Connector used to connect the setting tool (PC setting software)

Connection cable: Commercially available USB cable (mini-B type)

CN5

Interface connector

Connector used to connect the upper device

Refer to 4.3 for information on wiring

Connection cable model No.: EA－CBLNP1－**

CHG

Charge lamp

Indicates the state of the passing of the current of the controller power supply

Current is passed: Steady orange

No current is passed: Unlit

Servo lamp

Alarm lamp

Status lamp

CN3: Encoder connector

CN2: Motor connector

CN1: Power supply connector

CN4: USB connector

Charge lamp

CN5: Interface connector

SM-A10615-A 2. SPECIFICATIONS

6

 Status lamp indication

ST lamp

Operation

3

2

1

0

□

A current of 5% or less is passing for the rated

current.

□

■

A current of 24% or less is passing for the rated

current.

□

■

A current of 49% or less is passing for the rated

current.

□

■

A current of 74% or less is passing for the rated

current.

■

A current of 75% or more is passing for the rated

current.

□: Unlit, ■ Lit

ST lamp

Operation

3

2

1

0

□

■

Alarm 0x1*** occurs.

□

■

□

Alarm 0x2*** occurs.

□

■

Alarm 0x3*** occurs.

□

■

□

Alarm 0x4*** occurs.

□

■

□

Alarm 0x6*** occurs.

□

■

Alarm 0x7*** occurs.

*For the supporting of the alarm code and alarm description, refer to “8.1Alarm Indications and Countermeasures”エラー! 参照元が見つ

かりません。.

□: Unlit, ■ Lit

SM-A10615-A 3. INSTALLATION

7

3. INSTALLATION

3.1 Installation precautions

 Be careful when transporting or handling this product, so that it is not dropped or otherwise

subject to impact.

 Confirm the ambient temperature and atmosphere listed in the product specifications when

storing or using the product.

 This product cannot be mounted or used in wet or oily locations.

 Doing so could cause electricity leakage or fires. Oil and oil mist are strictly prohibited.

 Use the product in an operating ambient temperature of 0 to 40°C. Ventilate if heat builds up.

 Install the product away from direct sunlight, dust and heat generating sources. Install it in a

location free from corrosive gas, explosive gas, combustible gas and combustibles in general.

This product was not designed to be chemically resistant.

 Do not use this product in areas subject to high current or strong magnetic fields. Do not

pipe/wire (using a multi-conductor cable) it together with large motor power cables. Doing

otherwise could introduce noise in the product body or cables. Be careful of inverter power

supplies and wiring used with robots and similar machines (cannot be wired/piped together). Be

sure to frame ground the same power supply and insert a filter into the output section.

 Secure the cable in place so that it cannot be easily moved. When securing it in place, do not

bend the cable to the bending radius of 63 mm or less.

 Use the setting tool (S-Tools setting software) to set parameters. Leave a space of at least 70

mm in front of the controller, so that the connector can be attached and removed.

SM-A10615-A 4. WIRING

8

4. WIRING

4.1 Power supply wiring

4.1.1 Power supply connector specifications

List of power supply connector terminals (DFMC1,5/4-STF-3,5 (PHOENIX CONTACT))

Terminal

name

Function name

Description of function

MPI

Motor power supply

(+)

The product is shipped with MPI and MPO connected via jumper wire, and with the control power

supply and motor power supply connected.

To separate the control power supply and motor power supply, remove the jumper wire between

MPI and MPO, and then apply 24 or 48 VDC.

MPO

Motor power supply

shutoff

The product is shipped with MPI and MPO connected via jumper wire, and with the control power

supply and motor power supply connected.

To separate the control power supply and motor power supply, remove the jumper wire between

MPI and MPO.

MG

Motor power supply

(-)

Same 0 VDC applied for motor power supply and force brake release.

BRK

Force brake

release

Forcibly releases the brake.

24 VDC or 48 VDC: Forcibly releases brake.

0 VDC or open: Allows the brake to be applied.

CP

Control power

supply (+)

Control power supply. Applies either 24 VDC or 48 VDC.

EMG

Emergency stop

input

Connects the emergency stop switch for b contact.

24 VDC or 48 VDC applied: Emergency stop released.

0 VDC or released: Emergency stop applied.

CG

Control power

supply (-)

Same 0 VDC applied for control power supply and emergency stop input.

NC

Open pin

Not used

Power supply connector (power supply connector is an accessory)

Use electrical wiring with the following specifications to connect to the power supply connector.

Core wire

0.75 mm2 (AWG18) solid wire, stranded wire, stranded wire with bar terminal (without insulating

sleeve)

Lead wire stripping area

10 mm from the end of the lead wire

WARNING

Always set the input for force brake release (BRK) to either 0 VDC or open during normal

operation, so that the brake can be applied.

If 24 VDC or 48 VDC is applied to force brake release (BRK), the brake will be forcibly released,

and the movable part of the actuator could fall, causing injury or damaging the workpiece.

MPI

MG

CP

CG

MPO

BRK

EMG

NC

SM-A10615-A 4. WIRING

9

4.1.2 Power supply circuit

Item

Specifications

Motor power supply voltage

24 VDC ±10% or 48 VDC ±10%

Motor section

instantaneous max.

current

□20(FLSH-16,FLCR-16,FGRC-10)

1.5 A or less

□25(FLSH-20,FLCR-20,FGRC-30)

3.0 A or less

□25L(FLSH-25,FLCR-25)

4.5 A or less

□35(EBS-04,EBR-04)

4.0 A or less

□35(FGRC-50)

4.2 A or less

□42(EBS-05,EBR-05)

5.2 A or less

□56(EBS-08,EBR-08)

8.6 A or less

Control power supply voltage

24 VDC ±10% or 48 VDC ±10%

Current consumption

1 A or less

The control power supply and motor power supply can be connected to an external power supply using

one of the two following methods. If the control power supply and motor power supply are used with

different external power supplies, the control power supply and motor power supply voltage can be used

separately with 24 V and 48 V.

<Using the control power supply and motor power supply connected to different external power

supplies>

Controller interior

Controller exterior

MPO

MPI

MG

CP

CG

Connected via jumper

wire at shipment

24 VDC or

48 VDC

Controller interior

Controller exterior

MPO

MPI

MG

CP

CG

24 VDC or

48 VDC

24 VDC or

48 VDC

SM-A10615-A 4. WIRING

10

4.1.3 Basic power supply configuration

*1: To externally shut the motor power supply off (such as for supporting safety categories), connect a

contact from an electromagnetic switch or other device between the MPI and MPO terminals.

*2: A surge protector is required to comply with the CE marking.

WARNING

Always set the input for force brake release (BRK) to either 0 VDC or open during normal

operation, so that the brake can be applied.

If 24 VDC or 48 VDC is applied to force brake release (BRK), the brake will be forcibly released,

and the movable part of the actuator could fall, causing injury or damaging the workpiece.

CAUTION

Reconfirm wiring prior to passing current to prevent mis-wiring.

Make sure that wires are not loose and cannot be disconnected.

不明

Surge

protector

24 VDC

power supply

or

48 VDC

power supply

Noise filter

24 V or

48 V

0V

MPI

MPO

MG

BRK

CP

EMG

CG

NC

*1

*2

AC power

supply

MC

CR

Manual brake

open/close switch

Controller power supply connector

*Motor power supply and control

power supply connected to the same

external power supply

CR

MC

*1

CR

MC

*1

Emergency stop

reset switch

Emergency stop

switch

SM-A10615-A 4. WIRING

11

4.2 Actuator wiring

Use the dedicated motor cable and encoder cable to wire the controller and actuator.

4.2.1 Motor cable Model number explanation

4.2.2 Motor cable dimensions

Actuator side

Controller side

Secured

Movable

SM-A10615-A 4. WIRING

12

4.2.3 Encoder cable Model number explanation

4.2.4 Encoder cable Model number explanation

Actuator side

Controller side

Movable

Secured

SM-A10615-A 4. WIRING

13

4.3 I/O wiring

Use the dedicated I/O cable to wire the controller and upper system (PLC).

4.3.1 I/O cable Model number explanation

4.3.2 I/O cable dimensions

A: Input, B: Output

4.3.3 I/O cable specifications

Connector: 1.27 mm pitch two-piece connector HIF6-40D-1.27R(20) [Hirose Electric]

Cable: Flat cable

UL2651, AWG#28, (strand structure: 7/0.127 mm, covering diameter: 0.8 to 1.0 mm), 20

core×2

Terminal separated at fused part

Controller side

Upper system (PLC) side

L (cable length depends on model No.)

Fused part

Separated

SM-A10615-A 4. WIRING

14

4.3.4 Basic I/O cable configuration

Input

Signal

Output

side

PLC

output

Unit

Output side COM

Input common +/-*3

Red

Brown

Input

side

PLC

input

unit

General purpose input*1 Gray

General purpose input 5

A8

General purpose input*1 White

General purpose input 6

A9

General purpose input*1 Black

General purpose input 7

A10

General purpose input*1 Brown

General purpose input 8

A11

General purpose input*1 Red

A12

General purpose input*1 Orange

General purpose input 10

A13

General purpose input*1 Yellow

General purpose input 11

A14

General purpose input*1 Green

General purpose input 12

A15

General purpose input*1 Blue

General purpose input 13

A16

General purpose input*1 Purple

General purpose input 14

A17

General purpose input*1 Gray

General purpose input 15

A18

General purpose input*1 Orange

General purpose input 0

A3

General purpose input*1 Yellow

General purpose input 1

A4

General purpose input*1 Green

General purpose input 2

A5

General purpose input*1 Blue

General purpose input 3

A6

General purpose input*1 Purple

General purpose input 4

A7

A1

A2

Input side COM

External

power

supply

24 VDC*2

Output common +/-*3

Red

Brown

Output

signal

General purpose output*1 Orange

General purpose output 0

B3

General purpose output*1 Yellow

General purpose output 1

B4

General purpose output*1 Green

General purpose output 2

B5

General purpose output*1 Blue

General purpose output 3

B6

General purpose output*1 Purple

General purpose output 4

B7

General purpose output*1 Gray

General purpose output 5

B8

General purpose output*1 White

General purpose output 6

B9

General purpose output*1 Black

General purpose output 7

B10

General purpose output*1 Brown

B11

General purpose output*1 Red

General purpose output 9

B12

General purpose output*1 Orange

General purpose output 10

B13

General purpose output*1 Yellow

General purpose output 11

B14

General purpose output*1 Green

General purpose output 12

B15

General purpose output*1 Blue

General purpose output 13

B16

General purpose output*1 Purple

General purpose output 14

B17

General purpose output*1 Gray

General purpose output 15

B18

B2

B1

General purpose input 9

General purpose

output 8

External

power

supply

24 VDC*2

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CKD ECR Series User manual

CKD ECR Series User manual

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