CKD EBS-M 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
Ferrite core
USB cable (mini-B)
Ferrite core
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
<If there is no alarm>
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
<If there is alarm>
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 the same external power supply>
<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