CKD ECG Series User manual

CKD Corporation
INSTRUCTION MANUAL
Instruction Manual
Controller for Electric Actuators
ECG Series
IO-Link Specifications
SM-A40831-A
•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-A40831-A PREFACE
i2021-01-08
PREFACE
Thank you for purchasing CKD controller for electric actuators “ECG Series IO-Link
Specifications.” 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-A40831-A SAFETY INFORMATION
ii 2021-01-08
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.
Ensure to observe organization’s standards, laws and regulations etc. for safety related to design and
management of the equipment.
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-A40831-A SAFETY INFORMATION
iii 2021-01-08
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
The product must be handled by the person who has sufficient knowledge and experience.
This product was designed and manufactured as equipment and parts for general industrial
machinery.
Use this product in accordance with specifications.
It cannot be used outside of product-specific specifications. Never modify or additionally process
the product.
Since this product is intended for use in general industrial machinery equipment and parts, it is not
applicable to be used outdoors or in the following conditions and environments.
(It will be applicable if you consult with our company at the time of its adoption and understand the
specifications of our company's product. However, even in such a case, take safety measures to
avoid danger in case of failure. )
•Use in equipment and applications that come into direct contact with nuclear power, railways,
aviation, ships, vehicles, medical equipment, beverages and food.
•Use in applications requiring safety, such as recreational equipment, emergency shut off
circuits, press machines, brake circuits, and safety measures.
•Use in applications that are expected to have a significant impact on people and property and
require special safety.
Never handle the product or remove the equipment until safety is confirmed.
•Check and maintain the machinery and equipment only after confirming that all systems
related to the product are safe. Turn off the power supply of the equipment and the
corresponding equipment to prevent a short circuit.
•Even when the operation is stopped, there may be a high-temperature part or a charging part.
Handle the product and remove the equipment carefully.
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-A40831-A CONTENTS
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CONTENTS
PREFACE........................................................................................................................... i
SAFETY INFORMATION .................................................................................................. ii
Product precautions.......................................................................................................iii
Disposal precautions .....................................................................................................iii
CONTENTS...................................................................................................................... iv
1. PRODUCT OVERVIEW ............................................................................................. 1
1.1 System Overview ................................................................................................1
1.1.1 System structure............................................................................................. 1
1.2 Instruction Manuals Related to This Product...................................................... 4
1.3 Names of Parts ...................................................................................................5
1.3.1 LED.................................................................................................................5
1.4 Specifications...................................................................................................... 6
1.4.1 Communication specifications........................................................................6
1.5 Dimensions .........................................................................................................7
2. INSTALLATION ......................................................................................................... 8
2.1 Wiring method.....................................................................................................9
2.1.1 Connection and wiring to CN5 (interface connector)...................................10
2.1.2 Other connections and wiring.......................................................................10
3. USAGE..................................................................................................................... 11
3.1 Obtaining IODD files ..........................................................................................11
3.2 IO-Link device settings ..................................................................................... 13
3.3 Communication format...................................................................................... 14
3.3.1 Data communication..................................................................................... 14
3.3.2 Send/receive data ........................................................................................ 14
3.3.3 Operation mode............................................................................................ 16
3.3.4 Process data.................................................................................................17
3.3.5 PIO mode process data details .................................................................... 29
3.3.6 Service Data .................................................................................................39
3.4 Operation time chart ......................................................................................... 51
3.4.1 Servo ON...................................................................................................... 51
3.4.2 From power-on to home position return....................................................... 52
3.4.3 Home position return operation....................................................................53
3.4.4 Positioning operation....................................................................................54
3.4.5 Errors and obtaining error codes.................................................................. 59
3.5 Data Storage (DS) Function ............................................................................. 60
3.5.1 IO-Link Master settings ................................................................................60
3.5.2 Operation mode switching............................................................................ 60
3.5.3 Download/Upload ......................................................................................... 61
3.6 Error events ......................................................................................................63
4. WARRANTY PROVISIONS..................................................................................... 64
4.1 Warranty Conditions .........................................................................................64
4.2 Warranty Period ................................................................................................64

SM-A40831-A 1. PRODUCT OVERVIEW
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1. PRODUCT OVERVIEW
1.1 System Overview
•Windows is a registered trademark of Microsoft Corporation in the United States, Japan, and
other countries.
•Other company and product names in this document are company’s trademarks or
registered trademarks.
1.1.1 System structure
◼ECG-A Series

SM-A40831-A 1. PRODUCT OVERVIEW
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Components in the system structure that are available from CKD are listed below.
Component
Product name/Model no.
This product
Controller
ECG-A Series
Accessories
Power connector
DFMC 1,5/ 3-STF-3,5 (PHOENIX CONTACT)
Communication connector (IO-Link)
FMC1,5/4/ST-3,5-RF (PHOENIX CONTACT)
Sold separately
Actuator
EBS-G/EBR-G Series
Motor cable
EA-CBLM2-*
Encoder cable
EA-CBLE2-*
24 VDC power supply
EA-PWR-KHNA240F-24
Surge protector
AX-NSF-RAV-781BXZ-4
Noise filter
AX-NSF-NF2015A-OD
Provided for free
PC setting software
S-Tools
When using this product as a European standard-compliant product, refer to “6 Product Compliance” in
the instruction manual for the ECG series electric actuator controller (SM-A27751) and follow the
instructions.

SM-A40831-A 1. PRODUCT OVERVIEW
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◼ECG-B Series

SM-A40831-A 1. PRODUCT OVERVIEW
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Components in the system structure that are available from CKD are listed below.
Component
Product name/Model no.
This product
Controller
ECG-B Series
Accessories
Power connector
DFMC 1,5/ 3-STF-3,5 (PHOENIX CONTACT)
Communication connector (IO-Link)
FMC1,5/4/ST-3,5-RF (PHOENIX CONTACT)
Sold separately
Actuator
FLSH-G/FLCR-G/FGRC-G Series
Motor and encoder relay cable
EA-CBLME2-*
24 VDC power supply
EA-PWR-KHNA240F-24
Surge protector
AX-NSF-RAV-781BXZ-4
Noise filter
AX-NSF-NF2015A-OD
Provided free of charge
PC setting software
S-Tools
When using this product as a European standard-compliant product, refer to “6 Product Compliance” in
the instruction manual for the ECG series electric actuator controller (SM-A27751) and follow the
instructions.
1.2 Instruction Manuals Related to This Product
This manual provides explanation of the IO-Link specifications of the ECG series controller. For mounting
and setting parameter and point data, refer to the instruction manual for the ECG series electric actuator
controller (SM-A27751).
Item
Name
No.
Actuator
Electric actuator
EBS-G series (slider type)
EBR-G series (rod type with built-in guide)
SM-A28054
Electric actuator
FLSH series
SM-A40839
Electric actuator
FLCR series
SM-A40842
Electric actuator
FGRC series
SM-A40845
Controller
Controller for Electric actuators
ECG series
SM-A27751
Setting software
PC Setting Software for Electric Actuators
S-Tools
SM-A11147

SM-A40831-A 1. PRODUCT OVERVIEW
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1.3 Names of Parts
1.3.1 LED
Name
Color
Explanation
RUN
Green
Lights up when receiving normal data from a PLC.
Turns off when time is over.
ERR
Red
Lights up according to the status of the set operation mode (IO-Link) upon startup.
It then turns off, but blinks if an error occurs.
◼Communication status display
<RUN>
LED Status
Operation
Blinking (ON for 0.9 seconds -->
OFF for 0.1 seconds)
Establishing IO-Link
communication
ON
IO-Link communication
not established
<ERR (When starting)>
LED Status
Operation
N for 1 second --> OFF for 2.5 seconds
PIO mode
ON for 1 second --> OFF for 0.5 seconds --> ON for 0.5 seconds
--> OFF for 1.5 second
Simple direct value
mode
ON for 1 second --> OFF for 0.5 seconds --> ON for 0.5 seconds
--> OFF for 1 seconds
Full direct value mode
<ERR (after startup)>
LED Status
Operation
Off
Power OFF
Blinking (ON for 0.1 seconds -
-> OFF for 0.1 seconds)
24 VDC voltage drop on IO-Link line

SM-A40831-A 1. PRODUCT OVERVIEW
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1.4 Specifications
1.4.1 Communication specifications
Item
Details
Communication protocol
IO-Link
Communication protocol version
V1.1
Baud rate
COM3 (230.4 kbps)
Port
Class A
Process data PD (in) data length
Note 1
PIO mode: 2 bytes
Simple direct value mode: 9 bytes
Full direct value mode: 12 bytes
Process data PD (out) data length
Note 1
PIO mode: 2 bytes
Simple direct value mode: 7 bytes
Full direct value mode: 22 bytes
Minimum cycle time
PIO mode: 1 ms
Simple direct value mode: 2 ms
Full direct value mode 2.5 ms
Data storage
2 kbytes
SIO mode support
None
Vendor ID Note 2
855 (decimal)/0x357 (hexadecimal)
Device ID Note 3
Simple direct value mode
ECG-A:0x402001 (hexadecimal) ECG-B:0x403001 (hexadecimal)
Full direct value mode
ECG-A:0x402002 (hexadecimal) ECG-B:0x403002 (hexadecimal)
PIO mode, standard 64-point mode
ECG-A:0x402003 (hexadecimal) ECG-B:0x403003 (hexadecimal)
PIO mode, simple 7-point mode
ECG-A:0x402004 (hexadecimal) ECG-B:0x403004 (hexadecimal)
PIO mode, solenoid valve mode double 2-position type
ECG-A:0x402005 (hexadecimal) ECG-B:0x403005 (hexadecimal)
PIO mode, solenoid valve mode double 3-position type
ECG-A:0x402006 (hexadecimal) ECG-B:0x403006 (hexadecimal)
PIO mode, solenoid valve mode single type
ECG-A:0x402007 (hexadecimal) ECG-B:0x403007 (hexadecimal)
Note 1: When setting the data with the IO-Link master (PLC), if the data table cannot be set with the data length shown here, the data
table is generally mapped to be larger than this data length.
Note 2: Indicates CKD Corporation.
Note 3: Indicates this product.
*For operation modes (PIO mode, simple direct value mode, and full direct value mode), refer to “3.3.3 Operation mode”

SM-A40831-A 1. PRODUCT OVERVIEW
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1.5 Dimensions
◼Normal mounting
◼DIN rail mounting
(M3  5 pan head screw)
Grounding terminal

SM-A40831-A 2. INSTALLATION
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2. INSTALLATION
DANGER
Do not use in locations with ignitable, flammable, or explosive substances or other such
dangerous substances.
There may be risk of ignition, combustion, or explosion.
Make sure that the product does not come in contact with water drops or oil drops.
Fire or damage may result.
When mounting the product, be sure to hold and fix it securely (including workpieces).
If the product is knocked over, falls, or experiences malfunction, it may lead to injury.
Use a DC stabilized power supply with surplus capacity (24 VDC ±10%) for the controller and
input/output circuit.
Connecting directly to an AC power supply may lead to fire, rupture, or damage.
WARNING
Design safety circuits or devices as the entire system including hardware in order to
prevent damage to the device or an accident resulting in injury or death in the event that a
machine stops due to system abnormality such as an emergency stop or a power failure.

SM-A40831-A 2. INSTALLATION
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2.1 Wiring method
WARNING
Perform the wiring with the power supply turned OFF.
Touching the electrical wiring connections (bare charger) may cause electric shock.
Do not touch the charger with bare hands.
Doing so may cause electric shock.
Read and fully understand this instruction manual before performing the electrical wiring.
CAUTION
Check the working voltage and polarity before wiring and energizing.
Take countermeasures against lightning surges in the equipment side.
The product is not resistant to lightning surges.
For an AC voltage, use it in the installation category 2.
Use a dedicated communication cable conforming to the IO-Link specifications.
Secure a sufficient bending radius of the communication cable to avoid excessive bending.
Separate the communication cable from the power line or high voltage line.

SM-A40831-A 2. INSTALLATION
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2.1.1 Connection and wiring to CN5 (interface connector)
This manual covers CN5 (interface connector) only.
◼Connection method
<Communication cable>
Follow the procedure below to connect the communication cable to CN5.
1 After confirming safety, stop communication and turn off the power of peripheral devices.
2 By referring to the figure below, wire a communication cable that conforms to the IO-Link
specifications to the accessory communication connector.
Pin number
Signal name
Explanation
Core color
(1)
L+
Connect the plus side of the IO-Link
communication power supply.
Brown
(2)
NC
None
-
(3)
L-
Connect the ground side of the IO-Link
communication power supply.
Blue
(4)
C/Q
Connect the IO-Link communication cable.
Black
Use a cable with the following specifications to connect to the communication connector.
Item
Specification
Core wire
0.2 to 1.5 mm2 (AWG 24 to 16) solid wire,
stranded wire
Strip length
10 mm from the tip of the lead wire
2.1.2 Other connections and wiring
For other connection methods, refer to the instruction manual (SM-A27751) of the controller for the
electric actuator ECG series.

SM-A40831-A 3. USAGE
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3. USAGE
•When using the ECG-B Series, ensure to set the actuator information using S-Tools. Refer to
the S-Tools instruction manual (SM-A11147) for setting the information.
•To use S-Tools with the settings of the ECG Series (IO-Link specifications), the S-Tools
version must be as follows:
ECG Series (IO-Link specifications): Version 1.04.00.00 or later
3.1 Obtaining IODD files
In order for IO-Link devices to participate in the network, IODD (IO Device Description) files describing
the communication specifications of the devices needs to be installed in the PLC development tool of
the master unit. Refer to the instruction manual of the master unit manufacturer for how to install the
IODD file. Use the latest IODD file to configure an appropriate network.
IODD files are available on the website of CKD (https://www.ckd.co.jp/).
<How to obtain>
1 Select “COMPONENT PRODUCTS” from the “PRODUCT INFORMATION” tab or the “PRODUCT
INFORMATION” page.
2 Select “Electric actuator” in the product lineup.
3 Select “Stepper motor drive.”
4 Access the detail page of “Controller Model No. ECG” from the product list.
5 Select “Software” and download “ECG Series IODD file (IO-Link).zip”.

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The product operates in 7 operation modes: PIO mode (5 Types), simple direct value mode and full direct
value mode, and each mode uses a different IODD file. Select one according to the operation mode.
【When using ECG-A】
Mode
File name
Standard 64-point mode
CKD-ECG-A-PIOMODE-B064-yyyymmdd-IODDvvv.xml
Simple 7-point mode
CKD-ECG-A-PIOMODE-S007-yyyymmdd-IODDvvv.xml
Solenoid valve mode, double 2-
position type
CKD-ECG-A-PIOMODE-VW2P-yyyymmdd-IODDvvv.xml
Solenoid valve mode, double 3-
position type
CKD-ECG-A-PIOMODE-VW3P-yyyymmdd-IODDvvv.xml
Solenoid valve mode, single
type
CKD-ECG-A-PIOMODE-VSGL-yyyymmdd-IODDvvv.xml
Simple direct value mode
CKD-ECG-A-SIMPLEMODE-yyyymmdd-IODDvvv.xml
Simple direct value mode
CKD-ECG-A-FULLMODE-yyyymmdd-IODDvvv.xml
*"yyyymmdd" is the date. "vvv" is the version.
【When using ECG-B】
Mode
File name
Standard 64-point mode
CKD-ECG-B-PIOMODE-B064-yyyymmdd-IODDvvv.xml
Simple 7-point mode
CKD-ECG-B-PIOMODE-S007-yyyymmdd-IODDvvv.xml
Solenoid valve mode, double 2-
position type
CKD-ECG-B-PIOMODE-VW2P-yyyymmdd-IODDvvv.xml
Solenoid valve mode, double 3-
position type
CKD-ECG-B-PIOMODE-VW3P-yyyymmdd-IODDvvv.xml
Solenoid valve mode, single
type
CKD-ECG-B-PIOMODE-VSGL-yyyymmdd-IODDvvv.xml
Simple direct value mode
CKD-ECG-B-SIMPLEMODE-yyyymmdd-IODDvvv.xml
Simple direct value mode
CKD-ECG-B-FULLMODE-yyyymmdd-IODDvvv.xml
*"yyyymmdd" is the date. "vvv" is the version.
The following files will be downloaded at the same time in addition to IODD files. Copy them to the folder
designated by the PLC development tool used.
File
File name
Device icon
ECG-A
CKD-ECG-A-icon.png
ECG-B
CKD-ECG-B-icon.png
Device symbol
ECG-A
CKD-ECG-A-pic.png
ECG-B
CKD-ECG-B-pic.png
Vendor logo
CKD-logo.png
Connector symbol
CKD-con-pic.png
Depending on the master unit, you may be able to add the controller into the network without
installing the IODD file.

SM-A40831-A 3. USAGE
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3.2 IO-Link device settings
In order to connect this product to the relevant port setting of the IO-Link master as an IO-Link device, it
is necessary to set the device ID, process data, process data length, etc. using the PLC development
tool.
In most cases, input/output process data are mapped using the setting table. If there is no
corresponding setting table, the data table is generally mapped to be larger than the data
length.
⊚ In the IO-Link master by OMRON, setting of PD(in) (9 bytes) in simple direct value mode maps five 2-
byte PD(in) tables.
* Refer to the relevant PLC and IO-Link Master manuals for connection methods.

SM-A40831-A 3. USAGE
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3.3 Communication format
3.3.1 Data communication
Type of data communication
Description
Cyclic communication
Data are periodically transmitted between the IO-Link master and
the ECG based on the data frame with the size specified by the
device.
Refers to PD (Process Data) communication.
Message communication
Upper devices such as PLC access any data in the ECG via the
IO-Link master when necessary.
Use when accessing OD (On-request data).
Also referred to as Service Data in this document.
3.3.2 Send/receive data
The following data are transmitted and received between the PLC and the controller: message
communication is used for read data and written data, and cyclic communication is used for other
transmitted and received data.
Name
Description
Data to be
sent and
received
Input/output signals
The actuator is operated in the same way as the controller of
the parallel I/O specifications.
3.3.4
Read data and write
data
Set point data and user parameters, and check alarm
history.
3.3.6
Monitor
Position, speed, current, and alarm status are
monitored.
3.3.4
◼Input/output signals
The items listed in the table below (signal name) are transmitted and received.
Classification
Item (signal name)
Data to be written to the controller by
the PLC
(Process data output / PD(out))
Point number selection bit n, point travel start, point number n travel start, solenoid valve
travel command n, solenoid valve travel command, servo ON, alarm reset, stop, pause,
INCH selection, JOG/INCH (+) travel start, JOG/INCH (-) travel start, direct value travel
selection, position, positioning width, speed, acceleration, deceleration, pressing rate,
pressing speed, pressing distance, mode, gain magnification
Data to be read from the controller by
the PLC
(Process data input / PD(in))
Point number confirmation bit n, point travel complete, point number n travel complete,
switch n, home position return complete, servo ON state, traveling, zone 1, zone 2, point
zone*, alarm, warning, operation preparation complete, alarm confirmation bit n, direct
travel status
When the PIO mode is selected, the same items as the controller of the parallel I/O
specifications are sent and received. When the simple direct value mode or full direct value
mode is selected, and the direct value travel is selected in the “direct value travel selection,” it
is necessary to set the “position,” “speed,” etc.

SM-A40831-A 3. USAGE
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◼Write data and read data
The point data and parameters are set, and the alarm history is read. Data is written and read by
transmitting and receiving service data.
<To read data>
Specify Index and Subindex of the data to be read, and execute reading.
<To write data>
Specify Index and Subindex of the data to be written, set the data length and the value to be written, and
execute writing of the data.
For details, refer to “3.3.4 Process data” and applicable manuals of PLC and IO-Link master.
Setting point data and parameter and reading alarm history can also be performed using PC
setting software (S-Tools). For parameters that cannot be set from a PLC, use S-Tools.
◼Monitor
Position, speed, current and alarm status are monitored by transmitting and receiving “monitor number”
and “monitor value” in the process data. When data to be monitored is selected by specifying the “monitor
number,” the current value of the selected data is output as “monitor value.”