CKD ECG Series User manual

CKD Corporation
INSTRUCTION MANUAL
Instruction Manual
Controller for Electric Actuators
ECG Series
CC-Link Specifications
SM-A27752/2
•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-A27752/2-A PREFACE
i2021-01-07
PREFACE
Thank you for purchasing CKD controller for electric actuators “ECG Series CC-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-A27752/2-A SAFETY INFORMATION
ii 2021-01-07
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-A27752/2-A SAFETY INFORMATION
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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-A27752/2-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 Connection..........................................................................................................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 CSP+ files..........................................................................................11
3.2 CC-Link device settings.................................................................................... 12
3.3 Communication format......................................................................................13
3.3.1 Data communication..................................................................................... 13
3.3.2 Send/receive data ........................................................................................ 13
3.3.3 Operation mode............................................................................................ 15
3.3.4 Cyclic data .................................................................................................... 16
3.3.5 Cyclic data details for PIO mode.................................................................. 37
3.3.6 Data number................................................................................................. 47
3.4 Data access ......................................................................................................51
3.4.1 Cyclic data .................................................................................................... 51
3.5 Operation time chart ......................................................................................... 52
3.5.1 Servo ON......................................................................................................52
3.5.2 From power-on to home position return....................................................... 53
3.5.3 Home position return operation.................................................................... 54
3.5.4 Positioning operation.................................................................................... 55
3.5.5 Monitor..........................................................................................................60
3.5.6 Data read......................................................................................................61
3.5.7 Data write ..................................................................................................... 62
4. WARRANTY PROVISIONS..................................................................................... 63
4.1 Warranty Conditions .........................................................................................63
4.2 Warranty Period ................................................................................................ 63

SM-A27752/2-A 1. PRODUCT OVERVIEW
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1. PRODUCT OVERVIEW
1.1 System Overview
•CC-Link is a registered trademark of Mitsubishi Electric Corporation.
•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-A27752/2-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 (CC-Link)
MSTB 2,5/5-STF-5,08 ABGYAU (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-A27752/2-A 1. PRODUCT OVERVIEW
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◼ECG-B Series

SM-A27752/2-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 (CC-Link)
MSTB 2,5/5-STF-5,08 ABGYAU (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 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.
1.2 Instruction Manuals Related to This Product
This manual provides explanation of the CC-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-G series
SM-A40839
Electric actuator
FLCR-G series
SM-A40842
Electric actuator
FGRC-G 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-A27752/2-A 1. PRODUCT OVERVIEW
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1.3 Names of Parts
1.3.1 LED
Name
Color
Explanation
L RUN
Green
Lights when receiving normal data from the PLC.
Turns OFF at time over.
L ERR
Red
Turns OFF during normal communication.
Lights when CRC error occurs.
Blinks when station number or communication speed changes from setting when power was
turned ON.
SD
Green
Blinks when transmitting data.
RD
Green
Lights when receiving data.
◼Communication status display
L RUN
L ERR
SD
Note 1
RD
Actuation
○
◎
◎
○
Communicating normally, but noise is causing periodic CRC errors
○
0.4s◎
◎
○
Baud rate or station number setting has changed since power was turned ON
○
◎
●
○
CRC error occurs in received data and response cannot be made
○
●
◎
○
Communication is normal
○
●
●
○
Data to be received by this station was not received
●
◎
◎
○
Polling response sent but refresh communication received contains CRC error
●
◎
●
○
Data received by this station contains CRC error
●
●
◎
○
Link not initiated
●
●
●
○
Data to its own station does not exist or cannot be received
●
●
●
●
Data cannot be received, power is cut off, or hardware is being reset
●
○
●
○
Baud rate and station number setting are incorrect
○: ON, ●: OFF, ◎: Irregular Blink, 0.4 s ◎: Blink every 0.4 seconds
Note 1: SD blinks very fast and may appear to be lit rather than blinking depending on the communication status.

SM-A27752/2-A 1. PRODUCT OVERVIEW
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1.4 Specifications
1.4.1 Communication specifications
Descriptions
Details
Communication protocol
CC-Link
CC-Link version
Ver.1.10
Station type
Remote device station
Occupied station No.
PIO mode: 1 station
Half simple direct value mode: 1 station
Simple direct value mode: 2 stations
Half direct value mode: 2 stations
Full direct value mode: 4 stations
Remote input
PIO mode: 32 points
Half simple direct value mode: 32 points
Simple direct value mode: 64 points
Half direct value mode: 64 points
Full direct value mode: 128 points
Remote output
PIO mode: 32 points
Half simple direct value mode: 32 points
Simple direct value mode: 64 points
Half direct value mode: 64 points
Full direct value mode: 128 points
Remote register
PIO mode: Input 4 words/output 4 words
Half simple direct value mode: Input 4 words/output 4 words
Simple direct value mode: Input 8 words/output 8 words
Half direct value mode: Input 8 words/output 8 words
Full direct value mode: Input 16 words/output 16 words
Communication speed
10 M / 5 M / 2.5 M / 625 k / 156 kbps
Connection cable
CC-Link Ver.1.10-compatible cable
(shielded 3-conductor twisted pair cable)
Transmission format
HDLC compliant
Remote station No.
PIO mode: 1 to 64
Half simple direct value mode: 1 to 64
Simple direct value mode: 1 to 63
Half direct value mode: 1 to 63
Full direct value mode: 1 to 61
No. of connected units
42 max. (remote device stations only)
*For operation modes (PIO mode, half simple direct value mode, simple direct value mode, half direct value mode, full
direct value mode), refer to “3.3.3 Operation mode.”

SM-A27752/2-A 1. PRODUCT OVERVIEW
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1.5 Dimensions
◼Normal mounting
◼DIN rail mounting
Grounding terminal
(M3  5 pan head screw)

SM-A27752/2-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-A27752/2-A 2. INSTALLATION
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2.1 Connection
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 CC-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-A27752/2-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 CC-Link
specifications to the accessory communication connector.
Pin No.
Signal name
Explanation
1
DA
Connect the data A line.
2
DB
Connect the data B line.
3
DG
Connect the data ground line.
4
SLD Note 1
Connect the shield line.
5
SG Note 1
Note 2
Connect the frame ground line.
Note 1: SLD and FG are internally connected.
Note 2: Make sure to ground prior to use. Do not bundle FG wires with protective grounding wires or power wires, because noise may
interfere, making communication unstable. Refer to the CC-Link installation manual for details. The CC-Link installation manual is
available on the website of the CC-Link Association.
When using this product at the terminal of a network, connect a terminating resistor between “DA” and
“DB.”
2.1.2 Other connections and wiring
For other connection methods, refer to the instruction manual for the ECG series electric actuator
controller (SM-A27751).

SM-A27752/2-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-A Series or ECG-B Series, the S-Tools version
must be as follows:
ECG-A Series: Version 1.03.00.00 or later
ECG-B Series: Version 1.04.00.00 or later
3.1 Obtaining CSP+ files
SP+ (Control & Communication System Profile) files contain information required to launch, operate,
and maintain CC-Link components. CSP+ files can be used for easier configuration of components from
the PLC development tool. Import these files into the PLC development tool if required.
Refer to the instruction manual of the master unit manufacturer for how to install the CSP+ file. Use the
latest CSP+ file to configure an appropriate network.
CSP+ files are available on the website of CKD (https://www.ckd.co.jp/).
<How to obtain CSP+ files>
1 Select “COMPONENT PRODUCTS” from the “PRODUCT INFORMATION” tab or the “PRODUCT
INFORMATION” page.
2 Select “Electric actuators” 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 CSP+ file (CC-Link).zip”.
Import the CSP+ file as a zip file into the PLC development tool.

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3.2 CC-Link device settings
To connect this product as a CC-Link device, it is necessary to set the station number, station type,
number of occupied stations, etc. in the PLC using a PLC development tool etc. Refer to the PLC manual
for the PLC setting method.
<Controller CC-Link settings>
S-Tools can be used to change the station number and other settings.
1 Select the “Settings” tab of S-Tools and click the [CC-Link Configuration] button in the network
submenu.
2 Confirm that each set value has been set, and then select [Write].
Name
Description
Operation mode
Set the operation mode. Select “PIO,” “SDP,” “FDP,” “HSDP,” or “HDP.” Note 1
Station number setting
Set the station number. The initial value is “1.” However, the setting range varies depending on the
operation mode.
Baud rate setting
Set the baud rate. Select from “156 kbps,” “625 kbps,” “2.5 Mbps,” “5 Mbps,” or “10 Mbps.”
Note 1: Refer to “3.3.3 Operation mode“ for the operation mode.

SM-A27752/2-A 3. USAGE
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3.3 Communication format
3.3.1 Data communication
Type of data communication
Content
Cyclic transmission
This type of communication is used between the master and
slave on a set cycle.
Message transmission
This type of communication is used to transmit data with an
irregular period and length.
This product does not support message transmission.
3.3.2 Send/receive data
The following data is transmitted and received between the PLC and the controller, and cyclic
transmission is used for all data transmission and reception. Refer to “3.4 Data access” for communication
method.
Name
Description
Accessible data
Data to be sent
and received
Input/output signals
The actuator is operated in the same way as a parallel I/O
controller.
-
3.3.4
3.3.5
Read data and write data
The point data and user parameters are set, and the alarm
history is checked.
3.3.6
3.3.4
Monitor
The 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
(Remote output and Remote register
(output))
Point number selection bit n, point travel start, point number n travel start, solenoid valve
travel command n, home position return start, 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
(Remote input)
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.
If the direct value travel is selected in the “direct value travel selection” while simple direct
value mode, full direct value mode, half simple direct value mode, or half direct value mode is
selected, “Position” or “Speed” must be set.

SM-A27752/2-A 3. USAGE
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◼Write data and read data
Operate the following items.
Classification
Item
Data to be written to the controller by the PLC
(Remote output and Remote register (output))
Data number, data R/W selection, data request, write data
Data to be read from the controller by the PLC
(Remote input and Remote register (input))
Data write status, data complete, data response, read data, data (alarm)
<To read data>
Set the number of the data to be read in the “data number,” set the “data R/W selection” to 0 (read), then turn
the “data request” ON. The data of the number set in the “data number” will be output in the “read data.”
<To write data>
After setting the number of the data to be written in the “data number” and setting the value to be written in the
“write data,” set the “data R/W selection” to 1 (write), then turn the “data request” ON.
*Check “data response” and “data completion” to see if the data was read or written correctly.
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 the PLC, use S-Tools.
◼Monitor
Operate the following items (signal name).
Classification
Item (signal name)
Data to be written to the controller by the PLC
(Remote output and Remote register (output))
Monitor No., monitor request
Data to be read from the controller by the PLC
(Remote input and Remote register (input))
Monitor response, monitor complete, monitor value, Position, Speed,
Current value, Alarm
When the data to be monitored is selected in “monitor No.,” and “monitor request” is turned ON, the
current value of the selected data is output in “monitor value.”

SM-A27752/2-A 3. USAGE
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3.3.3 Operation mode
There are 5 operation modes (CC-Link) as below. The PIO mode can be changed among the 5 types
according to the setting of operation mode (PIO).
Name
Abbreviation
Operation mode (CC-
Link)
PIO mode
PIO
0
Simple direct value mode
SDP
1
Full direct value mode
FDP
2
Half simple direct value mode
HSDP
3
Half direct value mode
HDP
4
◼PIO mode
This mode performs control in accordance with conventional signal I/O.
Name
Abbreviation
Operation mode
(PIO)
64-point mode
B064
0
Simple 7-point mode
S007
1
Solenoid valve mode, double 2-position
type
VW2P
2
Solenoid valve mode, double 3-position
type
VW3P
3
Solenoid valve mode, single type
VSGL
4
◼Simple direct value mode and half simple direct value mode; full direct value
mode and half direct value mode
This mode is used to perform control by point travel or direct value travel.
Simple direct value mode and half simple direct
value mode
Full direct value mode and half direct value mode
Point travel
•If the direct value travel selection of the remote output is turned OFF, it causes a point travel.
•The point data selection method is the same as the 64-point mode of the PIO mode.
•When the point travel starts, the direct value travel status of the remote input is turned OFF.
Direct value
travel
•If the direct value travel selection of the remote output is turned ON, it causes a direct value travel.
•When the direct travel starts, the direct value travel status of the remote input is turned ON.
•The point number confirmation bit of the remote input is not set when the travel is completed.
•Only the data that are input from the PLC are used
as position data; and other data (including speed
and acceleration) to be used are from point data.
•The point data selection method is the same as the
64-point mode of the PIO mode.
•It is used to change only the position data based on
the set point data.
•It operates using data (data equivalent to point data
such as position and speed) that are input from a
PLC.
When it is set to half simple direct value mode or half direct value mode, the operation mode
setting cannot be changed from a PLC.