CKD ECR Series User manual

CKD Corporation
INSTRUCTION MANUAL
Instruction Manual
•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.
Electric Actuator
ECR (Controller)
CC-Link Specifications
SM-A10617-A

SM-A10617-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-A10617-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-A10617-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-A10617-A CONTENTS
iv
CONTENTS
1. PRODUCT OVERVIEW............................................................................................. 1
1.1 Configuration of product .....................................................................................1
1.2 System Overview................................................................................................2
1.3 Specifications......................................................................................................3
1.3.1 Communication specifications...................................................................... 3
1.3.2 Communication status display ..................................................................... 4
2. INSTALLATION ......................................................................................................... 5
2.1 Connection..........................................................................................................6
3. USAGE....................................................................................................................... 7
3.1 Data communication...........................................................................................7
3.2 CSP+ files...........................................................................................................8
3.3 CC-Link device settings...................................................................................... 9
3.4 Communication format......................................................................................10
3.4.1 Cyclic data.................................................................................................. 10
3.4.2 Cyclic data details for PIO mode................................................................ 21
3.4.3 Data number............................................................................................... 30
3.5 Data access......................................................................................................33
3.6 Operation mode................................................................................................34
3.7 Operation time chart......................................................................................... 35
3.7.1 Servo ON.................................................................................................... 35
3.7.2 When powered on...................................................................................... 36
3.7.3 Home position return operation.................................................................. 37
3.7.4 Positioning operation.................................................................................. 38
3.7.5 Monitor........................................................................................................ 43
3.7.6 Data read.................................................................................................... 44
3.7.7 Data write ................................................................................................... 45
4. WARRANTY PROVISIONS..................................................................................... 46
4.1 Warranty Conditions .........................................................................................46
4.2 Warranty Period................................................................................................ 46
4.3 Remarks............................................................................................................46

SM-A10617-A 1. PRODUCT OVERVIEW
1
1. PRODUCT OVERVIEW
CC-Link is a registered trademark of Mitsubishi Electric Corporation.
1.1 Configuration of product
Name
Qty.
1
Controller body
1
2
Accessory
Connector for power supply:
DFMC1,5/4-STF-3,5 (PHOENIX CONTACT)
1
Communication connector (CC-Link):
MSTB2,5/5-STF-5,08ABGYAU (PHOENIX CONTACT)
1

SM-A10617-A 1. PRODUCT OVERVIEW
2
1.2 System Overview
System components that can be purchased from CKD are listed below.
Descriptions
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-*
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
CC-Link dedicated
cable
Surge
protector
DC power
supply
Noise filter
Ferrite
core
Controller
ECR Series
Ferrite core
Ferrite core
USB cable (mini-B)
Ferrite core
PC setting software
(Freeware)
Download the software from our website.
(URL:https://www.ckd.co.jp)
Ferrite core
Encoder cable
Motor cable
Applicable actuators
EBS-M Series
EBR-M Series
FLSH Series
FLCR Series
FGRC Series
Provided by
the customer

SM-A10617-A 1. PRODUCT OVERVIEW
3
1.3 Specifications
1.3.1 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
Simple direct value mode: 2 stations
Full direct value mode: 4 stations
Remote input
PIO mode: 32 points
Simple direct value mode: 64 points
Full direct value mode: 128 points
Remote output
PIO mode: 32 points
Simple direct value mode: 64 points
Full direct value mode: 128 points
Remote register
PIO mode: Input 4 words/output 4 words
Simple 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
Simple direct value mode: 1 to 63
Full direct value mode: 1 to 61
No. of connected units
42 max. (remote device stations only)

SM-A10617-A 1. PRODUCT OVERVIEW
4
1.3.2 Communication status display
SD (green lamp)
Blinks when transmitting data.
RD (green lamp)
Lights when receiving data.
L RUN (green lamp)
Lights when receiving normal data from the PLC.
Turns OFF at time over.
L ERR (red lamp)
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.
L RUN
L ERR
SD
*1
RD
Actuation
○
◎
◎
○
Communicating normally, but noise is causing periodic CRC errors
○
0.4 s ◎
◎
○
Baud rate or station number setting has changed since power was turned
ON
○
◎
●
○
Received data contains CRC error, cannot respond
○
●
◎
○
Communicating normally
○
●
●
○
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
●
●
●
○
No data meant for this station or cannot receive data
●
●
●
●
Cannot receive data; power is off or hardware is resetting
●
○
●
○
Incorrect baud rate/station number setting
○: ON, ●: OFF, ◎: Blinking
*1: SD blinks very fast and may appear to be lit rather than blinking depending on the communication status.

SM-A10617-A 2. INSTALLATION
5
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% or 48 VDC ±10%) for
the controller and input/output circuit.
Connecting directly to an AC power supply may lead to fire, rupture, or damage.
WARNING
For hardware and all other equipment, design the safety circuit or equipment so that damage
does not occur to the operator or equipment during emergency stop, or when the machine
stops in the event of power failure or other abnormal system conditions.

SM-A10617-A 2. INSTALLATION
6
2.1 Connection
This instruction manual discusses CN5: Interface Connector only.
For other connection methods, refer to the instruction manual (SM-A10615) for the electric actuator
(controller).
Pin No.
Signal
(1)
DA
(2)
DB
(3)
DG
(4)
SLD *1
(5)
FG *1 *2
*1: SLD and FG are internally connected.
*2: Make sure to ground prior to use.
Do not install the FG wire bundled together with wires such as the protection ground wire or power wire (doing so could introduce
noise and destabilize communication).
For details, refer to the CC-Link installation manual.
When using this product at the terminal of a network, connect a terminating resistor between "DA" and
"DB."
(5)
(4)
(3)
(2)
(1)

SM-A10617-A 3. USAGE
7
3. USAGE
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.

SM-A10617-A 3. USAGE
8
3.2 CSP+ files
CSP+ 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.
See the CKD website.
https://www.ckd.co.jp/
[CSP+ file]
0x0104_ECR-MNNN3B-CL_V10000_ja_20.zip
Import this into the PLC development tool as a zip file.

SM-A10617-A 3. USAGE
9
3.3 CC-Link device settings
Normally, a PLC development tool or the like must be used to set the product's station number, type of
station, occupied station No., and other settings in the PLC.
For information on how to set the PLC, refer to the PLC manual.
Controller CC-Link settings
S-Tools can be used to change the station number and other settings.
1 From the S-Tools menu, select "Setting" - "Network" - "CC-Link setting."
2 Confirm that each set value has been set, and then select "Write."
[Operation mode]
Set the operation mode. Select "PIO," "SDP," or "FDP."
[Station number setting]
Set the station number. The setting range is from "1" to "64."
*The setting range will vary 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."
• PIO mode (abbreviation: PIO)
• Simple direct value mode (abbreviation: SDP)
• Full direct value mode (abbreviation: FDP)

SM-A10617-A 3. USAGE
10
3.4 Communication format
3.4.1 Cyclic data
Remote input/remote register (input)
Set data for the PLC to read from the controller.
[PIO mode (operation mode: 0) [Example] 64-point mode (operation mode (PIO): 0)]
Remote input
Device No.
Descriptions
Value
(decimal)
RXn0
Point number confirmation bit 0/
alarm confirmation bit 0
Port numbers 0 to 63
Alarms 0 to 15
*Set the travel complete point number
when normal and the alarm when
abnormal.
RXn1
Point number confirmation bit 1/
alarm confirmation bit 1
RXn2
Point number confirmation bit 2/
alarm confirmation bit 2
RXn3
Point number confirmation bit 3/
alarm confirmation bit 3
RXn4
Point number confirmation bit 4
RXn5
Point number confirmation bit 5
RXn6
Point zone
0: Outside zone, 1: Inside zone
RXn7
Traveling *1
0: Stopped, 1: Traveling
RXn8
Zone 1
0: Outside zone, 1: Inside zone
RXn9
Zone 2
0: Outside zone, 1: Inside zone
RXnA
Point travel complete *1
0: Incomplete, 1: Complete
RXnB
Home position return complete *2
0: Incomplete, 1: Complete
RXnC
Servo ON state *2
0: OFF state, 1: ON state
RXnD
Alarm *2
0: Triggered, 1: Not triggered
RXnE
Warning *2
0: Triggered, 1: Not triggered
RXnF
Operation preparation complete
0: Incomplete, 1: Complete
RX(n+1)0
to
RX(n+1)9
Reserved
RX(n+1)A
Error status flag
1: Error detected
RX(n+1)B
Remote ready flag
1: Data can be sent/received
RX(n+1)C
to
RX(n+1)F
Reserved
*1: Both point travel complete and traveling may be "1" (ON) at the same time depending on the timing.
*2: Content can be monitored even in TOOL mode when not in forced output mode. Other items will be "0" (OFF).
When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

SM-A10617-A 3. USAGE
11
Remote register (input)
Device No.
Descriptions
Value
(decimal)
RWrn0 Note 1
-
RWrn1 Note 1
-
RWrn2 Note 1
-
RWrn3 Note 1
-
Note1: There is no function assignment in PIO mode.

SM-A10617-A 3. USAGE
12
[Simple direct value mode (operation mode: 1)]
Remote input
Device No.
Descriptions
Value
(decimal)
RXn0
Point number confirmation bit 0
Binary data
[During direct value travel]
0
[During point travel]
Set the travel complete point number.
RXn1
Point number confirmation bit 1
RXn2
Point number confirmation bit 2
RXn3
Point number confirmation bit 3
RXn4
Point number confirmation bit 4
RXn5
Point number confirmation bit 5
RXn6
Point number confirmation bit 6
RXn7
Point number confirmation bit 7
RXn8
Point number confirmation bit 8
RXn9
-
RXnA
Point travel complete *1
0: Incomplete, 1: Complete
RXnB
Home position return complete *2
0: Incomplete, 1: Complete
RXnC
Servo ON state *2
0: OFF state, 1: ON state
RXnD
Alarm *2
0: Triggered, 1: Not triggered
RXnE
Warning *2
0: Triggered, 1: Not triggered
RXnF
Operation preparation complete
0: Incomplete, 1: Complete
RX(n+1)0
to
RX(n+1)3
Data response *2
Data read/write execution result
0 to 8
RX(n+1)4
Data complete *2
0: Incomplete, 1: Complete
RX(n+1)5
Data write status
0: Read, 1: Write
RX(n+1)6
-
RX(n+1)7
-
RX(n+1)8
to
RX(n+1)B
Monitor response *2
0: Normal, 1: Monitor number error
RX(n+1)C
Monitor complete *2
0: Incomplete, 1: Complete
RX(n+1)D
-
RX(n+1)E
-
RX(n+1)F
Direct travel status
0: Point travel, 1: Direct value travel
RX(n+2)0
Point zone
0: Outside zone, 1: Inside zone
RX(n+2)1
Traveling *1
0: Stopped, 1: Traveling
RX(n+2)2
Zone 1
0: Outside zone, 1: Inside zone
RX(n+2)3
Zone 2
0: Outside zone, 1: Inside zone
RX(n+2)4
to
RX(n+2)F
-
*1: Both point travel complete and traveling may be "1" (ON) at the same time depending on the timing.
*2: Content can be monitored even in TOOL mode when not in forced output mode. Other items will be "0" (OFF).
When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

SM-A10617-A 3. USAGE
13
Remote input
Device No.
Descriptions
Value
(decimal)
RX(n+3)0
to
RX(n+3)9
Reserved
RX(n+3)A
Error status flag
1: Error detected
RX(n+3)B
Remote ready flag
1: Data can be sent/received
RX(n+3)C
to
RX(n+3)F
Reserved
Remote register (input)
Device No.
Descriptions
Value
(decimal)
RWrn0
Position (0.01 mm) (0.01 deg) *1
-999999 to 999999
RWrn1
RWrn2
Read data *1
Set the data that was read.
RWrn3
RWrn4
Data (alarm) *1
Set the data for the alarm log that
was read.
RWrn5
RWrn6
Monitor value *1
Set the monitor data that was read.
RWrn7
*1: Content can be monitored even in TOOL mode when not in forced output mode. Other items will be "0" (OFF).

SM-A10617-A 3. USAGE
14
[Full direct value mode (operation mode: 2)]
Remote input
Device No.
Descriptions
Value
(decimal)
RXn0
Point number confirmation bit 0
Binary data
[During direct value travel]
0
[During point travel]
Set the travel complete point number.
RXn1
Point number confirmation bit 1
RXn2
Point number confirmation bit 2
RXn3
Point number confirmation bit 3
RXn4
Point number confirmation bit 4
RXn5
Point number confirmation bit 5
RXn6
Point number confirmation bit 6
RXn7
Point number confirmation bit 7
RXn8
Point number confirmation bit 8
RXn9
-
RXnA
Point travel complete *1
0: Incomplete, 1: Complete
RXnB
Home position return complete *2
0: Incomplete, 1: Complete
RXnC
Servo ON state *2
0: OFF state, 1: ON state
RXnD
Alarm *2
0: Triggered, 1: Not triggered
RXnE
Warning *2
0: Triggered, 1: Not triggered
RXnF
Operation preparation complete
0: Incomplete, 1: Complete
RX(n+1)0
to
RX(n+1)3
Data response *2
Data read/write execution result
0 to 8
RX(n+1)4
Data complete *2
0: Incomplete, 1: Complete
RX(n+1)5
Data write status
0: Read, 1: Write
RX(n+1)6
-
RX(n+1)7
-
RX(n+1)8
to
RX(n+1)B
Monitor response *2
0: Normal, 1: Monitor number error
RX(n+1)C
Monitor complete *2
0: Incomplete, 1: Complete
RX(n+1)D
-
RX(n+1)E
-
RX(n+1)F
Direct travel status
0: Point travel, 1: Direct value travel
RX(n+2)0
Point zone
0: Outside zone, 1: Inside zone
RX(n+2)1
Traveling *1
0: Stopped, 1: Traveling
RX(n+2)2
Zone 1
0: Outside zone, 1: Inside zone
RX(n+2)3
Zone 2
0: Outside zone, 1: Inside zone
RX(n+2)4
to
RX(n+6)F
-
*1: Both point travel complete and traveling may be "1" (ON) at the same time depending on the timing.
*2: Content can be monitored even in TOOL mode when not in forced output mode. Other items will be "0" (OFF).
When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

SM-A10617-A 3. USAGE
15
Remote input
Device No.
Descriptions
Value
(decimal)
RX(n+7)0
to
RX(n+7)9
Reserved
RX(n+7)A
Error status flag
1: Error detected
RX(n+7)B
Remote ready flag
1: Data can be sent/received
RX(n+7)C
to
RX(n+7)F
Reserved
Remote register (input)
Device No.
Descriptions
Value
(decimal)
RWrn0
Position (0.01 mm) (0.01 deg) *1
-999999 to 999999
RWrn1
RWrn2
Speed (mm/s) (deg/s) *1
0 to 999
RWrn3
Current (%) *1
0 to 100
RWrn4
-
RWrn5
Alarm *1
Set the alarm code.
RWrn6
-
RWrn7
-
RWrn8
-
RWrn9
-
RWrnA
Read data *1
Set the data that was read.
RWrnB
RWrnC
Data (alarm) *1
Set the data for the alarm log that
was read.
RWrnD
RWrnE
Monitor value *1
Set the monitor data that was read.
RWrnF
*1: Content can be monitored even in TOOLmode when not in forced output mode. Other items will be "0" (OFF).