CKD ESSD Series User manual

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ＳＭ−４３１０４９-A
INSTRUCTIONMANUAL
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ELECTRICACTUATOR
ESSDSeries(RodType)
ELCRSeries(TableType)
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●BesuretoreadthisInstructionManualthoroughly
beforeoperatingtheproduct.
●Inparticular,makesuretocarefullyreadand
understandalldescriptionsrelatedtosafety.
●Keep this Instruction Manual in a safe and
convenientplacewhereitcanbequicklytaken
outandreadwhenevernecessary.
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ＣＫＤ Ｃｏｒｐｏｒaｔｉｏｎ
Edition № 4

<SM-431049>
1
ForSafeOperationofthisProduct
(Besuretoreadbeforeoperating.)

Be sure to thoroughly read this Instruction Manual, catalog, technical data, and any attached
documentsbeforeinstallation,operation,maintenance/inspectionofthisproduct,andproperlyoperate
theproduct.
This product has been designed and manufactured as equipment or part for general industrial
machinery.Itmustbehandledbyindividualshavingsufficientknowledgeaboutcomponentsandsafety.
CKDisnotresponsibleforanyaccidentscausedbyindividualswithoutknowledgeandbymishandlingof
theproduct.ItisimpossibleforCKDtobeawareofalltheapplicationsforwhichourcustomersputour
producttousebecausetheycoverawidevariety.Dependingontheconditionsofuse,theproductmay
notperformasitshouldoritmayleadtoaccidents;therefore,thecustomersshouldunderstandwell
thedirectionsforuseandconfirmtheproductspecificationsinaccordancewithitsuseandapplication
beforedecidinghowtheproductshallbeused.
Whilevarioussafetymeasuresaretakenwiththisproduct,mishandlingoftheproductbythecustomer
mayleadtoaccidents.Toavoidsuchaccidents,itisstronglyadvisedthattheInstruction
Manualbethoroughlyreadandunderstoodpriortousingthisproduct.
InadditiontothehandlingprecautionsoutlinedinthetextofthisInstructionManual,cautionsshould
alsobeexercisedinregardstothefollowingprecautions.

Theprecautionsoutlinedbelowareforsafeandproperoperationofthisproductandforpreventing
bodilyinjuryandpropertydamagefromhappening.

Thesafety precautionsare rankedas“DANGER”,“WARNING”,and“CAUTION” inthis Instruction
Manual.
Note that even some items described as “WARNING” or “CAUTION” may lead to serious results
dependingonthesituation.
Inanycase,importantinformationisdescribed.Readthemthoroughly,andhandletheproductwith
extremecaution.
KeepthisInstructionManualinasafeplacesothatitcanbereadwhenevernecessary,andpleasebe
suretodeliverittotheend-userofthisproduct.
Tosecureproductsafety,makesuretoobserveeachprecautiondescribedunderDANGER,WARNING,
andCAUTION.
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DANGER Ifmishandled,dangeroussituationsleadingtofatalorserious injuries may
occurandthereisahighdegreeofemergency(urgency)toawarning.
WARNING Ifmishandled,dangeroussituationsleadingtofatalorserious injuries may
occur.
CAUTION If mishandled, dangerous situations leading to minor injuries or physical
damagesmayoccur.


<SM-431049>
−2 −

Donotusethisproductforthefollowingapplications:
・Medicalequipmentsrelatedtosustentionandcontrolofhumanlifeandbody
・Mechanicaldevicesandmechanismsdesignedforthepurposeofmovingortransportingpeople
・Criticalsecuritypartsinmechanicaldevices

<Installation>
・Donotoperatetheproductwheretherearehazardousmaterialssuchascombustibles,flammables,
explosives.Theproductmayignite,catchfire,orexplode.
・Keepwaterdrops,oildrops,andsuchawayfromtheproduct.Theycancausefireorproductfailure.
・Alwayssecureandanchortheproduct(includingworkpieces)duringinstallation.Iftheproductturnsover,
drops,ormalfunctions,itmayleadtoinjury.
・AlwaysusestabilizedDCpowersupplywithpowermarginsformotor,control,andinput/outputpower
supplies.IftheproductisdirectlyconnectedtoACpowersupply,itmayleadtofireandequipment
explosionorbreakdown.
・Wireaccordingto“JISB9960-1:2008SafetyofMachinery-ElectricalEquipmentofMachines-Part1:
GeneralRequirements”,andinstallover-currentprotectiondevice(suchasmoldedcasecircuitbreakers
andcircuitprotectors)totheprimarysidesofthemotor(wiring:red,black)andcontrol(wiring:red(with
whiteline),black(withwhiteline))powersources
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<Operation>
・Stayoffoftheproductoperatingrangewhentheproductisinanoperablecondition.Theproductcanmake
asuddenmoveanditmayleadtoinjury.
・ELCRmaycatchafingerorsuchinbetweenthemotorcaseandthetable.Payextraattention.

<Maintenance/Inspection/Repair>
・Aspecializedtechnicianmustperformwiringworkandinspection.
・Wireafterinstallingtheproduct.Failuretodosomayresultinelectricshock.
・Donotoperatetheproductwithwethands.Doingsomayleadtoelectricshock.
・Donotperformwiringworkandinspectionuntilconfirmingvoltagewithtestersaftermorethan5minutes
havepassedfromturningpowerOFF.Otherwise,itmayleadtoelectricshock.
・Donotinstall/removewiresandconnectorswhilethepowerisstillon.Thereisariskofproductmalfunction
andfailure,andelectricshock.
・Whenextendingcables,useleadswherethemaximumpermissiblecurrentvalueofthewirediameteris4A.
Otherwise,thereisariskofheatgenerationandproductdamageduringoperation.
・Donotdisassemblenormodifytheproduct.Doingsomayresultininjury,accident,productmalfunction,
failure,etc.
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・Usethisproductwithinitsspecifications.

<Installation>
・Installtheproducttoincombustibles.Installingtheproductdirectlytoinflammablesornear
inflammablesmayleadtofire.
・Designasafetycircuitorasystemthatwillpreventbodilyinjuryorequipmentbreakdownincasethe
machinestopsduringsystemmalfunctionsuchasemergencystoporpowerinterruption.
・Installtheproductindoorswherethereislesshumidity.Thereisariskofshortcircuitorfireaccidentifthe
productisinstalledwhereraindropsmayfallorwherethereisalotofmoisture(85%orgreaterhumidityor
thereisdewcondensation).
・PerformD-classgrounding(withgroundresistanceof100Ωorless)withtheproduct.Incaseofan
DANGER
Overcurrentprotectionshallbeprovidedwherethecurrentinamachinecircuitcanexceedeitherthe
ratingofanycomponentorthecurrentcarryingcapacityoftheconductors,whicheveristhelesser
value.Theratin
g
sorsettin
g
stobeusedaredetailedin7.2.10.
（
TranslationofanExcer
p
tfromJISB9960-17.2.1GeneralRe
q
uirements
）
WARNING

<SM-431049>
−3 −
electricalleakage,thereisapossibilityofelectricshockandproductmalfunction.
・ProperlywiretheproductbyreferringtothisInstructionManualtoensuretherearenoincorrectwiringand
looseconnectors.Confirminsulationofthewiring.Contactwithothercircuits,earthfault,andpoor
insulationbetweenterminalscancauseexcesscurrenttobeappliedtotheproduct,andthereisa
possibilityofproductbreakdown.Abnormaloperationandfirecanresultfromthis.
・Makesuretoinsulateanyunusedwires.Otherwise,thereisariskofproductmalfunctionandfailure,and
electricshock.
・Donotdamage,applyunreasonablestressto,placeheavyobjectson,ortuckthecable.Doingsomaylead
topoorconductionandelectricshock.

<Operation>
・Beforesupplyingpowertotheproduct,alwaysconfirmsafetyofitsoperatingrange.Carelesslysupplying
powertotheproductmayleadtoelectricshockandinjury.
・ImmediatelyturnoffthepowerifLEDoftheproductdoesnotflashafterturningthepoweron.
・Donottouchorcomeincontactwiththeproductbodyduringoperationandimmediatelyafterstopping.
Doingsomayresultinburns.
・Donotgetonnorplaceobjectsontheproduct.Doingsomaycausefalls,productturnover,injurydueto
drops,productbreakdown,productmalfunctionfromdamage,lossofcontrol,andsoon.
・Takemeasuresthatwillpreventdamagetohumanbodyandequipmentincaseofpowerlinefailure.
・Whenoperatingtheactuatorfromwhereitcannotbeseen,alwaysmakesurebeforehandthatitissafefor
theactuatortobeinmotion.
・Beforesettingtheproductbymanuallymovingthemovableparts(directteaching),makesurethatthe
servomotoristurnedOFFusingtheteachingpendant.

<Maintenance/Inspection/Repair>
・Carryoutperiodicinspections(2to3timesayear)toensurenormaloperationoftheproduct.
・Immediatelyturnoffpowerifheatorsmoke,odor,noise,vibration,etc.abnormaltotheproductgenerates.
Failuretodosomaycauseproductbreakdownandfireduetocontinuedflowofcurrent.
・AlwaysturnthepowersupplyOFFbeforemaintenance/inspectionandrepairs.Callattentionofthepeople
aroundsothatathirdpartydonotcarelesslyturnthepoweronoroperatetheproduct.


<Installation>
・Whenwiring,donotlaythepowerwirewherelargecurrentorstrongmagneticfieldisgenerated,norin
commonpipingorincommonwiring(usingmulti-conductorcable)withthepowercableforlargesizemotor
otherthanthisproductinordertopreventinductionnoisefrombeingapplied.Alsobecarefulofinverter
powersupplyusedinrobotsandofwiringsection(commonwiringandcommonpipingnotallowed).Provide
framegroundofsamepowersupply,andalwaysinsertfilterintheoutputpart.
・Theproductcannotbeusedinenvironmentshavingstrongmagneticfield.Otherwise,itmaycauseproduct
malfunction.
・Ifpowersupplyissharedbetweentheoutputpartofthisproductandasurgegeneratinginductiveload
suchassolenoidvalveandrelay,separatetheoutputpowersupplyofthisproductandtheinductiveload
outputssincesurgecurrentcouldentertheoutputpartandcausedamage.Ifpowersupplycannotbe
separated,connectasurgeabsorptionelementdirectlyparalleltoallinductiveloads.
・Thisproducthasabuilt-incontrolboardtowhichavaristor(havingabout40Vcontrolvoltage)is
connectedinbetweenthecircuitandthemetalbodytopreventstaticelectricitydamage.Forthisreason,
donotperformwithstandvoltagetestandinsulationresistancetestontheequipmenttowhichthisproduct
isinstalled.Otherwise,itwilldamagetheproduct.Ifitisnecessarytoperformthosetestsontheequipment,
pleasedosoafterremovingthisproduct.
・PleasedisconnectallFG(frameground)connectionsfromthisproductbeforeperformingelectricalwelding
totheequipmenttowhichthisproductisinstalled.Otherwise,excessivehighvoltageandsurgevoltage
duringweldingandfromweldingcurrentmaydamagetheproduct.
CAUTION

<SM-431049>
−4 −
・Selectmotorpowersupplyhavingmarginsinitscapacitywithrespecttothenumberofunitsinstalled.If
therearenomarginsinitscapacity,itmaycauseproductmalfunction.(Referto3.1.2Controller
Specifications.)
・Donotdisassembletheproduct.
・Thecableforthisproductcannotbeusedinapplicationswhereitisrepeatedlybent.Forsuchapplications,
connectittoarobotcable.
・Securethecableinplacesothatitdoesnoteasilymove.Also,whensecuringthecable,donotbendthe
cableatanacuteangle(bendingradiusof50mmorless)inordertosecureit.
・Whenpowerisappliedandtheproductperformsoriginalpositionrecognition,itmaydetectanunintended
positionasoriginalifthereisanexternalstopperoraholdingmechanism(suchasabrake).Installexternal
stoppersandsuchsothattheoriginalpositionwilldefinitelybedetectedafterpowerisapplied.
・Whencarryingorinstallingtheproduct,donotholditsmovablepartoritstablepart.
・Donotusetheproductwhereitissubjectedtoultravioletradiationandinatmospherescontaining
corrosivegasandsalt.Doingsomaycausedegradationinstrengthduetoperformancedegradation,product
malfunction,andrustformation.
・Donotinstalltheproductwherelargevibrationsandbigshockscanbetransmitted.Largevibrationsandbig
shockstotheproductcancausetheproducttomalfunction.
・Donotusetheproductwheredewcondensationcanoccurduetorapidchangeinambienttemperature.
・Whenusingcylinderswitches,alwaysrefertoPneumaticCylindersI(CatalogNo.CB-29S)fortheir
installation,wiring,andprecautions.
・IfELCR-28isbeingusedwithacylinderswitchattached,usetheteachingpendanttomovethetableto
thePUSHsidebeforeattachingthecylinderswitch.Forcedlymovingthetablecancauseinjuryandproduct
failure.
・ConfirmcompatibilityofCKDproductswithcustomersystems,machines,equipmentsatcustomerʼsown
risk.
・Donotattachthecommunicationconnectorofthisproducttootherdevices.Doingsomaycauseproduct
failuresandunexpectedaccidents.

<Operation>
・Donotallowexternalforcetomovethemovingpart,norallowmotioninvolvingrapiddeceleration.
Regenerativecurrentcancauseproductmalfunctionandbreakdown.
・Donotbangpistonrodortableontothemechanicalstopperexceptwhenreturningtoitsoriginalpositionor
forclampingoperation.Impactcandamagethefeedscrewanditmaycausetheproducttomalfunction.
・Donotdentnorscratchthemovingpart.Doingsomaycausetheproducttomalfunction.
・Forclampmovement,setthepress-indistancesothattheclampmovementstarts0.5mmormoreahead
oftheactualclampingposition.Iftheworkpieceisclampedatapositionwhereclampmovementhasnot
started,itwilltriggeranalarm.
・Durabilityvariesbytransferload,environment,etc.Allowsufficientmarginwhensettingtransferloadand
such.Usetheproductinawaysothatthereisnoimpacttothemovingpart.
・Donotallowexternalforcetoactontheproductduringreturn-to-originmovement.Otherwise,itmay
falselyrecognizeitsorigin.
・TheproductmustbefittedwithaLANportprotectivecover(forconnectingtheteachingpendant)during
operation.Otherwise,foreignsubstancecangetintheproductandcauseproductfailure.
・Ifservomotoristurnedoffwhilegravityandforceofinertiaarebeingapplied,theworkpiecemaycontinue
tomoveorfalloff.Thisoperationmustbeperformedatequilibriumwherethereisneithergravitynorforce
ofinertia,orafterconfirmingsafety.

<Maintenance/Inspection/Repair>
・Whendisposingthisproduct,followthelawonWasteDisposalandCleaning,andmakesuretohaveit
disposedofbyaspecializedwastedisposer.







<SM-431049>
5
WarrantyClause

TermofWarrantyandScopeofWarrantyareasfollows.
1) TermofWarranty
Theperiodofwarrantyfortheproductspecifiedhereinis1yearfromthedateofdelivery.
(However,thenumberofhoursinoperationperdayshallbewithin8hours.Also,should
durabilitybereachedwithin1year,thewarrantywillterminateatthatpoint.)
2) ScopeofWarranty
IftheproductbecomesdefectiveforreasonsattributabletoCKDduringtheaboveperiod
ofwarranty,CKDwillpromptlyrepairtheproductwithoutcostforthecustomer.
However,followingcircumstancesareexcludedfromthiswarranty:
①Operationunderconditionsandinenvironmentsdeviatingfromthatdescribedinproduct
specifications
②Faultymaintenanceandimproperoperationsuchasnegligence
③Damagescausedbyreasonsotherthanthedeliveredproduct
④Operationoftheproductinamannernotintended
⑤Modificationsinstructure,performance,specification,etc.withoutinvolvementofCKD,
andrepairsperformedbyanunauthorizedpartyafterdelivery
⑥Damagesthatcouldhavebeenavoidedifthecustomerequipment,intowhichtheproduct
isincorporated,hadfunctions,structure,etc.generallyacceptedintheindustry
⑦Damagescausedbyreasonsunforeseenattheleveloftechnologyavailableatthetimeof
delivery
⑧Damagescausedbyexternalfactorssuchasfire,earthquake,flood,lightning,otheracts
ofnature,terrestrialdisaster,pollution,salt,gas,abnormalvoltage.
Pleasenotethatthiswarrantycoversonlythedeliveredproductitself.Anydirect,indirect,or
consequentialdamagesthatmayarisefromfailurewiththedeliveredproductarenotcovered
underthiswarranty.
3) WarrantyforproductexportedoutsideJapan
①CKDwillrepairanyproductreturnedtoourfactoryortoacompanyorafactory
designatedbyCKD.Workandexpenseinvolvedinreturningtheproductarenotcovered
underthewarranty.
②Therepairedproductwillbepackedaccordingtodomesticpackingspecificationand
deliveredtoalocationinsideJapandesignatedbythecustomer.
4) Other
ThisWarrantyClausestipulatesbasicprovisions.
Ifwarrantyinformationgivenonindividualspecificationdrawingsorspecificationsheetsdiffers
fromthatgivenherein,prioritywillbegiventospecificationdrawingsandspecificationsheets.
IfexportingthisproductoutsideJapan,complywiththelaws(ForeignExchangeandForeign
TradeLaw)establishedbyMinistryofEconomy,Trade,andIndustry.




<SM-431049>
−6 −
TableofContents
１．Introduction・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
２．Precautions・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
２．１Transportation・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
２．２Installation・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
２．３CautionsonUse・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
２．４Disposal・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・8
３．ProductSpecifications・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・10
３．１Specifications・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・10
３．２Model Variations・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・10
３．３Exterior Appearance・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・13
４．ProductFunctions・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・14
４．１System Structure・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・16
４．２SettingFunction・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・17
５．Installation・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・21
５．１ConfirmationofActualProduct・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・21
５．２HandlingPrecautionsforActualProduct・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・21
５．３Installation Environment・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・21
５．４InstallationofProductBody・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・22
５．５Installationof Transfers・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・23
６．Wiring・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・25
６．１Cable Specifications・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・25
６．２BasicStructure・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・26
６．３Cable Assignment・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・26
６．４Connection Diagram・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・27
６．４．１PowerSupply Circuit・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・27
６．４．２Emergency StopCircuit・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・27
６．４．３Input/OutputCircuit・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・28
６．４．４ExplanationofInput/OutputSignals・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・30
７．Operations・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・41
７．１PowerSupplySequence・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・41
７．２PositionCompletionOutputWidth・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・42
７．３SpeedandAcceleration/DecelerationControl・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・42
７．４RetainingForce・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・43
７．５ThrustControl・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・44

<SM-431049>
−7 −
７．５．１General TransferMovement・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・44
７．５．２PUSH Movement・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・45
７．５．３CLAMP Movement・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・46
７．６BodyIndicator LightDisplay and MovementStatus・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・47
８．ParameterSettingandOperationsNecessaryforSetting・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・48
８．１Connecting theTeaching Pendant・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・48
８．２ListofTeachingPendantFunctions・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・49
８．３List ofParameters・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・50
９．MaintenanceandInspection・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・51
１０．Troubleshooting・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・52
１０．１Actionsto takewhen problemsoccur・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・52
１０．２CommonProblemsandProbableCauses・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・53
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<SM-431049>
−8 −
１．Introduction
ThankyouforpurchasingESSD/ELCRSeriesElectricActuator.ThisInstructionManualdescribes
basicpointssuchasinstallationandoperatingproceduressothatESSD/ELCRSeriesElectric
Actuatorcanperformatitsfullpotential.PleasereadthisInstructionManualthoroughlybefore
usingthisproducttoensureitsproperoperation.
PleasekeepthisInstructionManualinasafeplacewhereitwillnotgetlost.

２．Precautions
Precautionsthatrequireparticularattentionaredescribedhere.Forothers,pleaserefertoDANGER,
WARNING,andCAUTIONatthebeginningofthisInstructionManual.
２．１ Transportation
１）Precisionpartsarebuiltintotheproduct;hence,overturning,vibration,shocksarestrictlyprohibited
duringitstransport.
※Otherwise,itmaycausedamagetotheparts.
２）Placetheproducthorizontallywhenplacingtheproducttemporarilybeforeinstallation.
３）Donotgetonnorplaceobjectsonthepackaging.
４） Thereshallbeneitherdewcondensationnorfreezingattheambienttemperaturefrom-20℃to60℃
andattheambienthumiditybetween35%and85%.Otherwise,itcouldresultinproductfailure.

２．２ Installation
１）Installtheproductindoorswherethereislesshumidity.
※Thereisariskofshortcircuitorfireaccidentiftheproductisinstalledwhereraindropsmayfallor
wherethereisalotofmoisture(85%orgreaterhumidityorthereisdewcondensation).Oildrops
andoilmistsarealsostrictlyprohibited.
２）Use and store the product where the operating ambient temperatureis0to50℃(nodew
condensation).
※Otherwise,itmaycauseabnormalshutdownandreducedservicelifeoftheproduct.Ventilateif
heataccumulates.
３）Installthisproductwhereitisnotexposedtodirectsunlight,dust,heatgeneratingelementandwhere
therearenocorrosivegas,flammablegas,andinflammables.
※Otherwise,itmaycauseproductfailureandexplosion/ignition.
４）Useandstoretheproductwherethereisnostrongelectromagneticwaveandradiation.
※Otherwise,itmayleadtoproductmalfunctionorfailure.
５）Useandstoretheproductwheretheproductbodyandcablearenotsubjectedtonoise.
※Otherwise,itmaycauseproductmalfunctionorfailure.
６）Storageenvironmentconformstoinstallationenvironment,butlong-termstorageofmorethanone
monthisnotrecommended.Inparticular,takestepstopreventdewcondensation.

２．３ CautionsonUse
１）Donotallowexternalforcetomovethemovingpart,norallowmotioninvolvingrapiddeceleration

<SM-431049>
−9 −
※Regenerativecurrentcancauseproductmalfunctionandbreakdown.
２）Donotbangpistonrodortableontothemechanicalstopperexceptwhenreturningtoitsoriginal
positionorforclampingoperation.
※Impactcandamagethefeedscrewanditmaycausetheproducttomalfunction.
３）Donotdentnorscratchthemovingpart.
※Doingsomaycausetheproducttomalfunction.
４）Forpush/clampmovements,setthepress-indistancesothatthemovementsstart0.5mmormore
aheadoftheactualpush/clampstartingposition.
※Iftheworkpieceispressed-inatapositionwherepush/clampmovementshavenotstarted,itwill
triggeranalarm.
５）Durabilityvariesbytransferload,environment,etc.Allowsufficientmarginwhensettingtransferload
andsuch.Takemeasuressothatthereisnoimpacttothemovingpart.
※Otherwise,itwillgreatlyreduceservicelife.
６）Beforesupplyingpowertotheproduct,alwaysconfirmsafetyofitsoperatingrange.Immediatelyturn
offthepowerifLEDoftheproductdoesnotflashafterturningthepoweron.
※Carelesslysupplyingpowertotheproductmayleadtoelectricshockandinjury.
７）Donottouchorcomeincontactwiththeproductbodyduringoperation andimmediately after
stopping.
※Doingsomayresultinburns.
８）Donotgetonnorplaceobjectsontheproduct.
※Doing so may cause falls, product turnover, injury due to drops,productbreakdown,product
malfunctionfromdamage,andsoon.
９）Takemeasuresthatwillpreventdamagetohumanbodyandequipmentincaseofpowerlinefailure.
※Doingsomaycauseunexpectedaccidents
１０）Stayoffoftheproductoperatingrangewhentheproductisinanoperablecondition.
※Theproductcanmakeasuddenmoveanditmayleadtoinjury.
１１）ELCR(tabletype)maycatchafingerorsuchinbetweenthemotorcaseandthe table when
returningtoorigin.Payextraattention.
１２）IfELCR-28isbeingusedwithacylinderswitchattached,usetheteachingpendanttomovethe
tabletothePUSHsidebeforeattachingthecylinderswitch.Forcedlymovingthetablecancause
injuryandproductfailure.
１３）Donotallowexternalforcetoactontheproductduringreturn-to-originmovement.
※Otherwise,itmayfalselyrecognizeitsorigin.
１４）TheproductmustbefittedwithaLANportprotectivecover(forconnectingtheteachingpendant)
duringoperation.
※Otherwise,foreignsubstancecangetintheproductandcauseproductfailure.

２．４ Disposal
Whendisposingthisproduct,followthelawonWasteDisposalandCleaning,andmakesuretohaveit
disposedofbyaspecializedwastedisposer


<SM-431049>
−10 −
３．ProductSpecifications
３．１ Specifications
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※1:Foroperatingspeedrange,refertoSection4.2:SettingFunction.
※2:Asspeedincreases,maximumpayloaddecreases.RefertoSpeed-PayloadCorrelationChartonnextpage.
※3:Refertoteachingpendantinstructionmanual[ETP-2(SM-431061)]alongwiththisManual.
※4:Useapowersupplythathasmarginssufficientenoughforinstantaneousmaximumcurrent.
※5:Averagecurrentisthecurrentvalueatwhichmaximumpayloadisachievedatmaximumspeed.
ProductWeight
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
Items SeriesType ＥＳＳＤSeries ＥＬＣＲSeries
Actuatortype RodType TableType
MotorType SteppingMotor
EncoderType Incremental
DriveMethod SlipScrew SlipScrew+Belt
MotorSize mm □28 □42 □56 □28 □42
ScrewLead mm 6 6 12 24 6 12 6 6 12 24
StrokeLength mm 50、100、150、200 50、100 50、100、150
OperatingSpeedRange
※
mm/s 15to100 15to100 30to200 60to400 15to100 30to200 15〜100 15〜100 30〜200 60〜400
Return-to-originspeed mm/s 15 15 30 60 15 30 15 15 30 60
Repeatability mm ±0.05 ±0.05 ±0.1 ±0.2 ±0.05 ±0.1 ±0.05 ±0.05 ±0.1 ±0.2
LostMotion mm
0
.4or
less
0
.4or
less
0
.5or
less
0
.6or
less
0
.4or
less
0
.5or
less
0
.4or
less
0
.4or
less
0
.5or
less
0
.6or
less
Horizontalkg------4.5777
Verticalkg1.5115125151741
MaximumPress-inForce N30ormore 150ormore 70ormore 30ormore 450ormore 250ormore 10ormore 120ormore 60ormore 30ormore
SettingMethod TeachingPendant（※3)
ControlMode SolenoidValveMode(Single,Double2-Position,Double3-Position) 7-PointPositioningMode
PitchFeedingMode
BodyIndicatorLight(LED) Green:Operating（BlinkingindicatesPreparingforOperation）,Red:Alarm
No.ofInputPoints 7Point(PhotoCouplerInsulation)
No.ofOutputPoints 7Point(PhotoCouplerInsulation)
MotorPowerVoltage V DC24V±10%
A4 3 4 4 3
A 0.8 1.1 1.2 0.8 1.1
ConsumptionCurrent:Control 200mAorless
InsulationResistance 50MΩormoreat500VDC
WithstandVoltage Noabnormalitywhen1000VAC,60Hzappliedfor1minute
OperatingAmbientTemperature 0to50℃(nodewcondensation/freezing)
OperatingAmbientHumidity 35to85％(nodewcondensation/freezing)
StoringAmbientTemperature -20to60℃(nodewcondensation/freezing)
StoringAmbientHumidity 35to85%(nodewcondensation/freezing)
WorkingEnvironment Nocorrosivegas
ProtectiveStructure IECStandardsIP40(whenfittedw/LANportprotectivecover)
Max.Vertical
Payload※2
Instantaneous Maximum
Current:Motor※4
AverageCurrent
:Moter※5
(kg)
StrokeLength 50 100 150 200
□28 0.81.01.11.2
□42 1.41.61.82.0
□56 2.93.33.63.9
□28 1.3 1.6
□42 2.1 2.5 2.9
ESSD
Series
ELCR
Series

<SM-431049>
−11 −
  Speed-PayloadCorrelationChart
１）ESSD（RodType）Series
VerticalPayload HorizontalPayload(RoughValue)
ESSD−28ESSD−42ESSD−56
2
4
25
15
0
5
10
15
20
25
30
0 50 100 150 200
Speed（mm/s）
Payload(kg)
Lead6
Lead12
1
1.5
0
0.5
1
1.5
2
2.5
0 20406080100
Speed（mm/s）
Payload(kg)
Lead6
5
2
11
5
0.5
1
0
3
6
9
12
0 50 100 150 200 250 300 350 400
Speed（mm/s）
Payload(kg)
Lead6
Lead12
Lead24
20
25
12
20
0
5
10
15
20
25
30
0 50 100 150 200
Speed（mm/s）
Payload(kg)
Lead6
Lead12
3
10
0
2
4
6
8
10
12
020406080100
Speed（mm/s）
Payload(kg)
Lead6
20
5
25
20
10
10
0
5
10
15
20
25
30
0 50 100 150 200 250 300 350 400
Speed（mm/s）
Payload（kg)
Lead6
Lead12
Lead24

CAUTION
・Operatingspeedissetatthevaluedeterminedbythescrewlead.
・Verticalpayloadvariesdependingonspeed,sobecarefulinselectingmotorsizeandscrewlead.
・Providesupportsuchasalinearguideincombinationwiththeproductsothatlateralloadandrotating
torquedonotactonthepistonrod.
・Valuesintheabovegraphsvarydependingonexternalconditionssuchasconnectingmethodandfrictional
resistanceofthelinearguide.
・Donotapplyshockstotherodsuchasbybangingitonanexternalmechanicalstopperduringworkpiece
transfer.
・Thereareoccasionswheresettingspeedisnotreacheddependingonstrokelengthandacceleration.
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

<SM-431049>
−12 −
 ２）ELCR（TableType）Series
VerticalPayload Horizontal Payload
ELCR−28ELCR−42
1
0.5
0
0.5
1
1.5
2
2.5
020406080100
Speed（mm/s）
Payload(kg)
Lead6
2
7
4
10.5
0
2
4
6
8
10
0 50 100 150 200 250 300 350 400
Speed（mm/s）
Payload(kg)
Lead6
Lead12
Lead24
4.5
4.5
0
2
4
6
8
10
12
0 20 40 60 80 100
Speed（mm/s）
Payload(kg)
Lead6
5
7
7
0
1
2
3
4
5
6
7
8
9
10
0 50 100 150 200 250 300 350 400
Speed（mm/s）
Payload（kg)
Lead6、12
Lead24

CAUTION
・Operatingspeedissetatthevaluedeterminedbythescrewlead.
・Verticalpayloadvariesdependingonspeed,sobecarefulinselectingmotorsizeandscrewlead.
・Donotapplyshockstothetablesuchasbybangingitonanexternalmechanicalstopperduringworkpiece
transfer.
・Thereareoccasionswheresettingspeedisnotreacheddependingonstrokelengthandacceleration.

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

<SM-431049>
−13 −
３．２ ModelVariations
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
ａ）ActuatorＥＳＳＤ（RodType）
Series A B C D E
ESSD-42-6-50-N-1 Symbol Descri
p
tions
Series
SSD RodType
A.MotorSize
28 □28
42 □42
56 □56
B.LeadLength
66mm
12 12mm
24 24mm
C.StrokeLength
50 50mm
100 100mm
150 150mm
200 200mm
D.Options
Blank FemaleThread
NMaleThread
E.CableLength
11m
33m
ｂ）ActuatorＥＬＣＲ（TableType）
Series A B C D
ELCR-42-6-50-1 Symbol Descri
p
tions
Series
ELCR TableTy
p
e
A.MotorSize
28 □28
42 □42
B.LeadLength
66mm
12 12mm
24 24mm
C.StrokeLen
g
th
50 50mm
100 100mm
150 150mm
D.CableLength
11m
33m
AB C D E
MotorSize LeadLength StrokeLength Options CableLength
□28 6mm
6mm
12mm
24mm
6mm
12mm
1m
3m
□42
□56
Series
ESSD
(Rod
Type)
50mm
100mm
150mm
200mm
Female
Thread
MaleThread
AB C D
MotorSize LeadLength StrokeLength CableLength
□28 6mm 50、100mm
6mm
12mm
24mm
ELCR
(table
Type)
1m
3m□42 50mm
100mm
150mm
Series

<SM-431049>
−14 −
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CAUTION
・Refertoteachingpendantinstructionmanual[ETP-2(SM-431061)]alongwiththisManual.
・Forcylinderswitches,refertoPneumaticCylindersI(CatalogNo.CB-29S).

３．３ExteriorAppearance
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ｃ）TeachingPendant
LeadWire
ｄ）)InstallableCylinderSwitches: AxialType RadialType
T2H※ T2V※ 2Wires
T3H※ T3V※ 3Wires
T2WH※ T2WV※ 3Wires
T3WH※ T3WV※ 3Wires
T2YH※ T2YV※ 3Wires
T3YH※ T3YV※ 3Wires
T2YD※ − 2Wires
※symbolrepresentsleadwirelength.
Blank 1m（Standard）
33m（O
p
tion）
55m（Option）
※LeadWireLength
Contact Indicator No.ofLead
Wires
Proximity
1Color
Indicator
2Color
Indicator
SwitchModel
（RightTable）
ＳＷ Ｔ２Ｈ
−
ＥＴＰ ２−
 ３．３．１ESSDSeries(RodType)

<SM-431049>
−15 −
３．３．２ ELCRSeries(TableType)







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
BodyIndicatorLight(LED)
MotorCase
MotorCover
Cable
ActuatorBody
【MotorSide】
【TableSide】
EndPlate SlideTable
【WorkPiece
MountingSurface
(EndPlateSide)】 【WorkPiece
MountingSurface（TableSide）】
【ActuatorMountingSurface】
【ScrewforInstallingActuator】
<a>
【SlitsonActuatorBody】
a-sectionslits：
ForinstallingT-typecylinderswitch
LANPort
(TeachingPendant
ConnectingPort)

<SM-431049>
−16 −
４．ProductFunctions
 ４．１ SystemStructure
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CAUTION
・Refertoteachingpendantinstructionmanual[ETP-2(SM-431061)]alongwiththisManual.
・ThecustomerisresponsibleforverifyingcompatibilityofCKDproductswithsystems,machines,and
equipmentspreparedbythecustomer.
・Ifmultiplepowersuppliesarebeingused,make0Vcommon.Otherwise,itmaycausePLCtobreakdown.
Note1:Controlpowersupplyrequires200mAofcurrentforeachproduct(includingteachingpendant).Use
stabilizedDCpowersupplythathasmarginssufficientenoughforthiscapacity.
Note2:Motorpowersupplyrequiresmaximum3Aofcurrentforeachproducthaving□42andmaximum4Aof
currentforeachproducthaving □28or□56.UsestabilizedDCpowersupplythathasmarginssufficient
enoughforthesecapacities.


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
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
HostControlSystem(suchasPLC)
Input：７Points／Output：７Points
MotorPowerSupply
(StabilizedDCpowersupply)
ＤＣ２４Ｖ (Note1)
ControlPowerSupply
(StabilizedDCpowersupply)
ＤＣ２４Ｖ (Note1)
Systemstobepreparedbythecustomer
ELECTRICACTUATOR
ＥＳＳＤ／ＥＬＣＲ Series
TeachingPendant
ＥＴＰ−２

<SM-431049>
−17 −
４．２ SettingFunction
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c)SpeedSettingRange
ScrewLead OperatingSpeedRange
（mm） （mm/s）
□28 6 15、20、30、40、50、60、70、80、90、100
6 15、20、30、40、50、60、70、80、90、100
12 30、40、60、80、100、120、140、160、180、200
24 60、80、120、160、200、240、280、320、360、400
6 15、20、50、60、70、80、90、100
12 30、40、60、80、100、120、140、160、180、200
□28 6 15、20、30、40、50、60、70、80、90、100
6 15、20、30、40、50、60、70、80、90、100
12 30、40、60、80、100、120、140、160、180、200
24 60、80、120、160、200、240、280、320、360、400
CAUTION:Pleasenotethatmaximumpayloadvariesdependingonspeed.
Fordetails,refertoteachingpendantinstructionmanual[ETP-2(SM-431061)].
Thereareoccasionswheresettingspeedisnotreacheddependingon
 strokelengthandacceleration.
Series Motor
Size
ELCR □42
ESSD □42
□56
a)No.ofpositioningpointsandsettingrangebycontrolmodes
No.ofpositioningpoints SettingRange
Single 2points
Double2-Position 2points
Double3-Position 2points+intermediatestop
7-PointPositioningMode Maximum7points
PitchFeedingMode nposition
CAUTION:Concerningminimumpositionsetting,becarefuloflostmotion(variesbyscrewlead).
b)Settingthesoftwarelimitandtargetposition
Motorsideis(−)-coordinateandrodside(tableside)is(+)-coordinate.
Thecoordinatepositionafterreturningtooriginisposition=0.
Thesoftwarelimitshouldbesetintherangeoutsideofstrokelength(targetposition①and②)an
intherangeinsideofmechanicalmovablerange.
Refertoteachingpendantinstructionmanual[ETP-2(SM-431061)]forthesettingmethod.
Solenoid
Valve
Mode
0mmtostrokelength
MinimumPosition
Setting：
0.1mm
target
position① target
position②
TravelDistance
Positionafter
Returnin
g
toOri
g
in
MechanicalStopper
MechanicalMovableRangeofActuator
MechanicalStopper
=Strike-Origin
SoftwareLimitRange(StrokeLength)
SoftwareLimit（−） SoftwareLimit（＋）

<SM-431049>
−18 −
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CAUTION
Forsettingfunctionbyparameters,refertopage8orteachingpendantinstructionmanual
[ETP-2(SM-431061)]
ｅ)ThrustControlSetting
Selectingthethrustcontrolmode
Classification Function
GeneralTransfer
Movement
Push
Movement
Clamp
Movement
Settingthethrustcontrolmodeandcurrent-limitingvalue
Classification Current-LimitingValue
GeneralTransfer
Movement ＮＯ−ＰＲＥＳＳ ※1
Push
Movement 50（%）、61(%)、75(%)、82(%)、100(%) ※2
Clamp
Movement 50（%）、61(%)、75(%)、82(%) ※2
※1：Current-limitingvaluecannotbesetingeneraltransfermode
※2：Refertothecorrelationchartonnextpageforpushforceandclampforce.
Operatingspeedofpushmovementandclampmovement
ScrewLead OperatingSpeed（mm/s)
6mm 1、2、3
12mm 2、4、6
24mm 4、8、12
Movementmodeforgeneraltransfer
※Iftheactuatorstopsduringoperationduetoexternalforce,
itwillbedetectedasanalarm.
Movementforcontinuouslypushingthefixedworkpiece
※Theactuatorwillnotfollowiftheworkpiecedeforms.
Movementforcontinuouslypushingthemovingworkpiece
※Eveniftheactuatorstopsduringpushing,
analarmwillnotbedetected.
Press-in
Mode
Press-in
Mode
ｄ)AccelerationSettingRange
ScrewLead AccelerationSettingRange
（mm） （m/s2）
□28 6 0.4、0.5、0.6、0.8、1.0
6 0.4、0.5、0.6、0.8、1.0
12 0.4、0.5、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0
24 0.4、0.5、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0
6 0.4、0.5、0.6、0.8、1.0
12 0.4、0.5、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0
□28 6 0.4、0.5、0.6、0.8、1.0
6 0.4、0.5、0.6、0.8、1.0
12 0.4、0.5、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0
24 0.4、0.5、0.6、0.8、1.0、1.2、1.4、1.6、1.8、2.0
CAUTION：
Settingsofaccelerationanddecelerationwillhavethesamevalues.
Fordetails,refertoteachingpendantinstructionmanual[ETP-2(SM-431061)].
Thereareoccasionswheresettingspeedisnotreacheddependingonstrokelength
andacceleration.
ELCR □42
Series Motor
Size
ESSD □42
□56

<SM-431049>
−19 −
ｆ）PushForce/ClampForce‒Current-LimitingValueCorrelationChart(RoughGuideline)
１）ESSDSeries(RodType)
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CAUTION：
・Becarefulnottoapplylateralloadonthepistonrodduringpushing.
・Therelationshipsbetweenpushforceandcurrent-limitingvalueandclampforceandcurrent-limitingvalue
intheabovegraphsareroughguidelines.Thevaluesvarydependingonconditionsofuse.Verifythemin
accordancewithconditionsofuse.
・Forpush/clampmovements,setthepress-indistancesothatthemovementsstart0.5mmormoreahead
oftheactualpush/clampposition.Iftheworkpieceispressed-inatapositionwherepush/clamp
movementshavenotstarted,itwilltriggeranalarmｃ.

PUSHForce(RoughValue) CLAMPForce (RoughValue)
ESSD-28ESSD-42ESSD-56
0
5
10
15
20
25
30
35
50 60 70 80 90 100
Current-LimitingValue(%)
PUSHForce（N)
Lead6
0
50
100
150
200
50 60 70 80 90 100
Current-LimitingValue(%)
PUSHForce（N)
Lead6
Lead12
Lead24
0
100
200
300
400
500
50 60 70 80 90 100
Current-LimitingValue(%)
PUSHForce（N)
Lead6
Lead12
0
10
20
30
40
50
50 60 70 80
Current-LimitingValue(%)
CLAMPForce （N)
Lead6
0
50
100
150
200
50 60 70 80
Current-LimitingValue(%)
CLAMPForce （N)
Lead6
Lead12
Lead24
0
100
200
300
400
500
50 60 70 80
Current-LimitingValue(%)
CLAMPForce （N)
Lead6
Lead12