CKD FFLD Series User manual

INSTRUCTION MANUAL
•Read this Instruction Manual before using the product.
•Read the safety notes carefully.
•Keep this Instruction Manual in a safe and convenient place for future reference.
SM-A25107/3-A
Electric Actuator
FFLD Series

SM-A25107/3-APREFACE
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PREFACE
Thank you for purchasing CKD's “FFLD Series” electric actuator.
This Instruction Manual contains basic matters such as installation and usage instructions in order to
ensure optimal performance of the product. Please read this Instruction Manual thoroughly and use the
product properly.
Keep this Instruction Manual in a safe place and be careful not to lose it.
Product specifications and appearances presented in this Instruction Manual are subject to change
without notice.
•The product is intended for users who have basic knowledge of materials, wiring, electricity, and
mechanisms. CKD shall not be responsible for accidents caused by persons who selected or used
the product without knowledge or sufficient training.
•Since there are a wide variety of customer applications, it is impossible for CKD to be aware of all of
them. Depending on the application and usage, the product may not be able to exercise its full
performance due to fluid, piping, and other conditions, or an accident may occur. It is the
responsibility of the customer to check the product specifications and decide how the product shall
be used in accordance with the application and usage.

SM-A25107/3-ASAFETY INFORMATION
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SAFETY INFORMATION
When designing and manufacturing any device incorporating the product, the manufacturer has an
obligation to ensure that the device is safe. To that end, make sure that the safety of the machine
mechanism of the device and the electric system that controls such mechanism is ensured.
In order to use our products safely, it is important to select, use, handle, and maintain the products
properly.
Observe the warnings and precautions described in this Instruction Manual to ensure device safety.
Although various safety measures have been adopted in the product, customer's improper handling may
lead to an accident. To avoid this:
Thoroughly read and understand this Instruction Manual
before using the product.
To explicitly indicate the severity and likelihood of a potential harm or damage, precautions are classified
into three categories: “DANGER”, “WARNING”, and “CAUTION”.
DANGER
Indicates an imminent hazard. Improper handling will cause death or serious
injury to people.
WARNING
Indicates a potential hazard. Improper handling may cause death or serious
injury to people.
CAUTION
Indicates a potential hazard. Improper handling may cause injury to people or
damage to property.
Precautions classified as “CAUTION” may still lead to serious results depending on the situation.
All precautions are equally important and must be observed.
Other general precautions and tips on using the product are indicated by the following icon.
Indicates general precautions and tips on using the product.

SM-A25107/3-ASAFETY INFORMATION
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Precautions on Product Use
DANGER
Do not use the product for the following applications:
•Medical equipment pertaining to sustainment and management of human life and body
•Mechanism and mechanical device for transferring and transporting people
•Critical parts for securing safety in a mechanical device
WARNING
Use the product within the specifications.
Precautions on Product Disposal
CAUTION
When disposing of the product, comply with laws pertaining to disposal and cleaning of
wastes and have an industrial waste disposal company dispose of the product.

SM-A25107/3-ACONTENTS
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CONTENTS
PREFACE........................................................................................................................... i
SAFETY INFORMATION .................................................................................................. ii
Precautions on Product Use..........................................................................................iii
Precautions on Product Disposal ..................................................................................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...................................................... 2
1.3 Names of Parts ................................................................................................... 2
1.3.1 FFLD-08,30 .................................................................................................. 2
1.3.2 FFLD-50 ....................................................................................................... 3
1.4 Model Number Indication....................................................................................4
1.4.1 FFLD Series .................................................................................................4
1.5 Specifications......................................................................................................5
1.5.1 Actuator specifications ................................................................................. 5
1.5.2 Communication specifications...................................................................... 6
2. INSTALLATION ......................................................................................................... 7
2.1 Environment.......................................................................................................11
2.2 Unpacking ..........................................................................................................11
2.3 Mounting ...........................................................................................................12
2.3.1 Body............................................................................................................ 12
2.3.2 Fingers........................................................................................................ 13
2.4 Wiring................................................................................................................14
2.4.1 Connecting to upper level equipment ........................................................ 14
2.4.2 Connecting to S-Tools ................................................................................ 17
3. USAGE..................................................................................................................... 19
3.1 Safety Instructions ............................................................................................19
3.2 IODD file............................................................................................................ 21
3.3 Setting the IO-Link Device................................................................................21
3.4 Communication Format ....................................................................................22
3.4.1 Process data............................................................................................... 22
3.4.2 Service data................................................................................................ 34
3.5 Data Storage (DS) Function .............................................................................46
3.5.1 IO-Link master settings .............................................................................. 46
3.5.2 Download/Upload ....................................................................................... 47
3.6 Parameters .......................................................................................................49
3.6.1 List of parameters....................................................................................... 49
3.6.2 Soft limits .................................................................................................... 51
3.6.3 Home position return operation.................................................................. 52
3.6.4 Automatic point zone.................................................................................. 53
3.7 Point Data ......................................................................................................... 54
3.7.1 Number of point data.................................................................................. 54
3.7.2 List of point data ......................................................................................... 54
3.7.3 Position specification method..................................................................... 55
3.7.4 Operation method....................................................................................... 55
3.7.5 Position....................................................................................................... 58
3.7.6 Stop method ............................................................................................... 59
3.7.7 Point zone................................................................................................... 59

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3.7.8 Positioning width ........................................................................................ 60
3.8 Manual Operation .............................................................................................61
3.8.1 FFLD-08,30 ................................................................................................ 61
3.8.2 FFLD-50 ..................................................................................................... 62
4. MAINTENANCE AND INSPECTION....................................................................... 63
4.1 Periodic Inspection............................................................................................64
4.1.1 Inspection item ........................................................................................... 64
5. TROUBLESHOOTING............................................................................................. 65
5.1 Items to Check When a Problem Occurs ......................................................... 65
5.2 Alarm Code ....................................................................................................... 66
5.3 Problems, Causes, and Solutions ....................................................................69
6. PRODUCT COMPLIANCE ...................................................................................... 71
6.1 EU Directives/European Standards..................................................................71
6.1.1 Environment ............................................................................................... 71
6.1.2 System structure......................................................................................... 72
7. WARRANTY PROVISIONS..................................................................................... 73
7.1 Warranty Conditions .........................................................................................73
7.2 Warranty Period ................................................................................................73

SM-A25107/3-A1. PRODUCT OVERVIEW
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1. PRODUCT OVERVIEW
1.1 System Overview
1.1.1 System structure
Components in the system structure that are available from CKD are listed below.
Component
Product name/Model no.
This product
Actuator/Controller
FFLD Series
Sold separately
24 VDC power supply
EA-PWR-KHNA240F-24
Surge protector
AX-NSF-RAV-781BXZ-4
Noise filter
AX-NSF-NF2015A-OD
Y-branch connector
EA-YJOINT-1
Provided for free
PC setting software (provided for free)
S-Tools
To use this product as a product conforming to the European standards, refer to "6 PRODUCT
COMPLIANCE" and follow the instructions.

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1.2 Instruction Manuals Related to This Product
For the Instruction Manuals for controllers and setting tools related to this product, refer to the following.
Part name
No.
PC Setting Software for Electric Actuators - S-Tools
SM-A11147
1.3 Names of Parts
1.3.1 FFLD-08,30
◼External appearance
◼Connection
Symbol
Part name
Description
CN1
Interface connector
Connector for connecting to upper level equipment
Refer to "2.4.1 Connecting to upper level equipment" for wiring.
Cable: Commercially available M12 connector cable (5-conductor)
CN2
USB connector
Connector for connecting to the setting tool (PC setting software)
Cable: Commercially available USB cable (mini-B)
Manual operation shaft
CN2: USB connector
CN1: Interface connector
USB cover
Manual operation cover
Actuator
Controller (built into the actuator)
Lead cable
Finger
Threaded hole for earthing

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1.3.2 FFLD-50
◼External appearance
◼Connection
Symbol
Part name
Description
CN1
Interface connector
Connector for connecting to upper level equipment
Refer to "2.4.1 Connecting to upper level equipment" for wiring.
Cable: Commercially available M12 connector cable (5-conductor)
CN2
USB connector
Connector for connecting to the setting tool (PC setting software)
Cable: Commercially available USB cable (mini-B)
Manual operation shaft
CN1: Interface connector
CN2: USB connector
Manual operation cover
Actuator
Controller (built into the actuator)
Lead cable
Finger
Threaded hole
for earthing
USB cover

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1.4 Model Number Indication
1.4.1 FFLD Series

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1.5 Specifications
1.5.1 Actuator specifications
Model
Item
FFLD-08
FFLD-30
FFLD-50
Motor size
□20
□25L
□25L
Motor type
Stepping motor
Encoder type
Incremental encoder
Drive system
Rack and pinion, worm gear
Controller
Embedded
Stroke
(mm)
100 (50 per finger)
140 (70 per finger)
160 (80 per finger)
Gripping power (each finger) Note 1
(N)
80
300
500
Opening/closing speed (each finger)
(mm/s
)
1 to 10
Acceleration/deceleration
(G)
0.01 to 0.05
Gripping speed (each finger)
(mm/s
)
1 to 5
Repeatability
(mm)
±0.02
Positioning repeatability (each finger) Note 2
(mm)
±0.05
Lost motion (each finger)
(mm)
0.4 or less
Static allowable moment
MR
(N·m)
15
45
64
MP
(N·m)
15
45
64
MY
(N·m)
15
45
55
Power supply voltage
Control
24 VDC ± 10%
Motor
24 VDC ± 10%
Current consumption
Control
(A)
0.2 or less
Motor
(A)
1.1 or less
2.8 or less
2.8 or less
Motor section max. instantaneous current
(A)
1.5
4.0
4.0
Power capacity
Max. 100 W
Insulation resistance
10 MΩ, 500 VDC
Withstand voltage
500 VAC for 1 minute (no abnormality)
Working ambient temperature
0 to 40°C (no freezing)
Working ambient humidity
35% to 80% RH (no condensation)
Storage ambient temperature
−10 to 50°C (no freezing)
Storage ambient humidity
35% to 80% RH (no condensation)
Atmosphere
No corrosive gas, explosive gas, and dust
Degree of protection
IP20
Weight
(kg)
1.2
1.7
2.5
Note 1: Gripping is performed by a pressing operation.
Note 2: This is the variation in the stop position when positioning is repeatedly performed at the same point.
•Repeatability refers to the displacement of the finger stop position when clamping and
unclamping are repeated under the same conditions (gripper is fixed, same attachments are
used, etc.).
•The workpiece position can become displaced due to the impact of opening and closing the
fingers and lead to the deterioration of repeatability. Wear and lack of rigidity of the
attachments may also lead to the deterioration of repeatability.

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1.5.2 Communication specifications
Item
Description
Communication protocol (version)
IO-Link (V1.1)
Baud rate
COM2 (38.4 kbps)
Port
Class A
Process data PD (in) data length Note 1
5 bytes
Process data PD (out) data length Note 1
15 bytes
Minimum cycle time
10 ms
Data storage
2 kbytes
SIO mode support
None
Vendor ID Note 2
855 (Decimal) / 0x357 (Hexadecimal)
Device ID Note 3
4198401 (Decimal) / 0x401001 (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.

SM-A25107/3-A2. INSTALLATION
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2. INSTALLATION
DANGER
Do not use the product in a place where dangerous substances such as ignitable,
inflammable, or explosive materials are present.
Ignition, inflammation, or explosion may occur.
Prevent water and oil from splashing onto the product.
A fire, electric leakage, or failure may occur. Even oil drops and oil mists are prohibited.
Make sure to hold and secure the product (including the workpiece) while installing the
product.
An injury may occur if the product falls down, falls off, or operates abnormally.
Use a DC stabilized power supply (24 VDC ± 10%) with sufficient capacity as a power supply
for the controller and the input/output circuit.
If the product is directly connected to an AC power supply, a fire, burst or damage may occur.
Do not work with wet hands.
An electric shock may occur.
When connecting a personal computer, prevent frame ground (FG) of the computer.
If a plus terminal of the product is grounded, connecting the product to a PC and peripheral
equipment with a USB cable may cause short-circuit in the DC power supply.
Install overcurrent protective equipment (such as a breaker for wiring and a circuit protector)
on the primary side of the power supply when wiring in accordance with "JIS B 9960-1:2019
（IEC 60204-1:2016） Safety of machinery - Electrical equipment of machines - Part 1: General
requirements".

SM-A25107/3-A2. INSTALLATION
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WARNING
Do not install the product to a combustible material.
If the product is installed directly to or near a combustible material, a fire may result.
If the system is such that the machine stops in the event of a system failure such as an
emergency stop or a power failure, design and implement a safety circuit or a safety device to
prevent damages to the devices and injuries to people.
Install a safety fence to prevent entry into the actuator movable range.
Perform class D grounding (ground resistance: 100 Ω or less) for the product.
An electric leakage may occur and cause an electric shock or malfunction.
When wiring the product, refer to this Instruction Manual or any other relevant instruction
manuals to make sure that the connectors are firmly connected and the wires are properly
insulated.
Make sure that the wires do not contact other circuits and there is no ground fault and insulation
failure between terminals. Otherwise, an overcurrent may flow into the product and cause damage.
This may result in an abnormal operation or fire.
Insulate unused wires.
A malfunction, failure, or electric shock may occur.
Do not damage or pinch the cables, apply unnecessary stress to the cables, or place heavy
objects on the cables.
A conduction failure or electric shock may occur.
Do not connect the communication connector of the product to other devices.
A malfunction or damage may occur.
Make sure to install the emergency stop button in a location where operation is easy.
Adopt a structure and wiring system that inhibit any automatic resetting of emergency stop button,
and that prevent a person from accidentally resetting the emergency stop button.
When an emergency stop is executed, it may take several seconds until the machine has actually
stopped, depending on the traveling speed and carrying load.
Install the product indoors and in a dry place.
In a place where water can splash onto the product or where humidity is high (80% or more and
with condensation), an electric leakage or fire accident may occur.
Do not use or store the product in an environment where there is strong electromagnetic
waves, ultraviolet rays, or radiation.
A malfunction or failure may occur.
Consider the possibility of power source failure.
Implement measures so as to prevent injuries to people and damages to devices even if a failure
occurs with the power source.
Consider the possibility of motor failure.
Consider the operating state when restarting the product after an emergency stop or an
irregular stop.
When there is a need for resetting the actuator to the starting position, design a safe control
unit.
Because precision instruments are integrated, do not lay the product sideways or subject the
product to vibration or impact during its transportation.
Component damage may occur.
Take into consideration the decrease in gripping power due to a power failure when
integrating safety into design.
The gripping power may decrease due to a power failure and the workpiece may come off. Design
and implement a safety device that prevent injuries to people and damages to mechanical devices.

SM-A25107/3-A2. INSTALLATION
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CAUTION
Install the wiring so that no induction noise is applied.
•Avoid using the product in a place where a large current or strong magnetic field occurs.
•Do not pipe or wire the product in the same wiring (with multi-conductor cables) as the power
lines for other large motors.
•Do not pipe or wire the product in the same wiring as the power supplies and wires for inverters
used in robots. Frame ground the power supply and insert a filter into the output section.
Do not use the product in an environment where a strong magnetic field occurs.
A malfunction may occur.
Separate the power for the output section of the product from the power for inductive loads
(such as a solenoid valve and a relay) that generate surge currents.
If the power is shared, a surge current will flow into the output section and cause damage.
If the power cannot be separated, connect the surge absorption elements in parallel directly to all
the inductive loads.
Do not perform a withstand voltage test or an insulation resistance test in a device with the
product installed.
A capacitor is connected between the circuit of the control board in the product and the metal body
to prevent damages from static electricity. Therefore, performing the tests above will damage the
product. If these tests are required for the device, remove the product beforehand.
Remove all the FG (frame ground) connections of the product before performing electric
welding on the device to which the product is installed.
If electric welding is performed without removing the FG connections, the product may become
damaged due to a welding current or excessive high voltage and surge voltage from welding.
Select a power that has sufficient capacity for the number of products installed.
If the capacity is not sufficient, a malfunction may occur.
Secure the lead cable so that it will not move easily. Do not bend the cable beyond a bending
radius of 25 mm.
When installing an external stopper or a holding mechanism (such as a brake), place it at a
position where it does not affect the detection of the home position.
The home position detection is carried out at power-on. If the detection is interfered by an external
stopper or a holding mechanism, an unintended position may be recognized as the home position.
Do not use the product in a place exposed to ultraviolet rays or in an atmosphere where
corrosive gas and salt are present.
A performance degradation, abnormal operation, or strength deterioration due to rust formation
may occur.
Do not install the product in a place subjected to strong vibrations or shocks.
If the product is subjected to strong vibrations or shocks, a malfunction may occur.
Do not use the product in a place where condensation occurs due to a sudden change in the
ambient temperature.
The customer is responsible for checking the compatibility of the product with the
customer’s system, machinery, and device.
Connect only cables designed for the product.
A failure of the product or unexpected accident may occur.

SM-A25107/3-A2. INSTALLATION
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CAUTION
Do not carry or install the product by holding its cable or the movable section.
An injury or cable disconnection may occur.
Secure sufficient space for maintenance and inspection.
Maintenance and inspection cannot be performed if sufficient space is not provided and this may
cause equipment stoppage, failure, or injury.
When holding the product, hold its bottom surface.
When transporting or installing the product, ensure the safety of the workers by securely
supporting the product using a lift or supporting gear and by assigning more than one
worker.
Install the product in a way that it is not subjected to twisting or bending force.
Before adjusting the gain, firmly secure the actuator body to a rigid device and mount the
jigs.
When using positioning holes, make sure to use pins having the size that does not require
press-fitting.
If press-fitting sized pins are used, the press-fitting load may cause the guide section to become
damaged or distortion may reduce accuracy. The recommended tolerance of the pin is JIS
tolerance of 6 µm or less.
When removing the workpiece while the power is not supplied, open/close the finger by
operating the manual operation shaft or remove the attachment.
A damage or operation fault may occur.
Do not apply any excess force to the manual operation shaft.
A damage or operation fault may occur.
Prevent any excess load from being applied to the fingers and attachment while
attaching/removing or transferring the workpiece.
Scratches or dents may occur to the linear guide rolling surface of the finger, leading to an
operation fault.
Do not put dents and scratches interfering with the flatness or perpendicularity of the body
mounting surface and of the finger.
Except for the body securing screws and attachment securing screws, do not disassemble or
retighten.
An operation fault may occur.
Select a model with sufficient gripping power with respect to the weight of the workpiece.
Select a model with sufficient opening/closing width with respect to the size of the workpiece.
The gripping position may become inconsistent due to the opening/closing width and workpiece
variations. For the opening from gripping action, increase the stroke with an amount of backlash.

SM-A25107/3-A2. INSTALLATION
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2.1 Environment
•Check the environment temperature and atmosphere before using and storing the product.
•Use the product at an ambient temperature between 0°C and 40°C. Ventilate if heat can become
trapped.
•Use the product at an ambient humidity between 35% and 80%. Do not use the product in a place
where condensation occurs.
•Install the product where it is not subjected to direct sunlight and away from a heating element. Also,
avoid dust, corrosive gas, explosive gas, inflammable gas, and combustible material. Chemical
resistance has not been considered for the product.
•Install the actuator on a smooth and flat surface.
•In order to avoid operation fault and damage, do not install the actuator on a surface with dents.
•The controller is set using a setting software (S-Tools). Leave a space of 70 mm or more in front of the
USB cover so that the connector of the connection cable to the PC can be connected and
disconnected.
2.2 Unpacking
•When carrying or handling the product, use extreme care not to apply impact to the product
(for example, do not drop the product).
•Do not carry heavy products alone.
•Place the product horizontally when not in use.
•Do not stand on the package.
•In order to prevent deforming the package, do not place heavy objects and objects of which
their load concentrates.
•When taking the actuator out of the package, hold the actuator body.
•Do not apply unnecessary force to any part of the actuator.
•Check that the model number ordered and the model number indicated on the product are the same.
•Check the exterior of the product for any damage.

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2.3 Mounting
2.3.1 Body
•Do not apply an excessive shock or moment to the slider.
A malfunction or damage may occur.
•The flatness of the workpiece mounting surface should be 0.02 mm or less. Do not apply
twisting or bending force to the product.
An operation fault or damage may occur.
•The body can be mounted from two directions. Select the direction appropriate for the application.
•For the screw-in depth and tightening torque of the bolt for mounting the body, refer to the table below.
Model
ⒶMounting to body
ⒷMounting to body
Bolt
Tightening
torque
(N・m)
Max. screw-in
depth
L(mm)
Bolt
Tightening
torque
(N・m)
FFLD-08
FFLD-30
M5x0.8
3.2
10
M4x0.7
2.1
FFLD-50
M6x1.0
4.0
12
M5x0.8
3.2
◼Allowable load
For details, refer to the "Selection guide" page in the catalog.

SM-A25107/3-A2. INSTALLATION
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2.3.2 Fingers
When tightening the bolts to mount the attachment to the finger, support the finger using a tool
such as a spanner so to prevent the finger from distorting and having an effect on the actuator
body.
Damage may occur.
•When mounting the attachment to the finger, observe the values below for the tightening torque.
Model
Bolt
Tightening torque
(N·m)
Max. screw-in depth
L (mm)
FFLD-08
M5 x 0.8
0.9
10
FFLD-30
M6 x 1.0
1.3
10
FFLD-50
M6x1.0
2.2
10
•Applying an excessive lateral load or a high-impact load to the fingers can cause backlash or damage.
Do not apply any external force to the fingers that exceed the allowable load listed in the catalog.
Fingers
Hexagon socket
head bolt
Attachment
Spanner

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2.4 Wiring
WARNING
Turn off the power before wiring.
An electric shock may occur by touching the electrical wiring connection (bare live part).
Do not touch live parts with bare hands.
An electric shock may occur.
Thoroughly read and understand this Instruction Manual before working on electrical wiring.
CAUTION
Check the working voltage and polarity before wiring and energizing.
Take measures against lightning surges on the device side.
The product has no resistance to lightning surges.
Use AC voltage models in an installation category II environment.
Connect the wiring securely so that it does not come loose or come off.
A malfunction may occur.
Provide sufficient bending radius for the network cable. Do not bend it forcibly.
Separate the network cable from power lines and high-voltage lines.
2.4.1 Connecting to upper level equipment
◼Communication specifications
Refer to "1.5.2 Communication specifications" for communication specifications.