CKD SM-A10616-A User manual

CKD Corporation
•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.
INSTRUCTION MANUAL
Instruction Manual
SM-A10616-A
MSV-484083
Electric Actuator
ECR (Controller)
IO-Link Specifications

SM-A10616-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-A10616-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-A10616-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-A10616-A CONTENTS
iv
CONTENTS
PREFACE........................................................................................................................... i
SAFETY INFORMATION.................................................................................................. ii
Product precautions.......................................................................................................iii
Disposal precautions .....................................................................................................iii
CONTENTS...................................................................................................................... iv
1. PRODUCT OVERVIEW............................................................................................. 5
1.1 Product configuration..........................................................................................5
1.2 System configuration..........................................................................................6
1.3 Specifications......................................................................................................7
1.3.1 Communication specifications...................................................................... 7
1.3.2 Communication status display ..................................................................... 8
2. INSTALLATION ......................................................................................................... 9
2.1 Connection........................................................................................................ 10
3. USAGE..................................................................................................................... 11
3.1 Data communication..........................................................................................11
3.2 IODD files.......................................................................................................... 12
3.3 IO-Link device settings .....................................................................................13
3.4 Communication format...................................................................................... 14
3.4.1 Process data............................................................................................... 14
3.4.2 Data Index and Subindex........................................................................... 20
3.4.3 PIO mode process data details.................................................................. 28
3.5 Data access......................................................................................................37
3.5.1 Process data............................................................................................... 37
3.5.2 Service Data............................................................................................... 38
3.5.3 Return error codes ..................................................................................... 41
3.5.4 IO-Link Master Unit error reset................................................................... 41
3.6 Operation mode................................................................................................42
3.7 Operation time chart......................................................................................... 43
3.7.1 Servo ON.................................................................................................... 43
3.7.2 When powered on...................................................................................... 44
3.7.3 Home position return operation.................................................................. 45
3.7.4 Positioning operation.................................................................................. 46
3.7.5 Errors and obtaining error codes................................................................ 51
3.8 Data Storage function....................................................................................... 52
3.8.1 IO-Link Master settings .............................................................................. 52
3.8.2 Operation mode switching.......................................................................... 52
3.8.3 Download/Upload....................................................................................... 53
3.9 Error events ......................................................................................................55
4. WARRANTY PROVISIONS..................................................................................... 56
4.1 Warranty Conditions .........................................................................................56
4.2 Warranty Period................................................................................................ 56
4.3 Remarks............................................................................................................56

SM-A10616-A 1. PRODUCT OVERVIEW
5
1. PRODUCT OVERVIEW
1.1 Product configuration
Name
Quantity
1
Controller unit
1
2
Accessory
Power supply connector:
DFMC1,5/4-STF-3,5（PHOENIX CONTACT）
1
Communication connector (IO-Link):
FMC1,5/4/ST-3,5-RF（PHOENIX CONTACT）
1

SM-A10616-A 1. PRODUCT OVERVIEW
6
1.2 System configuration
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-CBLME1-*
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
LAN cable, etc
Surge
protector
DC power
supply
Noise filter
Ferrite
core
Controller
ECR Series
Ferrite core
Ferrite core
Encoder cable
Motor cable
Applicable actuators
EBS-M Series
EBR-M Series
FLSH Series
FLCR Series
FGRC Series
Provided by
the customer
USB cable (mini-B)
Ferrite core
Ferrite core
Communication cable
AWG23 equivalent
OMRON XS2 Series equivalent
IO-Link
Master
PC setting software
(Freeware)
Download the software from our website.
(URL:https://www.ckd.co.jp)

SM-A10616-A 1. PRODUCT OVERVIEW
7
1.3 Specifications
1.3.1 Communication specifications
Item
Details
Communication protocol
IO-Link
Communication protocol version
V1.1
Transmission speed
COM3 (230.4kbps)
Port
Class A
Process data length (input) *1
PIO mode: 2 bytes
Simple direct value mode: 9 bytes
Full direct value mode: 9 bytes
Process data length (output) *1
PIO mode: 2 bytes
Simple direct value mode: 7 bytes
Full direct value mode: 22 bytes
Min. cycle time
PIO mode: 1 ms
Simple direct value mode: 2 ms
Full direct value mode 2.5 ms
Data storage
2 kbytes
SIO mode support
None
Vendor ID *2
855 (base 10)/0x357 (base 16)
Device ID *3
Simple direct value mode
4194305 (decimal) / 0x400001 (hexadecimal)
Full direct value mode
4194306 (decimal) / 0x400002 (hexadecimal)
PIO mode, standard 64-point mode
4194307 (decimal) / 0x400003 (hexadecimal)
PIO mode, standard 128-point mode
4194308 (decimal) / 0x400004 (hexadecimal)
PIO mode, standard 256-point mode
4194309 (decimal) / 0x400005 (hexadecimal)
PIO mode, standard 512-point mode
4194310 (decimal) / 0x400006 (hexadecimal)
PIO mode, teaching 64-point mode
4194311 (decimal) / 0x400007 (hexadecimal)
PIO mode, simple 7-point mode
4194312 (decimal) / 0x400008 (hexadecimal)
PIO mode, solenoid valve mode double 2-position type
4194313 (decimal) / 0x400009 (hexadecimal)
PIO mode, solenoid valve mode double 3-position type
4194314 (decimal) / 0x40000A (hexadecimal)
PIO mode, solenoid valve mode single type
4194315 (decimal) / 0x40000B (hexadecimal)
*1: If the table setting, etc. cannot be configured using the data length shown here when configuring the data in IO-Link Master (PLC), a
data table with a greater value is generally set.
*2: Shows CKD.
*3: Shows the product.

SM-A10616-A 1. PRODUCT OVERVIEW
8
1.3.2 Communication status display
RUN (green lamp)
Blinking (ON for 0.9 seconds -->
OFF for 0.1 seconds)
Establishing IO-Link
communication
ON
IO-Link communication
not established
ERR (red lamp)
<When starting>
This shows the operation mode configured.
ON for 1 second
PIO mode
OFF for 2 seconds
Simple direct
value mode
OFF for 0.5 seconds --> ON for 0.5 seconds --> OFF for 1
second
Full direct
value mode
OFF for 0.5 seconds --> ON for 0.5 seconds --> OFF for
0.5 seconds --> ON for 0.5 seconds
*Lights for one second, and then displays the operation mode value only for two seconds.
*Indicator blinks as described above two times, with it turning OFF for 0.5 seconds between the first and
second time.
<After power on>
High speed blinking (ON for 0.1
seconds --> OFF for 0.1 seconds)
24 VDC voltage drop on
IO-Link line

SM-A10616-A 2. INSTALLATION
9
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-A10616-A 2. INSTALLATION
10
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 number
Signal
(1)
L+
(2)
DI/DO
(3)
L-
(4)
C/Q
(4)
(3)
(2)
(1)

SM-A10616-A 3. USAGE
11
3. USAGE
3.1 Data communication
Type of data communication
Description
Cyclic communication
Communication sent cyclically between the IO-Link Master and IO-Link device
on a data frame of a size designated by the device.
Refers to PD (Process Data) communication.
Message communication
Communication to access any IO-Link device data via the IO-Link Master from
PLC and other high-end devices when necessary.
Use when accessing OD (On-request data).
Also referred to as Service Data in this document.

SM-A10616-A 3. USAGE
12
3.2 IODD files
This product provides 11 types of operation modes, including PIO modes (nine types), simple direct
value mode, and full direct value mode. Each mode has a different IODD file. Select which to use based
on the operation mode.
You can obtain the files from the CKD website.
https://www.ckd.co.jp/
[PIO mode]
CKD-ECR_PIO_MODE_nnnn-yyyymmdd-IODDvvv.xml
* "nnnn" is the operation mode (PIO).
B064: Standard 64-point mode, B128: Standard 128-point mode, B256: Standard 256-point mode,
B512: Standard 512-point mode, T064: Teaching 64-point mode, S007: Simple 7-point mode,
VW2P: Solenoid valve mode 2-position type, VW3P: Solenoid valve mode 3-position type,
VSGL: Solenoid valve mode single type
[Simple direct value mode]
CKD-ECR_SIMPLE _MODE-yyyymmdd-IODDvvv.xml
[Full direct value mode]
CKD-ECR_FULL_MODE-yyyymmdd-IODDvvv.xml
*"yyyymmdd" is the date. "vvv" is the version.
The following files will be downloaded with the IODD files. Copy them to the folder designated for your
tools.
Device icon: CKD-ECR-icon.png
Device symbol: CKD-ECR-pic.png
Vendor logo: CKD-logo.png
Connector symbol: CKD-con-pic.png

SM-A10616-A 3. USAGE
13
3.3 IO-Link device settings
Generally, a PLC development tool or other appropriate tool must be used to set this product as a
connected IO-Link device for the corresponding port of the IO-Link Master. Some of the necessary
settings include device ID, process data, and process data length.
In most cases, input/output process data is mapped using the setting table,
but when there is no relevant setting table, the data table is generally mapped to be larger than
the data length.
◎For OMRON IO-Link master units, the PD(in) process data (9 bytes) for the full direct value mode is
set so that five 2-byte InputData tables are mapped.
*Refer to the relevant PLC and IO-Link Master manuals for connection methods.

SM-A10616-A 3. USAGE
14
3.4 Communication format
3.4.1 Process data
Data length and other settings are required for PLC. Refer to the instruction manual of the manufacturer.
Process data input/PD (in)
Set the data to write from the controller to the IO-Link Master.
<PIO mode (operation mode: 0) [Example] Standard 64-point mode (operation mode (PIO): 0)>
Byte order
Bit
Item
Value
(base 10)
Index
0x0028
Subindex
*1
Format
PD(in)#0
(1st byte)
7
MSB
Operation preparation complete
0: Incomplete, 1: Complete
11
Boolean
6
Warning *3
0: Triggered, 1: Not triggered
10
Boolean
5
Alarm *3
0: Triggered, 1: Not triggered
9
Boolean
4
Servo ON state *3
0: OFF state, 1: ON state
8
Boolean
3
Home position return complete *3
0: Incomplete, 1: Complete
7
Boolean
2
Point travel complete *2
0: Incomplete, 1: Complete
6
Boolean
1
Zone 2
0: Outside zone, 1: Inside zone
5
Boolean
0
LSB
Zone 1
0: Outside zone, 1: Inside zone
4
Boolean
PD(in)#1
(2nd byte)
7
MSB
Traveling
0: Stopped, 1: Traveling
3
Boolean
6
Point zone
0: Outside zone, 1: Inside zone
2
Boolean
5
Point number confirmation bit 5
Port numbers 0 to 63
Alarms 0 to 15
*Set the travel complete point
number
when normal
and the alarm when
abnormal.
1
UInteger6
4
Point number confirmation bit 4
3
Point number confirmation bit
3/alarm confirmation bit 3
2
Point number confirmation bit
2/alarm confirmation bit 2
1
Point number confirmation bit
1/alarm confirmation bit 1
0
LSB
Point number confirmation bit
0/alarm confirmation bit 0
*1: When referencing PD(in) data as service data, Index=0x0028 (read only). When referencing everything, Subindex=0, set in order of
first byte and then second byte.
*2: Both point travel complete and traveling may be "1" at the same time depending on the timing.
*3: Content can be monitored even in TOOLmode 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-A10616-A 3. USAGE
15
<Simple direct value mode (operation mode: 1)/Full direct value mode (operation mode: 2)>
Byte order
Bit
Item
Value
(base 10)
Index
0x0028
Subindex
*1
Format
PD(in)#0
(1st byte)
7
MSB
Operation preparation complete
0: Incomplete, 1: Complete
14
Boolean
6
Warning *3
0: Triggered, 1: Not triggered
13
Boolean
5
Alarm *3
0: Triggered, 1: Not triggered
12
Boolean
4
Servo ON state *3
0: OFF state, 1: ON state
11
Boolean
3
Home position return complete *3
0: Incomplete, 1: Complete
10
Boolean
2
Point travel complete *2
0: Incomplete, 1: Complete
9
Boolean
1
-
0
LSB
Point number confirmation bit 8
Binary data
[During direct value travel]
0
[During point travel]
Complete point number is set
0 to 511
8
UInteger9
PD(in)#1
(2nd byte)
7
MSB
Point number confirmation bit 7
6
Point number confirmation bit 6
5
Point number confirmation bit 5
4
Point number confirmation bit 4
3
Point number confirmation bit 3
2
Point number confirmation bit 2
1
Point number confirmation bit 1
0
LSB
Point number confirmation bit 0
PD(in)#2
(3rd byte)
7
MSB
-
6
-
5
-
4
Zone 2
0: Outside zone, 1: Inside zone
7
Boolean
3
Zone 1
0: Outside zone, 1: Inside zone
6
Boolean
2
Traveling *2
0: Stopped, 1: Traveling
5
Boolean
1
Point zone
0: Outside zone, 1: Inside zone
4
Boolean
0
LSB
Direct travel status
0: Point travel, 1: Direct value
travel
3
Boolean
PD(in)#3
(4th byte)
7
MSB
Present position (0.01 mm)
*3
-999999 to 999999
2
Integer32
0
LSB
PD(in)#4
(5th byte)
7
MSB
0
LSB
PD(in)#5
(6th byte)
7
MSB
0
LSB
PD(in)#6
(7th byte)
7
MSB
0
LSB
PD(in)#7
(8th byte)
7
MSB
Monitor value *3
Depends on PD(out) data
selection
0: Speed [mm/s]
1: Current [%]
3: Alarm -
1
UInteger16
0
LSB
PD(in)#8
(9th byte)
7
MSB
0
LSB
*1: When referencingPD(in) data as service data, Index=0x0028 (read only). When referencing everything, Subindex=0, set in order from
the first byte.
*2: Both point travel complete and traveling may be "1" at the same time depending on the timing.
*3: Present position and monitor value are updated as needed (there is no instruction bit to control starting or stopping). 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-A10616-A 3. USAGE
16
Process data output/PD (out)
Set data to write from the PLC to the controller.
< PIO mode (operation mode: 0) [Example] Standard 64-point mode (operation mode (PIO): 0)>
Byte order
Bit
Item
Value
(base 10)
Index
0x0029
Subindex
*1
Format
PD(out)#0
(1st byte)
7
MSB
Pause
0: Pause start, 1: Cancel
7
Boolean
6
Stop
0: Stop, 1: Cancel
6
Boolean
5
Alarm reset
1: Reset
5
Boolean
4
Servo ON
1: Servo ON, 0: Cancel
4
Boolean
3
Home position return start
1: Home position return start
3
Boolean
2
Point travel start
1: Start
2
Boolean
1
-
0
LSB
-
PD(out)#1
(2nd byte)
7
MSB
-
6
-
5
Point number selection bit 5
Binary data
0 to 63
1
Uinteger6
4
Point number selection bit 4
3
Point number selection bit 3
2
Point number selection bit 2
1
Point number selection bit 1
0
LSB
Point number selection bit 0
*1: When referencing PD(Out) data as service data, Index=0x0029 (read only). When referencing everything, Subindex=0, set in order of
first byte and then second byte.
・When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status. Similarly, if communication is not established,
it will not be sent to the controller even if each bit is ON ("1").
・Stop and pause are b contact. Set bit ON ("1") (cancel) for both when operating.
・Reset can be executed whether in PLC mode or TOOL mode.

SM-A10616-A 3. USAGE
17
<Simple direct value mode (operation mode: 1)>
Byte order
Bit
Item
Value
(base 10)
Index
0x0029
Subindex
*1
Format
PD(out)#0
(1st byte)
7
MSB
Pause
0: Pause start, 1: Cancel
10
Boolean
6
Stop
0: Stop, 1: Cancel
9
Boolean
5
Alarm reset
1: Reset
8
Boolean
4
Servo ON
1: Servo ON, 0: Cancel
7
Boolean
3
Home position return start
1: Home position return start
6
Boolean
2
Point travel start
1: Start
5
Boolean
1
-
0
LSB
Point number selection bit 8
Binary data
0 to 511
4
UInteger9
PD(out)#1
(2nd byte)
7
MSB
Point number selection bit 7
6
Point number selection bit 6
5
Point number selection bit 5
4
Point number selection bit 4
3
Point number selection bit 3
2
Point number selection bit 2
1
Point number selection bit 1
0
LSB
Point number selection bit 0
PD(out)#2
(3rd byte)
7
MSB
-
6
-
5
-
4
-
3
Monitor No.
0 = Speed, 1 = Current value,
3 = Alarm
*2
3
UInteger3
2
1
0
LSB
Direct value travel
selection
0 = Point travel,
1 = Direct value travel
*3
2
Boolean
PD(out)#3
(4th byte)
7
MSB
Position
(0.01 mm) (0.01 deg)
-999999 to 999999
1
Integer32
0
LSB
PD(out)#4
(5th byte)
7
MSB
0
LSB
PD(out)#5
(6th byte)
7
MSB
0
LSB
PD(out)#6
(7th byte)
7
MSB
0
LSB
*1: When referencing PD(Out) data as service data, Index=0x0029 (read only). When referencing everything, Subindex=0, set in order
from the first byte.
*2: Designates which information is set to the PD(in) monitor value.
*3: If direct value travel selection is set to "0," the same point travel as 512-point mode can be used.
・When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status. Similarly, if communication is not established,
it will not be sent to the controller even if each bit is ON ("1").
・After switching the monitor number, there will be some time lag until it actually switches. If
referenced immediately after switching, unintended data may be referenced.
・Stop and pause are b contact. Set bit ON ("1") (cancel) for both when operating.
・Reset can be executed whether in PLC mode or TOOL mode.

SM-A10616-A 3. USAGE
18
<Full direct value mode (operation mode: 2)>
Byte order
Bit
Item
Value
(base 10)
Index
0x0029
Subindex
*1
Format
PD(out)#0
(1st byte)
7
MSB
Pause
0: Pause start, 1: Cancel
23
Boolean
6
Stop
0: Stop, 1: Cancel
22
Boolean
5
Alarm reset
1: Reset
21
Boolean
4
Servo ON
1: Servo ON, 0: Cancel
20
Boolean
3
Home position return start
1: Home position return start
19
Boolean
2
Point travel start
1: Start
18
Boolean
1
-
0
LSB
Point number selection bit 8
Binary data
[Point travel]
0 to 511
[Direct value travel]
0
17
UInteger9
PD(out)#1
(2nd byte)
7
MSB
Point number selection bit 7
6
Point number selection bit 6
5
Point number selection bit 5
4
Point number selection bit 4
3
Point number selection bit 3
2
Point number selection bit 2
1
Point number selection bit 1
0
LSB
Point number selection bit 0
PD(out)#2
(3rd byte)
7
MSB
-
6
-
5
Rotation direction
0: Common, 1: Close
rotation, 2: CW, 3: CCW
16
UInteger2
4
3
Monitor No.
0: Speed, 1: Current value, 3:
Alarm *2
15
UInteger3
2
1
0
LSB
Direct value travel selection
0: Point travel, 1: Direct value
travel *4
14
Boolean
PD(out)#3
(4th byte)
7
MSB
Position
(0.01 mm) (0.01 deg)
-999999 to 999999
13
Integer32
0
LSB
PD(out)#4
(5th byte)
7
MSB
0
LSB
PD(out)#5
(6th byte)
7
MSB
0
LSB
PD(out)#6
(7th byte)
7
MSB
0
LSB
PD(out)#7
(8th byte)
7
MSB
Positioning width
(0.01 mm) (0.01 deg)
0 to 999 (when setting = 0,
use common parameter
value)
12
UInteger16
0
LSB
PD(out)#8
(9th byte)
7
MSB
0
LSB
PD(out)#9
(10th byte)
7
MSB
Speed (mm/s) (deg/s)
0 to 9999 (when setting = 0,
use the common parameter
value) *3
11
UInteger16
0
LSB
PD(out)#10
(11th byte)
7
MSB
0
LSB
*1: When referencing PD(out) data as service data, Index=0x0029 (read only). When referencing everything, Subindex=0, set in order
from the first byte.
*2: Designates which information is set to the PD(in) monitor value.
*3: The corresponding items and settable range differ for S-Tools.
*4: If direct value travel selection is set to "0," the same point travel as 512-point mode can be used.

SM-A10616-A 3. USAGE
19
Full direct value mode continued
PD(out)#11
(12th byte)
7
MSB
Acceleration (0.01 G)
0 to 255 (Use the common
parameter values if setting
is 0) *3
10
UInteger8
0
LSB
PD(out)#12
(13th byte)
7
MSB
Deceleration (0.01 G)
0 to 255 (Use the common
parameter values if setting
is 0) *3
9
UInteger8
0
LSB
PD(out)#13
(14th byte)
7
MSB
Pressing current (%)
0 to 100 (Use the common
parameter values if setting
is 0)
8
UInteger8
0
LSB
PD(out)#14
(15th byte)
7
MSB
Pressing speed
(mm/s) (deg/s)
0 to 99 (Use the common
parameter values if setting
is 0)
7
UInteger8
0
LSB
PD(out)#15
(16th byte)
7
MSB
Pressing distance
(0.01 mm) (0.01 deg)
-999999 to 999999 (Use the
common parameter values
if setting is 0)
6
Integer32
0
LSB
PD(out)#16
(17th byte)
7
MSB
0
LSB
PD(out)#17
(18th byte)
7
MSB
0
LSB
PD(out)#18
(19th byte)
7
MSB
0
LSB
PD(out)#19
(20th byte)
7
MSB
Gain magnification (%)
0 to 9999
(When setting = 0, this
means that gain
magnification is not used.)
*5
5
UInteger16
0
LSB
PD(out)#20
(21st byte)
7
MSB
0
LSB
PD(out)#21
(22nd byte)
7
MSB
Position specification
method
0：ABS
1：INC
4
Boolean
6
Operation method
0: POSI, 1: PRS1, 2: PRS2
3
UInteger2
5
4
Acceleration/deceleration
method
0: Common, 1: Trapezoid
2
UInteger2
3
2
Stop method
0: Common, 1: Control, 2:
Fixed excitation
3: ASVOFF1, 4: ASVOFF2
5: ASVOFF3
1
UInteger3
1
0
LSB
*5: The corresponding items and settable range differ for S-Tools.
・When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status. Similarly, if communication is not established,
it will not be sent to the controller even if each bit is ON ("1").
・After switching the data selection designation, there will be some time lag until the data actually
switches. If referenced immediately after switching, unintended data may be referenced.
・Some values may generate errors even if set with the range in this table, depending on the
actuator model No. (size, etc.).
・Stop and pause are b contact. Set bit ON ("1") (cancel) for both when operating.
・Reset can be executed whether in PLC mode or TOOL mode.