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CKD SM-A10616-A Instruction Manual

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

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Summary of Contents for CKD SM-A10616-A

  • Page 1 Electric Actuator ECR (Controller) IO-Link Specifications INSTRUCTION MANUAL SM-A10616-A Instruction Manual MSV-484083 • 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.

  • Page 2: Preface

    PREFACE 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.

  • Page 3: Safety Information

    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.

  • Page 4: Product Precautions

    SM-A10616-A SAFETY INFORMATION 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.

  • Page 5: Table Of Contents

    SM-A10616-A CONTENTS CONTENTS PREFACE ........................... i SAFETY INFORMATION ....................ii Product precautions ....................... iii Disposal precautions ..................... iii CONTENTS ........................iv PRODUCT OVERVIEW ..................... 5 Product configuration ..................5 System configuration ..................6 Specifications ...................... 7 1.3.1 Communication specifications ..............7 1.3.2...

  • Page 6: Product Overview

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

  • Page 7: System Configuration

    Encoder cable Motor cable Applicable actuators EBS-M Series EBR-M Series FLSH Series FLCR Series FGRC Series System components that can be purchased from CKD are listed below. Descriptions Name Product name、Model No. Controller ECR Series Normal configuration Actuator EBS-M/EBR-M/FLSH/FLCR/FGRC Series...

  • Page 8: Specifications

    SM-A10616-A 1. PRODUCT OVERVIEW 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 PIO mode: 2 bytes Process data length (input) *1 Simple direct value mode: 9 bytes...

  • Page 9: Communication Status Display

    SM-A10616-A 1. PRODUCT OVERVIEW 1.3.2 Communication status display  RUN (green lamp) Blinking (ON for 0.9 seconds --> Establishing IO-Link OFF for 0.1 seconds) communication IO-Link communication not established  ERR (red lamp) <When starting> This shows the operation mode configured.

  • Page 10: Installation

    SM-A10616-A 2. INSTALLATION 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.

  • Page 11: Connection

    SM-A10616-A 2. INSTALLATION 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 DI/DO...

  • Page 12: Usage

    SM-A10616-A 3. USAGE 3. USAGE 3.1 Data communication Type of data communication Description Communication sent cyclically between the IO-Link Master and IO-Link device Cyclic communication on a data frame of a size designated by the device. Refers to PD (Process Data) communication.

  • Page 13: 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...

  • Page 14: Io-Link Device Settings

    SM-A10616-A 3. USAGE 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.

  • Page 15: Communication Format

    SM-A10616-A 3. USAGE 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.
  • Page 16 SM-A10616-A 3. USAGE <Simple direct value mode (operation mode: 1)/Full direct value mode (operation mode: 2)> Index Value 0x0028 Byte order Item Format (base 10) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered...
  • Page 17 SM-A10616-A 3. USAGE  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)> Index Value 0x0029 Byte order Item Format (base 10)
  • Page 18 SM-A10616-A 3. USAGE <Simple direct value mode (operation mode: 1)> Index Value 0x0029 Byte order Item Format (base 10) Subindex Pause 0: Pause start, 1: Cancel Boolean Stop 0: Stop, 1: Cancel Boolean Alarm reset 1: Reset Boolean Servo ON...
  • Page 19 SM-A10616-A 3. USAGE <Full direct value mode (operation mode: 2)> Index Value 0x0029 Byte order Item Format (base 10) Subindex Pause 0: Pause start, 1: Cancel Boolean Stop 0: Stop, 1: Cancel Boolean Alarm reset 1: Reset Boolean Servo ON...
  • Page 20 SM-A10616-A 3. USAGE Full direct value mode continued 0 to 255 (Use the common PD(out)#11 Acceleration (0.01 G) parameter values if setting UInteger8 (12th byte) is 0) 0 to 255 (Use the common PD(out)#12 Deceleration (0.01 G) parameter values if setting...

  • Page 21: Data Index And Subindex

    SM-A10616-A 3. USAGE 3.4.2 Data Index and Subindex OD(On-request data) ・Not all the data that can be read or written by the user are covered for the actuator. For data that cannot be accessed by IO-Link, access via the setting tool (S-Tools).
  • Page 22 SM-A10616-A 3. USAGE <Product ID and DeviceID3> Operation mode Product ID Device ID 3 Standard 64-point mode ECR-MNNN3B-LK_PIO_MODE(B064) 0x03 Standard 128-point ECR-MNNN3B-LK_PIO_MODE(B128) 0x04 mode Standard 256-point ECR-MNNN3B-LK_PIO_MODE(B256) 0x05 mode Standard 512-point ECR-MNNN3B-LK_PIO_MODE(B512) 0x06 mode PIO mode Teaching 64-point mode ECR-MNNN3B-LK_PIO_MODE(T064)
  • Page 23 SM-A10616-A 3. USAGE (2) Parameter and commands Common specifications Index Value Access Data (base Item Format Index (base 10) length System 0x0002 Refer to [System Command] 1 byte UInteger8 Command 0x0000： Device No lock ● 0x000C Access 0x0001： Parameter lock...
  • Page 24 SM-A10616-A 3. USAGE Individual specifications 1 Index Value Access Data (Base Inde Item Format (base 10) length 0: PIO mode 0x0041 Operation mode 1: Simple direct value mode 1 byte UInteger8 2: Full direct value mode *3 0x0042 Data Storage mode...
  • Page 25 SM-A10616-A 3. USAGE Individual specifications 2 Index Value Access Data (Base Inde Item Format (base 10) length Point data 0x1000 0 to 511 2 bytes UInteger16 number specification Point data 30 bytes Record e are ● Position -999999 to 999999...
  • Page 26 SM-A10616-A 3. USAGE Individual specifications 3 Index Value Access Data (Base Item Format Index (base 10) length Soft limit (+) ● 0x0302 -999999 to 999999 4 bytes Integer32 (0.01mm) (0.01deg) Soft limit (-) ● 0x0304 -999999 to 999999 4 bytes Integer32 (0.01mm) (0.01deg)
  • Page 27 SM-A10616-A 3. USAGE Individual specifications 4 Index Value Access Data (Base Item Format Index (base 10) length 0x0386 Stroke Actuator stroke 2 bytes UInteger16 0x070A Alarm code Refer to the separate table 2 bytes UInteger16 *1: R: Read, R/W: Read/Write...
  • Page 28 SM-A10616-A 3. USAGE Individual specifications 5 Index Value Access Data (Base Item Format Index (base 10) *2 length 0x0400 Controller model number 40 bytes String 0x0401 Controller serial number 16 bytes String 0x0402 Actuator model number 40 bytes String 0x0403...

  • Page 29: Pio Mode Process Data Details

    SM-A10616-A 3. USAGE 3.4.3 PIO mode process data details  Standard 64-point mode (B064) (operation mode (PIO): 0) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation 0: Incomplete, 1: Complete Boolean complete Warning...
  • Page 30 SM-A10616-A 3. USAGE  Standard 128-point mode (B128) (operation mode (PIO): 1) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered Boolean...
  • Page 31 SM-A10616-A 3. USAGE  Standard 256-point mode (B256) (operation mode (PIO): 2) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered Boolean...
  • Page 32 SM-A10616-A 3. USAGE  Standard 512-point mode (B512) (operation mode (PIO): 3) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered Boolean...
  • Page 33 SM-A10616-A 3. USAGE  Teaching 64-point mode (T064) (operation mode (PIO): 4) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered Boolean...
  • Page 34 SM-A10616-A 3. USAGE  Simple 7-point mode (S007) (operation mode (PIO): 5) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation complete 0: Incomplete, 1: Complete Boolean Warning 0: Triggered, 1: Not triggered Boolean...
  • Page 35 SM-A10616-A 3. USAGE  Solenoid valve mode, double 2-position type (VW2P) (operation mode (PIO): 6) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation 0: Incomplete, 1: Complete Boolean complete Warning 0: Triggered, 1: Not triggered...
  • Page 36 SM-A10616-A 3. USAGE  Solenoid valve mode, double 3-position type (VW3P) (operation mode (PIO): 7) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation 0: Incomplete, 1: Complete Boolean complete Warning 0: Triggered, 1: Not triggered...
  • Page 37 SM-A10616-A 3. USAGE  Solenoid valve mode, single type (VSGL) (operation mode (PIO): 8) PD(in): Controller → PLC Index Value Byte order Descriptions 0x0028 Format (decimal) Subindex Operation preparation 0: Incomplete, 1: Complete Boolean complete Warning 0: Triggered, 1: Not triggered...

  • Page 38: Data Access

    SM-A10616-A 3. USAGE 3.5 Data access 3.5.1 Process data Process data is normally exchanged cyclically between the IO-Link Master and IO-Link device. Normally, data length and configuration are set with the connection settings of the PLC development tool, and relay and data memory are assigned. Set the PD (out) data with coil, bit SET, Move command, etc. to update it.

  • Page 39: Service Data

    SM-A10616-A 3. USAGE 3.5.2 Service Data Service data (OD and message communication) normally uses FBs (function blocks), etc. provided by the PLC manufacturer for reading and writing. Access examples are shown below. These do not describe the FB of a specific manufacturer, so refer to the PLC manufacturer's manual for detailed parameters.
  • Page 40 SM-A10616-A 3. USAGE ●Using the CoE object write (read) function WriteCoE Start Read_Comp Done Exec NodeST Node Busy Busy_flag ObjST Error Error_flag Write ErrorID ErrorID WriteData Data Write Abort AbortCode WriteDataSize DataSize ・Example of writing to the specified service data address...
  • Page 41 SM-A10616-A 3. USAGE *If all data composed from multiple elements (data with multiple Sunindex data) is accessed using Subindex = 0, some items (such as point data mode) will have a bit configuration. (Refer to 1.2.2 Communication format) *For TOOL mode, only writing from the setting tool (S-Tools) is enabled. Writing from the PLC will not be accepted.

  • Page 42: Return Error Codes

    SM-A10616-A 3. USAGE 3.5.3 Return error codes *The following error codes are set as the FB output parameters for the input parameters set for reading/writing data. ◎ When using OMRON Corporation functions blocks IOL_ReadObj and IOL_WriteObj, the ErrorID will be 0x4800, and output parameter: ErrorType will be set.

  • Page 43: Operation Mode

    SM-A10616-A 3. USAGE 3.6 Operation mode The following three types of operation modes (IO-Link) are available. The PIO mode can be changed to the following nine types of settings, based on the operation mode (PIO) setting.  PIO mode (abbreviation: PIO) (operation mode(IO-Link): 0) This mode performs control in accordance with conventional signal I/O.

  • Page 44: Operation Time Chart

    SM-A10616-A 3. USAGE 3.7 Operation time chart 3.7.1 Servo ON If servo OFF occurs during operation, deceleration is stopped and the motor enters a de-energized state. During servo OFF, operation preparation complete output turns OFF, and if there are brakes, they are locked.

  • Page 45: When Powered On

    SM-A10616-A 3. USAGE 3.7.2 When powered on As in the figure below, the time chart covers home position return start after power ON to home position return complete. Horizontal axis: Time 横軸：時間 制御 Control power 電源 電源 Power supply モータ...

  • Page 46: Home Position Return Operation

    SM-A10616-A 3. USAGE 3.7.3 Home position return operation When a home position return operation is executed, a home position return operation is performed. The position at which home position return operation completes becomes the home position (0 mm). Position after Position after 原点復帰後...

  • Page 47: Positioning Operation

    SM-A10616-A 3. USAGE 3.7.4 Positioning operation  PIO mode (operation mode: 0) Designating a stop during travel Horizontal axis: Time 横軸：時間 移動 Point travel 開始 start 指令 停止 Stop (out) (b-contact) (b接点) The traveling ポイント point number is Point number designated in 番号...
  • Page 48 SM-A10616-A 3. USAGE Designating a pause during travel Horizontal axis: Time 横軸：時間 移動 Point travel 開始 start 指令 一時 Pause 停止 (out) (b-contact) (b接点) The traveling ポイント Point point number is number 番号 designated in binary code. Displacement 変 位...
  • Page 49 SM-A10616-A 3. USAGE  Simple direct value mode (operation mode: 1) With point data set for the point number designated by PD(out), set the position and point number in PD(out), and then turn the point travel start bit ON. Horizontal axis: Time 横軸：時間...
  • Page 50 SM-A10616-A 3. USAGE ・Data set in the point number in the simple direct value mode figure. (3) Point number with point data set to travel position 2 (4) Point number with point data set to travel position 3 (using (3) is also acceptable if the speed, acceleration, etc.
  • Page 51 SM-A10616-A 3. USAGE  Full direct value mode (operation mode: 2) After setting position, speed, and other point data to PD (out), turn the travel start command bit Horizontal axis: Time 横軸：時間 移動 Point travel 開始 start 指令 (out) ポイント...

  • Page 52: Errors And Obtaining Error Codes

    SM-A10616-A 3. USAGE 3.7.5 Errors and obtaining error codes 横軸：時間 Horizontal axis: Time アラーム Alarm (in) (b-contact) (b接点) 取得 Obtained エラーコード 注1 Error code エラ ー エラ ー Error Error 発生 解除 occurs release *1: Obtain Alarm (Index = 0x70A) or Alarm details (Index = 480) with service data.

  • Page 53: Data Storage Function

    SM-A10616-A 3. USAGE 3.8 Data Storage function IO-Link has a Data Storage function (DS), which backs up IO-Link device setting parameter data by IO-Link Master port, and restores backup data when the IO-Link device is replaced due to device failure, etc.

  • Page 54: Download/Upload

    SM-A10616-A 3. USAGE 3.8.3 Download/Upload  Download If the backup data stored on the IO-Link Master at startup and the parameter data set to the connected IO-Link device do not match, the IO-Link Master downloads the stored backup data. Therefore, if the controller is replaced with a backup controller due to failures, etc., the minimum amount of setting data...
  • Page 55 SM-A10616-A 3. USAGE  DS Upload/Download target items The list of upload/download target items is called the Index List. Item Size Device access lock 2 bytes Application specific tag 4 bytes Output selection 1 1 bytes Output selection 2 1 bytes...

  • Page 56: Error Events

    SM-A10616-A 3. USAGE 3.9 Error events When an error occurs with the controller, an error generation event is sent to the IO-Link Master. When the error is released, an error release event is sent to the IO-Link Master. Event code Description **: Sets the error code type.

  • Page 57: Warranty Provisions

    If the product specified herein fails for reasons attributable to CKD within the warranty period specified below, CKD will promptly provide a replacement for the faulty product or a part thereof or repair the faulty product at one of CKD’s facilities free of charge.

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