CKD ECG Series Instruction Manual
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CKD ECG Series Instruction Manual

Controller for electric actuators ethercat specifications
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Controller for Electric actuators
ECG Series
EtherCAT Specifications
INSTRUCTION MANUAL
SM-A40832-A
Instruction Manual
• Be sure to read this instruction manual before using the product.
• Pay especially close attention to the safety-related information contained within.
• Keep this instruction manual in a safe place so that it is readily available when needed.
CKD Corporation

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Summary of Contents for CKD ECG Series

  • Page 1 Controller for Electric actuators ECG Series EtherCAT Specifications INSTRUCTION MANUAL SM-A40832-A Instruction Manual • Be sure to read this instruction manual before using the product. • Pay especially close attention to the safety-related information contained within. • Keep this instruction manual in a safe place so that it is readily available when needed.

  • Page 2: Preface

    PREFACE PREFACE Thank you for purchasing CKD controller for electric actuators “ECG Series EtherCAT Specifications.” 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

    Ensure to observe organization’s standards, laws and regulations etc. for safety related to design and management of the equipment. 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-A40832-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 The product must be handled by the person who has sufficient knowledge and experience.

  • Page 5: Table Of Contents

    SM-A40832-A CONTENTS CONTENTS PREFACE ........................... i SAFETY INFORMATION ....................ii Product precautions ....................... iii Disposal precautions ..................... iii CONTENTS ........................iv PRODUCT OVERVIEW ..................... 1 System Overview ....................1 1.1.1 System structure..................... 1 Instruction Manuals Related to This Product ............4 Names of Parts ....................

  • Page 6: Product Overview

    SM-A40832-A 1. PRODUCT OVERVIEW 1. PRODUCT OVERVIEW 1.1 System Overview EtherCAT is the patented technology and registered trademark licensed by German Beckhoff • Automation GmbH & Co. KG. Windows is a registered trademark of Microsoft Corporation in the United States, Japan, and •...
  • Page 7 Noise filter AX-NSF-NF2015A-OD Provided for free PC setting software S-Tools When using this product as a European standard-compliant product, refer to “6 Product Compliance” in the instruction manual for the ECG series electric actuator controller (SM-A27751) and follow the instructions. 2021-01-07...
  • Page 8 SM-A40832-A 1. PRODUCT OVERVIEW ◼ ECG-B Series 2021-01-07...

  • Page 9: Instruction Manuals Related To This Product

    1.2 Instruction Manuals Related to This Product This manual provides explanation of the EtherCAT specifications of the ECG series controller. For mounting and setting parameter and point data, refer to the instruction manual for the ECG series electric actuator controller (SM-A27751).

  • Page 10: Names Of Parts

    SM-A40832-A 1. PRODUCT OVERVIEW 1.3 Names of Parts 1.3.1 LED Name Color Explanation Green Indicates the slave status. Indicates the communication status. L/A IN Green Indicates the link status on the IN side. L/A OUT Indicates the link status on the OUT side. ◼...

  • Page 11: Specifications

    SM-A40832-A 1. PRODUCT OVERVIEW 1.4 Specifications 1.4.1 Communication specifications Item Details Communication protocol EtherCAT 100 Mbps Communication speed (fast Ethernet, full duplex) Process data Variable PDO mapping Max. PDO data length RxPDO: 64 bytes/TxPDO: 64 bytes Station alias 0 to 65535 (set with parameter) Ethernet cable Communication cable (CAT5e or above twisted-pair cable [aluminum tape and braided...

  • Page 12: Dimensions

    SM-A40832-A 1. PRODUCT OVERVIEW 1.5 Dimensions ◼ Normal mounting ◼ DIN rail mounting Grounding terminal (M3  5 pan head screw) 2021-01-07...

  • Page 13: Installation

    SM-A40832-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. Fire or damage may result.

  • Page 14: Wiring Method

    SM-A40832-A 2. INSTALLATION 2.1 Wiring method WARNING Perform the wiring with the power supply turned OFF. Touching the electrical wiring connections (bare charger) may cause electric shock. Do not touch the charger with bare hands. Doing so may cause electric shock. Read and fully understand this instruction manual before performing the electrical wiring.

  • Page 15: Connection And Wiring To Cn5 (Interface Connector)

    SM-A40832-A 2. INSTALLATION 2.1.1 Connection and wiring to CN5 (interface connector) This manual covers CN5 (interface connector) only. EtherCAT is capable of the use of normal Ethernet cables and flexible wiring methods, but is limited by the type of wiring, equipment, master, or hub to be used. Understand these specifications before performing the wiring.

  • Page 16: Other Connections And Wiring

    Send data, minus Receive data, plus Vacant Vacant Vacant Vacant Receive data, minus Vacant Vacant Vacant Vacant 2.1.2 Other connections and wiring For other connection methods, refer to the instruction manual for the ECG series electric actuator controller (SM-A27751). 2021-01-07...

  • Page 17: Usage

    Refer to the instruction manual of the master unit manufacturer for how to install the ESI file. Use the latest ESI file to configure an appropriate network. ESI files are available on the website of CKD (https://www.ckd.co.jp/). <How to obtain>...

  • Page 18: Ethercat Device Settings

    SM-A40832-A 3. USAGE 3.2 EtherCAT device settings To connect this product as an EtherCAT device, it is necessary to set the device ID, etc. of this product in the PLC using a PLC development tool, etc. Refer to the PLC manual for the PLC setting method. <Controller EtherCAT settings>...

  • Page 19: Communication Format

    SM-A40832-A 3. USAGE 3.3 Communication format 3.3.1 Data communication Type of data communication Description This type of communication is used between the master and slave on a set cycle. Cyclic communication Also called process data communication. This type of communication is used by a PLC or other host device to access certain Message communication data on a slave through the master, when needed.
  • Page 20 SM-A40832-A 3. USAGE ◼ Write data and read data Operate the following items. Classification Item Data to be written to the controller by the PLC Data number, data R/W selection, data request, write data (Input signal and Input data) Data to be read from the controller by the PLC Data write status, data complete, data response, read data, data (alarm) (Output signal and Output data) <To read data>...

  • Page 21: Operation Mode

    SM-A40832-A 3. USAGE 3.3.3 Operation mode There are 3 operation modes (EtherCAT) as below. The PIO mode can be changed among the 5 types according to the setting of operation mode (PIO). Operation mode Name Abbreviation (EtherCAT) PIO mode Simple direct value mode Full direct value mode ◼...

  • Page 22: Process Data

    SM-A40832-A 3. USAGE 3.3.4 Process data The format of the data to be sent and received as process data is described below. Refer to “3.4 Data access“ and the PLC manufacturer's manual for the communication method. ◼ Output signal/Output data Set data for the PLC to read from the controller.
  • Page 23 Note 1: The alarm 0 to 15 indicates the first digit of the alarm code as a hexadecimal number. For more detail, refer to “Signal name list” of “2.3.3. I/O cable wiring” in the instruction manual for the ECG series electric actuator controller (SM-A27751). For alarm codes, refer to “5.1 Alarm Indications and Countermeasures”...
  • Page 24 SM-A40832-A 3. USAGE <Simple direct value mode (operation mode (EtherCAT): 1)> Output signal Index Display (hexade Item Value (decimal) Index name cimal) Point number confirmation bit 0 Point number confirmation bit 1 Binary data Point number confirmation For direct value travel: 0 is set. bit 2 For point travel: The travel completion point number is Point number confirmation...
  • Page 25 SM-A40832-A 3. USAGE Output signal Index Display (hexade Item Value (decimal) Index name cimal) Point zone 0: Outside zone, 1: Inside zone Traveling Note 1 0: Stopped, 1: Traveling Zone 1 0: Outside zone, 1: Inside zone Zone 2 0: Outside zone, 1: Inside zone 20 to Note 1: Both point travel complete and moving may be ON (“1”) at the same time depending on the timing.
  • Page 26 SM-A40832-A 3. USAGE <Full direct value mode (operation mode (EtherCAT): 2)> Output signal Index Display (hexade Item Value (decimal) Index name cimal) Point number confirmation bit 0 Point number confirmation bit 1 Binary data Point number confirmation For direct value travel: 0 is set. bit 2 For point travel: The travel completion point number is Point number confirmation...
  • Page 27 SM-A40832-A 3. USAGE Output signal Index Display (hexade Item Value (decimal) Index name cimal) Point zone 0: Outside zone, 1: Inside zone Traveling Note 1 0: Stopped, 1: Traveling Zone 1 0: Outside zone, 1: Inside zone Zone 2 0: Outside zone, 1: Inside zone 20 to Note 1: Both point travel complete and moving may be ON (“1”) at the same time depending on the timing.
  • Page 28 SM-A40832-A 3. USAGE ◼ Input signal, Input data Set data to write from the PLC to the controller. Refer to “3.3.6 Data number“ for the items that can be selected in the data number. <PIO mode (operation mode (EtherCAT): 0) Example: 64-point mode (operation mode (PIO): 0)> Input signal Index Display...
  • Page 29 SM-A40832-A 3. USAGE Input data Index (hexade Display name Item Value (decimal) Index cimal) 0x01 Input data 1 Write data Data written when executing data write 0x02 Input data 2 Data number Data number of data to read/write 0x2003 0x03 to Input data 3 to 0x0E Input data 14...
  • Page 30 SM-A40832-A 3. USAGE <Simple direct value mode (operation mode: 1)> Input signal Index Display (hexade Item Value (decimal) Index name cimal) Point number selection bit 0 Point number selection bit 1 Binary data Point number selection bit 2 0 to 63 * The bit 0 side indicates the low-order bit, and the bit 5 Point number selection bit 3 side indicates the high-order bit.
  • Page 31 SM-A40832-A 3. USAGE 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”). •...
  • Page 32 SM-A40832-A 3. USAGE <Full direct value mode (operation mode: 2)> Input signal Index Display (hexade Item Value (decimal) Index name cimal) Point number selection bit 0 Point number selection bit 1 Binary data Point number selection bit 2 0 to 63 * The bit 0 side indicates the low-order bit, and the bit 5 Point number selection bit 3 side indicates the high-order bit.
  • Page 33 SM-A40832-A 3. USAGE 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”). •...

  • Page 34: Cyclic Data Details For Pio Mode

    SM-A40832-A 3. USAGE 3.3.5 Cyclic data details for PIO mode ◼ 64-point (B064) (operation mode (PIO): 0) Output signal: Controller → PLC Index Display (hexade Item Value (decimal) Index name cimal) Point number confirmation bit 0/ alarm confirmation bit 0 Point number confirmation bit 1/ Port numbers 0 to 63 alarm confirmation bit 1...
  • Page 35 SM-A40832-A 3. USAGE Input signal: PLC → Controller Index Display (hexadec Item Value (decimal) Index name imal) Point number selection bit 0 Point number selection bit 1 Binary data Point number selection bit 2 0 to 63 * The bit 0 side indicates the low-order bit, and the bit 5 Point number selection bit 3 side indicates the high-order bit.
  • Page 36 SM-A40832-A 3. USAGE ◼ Simple 7-point mode (S007) (operation mode (PIO): 1) Output signal: Controller → PLC Index Display (hexade Item Value (decimal) Index name cimal) Point number 1 travel complete 0: Incomplete, 1: Complete Point number 2 travel complete 0: Incomplete, 1: Complete Point number 3 travel complete 0: Incomplete, 1: Complete...
  • Page 37 SM-A40832-A 3. USAGE Input signal: PLC → Controller Index Display (hexadec Item Value (decimal) Index name imal) 1: Start Point number 1 travel start Point number 2 travel start 1: Start Point number 3 travel start 1: Start Point number 4 travel start 1: Start Point number 5 travel start 1: Start...
  • Page 38 SM-A40832-A 3. USAGE ◼ Solenoid valve mode, double 2-position type (VW2P) (operation mode (PIO): 2) Output signal: Controller → PLC Index Display (hexade Item Value (decimal) Index name cimal) Point number 1 travel complete 0: Incomplete, 1: Complete Point number 2 travel complete 0: Incomplete, 1: Complete Switch 1 0: OFF, 1: ON...
  • Page 39 SM-A40832-A 3. USAGE Input signal: PLC → Controller Index Display (hexadec Item Value (decimal) Index name imal) 1: ON Solenoid valve travel command 1 Solenoid valve travel command 2 1: ON Input 0x2001 0x01 signal 1 Home position return start 1: Home position return start Servo ON 1: Servo ON, 0: Cancel...
  • Page 40 SM-A40832-A 3. USAGE ◼ Solenoid valve mode, double 3-position type (VW3P) (operation mode (PIO): 3) Output signal: Controller → PLC Index Display (hexade Item Value (decimal) Index name cimal) Point number 1 travel complete 0: Incomplete, 1: Complete Point number 2 travel complete 0: Incomplete, 1: Complete Switch 1 0: OFF, 1: ON...
  • Page 41 SM-A40832-A 3. USAGE Input signal: PLC → Controller Index Display (hexadec Item Value (decimal) Index name imal) 1: ON Solenoid valve travel command 1 Solenoid valve travel command 2 1: ON Input 0x2001 0x01 signal 1 Home position return start 1: Home position return start Servo ON 1: Servo ON, 0: Cancel...
  • Page 42 SM-A40832-A 3. USAGE ◼ Solenoid valve mode, single type (VSGL) (operation mode (PIO): 4) Output signal: Controller → PLC Index Display (hexade Item Value (decimal) Index name cimal) Point number 1 travel complete 0: Incomplete, 1: Complete Point number 2 travel complete 0: Incomplete, 1: Complete Switch 1 0: OFF, 1: ON...
  • Page 43 SM-A40832-A 3. USAGE Input signal: PLC → Controller Index Display (hexadec Item Value (decimal) Index name imal) Solenoid valve travel command 0: Travel to point 1, 1: Travel to point 2 Input 0x2001 0x01 signal 1 Home position return start 1: Home position return start Servo ON 1: Servo ON, 0: Cancel...

  • Page 44: Data Number

    SM-A40832-A 3. USAGE 3.3.6 Data number Indicates the data number used when executing data read or data write. Refer to “3.4 Data access,” “3.5.6 Data read,” and “3.5.7 Data write” as well as to the PLC manufacturer’s manual for execution of data read and data write.
  • Page 45 SM-A40832-A 3. USAGE Data number Value Access (hexadecima Item Unit Remarks (decimal) Note 1 Automatic home position 0x5014 0 to 1 0: Disabled, 1: Enabled return Note 4 Emergency stop input 0x5018 0 to 1 0: Enabled, 1: Disabled Note 4 0x5020 Pressing judgment time 0 to 9999...
  • Page 46 SM-A40832-A 3. USAGE Data number Value Access (hexadecima Item Unit Remarks (decimal) Note 1 0: B064 1: S007 Operation mode (PIO) 0x5400 0 to 4 2: VW2P Note 4 3: VW3P 4: VSGL 0: Point zone, 0x5404 Output selection 1 Note 4 0 to 4 1: Zone 1, 2: Zone 2, 3: Traveling, 4: Warnings...
  • Page 47 SM-A40832-A 3. USAGE Data number Value Access (hexadecima Item Unit Remarks (decimal) Note 1 Point data for point No. n (n=0 to 63) Bit 3 to 0: Operation method 0: Positioning operation 1: Pressing operation 1 2: Pressing operation 2 Bit 7 to 4: Position specification method 0: Absolute 1: Incremental...

  • Page 48: Data Access

    SM-A40832-A 3. USAGE 3.4 Data access 3.4.1 Process data Process data is always exchanged between the master and slave at a set cycle. Set the data length and configuration using a PLC development tool, and assign relays and data memories. Input signals and input data will be updated when data is set (coil, bit SET, Move command, etc.).

  • Page 49: Operation Time Chart

    SM-A40832-A 3. USAGE 3.5 Operation time chart 3.5.1 Servo ON WARNING Keep safety in mind. When turning servo OFF during operation, operation may continue with the inertia of the workpiece. CAUTION When turning the servo ON, check that the actuator operates safely. The actuator could start operating once the servo is turned ON, which could cause injury or damage the workpiece.

  • Page 50: From Power-On To Home Position Return

    SM-A40832-A 3. USAGE 3.5.2 From power-on to home position return The diagram below shows the timing of home position return completion from the beginning of the return after the power is turned on. Horizontal axis: Time Control power Power supply Motor power Green Controller display...

  • Page 51: Home Position Return Operation

    SM-A40832-A 3. USAGE 3.5.3 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 52: Positioning Operation

    SM-A40832-A 3. USAGE 3.5.4 Positioning operation ◼ Point operation <Designating a stop during travel> Horizontal axis: Time Point travel start Stop (Negative logic) Input signal The traveling point number Point number is designated in binary selection code. Displacement 変位 Point 7 Displacement Point 3 Point 1...
  • Page 53 SM-A40832-A 3. USAGE <Designating a pause during travel> Horizontal axis: Time Point travel start Pause (Negative Input signal logic) The traveling point number Point is designated in binary number code. selection Displacement Point 7 Displacement Point 3 Point 1 Point travel Note 2 complete Traveling...
  • Page 54 SM-A40832-A 3. USAGE ◼ Direct value operation <Simple direct value mode> Check that the point data for the point number to be specified by input data is set. Set the position and point number in the input data. Set Direct value travel selection to ON. (Order of steps 2 and 3 can be reversed.) Turn ON the point travel start bit.
  • Page 55 SM-A40832-A 3. USAGE <Full direct value mode> After setting the position, speed, and other point data in the input data, turn the point travel start bit ON. Horizontal axis: Time Point travel start Direct value travel Input signal selection Input data Point data Displacement Travel position 3...
  • Page 56 SM-A40832-A 3. USAGE <Direct value travel selection and direct travel status> Turn ON the direct value travel selection. When the direct value travel starts, the direct value travel status is turned ON, and it stays ON until the next point travel starts. (It remains ON even when the servo OFF.) Horizontal axis: Time Point travel start...

  • Page 57: Monitor

    SM-A40832-A 3. USAGE 3.5.5 Monitor After setting the monitor number, turn monitor request ON. Horizontal axis: Time Monitor No. Input signal Input data Monitor request Monitor complete Output signal Monitor Output data response Monitor value Monitor Monitor Monitor start stop start Monitor No.

  • Page 58: Data Read

    SM-A40832-A 3. USAGE 3.5.6 Data read After setting the data number and data R/W selection, turn data request ON. Horizontal axis: Time Data number Input signal Data R/W Input data selection Data request Data write status Data complete Output signal Output data Data response...

  • Page 59: Data Write

    SM-A40832-A 3. USAGE 3.5.7 Data write After setting the data number, write data, and data R/W selection, turn data request ON. Horizontal axis: Time Data number Write data Input signal Input data Data R/W select Data request Controller internal processing Write processing Data Write status...

  • Page 60: 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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