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
SM-A40832-A 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.

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.

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SM-A40832-A SAFETY INFORMATION

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.

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.

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.

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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.
This product was designed and manufactured as equipment and parts for general industrial
machinery.
Use this product in accordance with specifications.
It cannot be used outside of product-specific specifications. Never modify or additionally process
the product.
Since this product is intended for use in general industrial machinery equipment and parts, it is not
applicable to be used outdoors or in the following conditions and environments.
(It will be applicable if you consult with our company at the time of its adoption and understand the
specifications of our company's product. However, even in such a case, take safety measures to
avoid danger in case of failure.)
• Use in equipment and applications that come into direct contact with nuclear power, railways,
aviation, ships, vehicles, medical equipment, beverages and food.
• Use in applications requiring safety, such as recreational equipment, emergency shut off
circuits, press machines, brake circuits, and safety measures.
• Use in applications that are expected to have a significant impact on people and property and
require special safety.
Never handle the product or remove the equipment until safety is confirmed.
• Check and maintain the machinery and equipment only after confirming that all systems related
to the product are safe. Turn off the power supply of the equipment and the corresponding
equipment to prevent a short circuit.
• Even when the operation is stopped, there may be a high-temperature part or a charging part.
Handle the product and remove the equipment carefully.

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.

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SM-A40832-A CONTENTS

CONTENTS
PREFACE ........................................................................................................................... i
SAFETY INFORMATION .................................................................................................. ii
Product precautions ....................................................................................................... iii
Disposal precautions ..................................................................................................... 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 ...................................................... 4
1.3 Names of Parts ................................................................................................... 5
1.3.1 LED ................................................................................................................. 5
1.4 Specifications ...................................................................................................... 6
1.4.1 Communication specifications ........................................................................ 6
1.5 Dimensions ......................................................................................................... 7
2. INSTALLATION ......................................................................................................... 8
2.1 Wiring method ..................................................................................................... 9
2.1.1 Connection and wiring to CN5 (interface connector) ................................... 10
2.1.2 Other connections and wiring........................................................................11
3. USAGE..................................................................................................................... 12
3.1 Obtaining ESI files ............................................................................................ 12
3.2 EtherCAT device settings.................................................................................. 13
3.3 Communication format...................................................................................... 14
3.3.1 Data communication..................................................................................... 14
3.3.2 Send/receive data ........................................................................................ 14
3.3.3 Operation mode ............................................................................................ 16
3.3.4 Process data................................................................................................. 17
3.3.5 Cyclic data details for PIO mode .................................................................. 29
3.3.6 Data number ................................................................................................. 39
3.4 Data access ...................................................................................................... 43
3.4.1 Process data................................................................................................. 43
3.5 Operation time chart ......................................................................................... 44
3.5.1 Servo ON ...................................................................................................... 44
3.5.2 From power-on to home position return ....................................................... 45
3.5.3 Home position return operation .................................................................... 46
3.5.4 Positioning operation .................................................................................... 47
3.5.5 Monitor .......................................................................................................... 52
3.5.6 Data read ...................................................................................................... 53
3.5.7 Data write ..................................................................................................... 54
4. WARRANTY PROVISIONS ..................................................................................... 55
4.1 Warranty Conditions ......................................................................................... 55
4.2 Warranty Period ................................................................................................ 55

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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
other countries.
• Other company and product names in this document are company’s trademarks or registered
trademarks.

1.1.1 System structure

◼ ECG-A Series

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SM-A40832-A 1. PRODUCT OVERVIEW

Components in the system structure that are available from CKD are listed below.

Component Product name/Model no.

This product Controller ECG-A Series

Accessories Power connector DFMC 1,5/ 3-STF-3,5 (PHOENIX CONTACT)

Actuator EBS-G/EBR-G Series

Motor cable EA-CBLM2-*

Encoder cable EA-CBLE2--*

Sold separately
24 VDC power supply EA-PWR-KHNA240F-24

Surge protector AX-NSF-RAV-781BXZ-4

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.

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SM-A40832-A 1. PRODUCT OVERVIEW

◼ ECG-B Series

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SM-A40832-A 1. PRODUCT OVERVIEW

Components in the system structure that are available from CKD are listed below.

Component Product name/Model no.

This product Controller ECG-B Series

Accessories Power connector DFMC 1,5/ 3-STF-3,5 (PHOENIX CONTACT)

Actuator FLSH-G/FLCR-G/FGRC-G Series

Motor and encoder relay cable EA-CBLME2-*

Sold separately 24 VDC power supply EA-PWR-KHNA240F-24

Surge protector AX-NSF-RAV-781BXZ-4

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.

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).

Item Name No.

Electric actuator
EBS-G series (slider type) SM-A28054
EBR-G series (rod type with built-in guide)

Electric actuator
SM-A40839
FLSH-G Series
Actuator

Electric actuator
SM-A40842
FLCR-G Series

Electric actuator
SM-A40845
FGRC-G Series

Controller for Electric actuators

Controller SM-A27751
ECG series

PC Setting Software for Electric Actuators

Setting software SM-A11147
S-Tools

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SM-A40832-A 1. PRODUCT OVERVIEW

1.3 Names of Parts

1.3.1 LED

Name Color Explanation

RUN Green Indicates the slave status.

ERR Red Indicates the communication status.

L/A IN Green Indicates the link status on the IN side.

L/A OUT Red Indicates the link status on the OUT side.

◼ Communication status display

<RUN>
LED Status Operation
Off INIT Status
Blinking PRE-OPERATION status
Blinking (momentarily) SAFE-OPERATION status
Blinking (high-speed) BOOTSTRAP status
ON OPERATIONL status

<ERR>
LED Status Operation
Off Communication normal
Blinking Communication error
ON WDT error

<L/A IN>
LED Status Operation
Off NO LINK, NO ACTIVITY
ON LINK, NO ACTIVITY
Blinking (high-speed) LINK, ACTIVITY

<L/A OUT>
LED Status Operation
Off NO LINK, NO ACTIVITY
ON LINK, NO ACTIVITY
Blinking (high-speed) LINK, ACTIVITY

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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
double-shield] recommended)
Node address Automatically assigned by master

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SM-A40832-A 1. PRODUCT OVERVIEW

1.5 Dimensions

◼ Normal mounting

◼ DIN rail mounting

Grounding terminal
(M3  5 pan head screw)

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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.
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%) for the controller and
input/output circuit.
Connecting directly to an AC power supply may lead to fire, rupture, or damage.

WARNING
Design safety circuits or devices as the entire system including hardware in order to prevent
damage to the device or an accident resulting in injury or death in the event that a machine
stops due to system abnormality such as an emergency stop or a power failure.

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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.

CAUTION
Check the working voltage and polarity before wiring and energizing.
Take countermeasures against lightning surges in the equipment side.
The product is not resistant to lightning surges.
For an AC voltage, use it in the installation category 2.
Use a dedicated communication cable conforming to the EtherCAT specifications.
Secure a sufficient bending radius of the communication cable to avoid excessive bending.
Separate the communication cable from the power line or high voltage line.

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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. For details, refer to the instruction manual of the master unit manufacturer or ETG
(EtherCAT Technology Group).

A communication connector is not attached to this product. Purchase a communication connector that
meets the specifications separately.

Example of cable with connector

Manufacturer Cable Type

JMACS Japan Co., Ltd. Industrial Ethernet cable PNET/B-RJB-RJB/***□

***: cable length, □: M = meter, C = centimeter

Example of assembling type connector

Manufacturer Connector Type

3M Japan Limited RJ45 modular plug for industrial use 3R104-1110-**0 AM

**: case color / cover color

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SM-A40832-A 2. INSTALLATION

◼ Connection method

<Communication cable>
Follow the procedure below to connect the communication cable to CN5.
1 After confirming safety, stop communication and turn off the power of peripheral devices.
2 As shown below, route a communication cable conforming to the EtherCAT specifications to the
RJ45 plug (EtherCAT compliant product).

Signal
Port Pin Function
name

1 TD+ Send data, plus

2 TD- Send data, minus

3 RD+ Receive data, plus

IN/ 4 Vacant Vacant

OUT 5 Vacant Vacant

6 RD- Receive data, minus

7 Vacant Vacant

8 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).

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SM-A40832-A 3. USAGE

3. USAGE
• When using the ECG-B Series, ensure to set the actuator information using S-Tools. Refer to
the S-Tools instruction manual (SM-A11147) for setting the information.
• To use S-Tools with the settings of the ECG-A Series or ECG-B Series, the S-Tools version
must be as follows:
ECG-A Series, ECG-B Series: Version 1.04.00.00 or later

3.1 Obtaining ESI files

In order for the EtherCAT device to join the network, an ESI (EtherCAT Slave Information) describing the
communication specifications of the device must be installed in the configuration tool of the master unit.
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>
1 Select “COMPONENT PRODUCTS” from the “PRODUCT INFORMATION” tab or the “PRODUCT
INFORMATION” page.

2 Select “Electric actuator” in the product lineup.

3 Select “Stepper motor drive.”

4 Access the detail page of “Controller Model No. ECG” from the product list.

5 Select “Software” and download “ECG Series ESI file (EtherCAT).zip”.

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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>

S-Tools can be used to change the device ID and other settings.

1 Select the “Settings” tab of S-Tools and click the [EtherCAT setting] button in the network submenu.

2 Confirm that each set value has been set, and then select [Write].

Name Description

Operation mode Set the operation mode. Select “PIO,” “SDP,” or “FDP.” Note 1

Device ID Set the Device ID. The initial value is “1.”

Device ID setting for Station Alias register Select “Set” or “Not set.” The initial value is “Set.”
Note 1: Refer to “3.3.3 Operation mode“ for the operation mode.

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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.
Also called service data.

3.3.2 Send/receive data

The following data is transmitted and received between the PLC and the controller, and cyclic
communication is used for all data transmission and reception. Refer to “3.4 Data access“ for the
communication method.

Data to be sent
Name Description Accessible data
and received

The actuator is operated in the same way as the controller of 3.3.4

Input/output signals -
the parallel I/O specifications. 3.3.5

The point data and user parameters are set, and the alarm
Read data and write data 3.3.6 3.3.4
history is checked.

Monitor The position, speed, current, and alarm status are monitored - 3.3.4

◼ Input/output signals
The items listed in the table below (signal name) are transmitted and received.

Classification Item (signal name)

Point number selection bit n, point travel start, point number n travel start, solenoid valve
Data to be written to the controller by travel command n, solenoid valve travel command, servo ON, alarm reset, stop, pause,
the PLC INCH selection, JOG/INCH (+) travel start, JOG/INCH (-) travel start, direct value travel
(Input signal and Input data) selection, position, positioning width, speed, acceleration, deceleration, pressing rate,
pressing speed, pressing distance, mode, gain magnification

Point number confirmation bit n, point travel complete, point number n travel complete,
Data to be read from the controller by
switch n, home position return complete, servo ON state, traveling, zone 1, zone 2, point
the PLC
zone, alarm, warning, operation preparation complete, alarm confirmation bit n, direct
(Output signal and Output data)
value travel status

When the PIO mode is selected, the same items as the controller of the parallel I/O
specifications are sent and received.
When the simple direct value mode or full direct value mode is selected, and the direct value
travel is selected in the “direct value travel selection,” it is necessary to set the “position,”
“speed,” etc.

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◼ 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>

Set the number of the data to be read in the “data number,” set the “data R/W selection” to 0 (read), then
turn the “data request” ON. The data of the number set in the “data number” will be output in the “read
data.”

<To write data>

After setting the number of the data to be written in the “data number” and setting the value to be written
in the “write data,” set the “data R/W selection” to 1 (write), then turn the “data request” ON.
* Check “data response” and “data completion” to see if the data was read or written correctly.

Setting point data and parameter and reading alarm history can also be performed using PC
setting software (S-Tools). For parameters that cannot be set from a PLC, use S-Tools.

◼ Monitor
Operate the following items (signal name).

Classification Item (signal name)

Data to be written to the controller by the PLC

Monitor No. n, monitor request
(Input signal and Input data)

Data to be read from the controller by the

Monitor response, monitor complete, monitor value n, position, speed,
PLC
current, alarm
(Output signal and Output data)

When the data to be monitored is selected in “monitor No. n,” and “monitor request” is turned ON, the
current value of the selected data is output in “monitor value n.”

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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 PIO 0

Simple direct value mode SDP 1

Full direct value mode FDP 2

◼ PIO mode
This mode performs control in accordance with conventional signal I/O.

Name Abbreviation Operation mode (PIO)

64-point mode B064 0

Simple 7-point mode S007 1

Solenoid valve mode, double 2-position

VW2P 2
type
Solenoid valve mode, double 3-position
VW3P 3
type

Solenoid valve mode, single type VSGL 4

◼ Simple direct value mode and full direct value mode

This mode is used to perform control by point travel or direct value travel.

Simple direct value mode Full direct value mode

• When the direct value travel selection of the input signal is OFF, the point travel can be used.
Point travel • The point data selection method is the same as the 64-point mode of the PIO mode.
• When the point travel is started, the direct value travel status of the output signal turns OFF.

• When the direct value travel selection of the input signal is ON, the direct value travel can be used.
• When the direct value travel is started, the direct value travel status of the output signal turns ON.
• The point number confirmation bit of the output signal is not set when the travel is completed.

Direct value • Only the data that are input from the PLC are used
travel as position data; and other data (including speed
and acceleration) to be used are from point data. • It operates using data (data equivalent to point data
• The point data selection method is the same as the such as position and speed) that are input from a
64-point mode of the PIO mode. PLC.
• It is used to change only the position data based on
the set point data.

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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.

<PIO mode (operation mode (EtherCAT): 0) Example: 64-point mode (operation mode (PIO): 0)>

Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

Point number confirmation bit 0/

0
alarm confirmation bit 0

Point number confirmation bit 1/

1 Port numbers 0 to 63
alarm confirmation bit 1
Alarms 0 to 15 Note 1
Point number confirmation bit 2/
2 * Set the travel complete point number when
alarm confirmation bit 2
normal and the alarm when abnormal.
* The bit 0 side indicates the low-order bit, and the
Point number confirmation bit 3/
3 bit 5 side indicates the high-order bit.
alarm confirmation bit 3

4 Point number confirmation bit 4

5 Point number confirmation bit 5

6 Point travel complete Note 2 0: Incomplete, 1: Complete

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1 Note 2
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
Output 0: Triggered, 1: Not triggered
0x2005 0x01
signal 1
Point zone/Zone 1/Zone 2
0: Outside zone, 1: Inside zone
Selection output 2 Note 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

Home position return complete

9 0: Incomplete, 1: Complete
Note 3

10 Servo ON state Note 3 0: OFF state, 1: ON state

11 Alarm Note 3 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

Data read/write execution result

13 Data response Note 3
0 to 1

14 Data complete Note 3 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

16 to 31 -

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Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)
Output
0x02 0 to 31 -
signal 2
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” in the instruction manual for the ECG series electric actuator
controller (SM-A27751).
Note 2: Both point travel complete and moving may be ON(“1”) at the same time depending on the timing.
Note 3: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).

When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

Output data

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Note 1 Set the data that was read.

The time is set when alarm data detail is read.

0x2007 0x02 Output data 2 Data (alarm) Note 1
* The alarm code is set to the read data.
0x03 to Output data 3 to
-
0x0E Output data 14
Note 1: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).

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<Simple direct value mode (operation mode (EtherCAT): 1)>

Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)
Point number confirmation
0
bit 0
Point number confirmation
1
bit 1
Binary data
Point number confirmation
2 For direct value travel: 0 is set.
bit 2
For point travel: The travel completion point number is
Point number confirmation set.
3
bit 3 * The bit 0 side indicates the low-order bit, and the bit 5 side
indicates the high-order bit. Note 3
Point number confirmation
4
bit 4
Point number confirmation
5
bit 5

6 to 9 -
Output
0x01 Point travel complete
signal 1 10 0: Incomplete, 1: Complete
Note 1
Home position return
11 0: Incomplete, 1: Complete
complete Note 2

12 Servo ON state Note 2 0: OFF state, 1: ON state

13 Alarm Note 2 0: Triggered, 1: Not triggered

14 Warning Note 2 0: Triggered, 1: Not triggered

0x2005

Operation preparation
15 0: Incomplete, 1: Complete
complete
16 to
-
31
Data read/write execution result
0 to 8
0 to 3 Data response Note 2
* The bit 0 side indicates the low-order bit, and the bit 3 side
indicates the high-order bit.

4 Data complete Note 2 0: Incomplete, 1: Complete

5 Data write status 0: Read, 1: Write

Output
0x02 6 to 7 -
signal 2

0: Normal, 1: Monitor number error

8 to 11 Monitor response Note 2 * The bit 8 side indicates the low-order bit, and the bit 11
side indicates the high-order bit.

12 Monitor complete Note 2 0: Incomplete, 1: Complete

13 to
-
14

15 Direct travel status 0: Point travel, 1: Direct value travel

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Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

16 Point zone 0: Outside zone, 1: Inside zone

17 Traveling Note 1 0: Stopped, 1: Traveling

18 Zone 1 0: Outside zone, 1: Inside zone

19 Zone 2 0: Outside zone, 1: Inside zone

20 to
-
31
Note 1: Both point travel complete and moving may be ON (“1”) at the same time depending on the timing.
Note 2: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).
Note 3: The value becomes undefined if the direct value travel selection (Input signal 2, bit 15) is turned ON from OFF.

When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

Output data

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)
Position (0.01 mm) (0.01
0x01 Output data 1 -999999 to 999999
deg) Note 1

0x02 Output data 2 Read data Note 1 Set the data that was read.

The time is set when alarm data detail is read.

0x03 Output data 3 Data (alarm) Note 1
* The alarm code is set to the read data.
0x2007 0x04 Output data 4 Monitor value 1 Note 1 The monitor data that was read is set.

0x05 Output data 5 Monitor value 2 Note 1 The monitor data that was read is set.

0x06 Output data 6 Monitor value 3 Note 1 The monitor data that was read is set.

0x07 to Output data 7 to

-
0x0E Output data 14
Note 1: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).

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<Full direct value mode (operation mode (EtherCAT): 2)>

Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)
Point number confirmation
0
bit 0
Point number confirmation
1
bit 1
Binary data
Point number confirmation
2 For direct value travel: 0 is set.
bit 2
For point travel: The travel completion point number is
Point number confirmation set.
3
bit 3 * The bit 0 side indicates the low-order bit, and the bit 5 side
indicates the high-order bit. Note 3
Point number confirmation
4
bit 4
Point number confirmation
5
bit 5

6 to 9 -
Output
0x01 Point travel complete
signal 1 10 0: Incomplete, 1: Complete
Note 1
Home position return
11 0: Incomplete, 1: Complete
complete Note 2

12 Servo ON state Note 2 0: OFF state, 1: ON state

13 Alarm Note 2 0: Triggered, 1: Not triggered

14 Warning Note 2 0: Triggered, 1: Not triggered

0x2005

Operation preparation
15 0: Incomplete, 1: Complete
complete
16 to
-
31
Data read/write execution result
0 to 8
0 to 3 Data response Note 2
* The bit 0 side indicates the low-order bit, and the bit 3 side
indicates the high-order bit.

4 Data complete Note 2 0: Incomplete, 1: Complete

5 Data write status 0: Read, 1: Write

Output
0x02 6 to 7 -
signal 2

0: Normal, 1: Monitor number error

8 to 11 Monitor response Note 2 * The bit 8 side indicates the low-order bit, and the bit 11
side indicates the high-order bit.

12 Monitor complete Note 2 0: Incomplete, 1: Complete

13 to
-
14

15 Direct travel status 0: Point travel, 1: Direct value travel

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Output signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

16 Point zone 0: Outside zone, 1: Inside zone

17 Traveling Note 1 0: Stopped, 1: Traveling

18 Zone 1 0: Outside zone, 1: Inside zone

19 Zone 2 0: Outside zone, 1: Inside zone

20 to
-
31
Note 1: Both point travel complete and moving may be ON (“1”) at the same time depending on the timing.
Note 2: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).
Note 3: The value becomes undefined if the direct value travel selection (Input signal 2, bit 15) is turned ON from OFF.

When starting, first confirm the PLC communication status for the alarm signal, warning signal,
and other signals, and then reference the status.

Output data

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)
Position (0.01 mm) (0.01
0x01 Output data 1 -999999 to 999999
deg) Note 1

0x02 Output data 2 Speed (mm/s) (deg/s) Note 1 0 to 9999

0x03 Output data 3 Current (%) Note 1 0 to 100

0x04 Output data 4 -

0x05 Output data 5 Alarm Note 1 The alarm code is set.

0x2007
0x07 to Output data 6 to
-
0x0A Output data 10

0x0B Output data 11 Read data Note 1 Set the data that was read.

The time is set when alarm data detail is read.

0x0C Output data 12 Data (alarm) Note 1
* The alarm code is set to the read data.

0x0D Output data 13 Monitor value 1 Note 1 The monitor data that was read is set.

0x0E Output data 14 Monitor value 2 Note 1 The monitor data that was read is set.
Note 1: Content can be monitored even in TOOL mode when not in forced output mode. Other items are turned OFF(“0”).

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◼ 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
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)
Point number selection bit
0
0
Point number selection bit
1
1
Point number selection bit
2 Binary data
2
0 to 63
Point number selection bit * The bit 0 side indicates the low-order bit, and the bit 5 side
3 indicates the high-order bit.
3
Point number selection bit
4
4
Point number selection bit
5
5

6 Point travel start 1: Start

Input 7 JOG (-) travel start 1: Start

0x01
signal 1
0x2001 8 JOG (+) travel start 1: Start

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 Stop 0: Stop, 1: Cancel

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

16 to
-
31
Input
0x02 0 to 31 -
signal 2

• 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 negative logics. Turn ON (“1”) (cancel) bits for both to operate.

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Input data

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write

0x2003 0x02 Input data 2 Data number Data number of data to read/write

0x03 to Input data 3 to

-
0x0E Input data 14

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<Simple direct value mode (operation mode: 1)>

Input signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number selection bit 0

1 Point number selection bit 1

2 Binary data
Point number selection bit 2
0 to 63
3 * The bit 0 side indicates the low-order bit, and the bit 5
Point number selection bit 3
side indicates the high-order bit.

4 Point number selection bit 4

5 Point number selection bit 5

6 -

7 JOG/INCH (-) travel start 1: Start

8 JOG/INCH(+) travel start 1: Start

Input
0x01
signal 1 9 INCH selection 0: JOG, 1: INCH

10 Point travel start 1: Start

11 Home position return start 1: Home position return start

12 Servo ON 1: Servo ON, 0: Cancel

0x2001 13 Alarm reset 1: Reset

14 Stop 0: Stop, 1: Cancel

15 Pause 0: Pause, 1: Cancel

16 to
-
31

0 to 3 -

4 Data request 1: Execute

5 Data R/W selection 0: Read, 1: Write

Input 6 to 11 -
0x02
signal 2
12 Monitor request 1: Execute

13 to
-
14
Direct value travel selection
15 0: Point travel, 1: Direct value travel
Note 1
16 to
-
31
Note 1: When the direct value travel selection is turned OFF(“0”), the point travel can be performed in the same way as the 64-point
mode.

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• 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 the monitor number is switched, there will be some time lag until the data actually
switches. If you refer to the data immediately after switching, you may reference unintended
data.
• Stop and pause are negative logics. Turn ON (“1”) (cancel) bits for both to operate. (You
cannot disable stop and pause in the simple direct value mode or the full direct value mode.)

Input data

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)
Position (0.01 mm) (0.01 deg)
0x01 Input data 1 -999999 to 999999
Note 1

0x02 Input data 2 Write data Data written when executing data write

0x03 Input data 3 Data number Data number of data to read/write

1: Position
2: Speed
0x04 Input data 4 Monitor number 1
3: Current value
5: Alarm
0x2007
1: Position
2: Speed
0x05 Input data 5 Monitor number 2
3: Current value
5: Alarm
1: Position
2: Speed
0x06 Input data 6 Monitor number 3
3: Current value
5: Alarm
0x07 to Input data 7 to
-
0x0E Input data 14
Note 1: When the PLC is powered on, this item is set to 0. The value of this item does not change unless a new value is written from the
PLC.

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<Full direct value mode (operation mode: 2)>

Input signal

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number selection bit 0

1 Point number selection bit 1

2 Binary data
Point number selection bit 2
0 to 63
3 * The bit 0 side indicates the low-order bit, and the bit 5
Point number selection bit 3
side indicates the high-order bit.

4 Point number selection bit 4

5 Point number selection bit 5

6 -

7 JOG/INCH(-) travel start 1: Start

8 JOG/INCH(+) travel start 1: Start

Input
0x01
signal 1
9 INCH selection 0: JOG, 1: INCH

10 Point travel start 1: Start

11 Home position return start 1: Home position return start

12 Servo ON 1: Servo ON, 0: Cancel

0x2001
13 Alarm reset 1: Reset

14 Stop 0: Stop, 1: Cancel

15 Pause 0: Pause, 1: Cancel

16 to 31 -

0 to 3 -

4 Data request 1: Execute

5 Data R/W selection 0: Read, 1: Write

Input 6 to 11 -
0x02
signal 2
12 Monitor request 1: Execute

13 to 14 -

Direct value travel selection

15 0: Point travel, 1: Direct value travel
Note 1

16 to 31 -
Note 1: When the direct value travel selection is turned OFF(“0”), the point travel can be performed in the same way as the 64-point
mode.

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• 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 the monitor number is switched, there will be some time lag until the data actually
switches. If you refer to the data immediately after switching, you may reference unintended
data.
• Some values may generate errors even if set with the range in this table, depending on the
actuator model No. (size, etc.). If a value out of the specification is set, unexpected operation
may occur.
• Stop and pause are negative logics. Turn ON(“1”) (cancel) bits for both to operate. (You cannot
disable stop and pause in the simple direct value mode or the full direct value mode.)

Input data

Index
Sub Display
(hexade Item Value (decimal)
Index name
cimal)

0x01 Input data 1 Position (0.01 mm) (0.01 deg) Note 1 -999999 to 999999

Positioning width (0.01 mm) (0.01 deg) 0 to 999 (when setting = 0, use common parameter
0x02 Input data 2
Note 1 value)
0 to 9999 (when setting = 0, use common parameter
0x03 Input data 3 Speed (mm/s) (deg/s) Note 1
value)

0x04 Input data 4 Acceleration (0.01 G) Note 1

0 to 255 (when setting = 0, use common parameter
0x05 Input data 5 value)
Deceleration (0.01 G) Note 1

0 to 100 (when setting = 0, use common parameter

0x06 Input data 6 Pressing rate (%) Note 1
value)
0 to 99 (when setting = 0, use common parameter
0x07 Input data 7 Pressing speed (mm/s) (deg/s)Note 1
value)
Pressing distance (0.01 mm) (0.01 deg) -999999 to 999999 (when setting = 0, use common
0x08 Input data 8
Note 1 parameter value)
Bit 1 to 0 (operation method)
0: Positioning operation
1: Pressing operation 1, 2: Pressing operation 2
0x2003 Bit 3 to 2 (position specification method)
0: Absolute, 1: Incremental
Bit 7 to 4 (rotation direction)
0: Common, 1: Close rotation, 2: CW, 3: CCW
0x09 Input data 9 Mode Note 1
Bit 11 to 8 (Acceleration/deceleration method)
0: Common , 1: Trapezoid
Bit 15 to 12 (Stop method)
0: Common, 1: Control, 2: Fixed excitation,
3: Automatic servo OFF 1,
4: Automatic servo OFF 2,
5: Automatic servo OFF 3
0 to 9999 (when setting = 0, displays gain magnification
0x0A Input data 10 Gain magnification (%) Note 1
not in use)

0x0B Input data 11 Write data Data written when executing data write

0x0C Input data 12 Data number Data number of data to read/write

0x04 Input data 13 Monitor number 1 1: Position

2: Speed
3: Current value
0x05 Input data 14 Monitor number 2
5: Alarm
Note 1: When the PLC is powered on, this item is set to 0. The value of this item does not change unless a new value is written from the
PLC.

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3.3.5 Cyclic data details for PIO mode

◼ 64-point (B064) (operation mode (PIO): 0)

Output signal: Controller → PLC

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

Point number confirmation bit 0/

0
alarm confirmation bit 0

Point number confirmation bit 1/

1 Port numbers 0 to 63
alarm confirmation bit 1
Alarms 0 to 15
Point number confirmation bit 2/
2 * Set the travel complete point number when
alarm confirmation bit 2
normal and the alarm when abnormal.
* The bit 0 side indicates the low-order bit, and the
Point number confirmation bit 3/
3 bit 5 side indicates the high-order bit.
alarm confirmation bit 3

4 Point number confirmation bit 4

5 Point number confirmation bit 5

6 Point travel complete 0: Incomplete, 1: Complete

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Output Traveling/Warning
0x2005 0x01 Warning
signal 1
0: Triggered, 1: Not triggered

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

9 Home position return complete 0: Incomplete, 1: Complete

10 Servo ON state 0: OFF state, 1: ON state

11 Alarm 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

13 Data response Data read/write execution result 0 to 1

14 Data complete 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

Output data: PLC → Controller

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Set the data that was read.
0x2007
The time is set when alarm data detail is read.
0x02 Output data 2 Data (alarm)
* The alarm code is set to the read data.

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Input signal: PLC → Controller

Index
Sub Display
(hexadec Bit Item Value (decimal)
Index name
imal)

0 Point number selection bit 0

1 Point number selection bit 1

2 Binary data
Point number selection bit 2
0 to 63
* The bit 0 side indicates the low-order bit, and the bit 5
3 Point number selection bit 3
side indicates the high-order bit.

4 Point number selection bit 4

5 Point number selection bit 5

6 Point travel start 1: Start

7 JOG (−) travel start 1: Start

Input
0x2001 0x01
signal 1
8 JOG (+) travel start 1: Start

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 Stop 0: Stop, 1: Cancel

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

Input data: Controller → PLC

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write
0x2003
0x02 Input data 2 Data number Data number of data to read/write

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◼ Simple 7-point mode (S007) (operation mode (PIO): 1)

Output signal: Controller → PLC

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number 1 travel complete 0: Incomplete, 1: Complete

1 Point number 2 travel complete 0: Incomplete, 1: Complete

2 Point number 3 travel complete 0: Incomplete, 1: Complete

3 Point number 4 travel complete 0: Incomplete, 1: Complete

4 Point number 5 travel complete 0: Incomplete, 1: Complete

5 Point number 6 travel complete 0: Incomplete, 1: Complete

6 Point number 7 travel complete 0: Incomplete, 1: Complete

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered
Output
0x2005 0x01
signal 1 Point zone/Zone 1/Zone 2
0: Outside zone, 1: Inside zone
Selection output 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

9 Home position return complete 0: Incomplete, 1: Complete

10 Servo ON state 0: OFF state, 1: ON state

11 Alarm 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

Data read/write execution result

13 Data response
0 to 1

14 Data complete 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

Output data: PLC → Controller

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Set the data that was read.
0x2007
The time is set when alarm data detail is read.
0x02 Output data 2 Data (alarm)
* The alarm code is set to the read data.

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Input signal: PLC → Controller

Index
Sub Display
(hexadec Bit Item Value (decimal)
Index name
imal)

0 Point number 1 travel start 1: Start

1 Point number 2 travel start 1: Start

2 Point number 3 travel start 1: Start

3 Point number 4 travel start 1: Start

4 Point number 5 travel start 1: Start

5 Point number 6 travel start 1: Start

6 Point travel start 1: Start

7 JOG (−) travel start 1: Start

Input
0x2001 0x01
signal 1
8 JOG (+) travel start 1: Start

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 Stop 0: Stop, 1: Cancel

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

Input data: Controller → PLC

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write
0x2003
0x02 Input data 2 Data number Data number of data to read/write

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◼ Solenoid valve mode, double 2-position type (VW2P) (operation mode (PIO): 2)

Output signal: Controller → PLC

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number 1 travel complete 0: Incomplete, 1: Complete

1 Point number 2 travel complete 0: Incomplete, 1: Complete

2 -

3 -

4 Switch 1 0: OFF, 1: ON

5 Switch 2 0: OFF, 1: ON

6 -

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered
Output
0x2005 0x01
signal 1 Point zone/Zone 1/Zone 2
0: Outside zone, 1: Inside zone
Selection output 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

9 Home position return complete 0: Incomplete, 1: Complete

10 Servo ON state 0: OFF state, 1: ON state

11 Alarm 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

Data read/write execution result

13 Data response
0 to 1

14 Data complete 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

Output data: PLC → Controller

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Set the data that was read.
0x2007
The time is set when alarm data detail is read.
0x02 Output data 2 Data (alarm)
* The alarm code is set to the read data.

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Input signal: PLC → Controller

Index
Sub Display
(hexadec Bit Item Value (decimal)
Index name
imal)

0 Solenoid valve travel command 1 1: ON

1 Solenoid valve travel command 2 1: ON

2 -

3 -

4 -

5 -

6 -

7 -
Input
0x2001 0x01
signal 1
8 -

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 -

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

Input data: Controller → PLC

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write
0x2003
0x02 Input data 2 Data number Data number of data to read/write

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◼ Solenoid valve mode, double 3-position type (VW3P) (operation mode (PIO): 3)

Output signal: Controller → PLC

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number 1 travel complete 0: Incomplete, 1: Complete

1 Point number 2 travel complete 0: Incomplete, 1: Complete

2 -

3 -

4 Switch 1 0: OFF, 1: ON

5 Switch 2 0: OFF, 1: ON

6 -

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered
Output
0x2005 0x01
signal 1 Point zone/Zone 1/Zone 2
0: Outside zone, 1: Inside zone
Selection output 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

9 Home position return complete 0: Incomplete, 1: Complete

10 Servo ON state 0: OFF state, 1: ON state

11 Alarm 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

Data read/write execution result

13 Data response
0 to 1

14 Data complete 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

Output data: PLC → Controller

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Set the data that was read.
0x2007
The time is set when alarm data detail is read.
0x02 Output data 2 Data (alarm)
* The alarm code is set to the read data.

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Input signal: PLC → Controller

Index
Sub Display
(hexadec Bit Item Value (decimal)
Index name
imal)

0 Solenoid valve travel command 1 1: ON

1 Solenoid valve travel command 2 1: ON

2 -

3 -

4 -

5 -

6 -

7 -
Input
0x2001 0x01
signal 1
8 -

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 -

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

Input data: Controller → PLC

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write
0x2003
0x02 Input data 2 Data number Data number of data to read/write

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◼ Solenoid valve mode, single type (VSGL) (operation mode (PIO): 4)

Output signal: Controller → PLC

Index
Sub Display
(hexade Bit Item Value (decimal)
Index name
cimal)

0 Point number 1 travel complete 0: Incomplete, 1: Complete

1 Point number 2 travel complete 0: Incomplete, 1: Complete

2 -

3 -

4 Switch 1 0: OFF, 1: ON

5 Switch 2 0: OFF, 1: ON

6 -

Point zone/Zone 1/Zone 2

0: Outside zone, 1: Inside zone
Selection output 1
Traveling
7 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered
Output
0x2005 0x01
signal 1 Point zone/Zone 1/Zone 2
0: Outside zone, 1: Inside zone
Selection output 2
Traveling
8 Point zone/Zone 1/Zone 2/
0: Stopped, 1: Traveling
Traveling/Warning
Warning
0: Triggered, 1: Not triggered

9 Home position return complete 0: Incomplete, 1: Complete

10 Servo ON state 0: OFF state, 1: ON state

11 Alarm 0: Triggered, 1: Not triggered

12 Operation preparation complete 0: Incomplete, 1: Complete

Data read/write execution result

13 Data response
0 to 1

14 Data complete 0: Incomplete, 1: Complete

15 Data write status 0: Read, 1: Write

Output data: PLC → Controller

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Output data 1 Read data Set the data that was read.
0x2007
The time is set when alarm data detail is read.
0x02 Output data 2 Data (alarm)
* The alarm code is set to the read data.

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Input signal: PLC → Controller

Index
Sub Display
(hexadec Bit Item Value (decimal)
Index name
imal)

0 -

1 Solenoid valve travel command 0: Travel to point 1, 1: Travel to point 2

2 -

3 -

4 -

5 -

6 -

7 -
Input
0x2001 0x01
signal 1
8 -

9 Home position return start 1: Home position return start

10 Servo ON 1: Servo ON, 0: Cancel

11 Alarm reset 1: Reset

12 -

13 -

14 Data request 1: Execute

15 Data R/W selection 0: Read, 1: Write

Input data: Controller → PLC

Index
Sub
(hexade Display name Item Value (decimal)
Index
cimal)

0x01 Input data 1 Write data Data written when executing data write
0x2003
0x02 Input data 2 Data number Data number of data to read/write

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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.

Data number
Value Access
(hexadecima Item Unit Remarks
(decimal) Note 1
l)
n: Set the bit as follows.
Bit 0:
1 = Parameter data Initialize all
0x999n
0x0505 Data initialization Note 2 - W Bit 1: (Not in use)
(hexadecimal)
Bit 2:
1 = Point data Initialize all
Bit 3: (Not in use)

0x057F Software reset Note 3 9999 - W 9999 = Software reset

0x2810 Stroke 0 to 9999 Mm (deg) R -

Read data
Bit 15 to 0: Alarm code
Bit 31 to 6: 0
Alarm code Data (alarm)
0x4000 Alarm data details - R
Alarm date and time Bit 15 to 0: seconds (upper 16 bits)
Bit 31 to 6: seconds (lower 16 bits)
The latest data in the alarm history is
read.
Integrated running
0x4800 0 to 999999999 m (103 deg) R -
distance
Integrated number of travel
0x4802 0 to 999999999 times R -
times

0x4804 Integrated operating time 0 to 999999999 s R -

0.01 mm
0x5000 Soft limit (+) Note 4 -999999 to 999999 R/W
(0.01 deg)
0.01 mm
0x5002 Soft limit (-) Note 4 -999999 to 999999 R/W -
(0.01 deg)
0.01 mm
0x5004 Zone 1 (+) -999999 to 999999 R/W -
(0.01 deg)
0.01 mm
0x5006 Zone 1 (-) -999999 to 999999 R/W -
(0.01 deg)
0.01 mm
0x5008 Zone 2 (+) -999999 to 999999 R/W -
(0.01 deg)
0.01 mm
0x500A Zone 2 (-) -999999 to 999999 R/W -
(0.01 deg)
0.01 mm
0x500C Zone hysteresis 0 to 999 R/W -
(0.01 deg)
Home position return
0x500E 0 to 1 - R/W 0: Normal, 1: Opposite
direction
Home position return mm/s
0x5010 1 to 99 R/W -
speed (deg/s)
Home position offset 0.01 mm
0x5012 -999999 to 999999 R/W -
amount Note 4 (0.01 deg)

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Data number
Value Access
(hexadecima Item Unit Remarks
(decimal) Note 1
l)
Automatic home position
0x5014 0 to 1 - R/W 0: Disabled, 1: Enabled
return Note 4
Emergency stop input
0x5018 0 to 1 - R/W 0: Enabled, 1: Disabled
Note 4

0x5020 Pressing judgment time 0 to 9999 ms R/W -

0x5022 Fixed current at stop 0 to 100 % R/W -

Automatic servo OFF time

0x5024 0 to 9999 s R/W -
1
Automatic servo OFF time
0x5026 0 to 9999 s R/W -
2
Automatic servo OFF time
0x5028 0 to 9999 s R/W -
3
Threshold value for
m
0x5030 integrated running 0 to 999999999 R/W -
103 deg
distance
Threshold value for
0x5032 integrated number of travel 0 to 999999999 times R/W -
times
Threshold value for
0x5034 0 to 999999999 s R/W -
integrated operating time
0.01 mm
0x5040 Common positioning width 1 to 999 R/W -
0.01 deg
m/s
0x5042 Common speed 1 to 9999 R/W -
deg/s

0x5044 Common acceleration 1 to 999 0.01G R/W -

0x5046 Common deceleration 1 to 999 0.01G R/W -

0x5048 Common pressing rate 1 to 100 % R/W -

mm/s
0x504A Common pressing speed 1 to 99 R/W -
deg/s
Common pressing 0.01 mm
0x504C -999999 to 999999 R/W -
distance 0.01 deg
Common acceleration/
0x504E 1 - R/W 1: Trapezoid
deceleration method
1: Control,
2: Fixed excitation
0x5050 Common stop method 1 to 5 - R/W 3: Automatic servo OFF 1
4: Automatic servo OFF 2
5: Automatic servo OFF 3
1: Close rotation
0x5054 Common rotation direction 1 to 3 - R/W 2: CW
3: CCW

0x5080 G1 gain (response) 0 to 15 - R/W -

G2 gain (load
0x5082 0 to 15 - R/W -
magnification)

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Data number
Value Access
(hexadecima Item Unit Remarks
(decimal) Note 1
l)
0: B064
1: S007
Operation mode (PIO)
0x5400 0 to 4 - R/W 2: VW2P
Note 4
3: VW3P
4: VSGL
0: Point zone,
0x5404 Output selection 1 Note 4 0 to 4 - R/W 1: Zone 1, 2: Zone 2, 3: Traveling,
4: Warnings
0: Point zone,
0x5406 Output selection 2 Note 4 0 to 4 - R/W 1: Zone 1, 2: Zone 2, 3: Traveling,
4: Warnings

0x540C Stop input Note 4 0 to 1 - R/W 0: Enabled, 1: Disabled

mm/s
0x5410 JOG/INCH speed 1 to 100 R/W -
deg/s
0.01 mm
0x5412 INCH distance 1 to 1000 R/W -
0.01 deg
Operation mode 0: PIO
0x54C0 (EtherCAT) 0 to 2 - R/W 1: SDP
Note 4 2: FDP

0x54C2 Device ID Note 4 0 to 65535 - R/W -

Register 0x0012 enabled 0: Disabled (Standard)

0x54C4 0 to 1 - R/W
Note 4 1: Enabled (OMRON PLC)

0x8000 0.01 mm Point data for point No. n

Position -999999 to 999999 R/W
+ 0x0020*n (0.01 deg) (n=0 to 63)

0x8002 0.01 mm Point data for point No. n

Positioning width 0 to 999 R/W
+ 0x0020*n (0.01 deg) (n=0 to 63)

0x8004 mm/s Point data for point No. n

Speed 0 to 9999 R/W
+ 0x0020*n (deg/s) (n=0 to 63)

0x8006 Point data for point No. n

Acceleration 0 to 999 0.01G R/W
+ 0x0020*n (n=0 to 63)

0x8008 Point data for point No. n

Deceleration 0 to 999 0.01G R/W
+ 0x0020*n (n=0 to 63)

0x800A Point data for point No. n

Pressing rate 0 to 100 % R/W
+ 0x0020*n (n=0 to 63)

0x800C mm/s Point data for point No. n

Pressing speed 0 to 99 R/W
+ 0x0020*n (deg/s) (n=0 to 63)

0x800E 0.01 mm Point data for point No. n

Pressing distance -999999 to 999999 R/W
+ 0x0020*n (0.01 deg) (n=0 to 63)

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Data number
Value Access
(hexadecima Item Unit Remarks
(decimal) Note 1
l)
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
Bit 11 to 8: Acceleration/deceleration
method
0: Common
0x8010
Mode 0 to 1048575 - R/W 1: Trapezoid
+ 0x0020*n
Bit 15 to 12: Stop method
0: Common
1: Control
2: Fixed excitation
3: Automatic servo OFF 1
4: Automatic servo OFF 2
5: Automatic servo OFF 3
Bit 19 to 16: Rotation direction
0: Common
1: Close rotation
2: CW
3: CCW

0x8012 Point data for point No. n

Gain magnification 0 to 9999 % R/W
+ 0x0020*n (n=0 to 63)

0x8014 0.01 mm Point data for point No. n

Point zone (+) -999999 to 999999 R/W
+ 0x0020*n (0.01 deg) (n=0 to 63)

0x8016 0.01 mm Point data for point No. n

Point zone (-) -999999 to 999999 R/W
+ 0x0020*n (0.01 deg) (n=0 to 63)
Note 1: R = Read, W = write
Note 2: When initialize all parameter data is executed, the parameters of the operation mode (EtherCAT), device ID, and register
0x0012 enabled are also initialized. Set these parameters again before turning the power back on or resetting the software.
Note 3: When the data complete turns ON, turn OFF the data request. If the data request remains ON, the software reset will be
executed again after the software reset is completed.
Note 4: Change the operation mode from S-Tools. After changing, cycle the power.

Some values may generate errors even if set with the range in this table, depending on the
actuator model No. (size, etc.). If a value out of the specification is set, unexpected operation
may occur.

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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.). Also, output signals and
output data can be referenced through means such as contacts, Compare command, or Move
command.

ServoON Inputsignal1_10

Servo ON command

PNo Move
Po_No
Inputsignal1_Pno

Outputsignal1_7 = Zone1ON
Po_No
Outputsignal1_Pno

For detailed information on settings, updates and references, refer to the manual from the PLC
manufacturer.

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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. The movement instruction signal is level input for the solenoid valve mode
single/double 3-position type, so it may operate simultaneously with servo ON.

If servo OFF occurs during operation, deceleration is stopped and the motor enters a de-energized state.
While the servo is OFF, the output of ready for operation is OFF, and if a brake is attached, the brake is
locked. The setting software enables turning the servo ON/OFF regardless of the status of servo ON
signal.

Horizontal axis: Time

ON
Input signal Servo ON
OFF

Operation ON
preparation
complete OFF
Output signal
Alarm ON
(Negative logic)
OFF

Servo OFF Servo ON

If operation by setting tool is enabled, servo ON/OFF operation cannot be received via the servo
ON signal.

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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

ON
Control
power OFF
Power supply
ON
Motor power
OFF

ON
Green
OFF
Controller display
indicator
ON
Red
OFF

Emergency stop ON
input
OFF
(Negative logic)

Force brake ON
release
OFF

ON
Servo ON
OFF

ON
Input signal Home position
return start OFF

ON
Alarm reset
OFF

ON
Home position
return complete OFF

Operation ON
Output signal preparation
complete OFF

Alarm ON
(Negative logic)
OFF

Note 1

Power Servo Operation Home Home Note 3 Note 4

ON Emergency ON preparation position position
stop complete return return
release command complete
Note 2

Note 1: Depending on the stroke position, operation preparation complete takes 1.5 s to 5.0 s following the first servo ON after turning
the power ON.
Note 2: When operating with the parameter automatic home position return is disabled.
Note 3: When operation with the setting tool is enabled (TOOL mode).
Note 4: When operation with the setting tool is disabled (PLC mode).

Due to the use of a stepping motor, excitation phase detection is performed following the first
servo ON after turning the power ON.

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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
home position 電源投入時
power turned
return
の位置 の位置ON

Home position
原点復帰速度
return speed

0mm
0 mm
standard
基準 Home position
原点オフセット
offset

Horizontal axis: Time

Home position ON
Input signal return start
OFF

Home position ON
Output signal return completeOFF

Home position Home position

return start return complete

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3.5.4 Positioning operation

◼ Point operation

<Designating a stop during travel>

Horizontal axis: Time

Point travel ON
start
OFF

Stop ON
Input signal (Negative logic)
OFF

Point number ON The traveling point number

selection is designated in binary
OFF code.
Displacement
変位

Point 7

Displacement Point 3

Point 1

Point travel ON Note 2

complete OFF

ON
Output signal Traveling
OFF

The travel complete point

Point ON
(2) (3)
(1) number is set in binary
number
OFF code.
confirmatio
Note 1

Point 3 Point 7 Note 3 Point 7

travel start travel travel start
Point 3 start Point 7
travel travel
complete complete

Note 1: Leave an interval of at least 10 ms between point number selection and travel start ON.
Note 2: Note that the previous point travel complete will still be ON until an instruction is received, even after point travel start ON.Also,
both travel complete and moving may be ON at the same time depending on the timing.
Note 3: Since “Stop” is a negative logic, the point travel start is turned ON when the bit is ON. If it is stopped by a stop command, point
travel complete is not turned ON.
* (1), (2) and (3) indicate that points 1, 3, and 7 are set for point number confirmation, respectively.

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<Designating a pause during travel>

Horizontal axis: Time

Point travel ON
start
OFF

Pause ON
(Negative
Input signal
logic) OFF

Point The traveling point number

ON
number is designated in binary
selection OFF code.
Displacement

Point 7

Displacement Point 3

Point 1

Point travel ON Note 2

complete
OFF

ON
Output signal Traveling
OFF

The travel complete point

Point number ON (2) (3)
(1) number is set in binary
confirmation
OFF code.

Note 1

Point 3 Point 7 Note 3 Point 7

travel travel travel
start Point 3 start start Point 7
travel complete travel complete

Note 1: Leave an interval of at least 10 ms between point selection and travel start ON.
Note 2: Note that the previous point travel complete will still be ON until an instruction is received, even after point travel start ON.Also,
both travel complete and moving may be ON at the same time depending on the timing.
Note 3: Since “Pause” is a negative logic, the point travel start is turned ON when the bit is ON. If it is paused by a pause command,
point travel complete is not turned ON.

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◼ Direct value operation

<Simple direct value mode>

1 Check that the point data for the point number to be specified by input data is set.
2 Set the position and point number in the input data.
3 Set Direct value travel selection to ON. (Order of steps 2 and 3 can be reversed.)
4 Turn ON the point travel start bit.
The position setting is reflected only in the operation when the point travel start bit is turned ON, and
the position of the set point number is not updated.

Horizontal axis: Time

ON
Point travel
start OFF

Direct value ON
travel
selection OFF
Input signal
Input data Position
data (1) (2)

Point Specify the point number to be

number (3) (4) used for settings other than the
selection position, in the binary code.

Displacement

Travel position 3

Displacement
Travel position 2

Travel position 1

ON
Point travel Note 2
complete OFF

Direct travel ON
Output signal status
Output data OFF

ON
Traveling
OFF

Note 1

Position 2 Position 2 Position 3 Position 3

travel travel travel travel
start complete start complete

Note 1: Leave an interval of at least 10 ms for point travel start ON after setting the position and point number.
Note 2: Note that the previous point travel complete will still be ON until an instruction is received, even after point travel start ON. Also,
both travel complete and moving may be ON at the same time depending on the timing.
* (1) indicates that the position data of travel position 2 is set, and (2) indicates that the position data of travel position 3 is set.
* (3) and (4) indicate that the point number for which the point data to be used, for the operation up to travel position 2 and 3 respectively,
is set in the diagram of simple direct value mode. (If the point data of other than position remains the same, (3) may remain as is.)
* When the point travel is completed, point number is not set and all the point number confirmation bits are turned OFF.
* The stop and pause operations are the same as the point operation.

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<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

ON
Point travel
start OFF

Direct value ON
Input signal travel
Input data selection OFF

Point data (1) (2)

Displacement

Travel position 3

Displacement
Travel position 2

Travel position 1

ON
Point travel Note 2
complete OFF

Direct travel ON
Output signal status OFF
Output data

ON
Traveling
OFF

Note 1

Position 2 Position 2 Position 3 Position 3

travel travel travel travel
start complete start complete

Note 1: Leave an interval of at least 10 ms for point travel start ON after setting the point data.
Note 2: Note that the previous point travel complete will still be ON until an instruction is received, even after point travel start ON. Also,
both travel complete and moving may be ON at the same time depending on the timing.
* (1) indicates that the point data of travel position 2 is set, and (2) indicates that the point data of travel position 3 is set.
* While the direct value travel selection is ON, the point number selection setting does not affect the travel.
* When the travel is completed, point number is not set and all the point number confirmation bits are turned OFF.
* The stop and pause operations are the same as the point operation.

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<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 ON

OFF
Input signal
Direct value travel ON
selection
OFF

Point travel ON
complete OFF
Output signal
Direct travel ON
status
OFF

Direct Direct Direct Direct Point Point Point Point

value value value value travel travel travel travel
travel travel travel travel start complete start complete
start complete start complete (1) (1) (2) (2)
(1) (1) (2) (2)

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3.5.5 Monitor
After setting the monitor number, turn monitor request ON.

Horizontal axis: Time

Monitor No.

Input signal
Input data
ON
Monitor
request OFF

ON
Monitor
complete OFF

Output signal Monitor

Output data response

Monitor value

Monitor Monitor Monitor

start stop start

Monitor No. Data output to monitor value

(hexadecimal) (decimal)

Position (0.01 mm) (0.01 deg)

0x0001
-999999 to 999999

Speed (mm/s) (deg/s)

0x0002
0 to 9999

Current (%)
0x0003
0 to 100

0x0005 Alarm

Monitor response

Output Output Output Output Description

Signal 2 Signal 2 Signal 2 Signal 2
Bit 11 Bit 10 Bit 9 Bit 8

0 0 0 0 Normal

0 0 0 1 Monitor number error

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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 ON

Input data selection
OFF

ON
Data request
OFF

Data write ON
status
OFF

ON
Data
complete OFF

Output signal
Output data Data
response

Read data

Data
(alarm)

Read Read
execute execute

• Confirm that data complete is ON, and then turn data request OFF.
• Do not change ON/OFF of the data R/W selection or switch the PLC mode / TOOL mode from
S-Tools while the data request is ON. Unintended data reading or writing may be performed.

<PIO mode>
Dara response Description

0 Normal

1 Error

<Simple direct value mode or Full direct value mode>

Data response
Description
Output signal 2 Output signal 2 Output signal 2 Output signal 2
Bit 3 Bit 2 Bit 1 Bit 0

0 0 0 0 Normal

0 0 1 0 Data number error

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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 ON
Data
R/W select OFF

ON
Data request
OFF

Controller internal processing Write processing

Data ON
Write status OFF

Output signal ON
Data
Output data complete OFF

Data
response

Write Write
execute complete

• Confirm that data complete is ON, and then turn data request OFF.
• Do not change ON/OFF of the data R/W selection or switch the PLC mode / TOOL mode from
S-Tools while the data request is ON. Unintended data reading or writing may be performed.

<PIO mode>
Dara response Description

0 Normal

1 Error

<Simple direct value mode or Full direct value mode>

Data response
Description
Output signal 2 Output signal 2 Output signal 2 Output signal 2
Bit 3 Bit 2 Bit 1 Bit 0

0 0 0 0 Normal

0 0 1 0 Data number error

0 1 1 1 Write data over lower limit

1 0 0 0 Write data over upper limit

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SM-A40832-A 4. WARRANTY PROVISIONS

4. WARRANTY PROVISIONS
4.1 Warranty Conditions

◼ Warranty coverage
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.
However, following failures are excluded from this warranty:
• Failure caused by handling or use of the product under conditions and in environments not conforming
to those stated in the catalog, the Specifications, or this Instruction Manual.
• Failure caused by incorrect use such as careless handling or improper management.
• Failure not caused by the product.
• Failure caused by use not intended for the product.
• Failure caused by modifications/alterations or repairs not carried out by CKD.
• Failure that could have been avoided if the customer's machinery or device, into which the product is
incorporated, had functions and structures generally provided in the industry.
• Failure caused by reasons unforeseen at the level of technology available at the time of delivery.
• Failure caused by acts of nature and disasters beyond control of CKD.

The warranty stated herein covers only the delivered product itself. Any loss or damage induced by
failure of the delivered product is excluded from this warranty.

◼ Confirmation of product compatibility

It is the responsibility of the customer to confirm compatibility of the product with any system, machinery,
or device used by the customer.

◼ Others
The terms and conditions of this warranty stipulate basic matters.
When the terms and conditions of the warranty described in individual specification drawings or the
Specifications are different from those of this warranty, the specification drawings or the Specifications
shall have a higher priority.

4.2 Warranty Period

The product is warranted for one (1) year from the date of delivery to the location specified by the
customer.

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