Electric Actuator

ECR (Controller)

INSTRUCTION MANUAL
取扱説明書
SM-A10615-A

MSV-484083

• Be sure to read this instruction manual before using the product.

• Pay especially close attention to the safety-related information contained within.
• Keep this instruction manual in a safe place so that it is readily available when needed.
SM-A10615-A PREFACE

PREFACE
Thank you for purchasing this CKD "ECR" controller for electric actuators. In order for this product to
be used to its fullest potential, this instruction manual describes basic topics such as how to mount and
use it. Read this manual thoroughly prior to use.
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-A10615-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.

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".

Mishandling could likely cause death or serious injury.

DANGER
Mishandling could cause death or serious injury.
WARNING
Mishandling could cause injury or physical damage.
CAUTION

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-A10615-A SAFETY INFORMATION

Product precautions

DANGER
Do not use this product for the following applications.
• Medical devices involved in maintaining or managing human life or health
• Mechanisms or machines meant to transfer or transport people
• Important security parts in machines

WARNING
Use this product in accordance with specifications.

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.

iii
SM-A10615-A CONTENTS

CONTENTS
1. PRODUCT OVERVIEW ............................................................................................. 1
1.1 Controller Model number explanation................................................................. 1
1.2 System configuration .......................................................................................... 2
2. SPECIFICATIONS ..................................................................................................... 3
2.1 Basic specifications ............................................................................................ 3
2.2 Dimensions ......................................................................................................... 4
2.3 Panel details ....................................................................................................... 5
3. INSTALLATION ......................................................................................................... 7
3.1 Installation precautions ....................................................................................... 7
4. WIRING ...................................................................................................................... 8
4.1 Power supply wiring ............................................................................................ 8
4.1.1 Power supply connector specifications ........................................................ 8
4.1.2 Power supply circuit ..................................................................................... 9
4.1.3 Basic power supply configuration............................................................... 10
4.2 Actuator wiring ...................................................................................................11
4.2.1 Motor cable Model number explanation ......................................................11
4.2.2 Motor cable dimensions ..............................................................................11
4.2.3 Encoder cable Model number explanation................................................. 12
4.2.4 Encoder cable Model number explanation................................................. 12
4.3 I/O wiring ........................................................................................................... 13
4.3.1 I/O cable Model number explanation ......................................................... 13
4.3.2 I/O cable dimensions .................................................................................. 13
4.3.3 I/O cable specifications .............................................................................. 13
4.3.4 Basic I/O cable configuration ..................................................................... 14
4.3.5 I/O cable assignment.................................................................................. 15
4.3.6 General purpose input/output signal assignment ...................................... 16
4.3.7 Input/output circuit ...................................................................................... 19
4.4 S-Tools setting software wiring ......................................................................... 20
4.4.1 Communication specifications .................................................................... 20
4.4.2 Connection method .................................................................................... 20
5. PARAMETERS DATA CONFIGURATION .............................................................. 21
5.1 Parameters List ................................................................................................. 21
5.2 Soft limit ............................................................................................................ 24
5.2.1 EBS/EBR/FLSH/FLCR ............................................................................... 24
5.2.2 FGRC.......................................................................................................... 24
5.3 Zone output ....................................................................................................... 25
5.4 Adjusting the gains............................................................................................ 26
6. POINT DATA CONFIGURATION ............................................................................ 27
6.1 Positioning point................................................................................................ 27
6.2 Point data list .................................................................................................... 28
6.2.1 Selecting the position specification method ............................................... 29
6.2.2 Selecting the operation method ................................................................. 30
6.2.3 Setting the position ..................................................................................... 30
6.2.4 Setting the positioning width ...................................................................... 31
6.2.5 Setting the speed ....................................................................................... 32
6.2.6 Setting the acceleration .............................................................................. 34
6.2.7 Setting the deceleration.............................................................................. 35
6.2.8 Selecting the acceleration/deceleration method ........................................ 35
6.2.9 Selecting the stop method .......................................................................... 36

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SM-A10615-A CONTENTS

6.2.10 Selecting the rotation direction ................................................................... 36

6.2.11 Setting the gain magnification .................................................................... 36
6.2.12 Setting the point zone................................................................................. 37
6.2.13 Setting the pressing current ....................................................................... 38
6.2.14 Setting the pressing speed ......................................................................... 39
6.2.15 Setting the pressing distance ..................................................................... 41
7. OPERATION ............................................................................................................ 42
7.1 Emergency stop and release ............................................................................ 42
7.2 Force brake release .......................................................................................... 43
7.3 Servo ON/OFF .................................................................................................. 44
7.4 Power ON sequence ......................................................................................... 45
7.5 Home position return operation ........................................................................ 46
7.5.1 EBS / EBR .................................................................................................. 46
7.5.2 FLSH........................................................................................................... 48
7.5.3 FLCR .......................................................................................................... 50
7.5.4 FGRC.......................................................................................................... 52
7.6 Positioning operation ........................................................................................ 54
7.6.1 Normal mode (64-point, 128-point, 256-point and 512-point mode) ......... 54
7.6.2 Teaching 64-point mode ............................................................................. 56
7.6.3 Simple 7-point mode .................................................................................. 59
7.6.4 Solenoid valve mode (double 2 position type) ........................................... 61
7.6.5 Solenoid valve mode (double 3 position type) ........................................... 62
7.6.6 Solenoid valve mode (single type) ............................................................. 63
7.6.7 Other output signals ................................................................................... 64
7.7 Pressing operation ............................................................................................ 65
7.8 Operation when a new operation signal is input during operation ................... 66
7.9 Stop/pause signal input .................................................................................... 67
7.10 Holding operation after travel complete ............................................................ 68
8. TROUBLESHOOTING............................................................................................. 69
8.1 Alarm Indications and Countermeasures ......................................................... 69
8.2 What to Check when Trouble Occurs ............................................................... 71
8.3 Troubleshooting ................................................................................................ 72
9. EUROPEAN STANDARDS ..................................................................................... 74
9.1 EU command/European standards .................................................................. 74
9.2 Precautions when used in Europe (EU) ........................................................... 74
9.2.1 Suitable actuators ....................................................................................... 74
9.2.2 Working environment ................................................................................. 74
9.2.3 Installation method ..................................................................................... 75
10. WARRANTY PROVISIONS ................................................................................. 77
10.1 Warranty Conditions....................................................................................... 77
10.2 Warranty Period .............................................................................................. 77
10.3 Remarks ........................................................................................................... 77

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SM-A10615-A 1. PRODUCT OVERVIEW

1. PRODUCT OVERVIEW
1.1 Controller Model number explanation

*C: The I/O cable length can only be selected when the interface specification is I/O specification. In a
case other than the I/O specification, 00 only.

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SM-A10615-A 1. PRODUCT OVERVIEW

1.2 System configuration

Provided by
the customer

Surge
protector
Controller
ECR Series

I/O cable
Ferrite Ferrite core
core

Ferrite core

Noise filter
USB cable (mini-B)
DC power
supply

Ferrite core Ferrite core

Motor cable Encoder cable

Applicable actuators

EBS-M Series EBR-M Series FLSH Series FLCR Series FGRC Series

System components that can be purchased from CKD are listed below.

Items Name Product name、Model No.

Controller ECR Series

Actuator EBS-M/EBR-M/FLSH/FLCR/FGRC Series

Normal configuration
(when selecting the set Motor cable EA-CBLM1-※
model number)
Encoder cable EA-CBLE1-※
I/O cable EA-CBLNP1-※

24 VDC power supply EA-PWR-KHNA240F-24

48 VDC power supply EA-PWR-KHNA480F-48

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

Noise filter AX-NSF-NF2015A-OD

Ferrite core (7 pieces) EA-NSF-FC01-SET

Freeware PC setting software S-Tools

Other devices must be provided by the customer.

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SM-A10615-A 2. SPECIFICATIONS

2. SPECIFICATIONS
2.1 Basic specifications
Items Descriptions
Applicable actuators EBS-M/EBR-M/FLSH/FLCR/FGRC
Setting tool Setting software (S-Tools)
Teaching 64-point mode, 64-point mode, 128-point mode, 256-point mode,
Operation mode (PIO) 512-point mode, Simple 7-point mode, Solenoid valve mode double 2 position type,
Solenoid valve mode double 3 position type, Solenoid valve mode single type
Number of inputs 16 points
Number of outputs 16 points
Power supply voltage 24 VDC ±10% or 48 VDC ±10%
Power capacity Max. 480 W
Indicator lamps SV: ON when servo ON, ALM: ON during alarm, ST: Load indication or alarm indication
Brake release input 24 VDC ±10% or 48 VDC ±10%
Emergency stop release input 24 VDC ±10% or 48 VDC ±10%
Insulation resistance 10 M Ω or more with 500 VDC
Withstand voltage 500 VAC for 1 min.
Specified ambient
0 to 40°C (no freezing)
temperature
Specified ambient humidity 35 to 80% RH (no condensation)
Storage ambient temperature -10 to 50°C (no freezing)
Storage ambient humidity 35 to 80% RH (no condensation)
Specified atmosphere No corrosive gas, explosive gas or dust
Degree of protection IP20
Approx. 400g
Weight
Approx. 430 g (DIN rail mounting)

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SM-A10615-A 2. SPECIFICATIONS

2.2 Dimensions
● Normal mounting

● DIN rail mounting

Grounding terminal
(M3  5 pan head screw)

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SM-A10615-A 2. SPECIFICATIONS

2.3 Panel details

Servo lamp

Alarm lamp CN5: Interface connector

Status lamp

CN4: USB connector

CN3: Encoder connector

CN2: Motor connector

CN1: Power supply connector

Charge lamp

Code Name Description

Indicates whether servo is ON or OFF

SV Servo lamp Servo ON: Steady green
Servo OFF: Blinking green

Indicates an alarm/warning has occurred

Occurrence of alarm which cannot be released: Steady red
ALM Alarm lamp
Occurrence of alarm which can be released: Blinking red (fast blinking)
Occurrence of warning: Blinking red (slow blinking)

Operating: Displays the amount of electrical current to the motor (four levels)
ST Status lamp
During alarm: Displays the type of alarm

Connector used to connect the controller to the power

CN1 Power supply connector
Refer to 4.1 for information on wiring method

Connector used to connect the motor cable

CN2 Motor connector
Connection cable model No.: EA－CBLM1－***

Connector used to connect the encoder cable

CN3 Encoder connector
Connection cable model No.: EA－CBLE1－***

Connector used to connect the setting tool (PC setting software)

CN4 USB connector
Connection cable: Commercially available USB cable (mini-B type)

Connector used to connect the upper device

CN5 Interface connector Refer to 4.3 for information on wiring
Connection cable model No.: EA－CBLNP1－**

Indicates the state of the passing of the current of the controller power supply
CHG Charge lamp Current is passed: Steady orange
No current is passed: Unlit

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SM-A10615-A 2. SPECIFICATIONS

 Status lamp indication

<If there is no alarm>

ST lamp
Operation
3 2 1 0
A current of 5% or less is passing for the rated
□ □ □ □
current.
A current of 24% or less is passing for the rated
□ □ □ ■
current.
A current of 49% or less is passing for the rated
□ □ ■ ■
current.
A current of 74% or less is passing for the rated
□ ■ ■ ■
current.
A current of 75% or more is passing for the rated
■ ■ ■ ■
current.
□: Unlit, ■ Lit

<If there is alarm>

ST lamp
Operation
3 2 1 0
□ □ □ ■ Alarm 0x1*** occurs.
□ □ ■ □ Alarm 0x2*** occurs.
□ □ ■ ■ Alarm 0x3*** occurs.
□ ■ □ □ Alarm 0x4*** occurs.
□ ■ ■ □ Alarm 0x6*** occurs.
□ ■ ■ ■ Alarm 0x7*** occurs.
*For the supporting of the alarm code and alarm description, refer to “8.1Alarm Indications and Countermeasures”エラー! 参照元が見つ
かりません。.
□: Unlit, ■ Lit

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SM-A10615-A 3. INSTALLATION

3. INSTALLATION
3.1 Installation precautions

 Be careful when transporting or handling this product, so that it is not dropped or otherwise
subject to impact.
 Confirm the ambient temperature and atmosphere listed in the product specifications when
storing or using the product.
 This product cannot be mounted or used in wet or oily locations.
 Doing so could cause electricity leakage or fires. Oil and oil mist are strictly prohibited.
 Use the product in an operating ambient temperature of 0 to 40°C. Ventilate if heat builds up.
 Install the product away from direct sunlight, dust and heat generating sources. Install it in a
location free from corrosive gas, explosive gas, combustible gas and combustibles in general.
This product was not designed to be chemically resistant.
 Do not use this product in areas subject to high current or strong magnetic fields. Do not
pipe/wire (using a multi-conductor cable) it together with large motor power cables. Doing
otherwise could introduce noise in the product body or cables. Be careful of inverter power
supplies and wiring used with robots and similar machines (cannot be wired/piped together). Be
sure to frame ground the same power supply and insert a filter into the output section.
 Secure the cable in place so that it cannot be easily moved. When securing it in place, do not
bend the cable to the bending radius of 63 mm or less.
 Use the setting tool (S-Tools setting software) to set parameters. Leave a space of at least 70
mm in front of the controller, so that the connector can be attached and removed.

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SM-A10615-A 4. WIRING

4. WIRING
4.1 Power supply wiring

4.1.1 Power supply connector specifications

List of power supply connector terminals (DFMC1,5/4-STF-3,5 (PHOENIX CONTACT))
Terminal
Function name Description of function
name
The product is shipped with MPI and MPO connected via jumper wire, and with the control power
Motor power supply supply and motor power supply connected.
MPI
(+) To separate the control power supply and motor power supply, remove the jumper wire between
MPI and MPO, and then apply 24 or 48 VDC.
The product is shipped with MPI and MPO connected via jumper wire, and with the control power
Motor power supply supply and motor power supply connected.
MPO
shutoff To separate the control power supply and motor power supply, remove the jumper wire between
MPI and MPO.
Motor power supply
MG Same 0 VDC applied for motor power supply and force brake release.
(-)
Forcibly releases the brake.
Force brake
BRK 24 VDC or 48 VDC: Forcibly releases brake.
release
0 VDC or open: Allows the brake to be applied.
Control power
CP Control power supply. Applies either 24 VDC or 48 VDC.
supply (+)
Connects the emergency stop switch for b contact.
Emergency stop
EMG 24 VDC or 48 VDC applied: Emergency stop released.
input
0 VDC or released: Emergency stop applied.
Control power
CG Same 0 VDC applied for control power supply and emergency stop input.
supply (-)
NC Open pin Not used

Power supply connector (power supply connector is an accessory)

MPO MPI
BRK MG
EMG CP
NC CG

Use electrical wiring with the following specifications to connect to the power supply connector.
0.75 mm2 (AWG18) solid wire, stranded wire, stranded wire with bar terminal (without insulating
Core wire
sleeve)
Lead wire stripping area 10 mm from the end of the lead wire

WARNING
Always set the input for force brake release (BRK) to either 0 VDC or open during normal
operation, so that the brake can be applied.
If 24 VDC or 48 VDC is applied to force brake release (BRK), the brake will be forcibly released,
and the movable part of the actuator could fall, causing injury or damaging the workpiece.

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SM-A10615-A 4. WIRING

4.1.2 Power supply circuit

Item Specifications
Motor power supply voltage 24 VDC ±10% or 48 VDC ±10%
□20(FLSH-16,FLCR-16,FGRC-10) 1.5 A or less
□25(FLSH-20,FLCR-20,FGRC-30) 3.0 A or less
□25L(FLSH-25,FLCR-25) 4.5 A or less
Motor section
instantaneous max. □35(EBS-04,EBR-04) 4.0 A or less
current
□35(FGRC-50) 4.2 A or less
□42(EBS-05,EBR-05) 5.2 A or less
□56(EBS-08,EBR-08) 8.6 A or less
Control power supply voltage 24 VDC ±10% or 48 VDC ±10%
Current consumption 1 A or less

The control power supply and motor power supply can be connected to an external power supply using
one of the two following methods. If the control power supply and motor power supply are used with
different external power supplies, the control power supply and motor power supply voltage can be used
separately with 24 V and 48 V.

<Using the control power supply and motor power supply connected to the same external power supply>

Controller exterior Controller interior

MPO
Connected via jumper MPI
wire at shipment
MG

CP
24 VDC or
48 VDC CG

<Using the control power supply and motor power supply connected to different external power
supplies>

Controller exterior Controller interior

MPO

MPI
24 VDC or
MG
48 VDC
CP
24 VDC or
CG
48 VDC

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SM-A10615-A 4. WIRING

4.1.3 Basic power supply configuration

Emergency stop Emergency stop
reset switch switch
Surge *2
protector 24 V or
48 V
24 VDC CR
power supply CR

Noise filter
or MC
48 VDC MC
power supply *1 *1
AC power
supply 0V

Controller power supply connector

*Motor power supply and control
power supply connected to the same
external power supply

MC
MPI
*1
MG

CP

CG

MPO
Manual brake
BRK
open/close switch
CR
EMG

NC

*1: To externally shut the motor power supply off (such as for supporting safety categories), connect a
contact from an electromagnetic switch or other device between the MPI and MPO terminals.
*2: A surge protector is required to comply with the CE marking.

WARNING
Always set the input for force brake release (BRK) to either 0 VDC or open during normal
operation, so that the brake can be applied.
If 24 VDC or 48 VDC is applied to force brake release (BRK), the brake will be forcibly released,
and the movable part of the actuator could fall, causing injury or damaging the workpiece.

CAUTION
Reconfirm wiring prior to passing current to prevent mis-wiring.
Make sure that wires are not loose and cannot be disconnected.

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SM-A10615-A 4. WIRING

4.2 Actuator wiring

Use the dedicated motor cable and encoder cable to wire the controller and actuator.

4.2.1 Motor cable Model number explanation

4.2.2 Motor cable dimensions

Actuator side Controller side

Secured
Movable

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SM-A10615-A 4. WIRING

4.2.3 Encoder cable Model number explanation

4.2.4 Encoder cable Model number explanation

Actuator side Controller side

Secured

Movable

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SM-A10615-A 4. WIRING

4.3 I/O wiring

Use the dedicated I/O cable to wire the controller and upper system (PLC).

4.3.1 I/O cable Model number explanation

4.3.2 I/O cable dimensions

Controller side Upper system (PLC) side

Fused part

Separated

L (cable length depends on model No.)

A: Input, B: Output

4.3.3 I/O cable specifications

Connector: 1.27 mm pitch two-piece connector HIF6-40D-1.27R(20) [Hirose Electric]

Cable: Flat cable
UL2651, AWG#28, (strand structure: 7/0.127 mm, covering diameter: 0.8 to 1.0 mm), 20
core×2
Terminal separated at fused part

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SM-A10615-A 4. WIRING

4.3.4 Basic I/O cable configuration

External
power
supply 24 VDC*2 Brown
Output side COM A1 Input common +/-*3
Red
A2
General purpose input*1 Orange
A3 General purpose input 0
General purpose input*1 Yellow
PLC A4 General purpose input 1
General purpose input*1 Green
output A5 General purpose input 2
Unit General purpose input*1 Blue
A6 General purpose input 3
General purpose input*1 Purple
A7 General purpose input 4
General purpose input*1 Gray
A8 General purpose input 5
General purpose input*1 White
A9 General purpose input 6
General purpose input*1 Black
A10 General purpose input 7
General purpose input*1 Brown
A11 General purpose input 8
Output General purpose input*1 Red Input
side A12 General purpose input 9 Signal
General purpose input*1 Orange
A13 General purpose input 10
General purpose input*1 Yellow
A14 General purpose input 11
General purpose input*1 Green
A15 General purpose input 12
General purpose input*1 Blue
A16 General purpose input 13
General purpose input*1 Purple
A17 General purpose input 14
General purpose input*1 Gray
A18 General purpose input 15
External
power 24 VDC*2 Brown
Input side COM supply Output common +/-*3
B1
Red
B2
General purpose output*1 Orange
B3 General purpose output 0
General purpose output*1 Yellow
PLC B4 General purpose output 1
input General purpose output*1 Green
unit B5 General purpose output 2
General purpose output*1 Blue
B6 General purpose output 3
General purpose output*1 Purple
B7 General purpose output 4
General purpose output*1 Gray
B8 General purpose output 5
General purpose output*1 White
B9 General purpose output 6
General purpose output*1 Black
B10 General purpose output 7
General purpose output*1 Brown Output
B11 General purpose signal
General purpose output*1 Red output 8
B12 General purpose output 9
Input General purpose output*1 Orange
side B13 General purpose output 10
General purpose output*1 Yellow
B14 General purpose output 11
General purpose output*1 Green
B15 General purpose output 12
General purpose output*1 Blue
B16 General purpose output 13
General purpose output*1 Purple
B17 General purpose output 14
General purpose output*1 Gray
B18 General purpose output 15

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SM-A10615-A 4. WIRING

*1 Refer to "4.3.6 General purpose input/output signal assignment " for general purpose input/output.
*2 An external power supply (24 VDC) is required for both input and output. Input and output common
can use either + or -.
*3 Input common and output common are not connected within the controller.
CAUTION
Reconfirm wiring prior to passing current to prevent mis-wiring.
Make sure that wires are not loose and cannot be disconnected.
Be sure to insulate unused wiring.
There is a risk of malfunction, failure, or electric shock.
After turning the power ON, use the setting tool to confirm that the input/output signals are
correct.

4.3.5 I/O cable assignment

No. Line color Name No. Line color Name
Input common Output common
A1 Brown B1 Brown
(+/-) (+/-)
Input common Output common
A2 Red B2 Red
(+/-) (+/-)
General purpose General purpose
A3 Orange B3 Orange
input 0 output 0
General purpose General purpose
A4 Yellow B4 Yellow
input 1 output 1
General purpose General purpose
A5 Green B5 Green
input 2 output 2
General purpose General purpose
A6 Blue B6 Blue
input 3 output 3
General purpose General purpose
A7 Purple B7 Purple
input 4 output 4
General purpose General purpose
A8 Gray B8 Gray
input 5 output 5
General purpose General purpose
A9 White B9 White
input 6 output 6
General purpose General purpose
A10 Black B10 Black
input 7 output 7
General purpose General purpose
A11 Brown B11 Brown
input 8 output 8
General purpose General purpose
A12 Red B12 Red
input 9 output 9
General purpose General purpose
A13 Orange B13 Orange
input 10 output 10
General purpose General purpose
A14 Yellow B14 Yellow
input 11 output 11
General purpose General purpose
A15 Green B15 Green
input 12 output 12
General purpose General purpose
A16 Blue B16 Blue
input 13 output 13
General purpose General purpose
A17 Purple B17 Purple
input 14 output 14
General purpose General purpose
A18 Gray B18 Gray
input 15 output 15
A19 White - B19 White -
A20 Black - B20 Black -

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SM-A10615-A 4. WIRING

4.3.6 General purpose input/output signal assignment

4.3.6.1 Signal name list
■ Input signals
PSBn Point number selection bit n (n=0 to 8)
PST Point travel start
PnST Point number n travel start (n=1 to 7)
VnST Solenoid valve travel command n (n=1 or 2)
VST Solenoid valve travel command
OST Home position return start
SVON Servo ON
ALMRST Alarm reset
STOP Stop
PAUSE Pause
TEACH Teaching selection
INCH INCH selection
JIM JOG/INCH (-) travel start
JIP JOG/INCH (+) travel start
WRST Write start

■ Output signals
PCBn Point number confirmation bit n (n=0 to 8)
PEND Point travel complete
PnEND Point number n travel complete (n=1 to 7)
SWn Switch n (n=1 or 2)
OEND Home position return start
MOVE Traveling
ZONEn Zone n (n=1 or 2)
PZONE Point zone
SONS Servo ON state
ALM Alarm
WARN Warning
READY Operation preparation complete
ACBn Alarm confirmation bit n (n=0 to 3)
TEACHS Teaching state
WREND Write complete

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SM-A10615-A 4. WIRING

4.3.6.2 Normal mode

64-point mode 128-point mode 256-point mode 512-point mode

General purpose input 0 PSB0 PSB0 PSB0 PSB0

General purpose input 1 PSB1 PSB1 PSB1 PSB1

General purpose input 2 PSB2 PSB2 PSB2 PSB2

General purpose input 3 PSB3 PSB3 PSB3 PSB3

General purpose input 4 PSB4 PSB4 PSB4 PSB4

General purpose input 5 PSB5 PSB5 PSB5 PSB5

General purpose input 6 - PSB6 PSB6 PSB6

General purpose input 7 - - PSB7 PSB7

General purpose input 8 - - - PSB8

General purpose input 9 - - - -

General purpose input 10 PST PST PST PST

General purpose input 11 OST OST OST OST

General purpose input 12 SVON SVON SVON SVON

General purpose input 13 ALMRST ALMRST ALMRST ALMRST

General purpose input 14 STOP STOP STOP STOP

General purpose input 15 PAUSE PAUSE PAUSE PAUSE

General purpose output 0 PCB0/ACB0 PCB0/ACB0 PCB0/ACB0 PCB0/ACB0

General purpose output 1 PCB1/ACB1 PCB1/ACB1 PCB1/ACB1 PCB1/ACB1

General purpose output 2 PCB2/ACB2 PCB2/ACB2 PCB2/ACB2 PCB2/ACB2

General purpose output 3 PCB3/ACB3 PCB3/ACB3 PCB3/ACB3 PCB3/ACB3

General purpose output 4 PCB4 PCB4 PCB4 PCB4

General purpose output 5 PCB5 PCB5 PCB5 PCB5

General purpose output 6 PZONE PCB6 PCB6 PCB6

General purpose output 7 MOVE MOVE PCB7 PCB7

PZONE/ PZONE/
ZONE1/ ZONE1/
General purpose output 8 ZONE1 PCB8
ZONE2/ ZONE2/
MOVE MOVE
PZONE/ PZONE/ PZONE/
ZONE1/ ZONE1/ ZONE1/
General purpose output 9 ZONE2
ZONE2/ ZONE2/ ZONE2/
MOVE MOVE MOVE

General purpose output 10 PEND PEND PEND PEND

General purpose output 11 OEND OEND OEND OEND

General purpose output 12 SONS SONS SONS SONS

General purpose output 13 ALM ALM ALM ALM

General purpose output 14 WARN WARN WARN WARN

General purpose output 15 READY READY READY READY

17
SM-A10615-A 4. WIRING

4.3.6.3 Teaching 64-point mode, simple 7-point mode, solenoid valve mode
Solenoid valve Solenoid valve
Teaching 64-point Simple 7-point Solenoid valve
mode double 2 mode double 3
mode mode mode single type
position type position type

General purpose input 0 PSB0 P1ST V1ST V1ST -

General purpose input 1 PSB1 P2ST V2ST V2ST VST

General purpose input 2 PSB2 P3ST - - -

General purpose input 3 PSB3 P4ST - - -

General purpose input 4 PSB4 P5ST - - -

General purpose input 5 PSB5 P6ST - - -

General purpose input 6 TEACH P7ST - - -

General purpose input 7 JIM - - - -

General purpose input 8 JIP - - - -

General purpose input 9 INCH - - - -

General purpose input 10 PST/WRST - - - -

General purpose input 11 OST OST OST OST OST

General purpose input 12 SVON SVON SVON SVON SVON

General purpose input 13 ALMRST ALMRST ALMRST ALMRST ALMRST

General purpose input 14 STOP STOP - - -

General purpose input 15 PAUSE PAUSE - - -

General purpose output 0 PCB0/ACB0 P1END P1END P1END P1END

General purpose output 1 PCB1/ACB1 P2END P2END P2END P2END

General purpose output 2 PCB2/ACB2 P3END - - -

General purpose output 3 PCB3/ACB3 P4END - - -

General purpose output 4 PCB4 P5END SW1 SW1 SW1

General purpose output 5 PCB5 P6END SW2 SW2 SW2

General purpose output 6 TEACHS P7END - - -

General purpose output 7 MOVE MOVE MOVE MOVE MOVE
PZONE/ ZONE1 ZONE1 ZONE1 ZONE1
ZONE1/
General purpose output 8
ZONE2/
MOVE
ZONE2 ZONE2 ZONE2 ZONE2
PZONE/
ZONE1/
General purpose output 9
ZONE2/
MOVE

General purpose output 10 PEND/WREND PZONE PZONE PZONE PZONE

General purpose output 11 OEND OEND OEND OEND OEND

General purpose output 12 SONS SONS SONS SONS SONS

General purpose output 13 ALM ALM ALM ALM ALM

General purpose output 14 WARN WARN WARN WARN WARN

General purpose output 15 READY READY READY READY READY

18
SM-A10615-A 4. WIRING

4.3.7 Input/output circuit

 Input circuit
Item Specifications
Number of inputs 16
Input voltage 24 VDC ±10%
Input current 3.7 mA
Min. ON input voltage 19 V
Max. OFF input current 0.2 mA

Input 0 to 15
Internal
circuit
Input COM

Input has no polarity, so input COM can use either + or -.

 Output circuit
Item Specifications
Number of outputs 16
Load voltage 24 VDC ±10%
Load current 20 mA or less
Internal voltage drop
3 V or less
when ON
Leakage current when
0.1 mA or less
OFF
Output short-circuit
Yes
protection circuit
Connecting load PLC

Output 0 to 15

Internal
circuit Output COM

Output has no polarity, so output COM can use either + or -.

19
SM-A10615-A 4. WIRING

4.4 S-Tools setting software wiring

4.4.1 Communication specifications
Item Specifications
Interface USB 2.0
Communication speed Full speed(12Mbps)

4.4.2 Connection method

■ Connection
Use a USB cable (mini-B type) to connect CN4 on the front of the controller with a USB port on a PC.

■ Removal
After closing the S-Tools setting software, remove from the connector.

CAUTION
 Controller I/O connector I/O signals are disabled (with some exceptions) when operating or
configuring using S-Tools. Disconnecting in this state will make it impossible to control it
from the PLC or other upper device.
 Refer to the S-Tools setting software instruction manual for details.
 Make sure that wires are not loose and cannot be disconnected.
 It is assumed that the setting tool will be connected only for adjustment. Disconnect the
USB cable from the controller prior to use during normal operation.
 Never connect it to another device.

20
SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

5. PARAMETERS DATA CONFIGURATION

Use the S-Tools setting software to set or change parameters.
Refer to the S-Tools setting software instruction manual (SM-A11147) for specific setting instructions and
other details.

5.1 Parameters List

Name Description Setting range Initial value Unit

Set the positive direction (opposite motor side) of the movable range. Soft limit (-)
The setting range is from the Soft limit (-) value to the sum of stroke and margin to
(3 mm). Sum of stroke and margin
mm
Soft limit (+) *In the case of the rotary, the setting range is from the Soft limit (-) value to 360 (3 mm) 0.00
(deg)
(deg). *In the case of the rotary,
If Soft limit (+) and Soft limit (-) are both set to 0, the stroke range becomes the the Soft limit (-) value to
movable range. Refer to “5.2 Soft limit” for details. 360 (deg)
Set the negative direction (motor side) of the movable range. Sum of stroke and margin
The setting range is from the sum of stroke and margin (3 mm) to the Soft limit (3 mm)
(+) value. to
mm
Soft limit (-) *In the case of the rotary, the setting range is from -360 (deg) to the Soft limit (+) Soft limit (+) 0.00
(deg)
value. *In the case of the rotary,
If Soft limit (+) and Soft limit (-) are both set to 0, the stroke range becomes the -360 (deg) to the Soft limit
movable range. Refer to “5.2 Soft limit” for details. (+) value
Set the positive-side position of Zone 1 output. mm
Zone 1 (+) -9999.99 to 9999.99 0.00
Refer to “5.3 Zone output” for details. (deg)
Set the negative-side position of Zone 1 output. mm
Zone 1 (-) -9999.99 to 9999.99 0.00
Refer to “5.3 Zone output” for details. (deg)
Set the positive-side position of Zone 2 output. mm
Zone 2 (+) -9999.99 to 9999.99 0.00
Refer to “5.3 Zone output” for details. (deg)
Set the positive-side position of Zone 2 output. mm
Zone 2 (-) -9999.99 to 9999.99 0.00
Refer to “5.3 Zone output” for details. (deg)
Zone Set the hystereses of Zone 1 and Zone 2 outputs. mm
0.00 to 9.99 0.00
hysteresis Refer to “5.3 Zone output” for details. (deg)
Home 0
position Set the home position return direction to the negative direction :motor side (0) or (Negative
0 to 1 None
return positive direction :opposite motor side (1). direction:
direction Motor side)
EBR-04 screw lead: 6 mm
EBR-05 screw lead: 2 mm 5 to 20
EBR-05 screw lead: 5 mm
EBS-04 screw lead: 6 mm
EBS-05 screw lead: 2 mm
5 to 25
EBS-05 screw lead: 5 mm
EBS-08 screw lead: 5 mm
EBS-04 screw lead: 12 mm
EBS-05 screw lead: 10 mm
EBS-05 screw lead: 20 mm
Home EBS-08 screw lead: 10 mm
Set the speed for returning to home mm/s
position EBS-08 screw lead: 20 mm 20
position. (deg/s)
return speed EBR-04 screw lead: 12 mm 5 to 30
EBR-05 screw lead: 10 mm
EBR-05 screw lead: 20 mm
EBR-08 screw lead: 5 mm
EBR-08 screw lead: 10 mm
EBR-08 screw lead: 20 mm
FLSH 5 to 25
FLCR 5 to 20
FGRC 20 to 30
Home
Set the offset amount for the home position. mm
position offset - Stroke to + Stroke 1.00
Refer to “7.5 Home position return operation” for details. (deg)
amount
Automatic
Set the automatic home position return upon power-on to Enabled (0) or
home position 0 to 1 0 (Disabled) None
Disabled (1).
return
Emergency
stop input Set the emergency stop input to Enabled (0) or Disabled (1). 0 to 1 0 (Enabled) None
disabled
Calendar
function Set the calendar function to Enabled (0) or Disabled (1). 0 to 1 0 (Enabled) None
disabled
Set the time to spend for completing pressing in the pressing interval.
Pressing
(Pressing is determined as completed if the current value has reached the 0 to 9999 200 ms
judgment time
pressing current value during the pressing judgment time)
Fixed current
Set the current value to maintain the workpiece when stopped. 0 to 100 65 %
at stop

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SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

Name Description Setting range Initial value Unit

This setting is enabled when Auto Servo OFF 1 is selected as the stop
Automatic servo
method for point data. Servo OFF is initiated after the positioning 0 to 9999 0
OFF time 1
operation is completed and the set time has elapsed.

This setting is enabled when Auto Servo OFF 2 is selected as the stop
Automatic servo
method for point data. Servo OFF is initiated after the positioning 0 to 9999 0 sec
OFF time 2
operation is completed and the set time has elapsed.

This setting is enabled when Auto Servo OFF 3 is selected as the stop
Automatic servo
method for point data. Servo OFF is initiated after the positioning 0 to 9999 0
OFF time 3
operation is completed and the set time has elapsed.

Threshold value for A warning is output when the integrated running distance reaches the set
m
integrated running threshold. 0 to 999999999 0
(103deg)
distance(Actuator) No warning is output when the setting value is 0.
Threshold value for
A warning is output when the integrated number of actuator travel times
integrated number
reaches the set threshold. No warning is output when the setting value is 0 to 999999999 0 times
of travel
0.
times(Actuator)
Threshold value for
integrated A warning is output when the integrated motor operating time reaches
0 to 999999999 0 sec
operating the set threshold. No warning is output when the setting value is 0.
time(Motor)
Common Set the common allowable value for positioning complete output. mm
0.01 to 9.99 0.10
positioning width When 0 is set in point data, this value is read. (deg/s)
Set the common speed for the transport interval. Refer to “6.2.5 Setting the
Common speed 100 mm/s
When 0 is set in point data, this value is read. speed.”
Common Set the common acceleration for the transport interval.
0.01 to 1.00 0.10 G
acceleration When 0 is set in point data, this value is read.
Common Set the common deceleration for the transport interval.
0.01 to 1.00 0.10 G
deceleration When 0 is set in point data, this value is read.
Common pressing Set the common current value for the pressing interval. Refer to “6.2.13 Setting
50 %
current When 0 is set in point data, this value is read. the pressing current.”
Common pressing Set the common speed for the pressing interval. Refer to “6.2.14 Setting mm/s
10
speed When 0 is set in point data, this value is read. the pressing speed.” (deg/s)
Common pressing Set the common pressing distance for the pressing interval. Negative stroke length to mm
+10.00
distance When 0 is set in point data, this value is read. positive stroke length (deg)
Common
The value is fixed to Trapezoid (0). 0
acceleration/decele 0 None
When 0 is set in point data, this value is read. (Trapezoid)
ration method
Control, Fixed excitation,
Common stop Set the common stop method after positioning completion. Automatic servo OFF 1,
Control None
method When “Common” is set in point data, this setting is read. Automatic servo OFF 2,
Automatic servo OFF3

Set the common rotation direction at the time of rotary selection and
Common rotation Close
rotation. Close rotation, CW, CCW None
direction rotation
When “Common” is set in point data, this setting is read.

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SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

Name Description Setting range Initial value Unit

Set the operation mode.
0: 64-point mode 5: Simple 7-point mode
6: Solenoid valve mode 1 (double 2-position
1: 128-point mode
type) 0
Operation mode 7: Solenoid valve mode 2 (double 3-position
2: 256-point mode 0 to 8 (64-point None
(PIO) type) mode)
3: 512-point mode 8: Solenoid valve mode 3 (single type)
4: Teaching 64-point mode
Refer to “7.6 Positioning operation” for details.
Input signal filter Set the period for not responding to the PIO input signal from PLC, etc. 0 to 19 5 ms

Select the assignment of signals output 8 at PIO signal output 9 in operation

modes 1: 128-point mode, 2: 256-point mode, and 4: Teaching 64-point mode.

0: Point zone 1
Output selection 1 0 to 3 None
(Zone 1)
1: Zone 1
2: Zone 2
3: Traveling

Select the assignment of signals output 9 at PIO signal output 10 in operation

modes 1: 128-point mode, 2: 256-point mode, 3: 512-point mode, and 4:
Teaching 64-point mode.
0: Point zone 2
Output selection 2 0 to 3 None
(Zone 2)
1: Zone 1
2: Zone 2
3: Traveling
Enable (0) or disable (1) the pause signal (PIO signal input 14) input in operation
Pause input 0
modes 0: 64-point mode, 1: 128-point mode, 2: 256-point mode, 3: 512-point 0 to 1 None
disabled (Enabled)
mode, 4: Teaching 64-point mode, and 5: Simple 7-point mode.
Enable (0) or disable (1) the stop signal (PIO signal input 15) input in operation
0
Stop input disabled modes 0: 64-point mode, 1: 128-point mode, 2: 256-point mode, 3: 512-point 0 to 1 None
(Enabled)
mode, 4: Teaching 64-point mode, and 5: Simple 7-point mode.
Set the speed for JOG/INCH(-) travel start (PIO signal input 7) and JOG/INCH(+)
mm/s
JOG/INCH speed travel start (PIO signal input 8) signals in operation mode 4: Teaching 64-point 1 to 100 100
(deg/s)
mode.
Set the distance for INCH operation for JOG/INCH(-) travel start (PIO signal input
mm
INCH distance 7) and JOG/INCH(+) travel start (PIO signal input 8) signals in operation mode 4: 0.01 to 10.00 10.00
(deg)
Teaching 64-point mode.
Adjust the convergence time of the speed waveform.
G1 gain As the setting value increases, the position proportional gain, speed proportional
0 to 15 0 None
(responsiveness) gain and speed integral gain increase. This increases directive following ability,
but can more easily cause oscillation.
Adjust according to the actuator load.
As the setting value increases, the speed proportional gain and speed integral
G2 gain
gain increase. 0 to 15 0 None
(load magnification)
Increasing G2 gain decreases speed rippling.
If the load is large, set the setting value to a large value.

*1: In relation to "G1 gain (responsiveness)" and "G2 gain (load magnification)", setting this to "0" will cause it to read the actuator
eigenvalue. The actuator eigenvalue can be checked using S-Tools. Refer to the S Tools setting software instruction manual for
details.

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SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

5.2 Soft limit

This parameters determines the movable range in transport and pressing operations.
Exceeding the soft limit range during the above operations results in an alarm output. If an operation
completed in a position outside of the soft limit range, the alarm is output before starting the next
operation.

5.2.1 EBS/EBR/FLSH/FLCR
The motor-side x-coordinate is negative while the opposite motor side x-coordinate is positive. The
home position x-coordinate is 0.
Set the soft limit to a value that is or is outside of the movement distance (target position (1), (2)) and
inside of the actuator’s mechanical movable range.

5.2.2 FGRC
The home position x-coordinate is 0.
Set the soft limit to a value that is or is outside of the “movement distance”. Set the soft limit (+) value to
be the soft limit (-) value or higher.

The movable range changes as shown in the following figure depending on the setting of the soft limit.
*This is a figure in which FGRC is seen from the above.

動作範囲
Movable range

ソフトリミット(-)
Soft limit (-) ソフトリミット(+)
Soft limit (+) ソフトリミット(+)
Soft limit (+) ソフトリミット(-)
Soft limit (-)

動作範囲
Movable range

Setting example Setting example

Soft limit (+) ... 140 [deg] Soft limit (+) ... 220 [deg]
Soft limit (-) ... -140 [deg] Soft limit (-) ... 140 [deg]

24
SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

5.3 Zone output

When the current position is within the setting range, output signals Zone 1 and Zone 2 can be turned
ON or OFF.

E.g. Zone 1(-): 20 mm, Zone 1(+): 50 mm, Zone hysteresis: 5 mm (Sample settings)
Zone 2(-): 50 mm, Zone 2(+): 20 mm, Zone hysteresis: 5 mm (Sample settings)

Zone 1(-) Zone 1(+)

Zone 2(+) Zone 2(-)

Distanc
15 mm 20 mm 50 mm 55 mm

ON
Zone 1
OFF

ON
Zone 2
OFF

Zone hysteresis Zone hysteresis

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SM-A10615-A 5. PARAMETERS DATA CONFIGURATION

5.4 Adjusting the gains

If there is abnormality in the operation of the actuator, change the setting of the parameters "G1 gain
(responsiveness)" and "G2 gain (load magnification)" and adjust the gains. For the setting of the
parameters "G1 gain (responsiveness)" and "G2 gain (load magnification)", the setting software S-Tools
is required. Refer to "3.7.2.3. Adjustment" of the S-Tools setting software instruction manual
(SM-A11147) for specific setting instructions and other details.

■ If abnormal sound is generated during a stop

If high-pitched abnormal sound is generated from the actuator during a stop, the set value of the gain is
high, so decrease the G2 gain.
If no effect is found even if the G2 gain has been decreased, decrease also the G1 gain to make an
adjustment.

■ If abnormal sound is generated during an operation

If abnormal sound is generated during an operation at a constant speed other than an acceleration time,
the set value of the gain is high, so decrease the G2 gain.
If no effect is found even if the G2 gain has been decreased, decrease also the G1 gain to make an
adjustment.

■ If the actuator vibrates during an operation

If the actuator vibrates during an operation, the set value of the gain is low, so increase the G2 gain. If no
effect is found even if the G2 gain has been increased, increase also the G1 gain to make an
adjustment.

■ If the actuator does not stop at the set position

If the actuator does not stop at the set position, the overload (H) alarm (alarm code: 6702) is given. Since
the setting of the gain is high, decrease the G1 gain or G2 gain.

■ If no workpiece can be carried

If the actuator does not operate at the set speed or stops during movement to the set position during
workpiece transfer, the set value of the gain is low, so increase the G2 gain. If abnormal sound is
generated during a stop or during an operation by increasing the G2 gain, decrease the G1 gain.

26
SM-A10615-A 6. POINT DATA CONFIGURATION

6. POINT DATA CONFIGURATION

Use the S-Tools setting software to set or change the point data.
Refer to the S-Tools setting software instruction manual for specific setting instructions and other details.

6.1 Positioning point

The number of point data that can be set depends on the operation mode. The operation mode can be
selected via parameters.

Teaching Simple
Normal mode Solenoid valve mode
mode mode
Double Double
Teaching Simple
64-point 128-point 256-point 512-point 2 position 3 position Single type
64-point 7-point
type type

Max. Max. Max. Max. Max.

7-point 2-point
64-point 128-point 256-point 512-point 64-point

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2 Point data list

The following items can be set for each point.

Setting item Description

Position specification Select either Absolute or Incremental.

method Refer to “6.2.1 Selecting the position specification method” for details.
Select Positioning operation, Pressing operation 1, or Pressing operation 2.
Operation method Refer to “6.2.2 Selecting the operation method” for details.
For Positioning operation, set this to the final target position [mm].
For Pressing operations 1 and 2, set this to the pressing start position [mm].
* Set Positioning operation and Pressing operations 1 and 2 with "Operation method".
Position
* The final target positions for Pressing operations 1 and 2 are determined by "Position" and
"Pressing distance".
Refer to “6.2.3 Setting the position” for details.
Set the output range for the Point travel complete output signal and Switch 1,2 output signal using the
Positioning width width (one side) to the final target position [mm].
Refer to “6.2.4 Setting the positioning width” for details.
Set the speed for the transport interval [mm/s].
Speed Refer to “6.2.5 Setting the speed” for details.
Set the acceleration for the transport interval [G].
Acceleration Refer to “6.2.6 Setting the acceleration” for details.
Set the deceleration for the transport interval [G].
Deceleration Refer to “6.2.7 Setting the deceleration” for details.
Acceleration/deceleration Only Trapezoid operation can be selected.
method Refer to “6.2.8 Selecting the acceleration/deceleration method” for details.
Select Control stop, Fixed excitation, Automatic Servo OFF 1, Automatic Servo OFF 2, or Automatic
Stop method Servo OFF 3.
Refer to “6.2.9 Selecting the stop method” for details.
Set the rotation direction of the rotary.
Rotation direction Refer to “6.2.10 Selecting the rotation direction” for details.
Set the gain magnification [%].
Gain magnification Refer to “6.2.11 Setting the gain magnification” for details.
Set Point zone+ [mm].
Point zone+ Refer to “6.2.12 Setting the point zone” for details.
Set Point zone- [mm].
Point zone- Refer to “6.2.12 Setting the point zone” for details.
Set the current value [%] for the pressing interval.
Pressing current Refer to “6.2.13 Setting the pressing current” for details.
Set the speed for the pressing interval [mm/s].
Pressing speed Refer to “6.2.14 Setting the pressing speed” for details.
Set the pressing interval width [mm].
Pressing distance Refer to “6.2.15 Setting the pressing distance” for details.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.1 Selecting the position specification method

You can select either Absolute or Incremental as the position specification method.

・Setting range and initial values (factory-default)

Actuator model Initial value of position
Position specification selection
Model specification

EBS/EBR/FLSH/ Absolute
Absolute
FLCR/FGRC Incremental

・Setting example:

Position
Description Setting example
specification

Sample setting: POINT 1 Position: +30 mm

Home POINT1
Sets the distance from the
Absolute Motor Opposite to motor side
home position w ith the home
Absolute
position
position (0 mm) as the +30 mm
specification
reference. 0 mm 30 mm
Reference
Thepositioning
The final target position point
completion for POINT1 is the
for POINT1 point
is the point30
30mm
mm from thehome
from the homeposition.
position.

Sets the distance from the Sample setting: POINT 1 Position: +30 mm
current position w ith the POINT 2 Position: -30 mm
current position as the
Home POINT2 Current POINT1
reference.
Relative Motor Opposite to motor
A negative value input
Incremental
position side
represents a position on the -30 mm +30 mm
specification
motor side and a positive 0 mm 20 mm 50 mm 80 mm
value input represents a Reference
position on the opposite The final target
The positioning position for
completion POINT1
point is the
for POINT1 point
is the 8080mm
point mmfrom
from the homeposition.
the home position.
motor side. The final target
The positioning position for
completion POINT2
point is the
for POINT2 point
is the 2020mm
point mmfrom
from the homeposition.
the home position.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.2 Selecting the operation method

As operation method, you can select from Positioning operation, Pressing operation 1, and Pressing
operation 2.

・Setting range and initial values (factory-default)

Actuator model
Operation selection Initial value of operation
Model

Positioning operation
EBS/EBR/FLSH/
Pressing operation 1 Positioning operation
FLCR/FGRC
Pressing operation 2

・Description of operation

Operation Explanation
This operation is intended for general transport.
A completion signal is output when the actuator has come within the
Positioning
positioning width.
operation
When the actuator reaches the positioning completion point, it comes to a stop.
Refer to “7.6. Positioning operation” for details.
This operation keeps pushing the workpiece toward the pressing completion
point during the pressing operation.
While this operation is ongoing, pausing caused by external force will not be
detected as an alarm.
Pressing
This setting can be used when clamping.
operation 1
A completion signal is output when the set pressing current has been reached.
When the actuator reaches the positioning completion point, the pressing
operation ends and the actuator comes to a stop.
Refer to “7.7. Pressing operation” for details.
This operation keeps pushing the workpiece toward the pressing completion
point during the pressing operation.
While this operation is ongoing, pausing caused by external force will not be
detected as an alarm.
Pressing This setting can be used when press-fitting.
operation 2 The actuator operates at the set pressing current, and a completion signal is
output when the actuator comes within the positioning width.
When the actuator reaches the positioning completion point, the pressing
operation ends and the actuator comes to a stop.
Refer to “7.7 Pressing operation” for details.

6.2.3 Setting the position

Set the movement position.
The movement position differs depending on the position specification method and operation method.

・Setting range and initial values (factory-default)

Actuator model Position setting range Initial position value

Model [mm], [deg] *1 [mm], [deg] *1

EBS/EBR/FLSH/ Negative stroke length to positive

0
FLCR stroke length

FGRC 0 to 359.99 0

*1 [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.4 Setting the positioning width

Set the output range for the Point travel complete output signal and Switch 1,2 output signal.
Set this using the width to the travel complete position (one side).
The meaning of positioning width differs depending on the operation method.

・Setting range and initial values (factory-default)

Actuator model Position width setting range Initial position width value
Model [mm], [deg] *3 [mm], [deg] *3

EBS/EBR/FLSH/
0.00 to 9.99 *1 0.00 *2
FLCR/FGRC

*1 When this is set to 0.00, the common positioning width of the parameters data will be applied.
*2 The common positioning width is applied because 0.00 is set as the initial value (factory-default).
*3: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

・Setting example:
Operation Setting example

Sample setting: POINT 1 Position (Absolute position): +50 mm, Positioning w idth: 5 mm
Current POINT 1
Final target
Positioning position
completion point
Speed

Distanc
Positioning -5 mm +5 mm
operation 45 mm 50 mm 55 mm
Traveling
ON
complete
signal OFF

When the actuator travels to a distance in the range betw een 45 mm and 55 mm, a travel
complete signal is output.
Even w hen the actuator travels outside of the positioning w idth range due to an overshoot
or other reasons, the complete signal is still maintained.

Pressing The completion signal is determined by the set pressing current, and therefore is not
operation 1 affected by the positioning w idth settings.

Sample setting: POINT 1 Position (Absolute position): +40 mm, Pressing distance: +10 mm,
Positioning w idth: 5 mm
Current
POINT 1
Speed Final target
Pressing position
completion point

Pressing Distanc
operation 2 -5 mm +5 mm
40 mm 45 mm 50 mm 55 mm
Traveling
ON
complete
signal OFF
When the actuator travels to a distance in the range betw een 45 mm and 55 mm, a travel
complete signal is output.
Even w hen the actuator travels outside of the positioning w idth range due to a push-back
or other reasons, the complete signal is still maintained.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.5 Setting the speed

The speed for the travel interval can be set.

・Setting range and initial values (factory-default)

<EBS/EBR series>
Actuator model Speed setting range Initial speed value
Motor mounting [mm/s], [deg/s] [mm/s], [deg/s]
Model Body size Screw lead *1*2*4 *3*4
direction
06 7 to 400 0
ME
12 15 to 800 0
04
06 7 to 400 0
MR,MD,ML
12 15 to 700 0
02 2 to 130 0
05 6 to 300 0
ME
10 12 to 700 0
20 25 to 1100 0
05
02 2 to 130 0
EBS
05 6 to 300 0
MR,MD,ML
10 12 to 600 0
20 25 to 1100 0
05 6 to 250 0
ME 10 12 to 550 0
20 25 to 1100 0
08
05 6 to 225 0
MR,MD,ML 10 12 to 550 0
20 25 to 1000 0
06 7 to 350 0
ME
12 15 to 600 0
04
06 7 to 350 0
MR,MD,ML
12 15 to 600 0
02 2 to 130 0
05 6 to 330 0
ME
10 12 to 600 0
20 25 to 800 0
05
02 2 to 120 0
EBR
05 6 to 330 0
MR,MD,ML
10 12 to 500 0
20 25 to 800 0
05 6 to 225 0
ME 10 12 to 450 0
20 25 to 900 0
08
05 6 to 225 0
MR,MD,ML 10 12 to 450 0
20 25 to 700 0

*1: Operation may not be stable even in the setting range, depending on the acceleration, deceleration or installation method.
*2: This can be set to 0 in point data. If this is set to 0, the common speed of the parameters data will be applied.
*3: The common speed is applied because the initial value (factory-default) is set to 0.
*4: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 6. POINT DATA CONFIGURATION

<FLSH/FLCR/FGRC series>
Actuator model Speed setting range Initial speed value
[mm/s], [deg/s] [mm/s], [deg/s]
Model Body size Screw lead *1*2*4 *3*4

16 H1 5 to 50 0
FLSH 20 H1 5 to 50 0
25 H1 5 to 50 0
02 2 to 100 0
16
08 10 to 300 0
02 2 to 100 0
FLCR 20
08 10 to 300 0
02 2 to 100 0
25
06 7 to 300 0
10 20 to 200 0
FGRC 30 20 to 200 0
50 20 to 200 0

*1: Operation may not be stable even in the setting range, depending on the acceleration, deceleration or installation method.
*2: This can be set to 0 in point data. If this is set to 0, the common speed of the parameters data will be applied.
*3: The common speed is applied because the initial value (factory-default) is set to 0.
*4: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.6 Setting the acceleration

The acceleration for the travel interval can be set.

・Setting range and initial values (factory-default)

Actuator model Initial acceleration

Acceleration setting range
value
Model [G] *1
[G] *2
EBS/EBR 0.01 to 1.00 0.00
FLSH 0.10 to 0.30 0.00
FLCR 0.10 to 0.30 0.00
FGRC 0.10 to 0.30 0.00

*1: This can be set to 0 in point data. If this is set to 0, the common acceleration of the parameters data will be applied.
*2: The common acceleration is applied because the initial value (factory-default) is set to 0.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.7 Setting the deceleration

The deceleration for the travel interval can be set.

・Setting range and initial values (factory-default)

Actuator model Initial deceleration

Deceleration setting range
value
Model [G]*1
[G]*2
EBS/EBR 0.01 to 1.00 0.00
FLSH 0.10 to 0.30 0.00
FLCR 0.10 to 0.30 0.00
FGRC 0.10 to 0.30 0.00

*1: Deceleration can be set to 0 in point data. If this is set to 0, the common deceleration of the parameters data will be applied.
*2: The common deceleration is applied because the initial value (factory-default) is set to 0.

6.2.8 Selecting the acceleration/deceleration method

You can select the acceleration/deceleration method for the positioning operation and pressing operation.
You can select either Common or Trapezoid as the acceleration/deceleration method.

・Selectable acceleration/deceleration methods and initial values (factory-default)

Acceleration/deceleration
Description
method
The acceleration/deceleration method set by the common
Common
acceleration/deceleration method of the parameters data will be applied.
This is the acceleration/deceleration method where the speed command changes
Trapezoid
at a certain rate.

* Because the initial value (factory-default) is set to Common, the common acceleration/deceleration method is applied.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.9 Selecting the stop method

You can select the stop method for when the positioning operation or pressing operation is completed.
You can select Common, Control, Fixed excitation, Automatic Servo OFF 1, Automatic Servo OFF 2, or
Automatic Servo OFF 3 as the stop method.

・Selectable stop methods and initial values (factory-default)

Stop method Description
The stop method set by the common stop method of the parameters data
Common
will be applied.
After the positioning or pressing operations is completed, the actuator is
Control controlled at a current that can maintain the completion position to hold the
stop position.
After the positioning or pressing operations is completed, the actuator is
Fixed excitation
held at the stop position by a fixed current set in the parameters data.
Actuator is controlled to a stop after the positioning or pressing operations
Automatic
is completed. Servo OFF is initiated after the time set in Auto Servo OFF
Servo OFF 1
Time 1 in the parameters data elapses.
Actuator is controlled to a stop after the positioning or pressing operations
Automatic
is completed. Servo OFF is initiated after the time set in Automatic servo
Servo OFF 2
OFF time 2 in the parameters data elapses.
Actuator is controlled to a stop after the positioning or pressing operations
Automatic
is completed. Servo OFF is initiated after the time set in Automatic servo
Servo OFF 3
OFF time 3 in the parameters data elapses.

* Because the initial value (factory-default) is set to Common, the common stop method is applied.

6.2.10 Selecting the rotation direction

Set the rotation direction of the rotary.

•Selectable rotation directions

Rotation
Description
direction
The stop method set by the common stop method of the parameters data will
Common
be applied.
From the current position to the target position, it rotates to a direction in
Close rotation
which the operation distance is short.
CW It rotates in the CW direction (clockwise).
CCW It rotates in the CCW direction (counterclockwise).

* Because the initial value (factory-default) is set to Common, the common rotation direction is applied.

6.2.11 Setting the gain magnification

Use this only when gain adjustment is required for each point. This should normally be used with a
setting value of 0.

・Setting range and initial values (factory-default)

Actuator model Gain magnification setting range Initial value of gain magnification
Model [%]*1 [%]*2

EBS/EBR/FLSH/
0 to 9999 0
FLCR/FGRC

*1 When this is set to 0, gain magnification will not be used.

*2 Gain magnification is not used because the initial value (factory-default) is set to 0.

Using the wrong setting could result in unstable control. If control is unstable, contact CKD.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.12 Setting the point zone

You can set the border value for switching the Point zone output signal from OFF to ON as Point zone(+)
and the border value for switching from ON to OFF as Point zone(-) using the distance from the home
position.

・Setting range and initial values (factory-default)

Actuator model Point zone (+) Initial value of

Point zone (-) point zone
Model [mm], [deg] *1 [mm], [deg] *1

EBS/EBR/FLSH/
-9999.99 to 9999.99 0.00
FLCR/FGRC
*1: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

・Sample Settings:

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.13 Setting the pressing current

The current value for the pressing interval can be set.

・Setting range and initial values (factory-default)

Actuator model Pressing current setting Initial value of pressing
range current
Model [%]*1 [%]*2
EBS/EBR/FLSH/
1 to 100 0.00
FLCR/FGRC

*1: The pressing current can be set to 0 in point data. If this is set to 0, the common pressing current of the parameters data will be
applied.
*2: The common pressing current is applied because the initial value (factory-default) is set to 0.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.14 Setting the pressing speed

The speed of the pushing interval can be set.

・Setting range and initial values (factory-default)

<EBS/EBR series>
Actuator model Initial pressing speed
Pressing speed setting range
Motor value
[mm/s], [deg/s]
Model Body size mounting Screw lead [mm/s], [deg/s]
*1*3
direction *2*3
06 5 to 25 0
ME
12 5 to 30 0
04
06 5 to 25 0
MR,MD,ML
12 5 to 30 0
02 5 to 25 0
05 5 to 25 0
ME
10 5 to 30 0
20 5 to 30 0
05
02 5 to 25 0
EBS
05 5 to 25 0
MR,MD,ML
10 5 to 30 0
20 5 to 30 0
05 5 to 25 0
ME 10 5 to 30 0
20 5 to 30 0
08
05 5 to 25 0
MR,MD,ML 10 5 to 30 0
20 5 to 30 0
06 5 to 20 0
ME
12 5 to 30 0
04
06 5 to 20 0
MR,MD,ML
12 5 to 30 0
02 5 to 20 0

05 5 to 20 0
ME
10 5 to 30 0
05 20 5 to 30 0
EBR 02 5 to 20 0
05 5 to 20 0
MR,MD,ML
10 5 to 30 0
20 5 to 30 0
05 5 to 30 0
ME 10 5 to 30 0
20 5 to 30 0
08
05 5 to 30 0
MR,MD,ML 10 5 to 30 0
20 5 to 30 0

*1: The pressing speed can be set to 0 in point data. If this is set to 0, the common pressing speed of the parameters data will be applied.
*2: The common pressing speed is applied because the initial value (factory-default) is set to 0.
*3: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 6. POINT DATA CONFIGURATION

<FLSH/FLCR/FGRC series>
Actuator model Initial pressing speed
Pressing speed setting range
value
[mm/s], [deg/s]
Model Body size Screw lead [mm/s], [deg/s]
*1*3
*2*3
16 H1 5 to 25 0
FLSH 20 H1 5 to 25 0
25 H1 5 to 25 0
02 2 to 20 0
16
08 5 to 20 0
02 2 to 20 0
FLCR 20
08 5 to 20 0
02 2 to 20 0
25
06 5 to 20 0
10 20 to 30 0
FGRC 30 20 to 30 0
50 20 to 30 0

*1: The pressing speed can be set to 0 in point data. If this is set to 0, the common pressing speed of the parameters data will be applied.
*2: The common pressing speed is applied because the initial value (factory-default) is set to 0.
*3: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 6. POINT DATA CONFIGURATION

6.2.15 Setting the pressing distance

The pressing interval width can be set.

・Setting range and initial values (factory-default)

Actuator model Pressing distance setting range Initial pressing distance value
[mm], [deg] [mm], [deg]
Model *1*3 *2*3
EBS/EBR/FLSH/ Negative stroke length to positive stroke
0
FLCR length

FGRC 0 to 359.99 0

*1: If the pressing distance is set to 0 in the point data, the common pressing distance of the parameters data will be applied.
*2: The common pressing distance is applied because the initial value (factory-default) is set to 0.
*3: [deg] are used in the case of the model number FGRC and [mm] unit in the case of other models.

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SM-A10615-A 7. OPERATION

7. OPERATION
7.1 Emergency stop and release
If an emergency stop is performed during operation, no current is passed to the motor after
deceleration stops.
Operation preparation complete output turns OFF until the emergency stop is released. The
electromagnetic brake is also locked if a brake is attached. A short is generated between the motor
terminals and it enters the dynamic brake status.
To release emergency stop, first confirm the surrounding area is safe, and then turn the emergency
stop signal (b contact) ON.

Horizontal横軸：時間
axis: Time

非常停止 stop
Emergency ON
Input
入力信号 signal EMGEMG
(b contact)
（b接点） OFF

ON
Green
緑
OFF
Controller
コントローラ
indicator
表示ランプ lamp
ON
赤
Red
OFF

Operation ON
運転準備完了
preparation
complete OFF
Output signal
出力信号
ON
アラームAlarm
(b contact)
（b接点） OFF

非常停止stop
Emergency 非常停止クリア
Emergency stop release

CAUTION
Be careful of emergency stop wiring disconnection.
Emergency stop status is not treated as an alarm, so no alarm signal will be output.
Be careful of the input signal status.
For solenoid valve mode single/double 3 position type, the travel command signal is level input, so
it may operate when emergency stop is released.

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SM-A10615-A 7. OPERATION

7.2 Force brake release

When the force brake release signal is input (24 V or 48 V applied), the electromagnetic brake is
forcibly released (if one is attached).
If force brake release is performed during operation, no current is passed to the motor after
deceleration stops.
This operates the same as emergency stop, but the electromagnetic brake is left released.

Horizontal axis: Time

横軸：時間
ブレーキ
Force brake ON
入力信号
Input signal release
強制解除
(24 V/48 V)
（b接点） OFF

ON
Green
緑
OFF
Controller
コントローラ
indicator
表示ランプ lamp
ON
赤
Red
OFF

Operation ON
運転準備完了
preparation
complete OFF
Output signal
出力信号
ON
アラームAlarm
(b contact)
（b接点） OFF

ブレーキ強制解除
Force brake release ブレーキ強制解除クリア
Force brake release clear

WARNING
Always set the input for force brake release (BRK) to either 0 VDC or open during normal
operation, so that the brake can be applied.
If 24 VDC or 48 VDC is applied to force brake release (BRK), the brake will be forcibly released.
The movable part of the actuator could fall, causing injury or damaging the workpiece.

CAUTION
Be careful of force brake release wiring disconnection.
Force brake release status is not treated as an alarm, so no alarm signal will be output.
Be careful of the input signal status.
For solenoid valve mode single/double 3 position type, the travel command signal is level input, so
it may operate when force brake release is cleared.

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SM-A10615-A 7. OPERATION

7.3 Servo ON/OFF

If the servo is turned OFF (servo ON signal turned OFF) during operation, no current is passed to the
motor after deceleration stops.
Operation preparation complete output turns OFF while the servo is OFF. The electromagnetic brake
is also locked if a brake is attached.
The "S-Tools" setting software can be used to turn the servo ON/OFF regardless of the status of the
servo ON signal.

Horizontal axis: Time

横軸：時間
ON
入力信号
Power supply サーボON信号
Servo ON signal
OFF

ON
緑
Green
OFF
Controller
コントローラ
indicator lamp
表示ランプ ON
赤
Red
OFF

Operation ON
運転準備完了
preparation
complete OFF
Output signal
出力信号
ON
アラームAlarm
(b contact)
（b接点） OFF

サーボOFF
Servo OFF サーボON
Servo ON

WARNING
Confirm safety within the operation range.
Turning the servo OFF during operation could result in unexpected operation.

CAUTION
If operation from the "S-Tools" setting software is enabled, operation will not be received
from the servo ON signal.
Be careful of the input signal status.
For solenoid valve mode single/double 3 position type, the travel command signal is level input, so
it may operate when the servo is turned ON.

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SM-A10615-A 7. OPERATION

7.4 Power ON sequence

The figure below shows a time chart from power ON to operation preparation complete.

Horizontal横軸：時間
axis: Time

ON
Control power
制御電源
supply
OFF
電源
Power supply
ON
モータ電源
Motor power
supply OFF

ON
緑
Green
OFF
コントローラ
Controller
表示ランプ
indicator lamp
ON
赤
Red
OFF

非常停止stop
Emergency ON
EMG
EMG
(b contact)
（b接点） OFF

ON
Input
入力信号 Servo ON
signal サーボON信号
signal OFF

ON
アラームリセット
Alarm reset
signal
信号 OFF

ON
Operation
運転準備完了
preparation
complete OFF
出力信号
Output signal
ON
アラームAlarm
(b contact)
（b接点） OFF

※1

電源投入
Power supply サーボON
Servo ON ※2 ※3
ON 非常停止
Emergency 運転準備
Operation
stop
解除release preparation
完了
complete

*1 When the power is turned ON and the servo is first turned ON, it will take around 1 s.
*2. If operation from the "S-Tools" setting software has been enabled, operation preparation complete
output will turn OFF.
*3. If operation from the "S-Tools" setting software has been disabled, operation preparation complete
output will turn ON.

45
SM-A10615-A 7. OPERATION

7.5 Home position return operation

7.5.1 EBS / EBR

Home position return operation is performed according to related parameters.

モータ側メカエンド
Motor mechanical end

Home position return

原点復帰方向 Home原点復帰方向
position return
direction
"標準" "Normal" direction"反対"
"Opposite"
Stroke
ストローク
Home position
原点オフセット
offset amount

原点
Home position

Setting item Overview

Home position return
Sets the home position return direction.
direction

Home position return

Sets the home position return speed.
speed

Home position offset

Sets the offset amount for the home position.
amount

Automatic home Sets whether to automatically Home position return during operation when the
position return power supply is turned ON.
* Refer to the parameters list in "5. Parameters Data Configuration" for details.

An absolute encoder without a battery is used, so point travel is possible even if home position return
operation is not executed.
When home position return is performed, the operation is completed without pressing against the
mechanical end.

メカエンドend
Mechanical

原点復帰速度
Home position return speed

3mm

Home原点
position

If the home position return direction is "Normal", the home position return operation is
completed by the operation from the motor side.
If the home position return direction is "Opposite", the home position return operation is
completed by the operation from the opposite motor side.
(The reverse operation is not performed using the position at home position return start.)

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 SM-A10615-A 7. OPERATION

• Time chart
Horizontal横軸：時間
axis: Time
Home position ON
原点復帰開始
return start
OFF

変位
Displacement

原点
Home position

ON
Home
原点復帰完了position
return complete OFF
Output出力信号
signal
Operation preparation ON
運転準備完了
complete OFF

原点復帰
Home position 原点復帰
Home position
開始start
return return
完了 complete

* During home position return, both home position return complete and operation preparation complete
output turn OFF.

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SM-A10615-A 7. OPERATION

7.5.2 FLSH
Home position return operation is performed according to related parameters.
The open direction of the finger is the standard home position return direction.

Finger open direction

フィンガ開方向 Finger close direction
フィンガ閉方向

Home position return

原点復帰方向 Home 原点復帰方向
position return
direction
"標準" "Normal" direction "反対"
"Opposite"
Stroke
ストローク
Home position
原点オフセット量
offset amount

原点
Home position

Setting item Overview

Home position
Sets the home position return direction.
return direction
Home position
Sets the home position return speed.
return speed
Home position
Sets the offset amount for the home position.
offset amount
Automatic home Sets whether to automatically Home position return during operation
position return when the power supply is turned ON.
* Refer to the parameters list in "5. Parameters Data Configuration" for details.

If the parameter “home position offset amount” is ”0.00”, a position of 0.25 mm from the mechanical
end is the home position.

メカエンド end
Mechanical

Home原点復帰速度
position return speed

0.25mm

Home原点
position

If contacting with the workpiece during a home position return, the home position may be
displaced.

48
 SM-A10615-A 7. OPERATION

•Time chart
Horizontal axis: Time
横軸：時間
ON
Home position
原点復帰開始
return start
OFF

変位
Displacement

原点
Home position
メカエンド
Mechanical end

ON
Home
原点復帰完了 position
return complete OFF
出力信号
Output signal
ON
Operation
運転準備完了
preparation
OFF
complete

原点復帰
Home position 原点復帰
Home position
開始start
return 完了
return complete

* During home position return, both home position return complete and operation preparation complete
output turn OFF.

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SM-A10615-A 7. OPERATION

7.5.3 FLCR
Home position return operation is performed according to related parameters.
Mechanical end on PULL side
PULL側メカエンド

原点復帰方向
Home position return Home原点復帰方向
position return
direction
"標準" "Normal" direction "Opposite"
"反対"
ストローク
Stroke
Home position
原点オフセット量
offset amount

￥¥¥¥¥

Home原点
position

Setting item Overview

Home position return
Sets the home position return direction.
direction
Home position return
Sets the home position return speed.
speed
Home position offset
Sets the offset amount for the home position.
amount
Automatic home Sets whether to automatically Home position return during operation when the
position return power supply is turned ON.

* Refer to the parameters list in "5. Parameters Data Configuration" for details.

If the parameter “home position offset amount” is “0.00”, a position of 1 mm from the mechanical end is
the home position.

メカエンド end
Mechanical

原点復帰速度
Home position return speed

1mm

原点
Home position

If contacting with the workpiece during a home position return, the home position may be
displaced.

50
 SM-A10615-A 7. OPERATION

•Time chart
Horizontal axis: Time
横軸：時間
ON
Home position
原点復帰開始
return start
OFF

Displacement
変位

Home 原点
position
Mechanical
メカエンド end

ON
Home position
原点復帰完了
return complete OFF
Output
出力信号signal
Operation ON
運転準備完了
preparation
complete OFF

Home
原点復帰 position Home
原点復帰 position
return
開始start return
完了 complete

* During home position return, both home position return complete and operation preparation complete
output turn OFF.

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 SM-A10615-A 7. OPERATION

7.5.4 FGRC
Home position return operation is performed according to related parameters.
*This is a figure seen from the upper surface of the table.

⑦
①
⑥
Home
原点
position ②
⑧ ロータリ
Rotary
⑤
③
④

Proximity
近接センサ検出範囲sensor detection range

(1) When the command of a home position return is given, an operation is started in the specified
rotation direction.
The rotation speed is 30 deg/s.
(2) The proximity sensor is turned ON.
(3) The proximity sensor is turned OFF.
(4) Reverse movement is performed.
(5) The proximity sensor is turned ON.
(6) The proximity sensor is turned OFF.
(7) The home position is calculated from the results of (2), (3), (5) and (6).
The home position is the center of the detection range of the sensor.
The point operation to the home position is started.
(8) The home position return is completed.

Setting item Overview

Home position return
Sets the home position return direction.
direction
Home position return
Sets the home position return speed.
speed
Home position offset
Sets the offset amount for the home position.
amount
Automatic home Sets whether to automatically home position return during operation when the
position return power supply is turned ON.

* Refer to the parameters list in "5. Parameters Data Configuration" for details.

The incremental encoder is used, so a home position return operation is required after the power supply
is turned ON.

If the home position return direction is "Normal", an operation is started counterclockwise (in the
CCW direction).
If the home position return direction is "Opposite", an operation is started clockwise (in the CW
direction).

If an obstacle is placed in the proximity sensor detection range, the home position return is not
completed.

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SM-A10615-A 7. OPERATION

•Time chart

Horizontal axis: Time

Home position
return start

Proximity sensor
Displacement detection range
Home position

Home position
Output return complete
signal
Operation
preparation complete

Home position Home position

return start return complete

* During home position return, both home position return complete and operation preparation complete
output turn OFF.

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SM-A10615-A 7. OPERATION

7.6 Positioning operation

7.6.1 Normal mode (64-point, 128-point, 256-point and 512-point mode)
Once the point number is specified with the point number selection bit, traveling begins via ON edge
input of the point travel start signal.

• Input signal 0: OFF (level input), 1: ON (level input), 1↑: ON edge input
General purpose
input 0 to 8
Description
Point No.
Selection bit 0 to 8
Sets the point No. in binary.
64-point mode: Point No. selection bit 0 to 5
- 128-point mode: Point No. selection bit 0 to 6
256-point mode: Point No. selection bit 0 to 7
512-point mode: Point No. selection bit 0 to 8

General purpose
input 10 Description
Point travel start
Operates to point set with the point No. selection bit.
1↑ After setting the point No. selection bit, wait at least for the time set in the parameter “input
signal filter” (initial value = 5 ms) before input.
Setting example: 64-point mode
General General General General General General General
purpose purpose purpose purpose purpose purpose purpose Description
input 0 input 1 input 2 input 3 input 4 input 5 input 10
0 0 0 0 0 0 1↑ Begins traveling to point 0.
1 0 0 0 0 0 1↑ Begins traveling to point 1.
0 0 0 1 0 0 1↑ Begins traveling to point 8.
1 1 1 1 1 1 1↑ Begins traveling to point 63.

• Output signal 0: OFF, 1: ON

General purpose
output 0 to 8
Description
Point No.
Confirmation bit 0 to 8
Outputs the point No. in binary after travel is complete.
64-point mode: Point No. confirmation bit 0 to 5
- 128-point mode: Point No. confirmation bit 0 to 6
256-point mode: Point No. confirmation bit 0 to 7
512-point mode: Point No. confirmation bit 0 to 8

General purpose
output 10 Description
Point travel complete
1 Turns ON when it finishes traveling to the set point.

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 SM-A10615-A 7. OPERATION

• Time chart

Horizontal axis: Time

横軸：時間
ポイント ON
Point travel
移動開始
start OFF

ポイント番号 ON
Point number
選択ビット0
selection bit 0 OFF

ポイント番号 ON
Point number
選択ビット1
selection bit 1 OFF
Input signal ON
ポイント番号
Point number
入力信号
選択ビット2
selection bit 2 OFF

ON
ポイント番号
Point number
選択ビット3
selection bit 3 OFF

ON
ポイント番号
Point number
選択ビット4
selection bit 4 OFF

ON
ポイント番号
Point number
選択ビット5
selection bit 5 OFF

ポイント63
Point 63

Displacement
変位
ポイント8
Point 8
Point
ポイント11

Point ON
ポイントtravel
移動完了
complete OFF

ポイント番号
Point number ON
confirmation
確認ビット0 bit 0 OFF

Point number ON
ポイント番号
confirmation
確認ビット1 bit 1
OFF

ポイント番号
Point number ON
Output signal
出力信号 confirmation
確認ビット2bit 2 OFF

Point number ON
ポイント番号
confirmation
確認ビット3 bit 3
OFF

ポイント番号
Point number ON
confirmation
確認ビット4 bit 4 OFF

Point number ON
ポイント番号
confirmation
確認ビット5 bit 5
OFF

※1

Point
ポイント88 Pointポイント8
8 travel ポイント63
Point 63 ポイント63
Point 63 travel
travel
移動開始 start 移動完了
complete 移動開始
travel start 移動完了
complete

*1 After setting the point No. selection bit, wait at least for the time set in the parameter “input signal filter”
(initial value = 5 ms) before input.

55
SM-A10615-A 7. OPERATION

7.6.2 Teaching 64-point mode

PIO input can be used to perform actuator jog (JOG) and inching (INCH) operations, and to perform
point setting. The operation method in the normal state is the same as "normal mode (64-point mode)".

• Input signal 0: OFF (level input), 1: ON (level input), 1↑: ON edge input, x: Don’t care
General purpose
input 0 to 5
Description
Point No.
Selection bit 0 to 5
- Sets the point No. in binary.

General purpose
input 10
Description
Point travel
start/Write start

Normal status: Operates to point set with the point No. selection bit.
1↑
Teaching status: Writes the current position to the point set with the point No. selection bit.

Setting example:
General General General General General General General
purpose purpose purpose purpose purpose purpose purpose Description
input 0 input 1 input 2 input 3 input 4 input 5 input 10
0 0 0 0 0 0 1↑ Writes point 0 as the current position.
1 0 0 0 0 0 1↑ Writes point 1 as the current position.
0 0 0 1 0 0 1↑ Writes point 8 as the current position.
1 1 1 1 1 1 1↑ Writes point 63 as the current position.

General purpose
input 6 Description
Teaching selection
Selects normal status.
0
General purpose input 0 to 5 and 10 functions the same as normal mode (64-point mode).
Selects teaching state.
1 The point can be set with general purpose input 0 to 5 and 10. JOG-INCH operation can be
performed with general purpose input 7 to 9.

General purpose General purpose General purpose

input 7 input 8 input 9
Description
JOG/INCH (+) JOG/INCH (-)
INCH selection
travel start travel start
1↑ 0 0 Starts JOG operation to the opposite motor side.
0 x 0 Stops JOG operation to the opposite motor side.
0 1↑ 0 Starts JOG operation to the motor side.
x 0 0 Stops JOG operation to the motor side.
1↑ 0 1 INCH travels to the opposite motor side.
0 1↑ 1 INCH travels to the motor side.
* The JOG/INCH speed and travel distance can be set via user parameters. Refer to "5. Parameters
Data Configuration" for details.

56
SM-A10615-A 7. OPERATION

• Output signal 0: OFF, 1: ON

General purpose
output 10
Point travel Description
complete/Write
complete
Normal status: Turns ON when it finishes traveling to the set point.
1
Teaching status: Turns ON once the set point data is written.

General purpose
output 0 to 5
Point No. Description
Confirmation bit 0 to
5
- Outputs the point No. in binary after travel is complete.

General purpose
output 6 Description
Teaching status
0 Turns OFF when normal status is selected.
1 Turns ON when teaching status is selected.

57
SM-A10615-A 7. OPERATION

• Time chart
Horizontal axis: Time
ON
Point write
Write start
OFF

ON
Point No.
selection bit 0 OFF

ON
Point No.
selection bit 1 OFF

ON
Point No.
selection bit 2 OFF

ON
Point No.
selection bit 3 OFF

ON
Point No.
Input signal
selection bit 4 OFF

ON
Point No.
selection bit 5 OFF

Teaching ON

selection OFF

ON
INCH selection
OFF

JOG/INCH (+) ON

travel start OFF

ON
JOG/INCH (-)
travel start OFF

Point 63

Point 8
Displacement

Point 1

ON ※1 ※1
Write
Writecomplete
complete
OFF
Output signal
ON
Teaching
status OFF

JOG (+) JOG (+) INCH (-)

travel start travel stop travel start

*1. It will take several seconds for writing to complete once point write is input.

The normal status time chart is the same as for "normal mode". Refer to the time chart in "7.6.1
Normal mode".

58
SM-A10615-A 7. OPERATION

7.6.3 Simple 7-point mode

Traveling begins via ON edge input of the point travel start signal.

• Input signal 0: OFF (level input), 1: ON (level input), 1↑: ON edge input
General purpose
input 0 to 6
Description
Point No. 1 to 7
travel start
Starts traveling to corresponding point.
1↑ During ON edge input, if another point No. travel start signal switches ON, traveling
does not start.

Setting example:
Point No. Point No. Point No. Point No. Point No. Point No. Point No.
0 travel 1 travel 2 travel 3 travel 4 travel 5 travel 6 travel Description
start start start start start start start
1↑ 0 0 0 0 0 0 Begins traveling to point 1.

0 0 1↑ 0 0 0 0 Begins traveling to point 3.

0 0 0 0 0 0 1↑ Begins traveling to point 7.
Does not start traveling while another point No. travel
0 0 1 1↑ 0 0 0
start input is ON.

• Output signal 0: OFF, 1: ON

General purpose
output 0 to 6
Description
Point No. 1 to 7
travel complete

1 Turns ON when it finishes traveling to the corresponding point.

59
 SM-A10615-A 7. OPERATION

• Time chart
Horizontal横軸：時間
axis: Time
ON
ポイント番号1
Point No. 1
移動開始
travel start OFF

ポイント番号2 ON
Point No. 2
移動開始
travel start OFF

ポイント番号3 ON
Point No. 3
移動開始
travel start OFF

ポイント番号4 ON
Input入力信号
signal Point No. 4
移動開始
travel start OFF

ポイント番号5 ON
Point No. 5
移動開始
travel start OFF

ポイント番号6 ON
Point No. 6
移動開始
travel start OFF

ポイント番号7
Point No. 7 ON

移動開始
travel start OFF

ポイント7
Point 7

変位
Displacement
ポイント3
Point 3

Point 1
ポイント1

Point No. 1
ポイント番号1 ON
travel complete
移動完了 OFF

ポイント番号2
Point No. 2 ON

移動完了
travel complete OFF

Point No. 3
ポイント番号3 ON
travel
移動完了complete
OFF

ON
ポイント番号4
Point No. 4
出力信号
Output signal travel complete
移動完了 OFF

ポイント番号5
Point No. 5 ON
travel complete
移動完了 OFF

ポイント番号6 ON
Point No. 6
移動完了
travel complete OFF

ポイント番号7
Point No. 7 ON
travel complete OFF
移動完了

ポイント3
Point 3 travel ポイント3
Point 3 travel ポイント4
Point 4 ポイント7
Point 7 travel ポイント7
Point 7 travel
start
移動開始 complete
移動完了 travel start
移動開始 移動開始start complete
移動完了
*1
※1

*1. Does not start traveling while another point number travel start input is ON.

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SM-A10615-A 7. OPERATION

7.6.4 Solenoid valve mode (double 2 position type)

Travels between two points via ON edge input.

• Input signal 0: OFF (level input), 1: ON (level input), 1↑: ON edge input
General purpose General purpose
input 0 input 1
Solenoid valve Description
Solenoid valve
travel command
travel command 1
2
1↑ 0 Begins traveling to point 1.
0 1↑ Begins traveling to point 2.

• Output signal 0: OFF, 1: ON

General purpose General purpose
output 0 output 1
Description
Point 1 travel Point 2 travel
complete complete
1 0 Turns ON when it finishes traveling to point 1.
0 1 Turns ON when it finishes traveling to point 2.

General purpose General purpose

output 4 output 5 Description
Switch 1 Switch 2
1 0 Turns ON when in the positioning complete range of point 1.
0 1 Turns ON when in the positioning complete range of point 2.

• Time chart
Horizontal横軸：時間
axis: Time
Solenoid
電磁弁 valve ON
travel command 1
移動指令1 OFF
入力信号
Input signal
ON
電磁弁
Solenoid valve
移動指令2
travel command 2 OFF

ポイント2
Point 2

変位
Displacement

ポイント1
Point 1

ポイント1 ON
Point 1 travel
移動完了
complete OFF

ポイント2 ON
Point 2 travel
移動完了
complete OFF
出力信号
Output signal
ON
スイッチ1
Switch 1
OFF

ON
Switch 2
スイッチ2
OFF

※1 ※2 ※2 ※1

Point 2
ポイント2 Point
ポイント2 2 travel ポイント1 ポイント1
Point 1 Point 1 travel
travel
移動開始 start complete
移動完了 移動開始 移動完了
travel start complete

*1. Output continues while in the positioning width of point 1.

*2. Output continues while in the positioning width of point 2.

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SM-A10615-A 7. OPERATION

7.6.5 Solenoid valve mode (double 3 position type)

Travels between two points when turned ON (level input).

• Input signal 0: OFF (level input), 1: ON (level input)

General purpose General purpose
input 0 input 1
Description
Solenoid valve Solenoid valve
travel command 1 travel command 2
1 0 Begins traveling to point 1.
0 1 Begins traveling to point 2.
0 0 Suspends travel operation and stops at that point.

• Output signal 0: OFF, 1: ON

General purpose General purpose
output 0 output 1
Description
Point 1 travel Point 2 travel
complete complete
1 0 Turns ON when it finishes traveling to point 1.
0 1 Turns ON when it finishes traveling to point 2.

General purpose General purpose

output 4 output 5 Description
Switch 1 Switch 2
1 0 Turns ON when in the positioning complete range of point 1.
0 1 Turns ON when in the positioning complete range of point 2.

• Time chart
Horizontal横軸：時間
axis: Time
Solenoid
電磁弁 valve ON
travel command 1 OFF
移動指令1
入力信号
Input signal
ON
電磁弁
Solenoid valve
travel移動指令2
command 2 OFF

ポイント2
Point 2

Displacement
変位

ポイント1
Point 1

ポイント1
Point 1 travel ON
移動完了
complete OFF

ポイント2 ON
Point 2 travel ※3
移動完了
complete OFF
出力信号
Output signal
ON
スイッチ1
Switch 1
OFF

ON
スイッチ2
Switch 2
OFF

※1 ※2 ※2 ※1

ポイント2 Stops at
Point 2 その場停止 Point 2 Point
ポイント2 2 travel
ポイント2 ポイント1
Point 1 Point
ポイント1 1 travel
travel start that point
移動開始 移動開始 complete
travel start 移動完了 travel start
移動開始 complete
移動完了

*1. Output continues while in the positioning width of point 1.

*2. Output continues while in the positioning width of point 2.
*3. When the solenoid valve travel command is turned OFF, travel complete output also turns OFF.

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 SM-A10615-A 7. OPERATION

7.6.6 Solenoid valve mode (single type)

Travels between two points when one input single turns OFF (level input) or ON (level input).

• Input signal 0: OFF (level input), 1: ON (level input)

General purpose input 1
Solenoid valve travel Description
command
0 Begins traveling to point 1.
1 Begins traveling to point 2.

• Output signal 0: OFF, 1: ON

General purpose General purpose
output 0 output 1
Description
Point 1 travel Point 2 travel
complete complete
1 0 Turns ON when it finishes traveling to point 1.
0 1 Turns ON when it finishes traveling to point 2.

General purpose General purpose

output 4 output 5 Description
Switch 1 Switch 2
1 0 Turns ON when in the positioning complete range of point 1.
0 1 Turns ON when in the positioning complete range of point 2.

• Time chart
Horizontal横軸：時間
axis: Time
電磁弁
Solenoid ON
入力信号
Input signal 移動指令1
valve travel
OFF
command 1

ポイント2
Point 2

変位
Displacement

ポイント1
Point 1

ON
ポイント1
Point 1 travel
移動完了
complete OFF

ポイント2 ON
Point 2 travel
移動完了
complete OFF
出力信号
Output signal
ON
Switch 1
スイッチ1
OFF

ON
スイッチ2
Switch 2
OFF

※1 ※2 ※2 ※1

Point 2
ポイント2 ポイント2
Point 2 travel Point 1
ポイント1 ポイント1
Point 1 travel
travel start
移動開始 移動完了
complete travel start
移動開始 移動完了
complete

*1. Output continues while in the positioning width of point 1.

*2. Output continues while in the positioning width of point 2.

63
 SM-A10615-A 7. OPERATION

7.6.7 Other output signals

In addition to the output signals described previously, the following signals are also output.

• Output signal

Output signal name Description

Turns ON when within the range set with point zone (+) and point zone (-).
Point zone
Refer to "6.2.12 Setting the point zone" for details on point zones.
Traveling Turns ON during point traveling.
Turns ON when within the range set with zone 1 (+) and zone 1 (-).
Zone 1
Refer to "5.3 Zone output" for details on zone 1.
Turns ON when within the range set with zone 2 (+) and zone 2 (-).
Zone 2
Refer to "5.3 Zone output" for details on zone 2.
* The output No. differs for each output depending on the operation mode. Refer to "4.3.6 General
purpose input/output signal assignment" for details.

• Time chart
Horizontal横軸：時間
axis: Time

ポイント1
Point 1 travel ON
入力信号
Input signal
移動指令
command OFF

ポイント1
Point 1

ゾーン1(+)
Zone 1 (+)

ゾーン1(-)
Zone 1 (-)

ゾーン2(+)
Zone 2 (+)
変位
Displacement
ゾーン2(-)
Zone 2 (-)

ポイントゾーン(+)
Point zone (+)

ポイントゾーン(-)
Point zone (-)

ポイント1 ON
Point 1
移動完了
travel complete OFF

ポイント
Point ON
ゾーン
zone OFF

ON
Output
出力信号signal 移動中
Traveling
OFF

ON
Zone
ゾーン1 1
OFF

ON
Zone
ゾーン2 2
OFF

Point 1
ポイント1 Point 1
ポイント1
travel
移動開始 start travel
移動完了 complete

64
 SM-A10615-A 7. OPERATION

7.7 Pressing operation

Pressing operations can be performed by configuring either "pressing operation 1" or "pressing
operation 2" in point data. Following a transport operation, it will operate at the "pressing current" or
lower set in the pressing interval. An alarm will not be output even if it stops upon contact with the
workpiece.

• Pressing operation settings

Setting item Description
The max. current value can be set in the pressing interval.
Pressing current
Refer to "6.2.13 Setting the pressing current" for details.
The speed of the pressing interval can be set.
Pressing speed
Refer to "6.2.14 Setting the pressing speed" for details.
The pressing interval width can be set.
Pressing distance
Refer to "6.2.15 Setting the pressing distance" for details.
Pressing judgment When setting pressing operation 1, the time until determining that pressing is complete can be set.
time Refer to the parameters list in "5. Parameters Data Configuration" for details.

• Time chart
Horizontal横軸：時間
axis: Time

押付け動作
Pressing operation
complete完了位置
position
Pressing
押付け動作
operation start
変位
Displacement 開始位置
position

Operation
動作開始位置 start
position

Set 搬送時の
speed
during 設定速度
transport

速度
Speed

押付け速度
Pressing speed

Holding保持電流
current
電流
Current Pressing current
押付け電流

押付け動作1
Pressing operation 1 ON
ポイント移動完
point travel Pressing judgment
押付け判定時間
complete 了 OFF time
Output signal
出力信号
押付け動作2
Pressing operation ON
2ポイント移動完
point travel
complete 了 OFF

Transport
搬送区間 interval Pressing interval
押付け区間

Pressing operation
ワークとの接触
Contact with workpiece 押付け動作完了位置
complete position

65
SM-A10615-A 7. OPERATION

7.8 Operation when a new operation signal is input

during operation
When a new operation signal is input during operation, operation is performed as follows.

New point target position Operation description

Same as current actuation direction Continues to operate to the target position at the speed set in the new point.
Opposite of current actuation direction After decelerating, begins operating in the opposite direction.

CAUTION
Be careful of the operation signal input timing.
It may be impossible to operate as configured according to settings such as the position, speed
and acceleration.
If a new operation signal is input near the soft limit, an over soft limit alarm may be output.

66
 SM-A10615-A 7. OPERATION

7.9 Stop/pause signal input

Operation can be stopped by inputting a stop signal during operation. This also applies for pause
signals. However, the same operation will resume if pause is released. The remaining operation can be
canceled by inputting a stop signal while paused. Travel complete is not output when stopped by the
stop signal. However, if it is stopped by the pause signal and reaches the point before the pause, the
point travel complete is output.

• Time chart
Horizontal横軸：時間
axis: Time
ON
Point
ポイント travel
start
移動開始 OFF

ON
入力信号
Input signal 停止
Stop
OFF

ON
一時停止
Pause
OFF

ポイント2
Point 2

Displacement
変位

ポイント1
Point 1

ON
ポイント
Point travel
移動完了
complete
OFF
出力信号
Output signal
ON
移動中
Traveling
OFF

※1 ※1

ポイント2
Point 2 Pause 一時停止
Pause Stop 停止Stop
一時停止 release 停止 release
移動開始
travel start クリア クリア

*1. Once the stop/pause signal is input, it decelerates then stops. Confirm stopping using the traveling
signal.

67
SM-A10615-A 7. OPERATION

7.10 Holding operation after travel complete

If the "stop method" is set to "fixed" for the point data, it is held at the current value set in the "fixed
current at stop" user parameters once travel is complete.
If a load exceeding the holding force shown in the following table is applied while holding, an alarm will
be generated and it will switch to the dynamic brake status.

アクチュエータ形番
Actuator model 保持力[N]
Holding force [kg]
機種形番
Model ボディサイズ
Body size ねじリード
Screw lead 24V
When 電源使用時
using 24 V power supply 48V
When 電源使用時
using 48 V power supply

06 6.6 8.3
04
12 2.5 3.3
02 24.0 24.0
05 16.6 16.6
05
EBS 10 8.3 8.3
20 4.5 4.5
05 38.3 40.0
08 10 18.3 18.3
20 10.0 10.0
06 9.1 10.0
04
12 4.5 5.0
02 24.0 24.0
05 15.0 16.6
05
EBR 10 6.6 10.0
20 4.1 4.1
05 35.0 38.3
08 10 15.0 20.0
20 8.0 11.6
16 H1
FLSH 20 H1
25 H1
02 4.0 4.0
16
08 0.5 0.5
02 6.0 6.0
FLCR 20
08 0.8 0.8
02 8.5 8.5
25
06 3.0 3.0
10
FGRC 30
50

WARNING
Prevent falling during vertical operation.
When a workpiece is placed in the vertical direction, vibration or a sudden impact to the equipment
could cause a load exceeding the holding force above to be applied. When placing a workpiece in
the vertical direction, be sure to implement safety measures to prevent falling.

68
SM-A10615-A 8. TROUBLESHOOTING

8. TROUBLESHOOTING
8.1 Alarm Indications and Countermeasures
■ Alarms
These are output when an error that affects the operation of the actuator is detected in the controller.
There are two types of alarms, depending on the degree of error: alarms that can be reset, and alarms
that require the power to be turned ON again.

Alarm
Alarm Issue Cause/countermeasure Reset
code
If the alarm code is 0x1300 to 0x13FF, there is a problem with the
parameters data.
Initialize the parameters data and reset the system.
If the alarm code is 0x1500 to 0x15FF, there is a problem with the
point data.
Initialize the point data and reset the system.
If the alarm code is 0x1700 to 0x170F, there is a problem with the
alarm data.
Initialize the alarm data and reset the system.
Indicates that an abnormality has been
0X1000 to Memory If the alarm code is 0x1800 to 0x180F, there is a problem with the
detected while reading data from the Available
0x1FFF (read) conservation data.
memory at power-on.
Initialize the conservation data and reset the system.
If the alarm code is 0x1B00 to 0x1B0F, there is a problem with the
actuator information.
Save the information of the actuator connected last time with the
information of the actuator being connected and reset the system.
If the alarm code is none of the above, there is a problem with the
internal data.
If this reoccurs even after turning the power ON again, contact
CKD.
Indicates that an abnormality has been
0X2000 to Memory If this reoccurs even after turning the power ON again, contact Not
detected while writing data to the
0x2FFF (write) CKD. available
memory when editing data.
0x3000 Check the ambient temperature.
Temperatur Indicates a high temperature inside the Not
to If this reoccurs even after turning the power ON again, contact
e controller. available
0x30FF CKD.
0x3100
If this reoccurs even after turning the power ON again, contact Not
to Current Indicates overcurrent in the motor.
CKD. available
0x31FF
0x3200 Encoder Indicates an abnormality in the Check the connection state of the cable and connector.
Not
to not connection state between the controller If this reoccurs even after turning the power ON again, contact
available
0x320FF connected and actuator. CKD.
0x3210
Encoder Indicates an abnormality in the position
to If this reoccurs even after resetting the alarm, contact CKD. Possible
abnormality information.
0x322F
0x3800 Indicates an abnormality in the Check the connection state of the cable and connector.
TOOL not
to connector's connection state when used If the connector is disconnected, connect the connector, switch to Possible
connected
0x38FF in TOOL mode. PLC mode, and then reset the alarm.
0x3900
If this reoccurs even after turning the power ON again, contact Not
to Interface Indicates an error in the interface.
CKD. available
0x39FF
Actuator Indicates that the model numbers of the
Save the information of the actuator connected last time with the
0x3A00 to model actuator connected last time and Not
information of the actuator being connected and turn the power
0x3A0F number actuator being connected are different available
ON again.
abnormality when the power is turned ON.
0x4000 Reconfigure the "soft limit (+)," "soft limit (-)," "home position
Parameters Indicates an error in the parameters data
to return speed," "home position offset amount," and "fixed current Possible
data after the power is turned ON.
0x40FF at stop" parameters, and then reset.
0x4１00 Indicates an error with the point data for The final target position exceeds the range of the soft limit.
Point data
to the point No. during point travel Reconfigure the "position" and "pressing distance" point data, and Possible
(position)
0x4１FF command input. then reset the alarm.
The pressing speed is higher than the speed, or exceeds the
0x4200 Indicates an error with the point data for
Point data setting range.
to the point No. during point travel Possible
(speed) Reconfigure the "speed," "acceleration," "deceleration," and
0x42FF command input.
"pressing speed" point data, and then reset the alarm.
0x4300 Indicates an error with the point data for It exceeds the point data range.
Point data
to the point No. during point travel Reconfigure the "pressing current" point data, and then reset the Possible
(pressing)
0x43FF command input. alarm.
IO-Link
0x4400 to Indicates an abnormality in the data After reconfiguring the data or reconfiguring the data storage Not
data
0x440F setting or IO-Link backup data. function, turn the power ON again. available
abnormality
Indicates an error with the motor
0x6000 Check the connection state of the cable and connector
excitation encoder data signal, when the
to Servo ON connecting the controller and actuator. Possible
servo is first turned ON after turning the
0x60FF Confirm that the actuator is not locked, and then reset the alarm.
power supply ON.
Indicates that the encoder Z phase signal
0x6100 Check the connection state of the cable and connector
could not be detected during the first
to Encoder connecting the controller and actuator. Possible
operation after turning the power supply
0x61FF Confirm that there is no problem, and then reset the alarm.
ON.

69
SM-A10615-A 8. TROUBLESHOOTING

Alarm
Alarm Issue Cause/countermeasure Reset
code
Indicates that the home position could
0x6200 Home Check the connection state of the cable and connector
not be detected even after traveling a
to position connecting the controller and actuator. Possible
distance greater than the stroke of the
0x62FF return Confirm that there is no problem, and then reset the alarm.
actuator during Home position return.
If this occurs due to overshooting when positioning near the soft
limit, revise the load conditions and other settings.
0x6400 Indicates that the current position
Soft limit This also occurs when a point travel command is input outside the
to exceeds the soft limit range during point Possible
over soft limit range. In this case, move the actuator by hand within the
0x64FF travel.
soft limit range.
Confirm that there is no problem, and then reset the alarm.
0x6500
Revise the load conditions and operation conditions.
to Overload (M) Indicates that it cannot travel. Possible
Confirm that there is no problem, and then reset the alarm.
0x65FF

0x6600 Indicates that it has been pushed back to

Revise the load conditions and operation conditions.
to Overload (P) the pressing start position due to an Possible
Confirm that there is no problem, and then reset the alarm.
0x66FF outside force during pressing.

0x6700
Revise the load conditions and operation conditions.
to Overload (S) Indicates that it cannot stop. Possible
Confirm that there is no problem, and then reset the alarm.
0x67FF

Revise the load conditions and operation conditions.

0x6800
Indicates that the position has become Revise the "current when stopped" setting for the parameters
to Overload (H) Possible
misaligned when stopping. data.
0x68FF
Confirm that there is no problem, and then reset the alarm.

0x6900
Revise the load conditions and operation conditions.
to Overload (C) Indicates overcurrent in the motor. Possible
Confirm that there is no problem, and then reset the alarm.
0x69FF

0x6A00
Revise the load conditions and operation conditions.
to Overload (D) Indicates an error in the position control. Possible
Confirm that there is no problem, and then reset the alarm.
0x6AFF

0x6B00 Revise the load conditions and operation conditions.

Indicates a continuously output excess
to Overload (T) Revise the "Torque alarm time" setting for the parameter data. Possible
torque.
0x6BFF Confirm that there is no problem, and then reset the alarm.

Home
0x6C00 Indicates that an excessive load has Confirm that there is no workpiece colliding in the home position
position
to been detected during a home position return operation range. Possible
return
0x6CFF return. Confirm that there is no problem, and then reset the alarm.
(rotary)

0x7000 Indicates that an abnormality has been

Memory If this reoccurs even after turning the power ON again, contact Not
to detected while initializing the data of the
(initialization) CKD. available
0x7FFF memory when editing data.

■ Warnings
These are output when a minor error that will not affect the operation of the actuator is detected in the
controller. They can be canceled by changing controller settings.

Alarm
Alarm Issue Cause/countermeasure
code
The internal power supply is disconnected and the date setting could
There was an error with the
Calendar not be retained.
0x0100 calendar function, so the date
initialized Reconfigure the date for the calendar function.
setting was initialized.
The warning will be canceled once reconfiguration is complete.
The integrated running distance exceeded the threshold value for the
Maintenance user parameters setting.
data The integrated running distance Reconfigure the threshold value once maintenance has been
0x0200
(running exceeded the threshold value. performed.
distance) The warning will be canceled once the threshold value exceeds the
integrated running distance.
The integrated number of travel times exceeded the threshold value for
Maintenance the user parameters setting.
The integrated number of travel
data Reconfigure the threshold value once maintenance has been
0x0210 times exceeded the threshold
(number of performed.
value.
travel times) The warning will be canceled once the threshold value exceeds the
integrated number of travel times.
The integrated operating time exceeded the threshold value for the user
Maintenance parameters setting.
data The integrated operating time Reconfigure the threshold value once maintenance has been
0x0220
(operating exceeded the threshold value. performed.
time) The warning will be canceled once the threshold value exceeds the
integrated operating time.

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SM-A10615-A 8. TROUBLESHOOTING

8.2 What to Check when Trouble Occurs

Check the light status on the controller.
Lit green: Current passed to motor (servo ON)
Blinking green: Current not passed to motor (servo OFF)
1
Lit red: Occurrence of alarm which cannot be released
Blinking red: Occurrence of alarm which can be released
Off: Control power supply shutoff

2 Check whether there is an error on the host controller.

3 Check the voltage of the control power supply (24 VDC or 48 VDC).

Check the alarm details.

4
Alarm details can be checked using the S-Tools setting software.

Check the I/O status.

5
The I/O status can be checked using the S-Tools setting software.

Confirm that the cable is neither "disconnected" nor "pinched," and that it is connected properly.
6
When checking conductivity, turn the power supply OFF and disconnect the wiring to prevent electric shock.

Confirm that anti-noise measures (such as connecting a grounding wire or installing a surge suppressor)
7
have been implemented.

8 Check the history leading up to the trouble occurring and the operation condition when the trouble occurred.

9 Check the product's serial No.

71
SM-A10615-A 8. TROUBLESHOOTING

8.3 Troubleshooting

No. Issue Cause Countermeasure

The wiring is incorrect. Check the power supply wiring.

The light on the
body does not
light up even Confirm that the wiring is neither pinched nor
1 It is disconnected.
when the power disconnected. Check the connector and terminal.
supply is turned
ON. The product has failed or is It will need to be repaired. Check 8.2 What to Check
broken. when Trouble Occurs, and then contact us.

Check the alarm and its cause in 8.1 Alarm Indications

An alarm has occurred.
and Countermeasures, and then resolve the cause.
The light on the
2
body stays lit red.
It will need to be repaired. Check 8.2 What to Check
System error.
when Trouble Occurs, and then contact us.

The emergency stop signal is

The operation Connect emergency stop (EMG) wiring to the b contact.
connected with the a contact.
preparation
3
complete signal is
not output. The wiring is incorrect. Refer again to "4. Wiring".

The input from the host system may be chattering.

The input signal is unstable.
Ensure the input signal is at least 20 msec.

The transport load may be too large.

It stops during operation.
Recheck the specifications.
The
position/speed/acceleration/pr
Check the point data details.
essing force setting is
incorrect.
The operation mode setting is
Check the "operation mode" details for the parameters.
incorrect.
The PLC signal
causes
4
unexpected The wiring is incorrect. Refer again to "4. Wiring".
operation.
There is a large amount of Check the load friction during transport.
load friction. Confirm that it is not seizing with the workpiece.

It is colliding with the

Check the assembly and setting status.
workpiece.
Revise the environmental conditions and working
The internal resistance of the
conditions, and check the duration of use (operating
product increases.
distance).
It will need to be repaired. Check 8.2 What to Check
The actuator body is broken.
when Trouble Occurs, and then contact us.

The product
5 The actuator fitting is loose. Tighten the bolts.
vibrates.

72
SM-A10615-A 8. TROUBLESHOOTING

No. Issue Cause Countermeasure

It is in TOOL mode. Use the setting tool to change it to PLC mode.

The wiring is incorrect. Check "4. Wiring."

The PLC does not Confirm that the wiring is neither pinched nor disconnected.
6 It is disconnected.
move. Check the connector and terminal.

An overload error has

Recheck the transport load and speed.
occurred.

The power supply capacity Confirm that the power supply capacity satisfies the required
is insufficient. voltage and current.

Brakeless specification Use a type with brake.

The servo turns OFF during
The work moves emergency stop.
Turn force release OFF
under its own Brake is forcibly released
7 for the brake.
weight during
emergency stop. Confirm that an external force equal to or higher than the
A load exceeding the holding force is not being operated.
holding force operates. Revise the "current when stopped" setting for the parameters
data.
Positioning The positioning complete
8 complete output output width is too large for Check the "positioning width" for the point data.
does not turn OFF. the travel distance.
Unable to perform It is not set to pushing
9 Check the "operation method" for the point data.
pushing operation. operation.
Confirm that the workpiece weight and operation speed
It loses The load or speed is
10 satisfy specification values.
synchronization. excessive.
Perform gain adjustment.
It is set to
It does not speed
pushing/operation instead Check the "operation method" for the point data.
12 up (it runs very
of standard transport Perform gain adjustment.
slow).
operation.

The transport weight is Confirm that the workpiece weight and operation speed
13 It overshoots. heavy or the deceleration is satisfy specification values. Use a smaller deceleration value.
high. Perform gain adjustment.

It does not reach The acceleration or speed

14 Check the "acceleration" and "speed" for the point data.
the target takt. setting is incorrect.

73
SM-A10615-A 9. EUROPEAN STANDARDS

9. EUROPEAN STANDARDS
When using this product in compliance with European standards, carefully read this chapter and use the
product accordingly.
Products with CE marks are compliant with European standards. Products without CE marks are not
compliant with European standards.
This product is provided as a part for use integrated in the customer's equipment. The CE mark attached
to the product itself indicates that the product is compliant with EMC directives under limited conditions
by CKD. If you plan to integrate this product into your completed equipment and ship or use the final
product within Europe, you must confirm the compliance of the final product with EU directives.

9.1 EU command/European standards

EMC Directive: 2014/30/EU
EN61000-6-2:2005
EN 55011: 2009+A1: 2010(Group 1 Class A)

RoHS Directive: 2011/65/EU and (EU)2015/863

EN 50581:2012

9.2 Precautions when used in Europe (EU)

9.2.1 Suitable actuators

Combinations of controller model Nos. and suitable actuators are listed below.

Controller model No. Suitable actuator

EBS Series
EBR Series
ECR Series FLSH Series
FLCR Series
FGRC Series

9.2.2 Working environment

Condition Temperature Humidity
During use 0 to 40°C (no freezing) 35 to 80% RH (no condensation)
During storage -10 to 50°C (no freezing) 35 to 80% RH (no condensation)
During transport -10 to 50°C (no freezing) 35 to 80% RH (no condensation)

74
SM-A10615-A 9. EUROPEAN STANDARDS

9.2.3 Installation method

The following figure shows how to install this product (EBS series/EBR series) in compliance with
European standards.
A surge protector and ferrite core are required to comply with European standards.

<EMC countermeasure example (EBS series/EBR series)>

DC power supply*
I/O cable
Controller ECR IO-Link cable* PLC*
CC-Link cable*
EtherCAT cable*
(Two pieces: IN and OUT)
(1T)*
Surge protector* (2T)* USB cable*
PC*
(2T)* Encoder cable

(2T)* Motor cable

(1T)*
(1T)*
Earth

AC power supply*
EBS series EBR series

Devices and cables indicated with an asterisk (*) are not supplied with the product.
As for motor cables, encoder cables and I/O cables, dedicated cables are attached.

Part used Model Maker

R-A-V-781BXZ-4
R-A-V-781BWZ-4 Manufactured by OKAYA
Surge protector ELECTRIC INDUSTRIES CO.,
RSPD-250-Q4 LTD.
RSPD-250-U4
Manufactured by SEIWA
Ferrite core  E04SR301334
ELECTRIC MFG CO., LTD.
Manufactured by KITAGAWA
Ferrite core  RFC-H13
INDUSTRIES CO., LTD.
Manufactured by KITAGAWA
Ferrite core  RFC-20
INDUSTRIES CO., LTD.

75
SM-A10615-A 9. EUROPEAN STANDARDS

The following figure shows how to install this product (FLSH series/FLCR series/FGRC series) in
compliance with European standards.
A surge protector, noise protector and ferrite core are required to comply with European standards.

<EMC countermeasure example (FLSH series/FLCR series/FGRC series)>

DC power supply*
I/O cable
IO-Link cable* PLC*
CC-Link cable*
Noise Controller ECR EtherCAT cable*
filter* (Two pieces: IN and OUT)

(1T)*
(2T)* USB cable*
PC*
Surge protector*
(2T)* Encoder cable

(2T)* Motor cable

(1T)*
(1T)*
Earth

AC power supply*
FLSH series FLCR series FGRC series

Devices and cables indicated with an asterisk (*) are not supplied with the product.
As for motor cables, encoder cables and I/O cables, dedicated cables are attached.

Part used Model Maker

R-A-V-781BXZ-4
R-A-V-781BWZ-4 Manufactured by OKAYA
Surge protector ELECTRIC INDUSTRIES CO.,
RSPD-250-Q4 LTD.
RSPD-250-U4
Noise filter (single phase 15 A) NF2015A-OD SOSHIN ELECTRIC CO., LTD.
Manufactured by SEIWA
Ferrite core  E04SR301334
ELECTRIC MFG CO., LTD.
Manufactured by KITAGAWA
Ferrite core  RFC-H13
INDUSTRIES CO., LTD.
Manufactured by KITAGAWA
Ferrite core  RFC-20
INDUSTRIES CO., LTD.

76
SM-A10615-A 10. WARRANTY PROVISIONS

10. WARRANTY PROVISIONS

10.1 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.

10.2 Warranty Period

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

10.3 Remarks
• Warranty period specified in 10.2 is based on the assumption that the product is operated for not more
than eight (8) hours a day. If the product reaches the end of its service life within one (1) year, the
warranty shall expire at that time.
• If the product is exported outside Japan by the customer, it shall be repaired if returned to CKD's
facility or a company or plant specified by CKD. Work and cost associated with the return shall not be
covered by the warranty. The repaired product shall be delivered to a place in Japan specified by the
customer in a package appropriate for delivery in Japan.

77