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Handiness of pneumatic components

New product

Electric actuator

ESSD/ELCR Series
ELECTRIC ACTUATOR ESSD/ELCR SERIES

CC-1002A 4

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New electric actuatorwith the handiness of pneumatic components

The ESSD/ELCR series is an electric actuator series that directly incorporates the design conceptof pneumatic components.
This series is environmentally friendly and is also suitable for replacing pneumatic cylinder.

Electric actuator

Saving space with a built-in controller
No need for wiring and the installation space for a controller.
The same height as a pneumatic cylinder.

Design a system as if it is a pneumatic cylinder.
The design let the user directly imagine a pneumatic cylinder in the external shape,
different controls, and the way of use.
Operation signal same as a solenoid valve …
Works in the same sequence as a solenoid valve that controls a pneumatic cylinder.
(Single solenoid valve, double solenoid valve, 3-position solenoid valve)
Cylinder switch can be installed…
A cylinder switch (T-type switch) for position detection can be installed.
Single solenoid valve

Rod type

Double solenoid valve

SingleDoubleInput 2pneumatic

Forward

3-position solenoid valve

Double, 3 positions

Input 2

Input 2

Input 1

Input 1Back

Forward

Time

Back

Forward

Cylinder switch

Back
Time

Time

Flexible operation control
Three control modes available
Conveyance Press fitting

Clamp

Solenoid valve mode
7-point positioning mode
Pitch transfer mode

Five buttons
foreasy setting!

Press fitting

Clamp

Easy teaching

Electric actuator
Teaching pendant
Table type

Speed and acceleration control
In-position range can be changed by setting

Five buttons for easy setting!
Direct teaching

Higher reliability

You can make adjustment manually bymoving the rod and the table.

Check the alarm by the teaching pendant.
Save up to 10 alarm history.

Product variations of ESSD/ELCR
Model

Rod type
Table type

Motor size

Lead

Stroke length

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SystemSystem to be prepared by the customer
High-level control system (e.g., PLC)
Input: 7 points, Output: 7 points

Teaching pendant
ETP-2

Control power source(DC stabilized power source)
24 VDC (Note 1)

Actuator
ESSD series

Motor power source(DC stabilized power source)
24 VDC (Note 2)

Actuator
ELCR SeriesNote
In no event shall CKD be liable for merchantability or fitness for a particular purpose, notwithstanding any
disclosure to CKD of the use to which the product is to be put.
When you use multiple power sources, use the same OV.
Note 1:	Each unit of this product requires 200 mA (including the teaching pendant). Prepare a DC stabilized
power source that has a capacity well over the required capacity.
Note 2:	Each unit of this product requires a maximum of 3 A for a motor of size □42, and a maximum of 4 A fora motor of size □28 or □56. Prepare a DC stabilized power source that has a capacity well over therequired capacity.

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Safety information
Always read this section before use.
When designing equipment that employs an electric actuator, you are responsible for designing safe equipment by ensuring the safety ofthe system that operates with the mechanical mechanism of the equipment and the electrical controls.
It is important to select, use, handle, and maintain the product appropriately to ensure that the CKD product is used safely.
Observe warnings and precautions to ensure device safety.
Check that device safety is ensured, and manufacture a safe device.

WARNING
1 This product was designed and manufactured for use as parts for general industrial machinery.
It must be handled by an operator having sufficient knowledge and experience.
2 Use the product within the range of the product specification.
This product must be used within its stated specifications. Do not attempt to modify or additionally machine the product.
This product is intended for use as a general-purpose industrial device or part. It is not intended for use outdoors or for use under the following
conditions or environment.
(If you consult CKD upon adoption and consent to CKD product specification, it will be applicable; however, safeguards should be adopted thatwill circumvent dangers in the event of failure.)❶ Usage with or within components or applications that come into direct contact with nuclear energy, railroad, aviation, ships, vehicles,
medical devices, beverage, and food. Usage in applications where safety is required such as amusement equipment, emergency operation(closing, opening, etc.) circuit, press machine, brake circuit, and safeguards.
❷ Use for applications where life or assets could be adversely affected, and special safety measures are required.

3 Observe corporate standards and regulations, etc., related to the safety of device design.
4 Do not remove devices before confirming safety.

❶ Inspect and service the machine and devices after confirming safety of the entire system related to this product.
❷ Note that there may be hot or charged sections even after operation is stopped.
❸ When inspecting or servicing the device, turn off the power of the device and related equipment, and be careful not to have electric shock.

5 Observe the warnings and the operation description of the product to prevent accidents.

❶ During teaching and test operation, do not touch moving sections because they may show an unexpected behavior. If you cannot see a moving
section from the position at which you operate the product, be sure to check that the movement of the moving section is not dangerous.

6 Observe the cautions to prevent electric shock.

❶ Do not touch the heatsink, the cement resistor, or the motor within the controller.
They become hot enough to cause a burn. Leave it for some time before you handle them for inspection or other purposes.
The internal capacitor retains high voltage after power-off until it discharges electricity. So do not touch it for about three minutes.
❷ Turn off the power supply to the controller before maintenance or inspection. You may be electrified with high voltage if you fail to do so.
❸ Do not insert or remove cables to/from connectors while power is on. Doing so may cause a malfunction, a fault, or an electric shock.

7 Install an overcurrent protection device.

In accordance with JIS B 9960-1:2008, Safety of machinery - Electrical equipment of machines – Part 1: “General requirements”, install
overcurrent protection devices (circuit breakers for wiring, circuit protectors, etc.) to the primary sides of the power supply for dynamic force(wire color: red, black) and for control (wire color: red (with white lines), black (with white lines)).
(Excerpt from JIS B 9960-17.2.1 “General requirements”)
When the circuit current of a machine (electric device) can be larger than the rated current of a component or the tolerable current of aconductor, you must use an overcurrent protection device. The rated values and setting values to be selected are listed in 7.2.10.

8 Observe the cautions below to prevent accidents.

■ The safety cautions are ranked as “DANGER”, “WARNING” and “CAUTION” in this section.

DANGER: When a dangerous situation may occur if handling is mistaken leading to fatal or serious injuries, orwhen there is a high degree of emergency to a warning.

WARNING: When a dangerous situation may occur if handling is mistaken leading to fatal or serious injuries.
CAUTION: When a dangerous situation may occur if handling is mistaken leading to minor injuries or physical damage.
Items listed under “caution” can also possibly lead to serious results depending on the situation.
Important details are listed for each; please make sure to follow them.

Precautions when ordering
1 Warranty period“Warranty Period” is one (1) year from the first delivery to the customer.

2 Scope of warranty
In case any defect attributable to CKD is found during the term of warranty, CKD provides a free-of-charge replacement of the product or thepart that need to be replaced, or repairs the faulty product at a CKD factory without charge.
Note that the following faults are excluded from the warranty term:① Failure caused by not adhering to the limitations and environment conditions described in the product specification② Failure caused by careless use or improper management③ Failure caused by other than the delivered product④ Use other than original design purposes⑤ Failure caused by a modification of the structure, the performance, or the specification made after delivery by a third party, or by a repair not specified by CKD⑥ Damage cause by installing this product in a machine or a device of the customer, which would not have happened if the machine or thedevice had had a function or a structure that is ordinarily expected in the industry⑦ Failure caused by reason that is unforeseeable with technology put into practical use at the time of delivery⑧ Failure caused by a natural hazard such as fire, earthquake, flooding, and lightning, or failure caused by an external cause such as
natural calamity, environmental pollution, salt damage, gas damage, and abnormal voltage.
The warranty mentioned here covers the discrete delivered product. Only the scope of warranty shall not cover losses induced by the failure of the delivered product.

3 Warranty on exported units(1)	CKD repairs any unit returned to a CKD factory, or a company or a factory specified by CKD. The warranty does not cover the constructionor the cost that arises with returning.
(2)	A repaired unit is delivered to a specified domestic location with the domestic packaging specification.
	These warranty terms define basic matters. If a warranty description in a specification diagram or a specification description does not agreewith these warranty terms, the specification diagram and the specification description take precedence.

4 Compatibility confirmation

In no event shall CKD be liable for merchantability or fitness for a particular purpose, notwithstanding any disclosure to CKD of the use to which the product is to be put.

5 Scope of service
The product price does not cover engineer dispatching services. A separate payment will be asked in the following cases:(1) Instructions on installation and adjustment, and attendance on test operation(2) Maintenance, inspection, adjustment, and repair(3) Technical instruction and training (operation, programing, wiring, and safety)

Intro 1

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Safety information
Be sure to read the instructions before use.

Specific precautions: Electric actuator ESSD/ELCR series and teaching pendant ETP-2

Design and selection
1. Common
DANGER■	Do not use the product near a dangerous object
such as an ignitable, inflammable, or exploding
object.
Doing so may cause ignition, fire, or explosion.
■	Make sure that water drops or oil drops do not spillover the product. They cause fire or malfunction.
■	When you install the product, attach and fix it firmly(including works). Failure to do so may result infalling, dropping, or malfunction of the productcausing injury.
■	Be sure to use a DC stabilized power source (24VDC ± 10%) for power sources for the motor,
control, and input/output circuits.
Connecting the product directly to an AC powersource may cause fire, explosion, or damage.

WARNING■	Design the safety circuit or your equipment in a waythat the equipment does not break and does notcause injury when the machine stops in case of
system abnormality such as an emergency stop or
power failure.
■	Install a guard fence to keep people out from themoving range of the electric actuator.
In preparation for emergencies, install an
emergency stop button of the equipment at aconvenient position.
Design the structure and the wiring of theemergency stop button in a way that it does not
return automatically and people cannot return it
inadvertently.
■	Install the product in an indoor location with low
humidity.

In a place not shielded from rain or humid (humidity of 85%
or higher, or a place having condensation), the product may
have earth leakage or may cause fire. Oil drops and oil mist
must also be strictly avoided.

■	Use and store the product in a place having thespecified temperature and not having condensation.
 ot storing the product in such a place may cause a suddenNstop or a shorter lifetime of the product. Ventilate the room if
the room tend to retain heat.

■	Do not install the product near direct sunlight, dust,
or an object producing heat. Do not install the
product in a place with corrosive gas, explosive
gas, inflammable gas, or a burnable object. This
product is not designed to be chemical proof.

Chemicals may cause failure of the product, explosion, or fire.

Intro 2

■	Use and store the product in a place without strong
electromagnetic wave, ultraviolet light, orradioactivity.
These elements may cause malfunction or failure of the
product.

Caution■	When you make wiring, do not lay wires near astrong electric current or a strong magnetic field to
avoid induction noise. Also do not lay wires in thesame pipe of or in parallel with (using a multiconductor cable) a power line of a large motor otherthan the motor of this product. Also pay attention to
any inverter power source used for robots andwiring sections. (Avoid parallel wiring and wiring inthe same pipe.) Make the frame grounding of sucha power source, and be sure to insert a filter at theoutput section.
■	If the same power source is shared by the output
section of this product and an inductive load thatmakes surges such as a solenoid valve and a relay,
the surge current may damage the output section.
Use separate power sources for any output systemwith inductive load and for the output section of thisproduct. If you cannot use separate power sources,
connect a surge absorbing element directly to eachinductive load in parallel.
■	For motors, select a power source with an adequate
capacity for the number of units of this productinstalled. If the capacity has no allowance, theproduct may malfunction. (Guideline: □28: 4 A/unit,□42: 3 A/unit, □56: 4 A/unit)■	Do not disassemble the product.
■	The cable cannot be used in a manner having
repeated bends. Use a robot cable for a use having
repeated bends.
■	Fix cables so that they do no move easily. Make
sure that fixing points do not have sharp bends (withbending radius of 50 mm or less).
■	Provide a space of 70 mm or wider behind the
motor so that you can connect and disconnect theteaching pendant to/from the connector.
■	When the product tries to find the origin position at
the time of power-on, it may determine a wrong
position as the origin if there is an external stopperor a holding mechanism (such as a brake). Be
careful of the position of any external stopper sothat the product can find the origin correctly at thetime of power-on.
■	In no event shall CKD be liable for merchantability
or fitness for a particular purpose, notwithstanding

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any disclosure to CKD of the use to which the
product is to be put.

2. Teaching pendant
WARNING■	If you cannot see an actuator from the position atwhich you operate the product, be sure to checkthat the movement of the actuator is not dangerous.

Installation and adjustment
1. Common
DANGER■	Do not enter the product movement range when the
product is ready to operate. The product may
abruptly operate causing injury.
■	When using ELCR (table type), you may have yourfinger pinched between the motor case and thetable when the machine returns to the origin point.
Be careful of such cases.

WARNING■	Because this product contains precisioncomponents, overturning, shaking, and jolts must
be avoided during transportation.
Such transportation may damage the product.

■	When you put the product somewhere for temporarystorage, put it horizontally.
■	Do not step on or put an object on the package.
■	Keep the ambient temperature within -20 to 60°C
and the ambient humidity within 35 to 85% duringtransportation and conveyance, and make sure that
there is no condensation and freezing.

Transportation not in this condition may cause a failure of the
product.

■	Attach the product to a fireproof object. Attaching thisproduct to or near a burnable object may cause fire.
■	Be sure to make class D grounding (grounding
resistance of 100 Ω or less) for the product.

Earth leakage may cause electrical shock or malfunction.

■	When you make wiring, do it carefully according tothis catalog so that there will be no wiring error orloose connector connection. Maker sure that wires
are insulated each other.

Contact to an external circuit, grounding fault, or bad insulation
between pins may result in over-current into this productcausing damage. It may also cause malfunction or fire.

■	Before electrifying the product, make sure that thearea of its moving range is safe. If the product LED
does not blink after power-on, power it off
immediately.
Careless electrification of the product may cause an electric
shock or injury.

■	Do not contact your hand or body to the productduring or just after operation.
You may have a burn if you do so.

■	Do not step on the product, use it as a footing, or
put an object on it.

Doing so may cause a turnover accident, turnover of the
product, injury from falling, or malfunction from breakage ordamage of the product.

■	Implement adequate countermeasures to protect
the workers and the equipment in case of
disconnection of power supply (including the caseof failure).

Installing the product vertically may result in an unexpected
accident from the rod falling on the table.

■	Do not blemish a cable, put too much stress on it,
put a heavy object on it, or pinch it.
Doing so may cause an electrical shock.

■	When you position the moving section of the productwith your hand (direct teaching), first confirm thatthe servo is off using the teaching pendant.

Caution■	Do not hold a moving section or a cable of the
product when you carry or install the product.

Doing so may cause injury or disconnection of the cable.

■	Do not install the product at a place that receives
intensive vibration or jolt.
Doing so may cause malfunction.

■	When you use a cylinder switch, be sure to read the
CKD general catalog (Air Pressure Cylinder
General I) for installation, wiring, and precautions.
■	Do not allow external force to actuate or sharply
decelerate the moving section of the product.
Regenerative current may cause the product to malfunction
or break.

■	When the product returns to the origin position, do
not have it knock against an object such asmechanical stopper, except in pressing operation.
The feed screw may break causing malfunction.

■	When the product returns to the origin position,
make sure that no external force is put on theactuator. The product may determine the origin
position incorrectly.
■	Do not put a dent or a scratch on the moving
section.
It may cause malfunction.

■	For press fitting and pressing operation, set thestarting point of the operation 0.5 mm or more
earlier than the actual pressing position. An alarm isissued when you press a work at a position where
the pressing operation has not started.
■	Durability of the product varies depending on theconveyance load and the environment. Configure
the system with an capacity adequate for theconveyance load and other parameters. Use theproduct in a manner that does not put jolts on themoving section.

Intro 3

Discontinue■	When fixing the product, use a screw of the length
indicated in the table below and tighten the screw
with an appropriate torque.

2. ESSD series
CautionA

B

L■	Connect the product in a way that the orientation of
the rod axis aligns with the movement direction of
the conveyed load.
Not doing so may cause the attrition or breakage of the feedscrew.

■	When you use an external guide, ensure smooth
movement at all positions within the stroke of the
product before installing the guide.

Bolt

Screwing torque (N•m)

Bolt

Screwing torque (N•m)

Maximum screwing
depth (mm)M5 × 0.8

2.9 to 5.1

M6 × 1.0

4.8 to 8.6

9

A

B

■	At the tip of the rod, do not put a load in the
direction of the rotation.

ELCR28/42■	When you install the product, fix it firmly using, forexample, a hexagon socket head cap bolt.

■	Use the bolt screwing depths and the tightening
torques indicated below when you attach a jig to theslide table or the end plate.

If you install the product on the actuator installation surface,insert four or more M4 square nuts (JIS B 1163 (2001)) along
the two grooves on the actuator installation surface, and fix
the product firmly.

L
L

The product may break if you do so.

Actuator installation surface
3.5
9.9

4.3

Bolt
ELCR28/42

Screwing
Maximum screwing
torque (N•m)
depth (mm)M5 × 0.8

2.9

5

7

Approx. 120°

5.5

Attachment to slide table surface

30°

3.2

7.3

Recommended square nut:
Conformance to JIS B 1163 (2001)[Attachment on actuator installation surface]

3. ELCR Series
Caution■	For the table type, make sure that an excessive
moment is not placed.

An excessive moment may cause the product to break or
malfunction.

■	For the table type, keep the flatness of theinstallation surface 0.02 mm or less, and do not put
screwing or bending force on the product.
■	For the table type, keep the flatness of the work
attached to the table or the end plate 0.02 mm or
less, and do not put screwing or bending force on
the product.
An excessive moment may cause the product to break or
malfunction.

Attachment to end plate surface
Bolt
ELCR-28
ELCR-42

M5 × 0.8

Screwing
Maximum screwing
torque (N•m)
depth (mm)
2.9

9
11

■	Consider the moment load when you attach the
product on the table or on the end place surface.

See the guideline for the selection of models (page 12 to 14).

4. Teaching pendant
Caution■	Connect the teaching pendant to the actuator only
when you use it.
■	Do not put intensive pressure or jolt on the product.
Doing so may cause failure of the product.

■	Do not put unnatural force to cables andconnectors.
■	Do not press the LCD display or operation keys
strongly.

Intro 4

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During use and maintenance1. Common
DANGER■	Leave the wiring and inspection work to specialized
technicians.
■	Make wiring after the product is installed.
Doing so may cause an electrical shock.

■	Do not handle the product with a wet hand.
Doing so may cause an electrical shock.

■	When you make wiring or inspection, do it after fiveminutes of power-off and after checking the voltage
by a tester or other instrument.
Doing so may cause an electrical shock.

■	Do not insert or remove cables and connectors
while power is on.

Doing so may cause a malfunction, a fault, or an electric
shock.

Caution■	Conduct regular inspections two or three times ayear to confirm normal operation.
■	When the product has a failure (abnormal heat,smoke, abnormal odor, abnormal sound, vibration,or other abnormalities), turn off the power
immediately. Leaving the product in such a
condition cause damage on the product. Also
electric current in such a condition may cause a fire.
■	When having gravity or inertia force, the productdoes not stop immediately after the servo is turnedoff (with emergency stop, an alarm, or othercauses). Before making such an operation, makesure that the product is in the neutral condition
without gravity or inertia force, or confirm that the
product is in the safe condition.

■	To extend the table, use a lead wire with a diameterallowing electric current up to 4 A.

■	Be sure to stop the power supply to the productbefore conducting maintenance, inspection, or
repair. Make sure that people around do not poweron or operate the product carelessly.

■	Do not connect the communication connector of the
product to other devices.

■	When you dispose of the product, conform to
Wastes Disposal and Public Cleansing Act andalways outsource the work to a waste disposal
business.

Otherwise, not enough voltage may cause malfunction, lowthrust force, heat, or a shorter lifetime.

Doing so breaks the product.

WARNING■	The recommended storage environment is thesame as the recommended working environment.
We recommend that you keep the storage period
shorter than one month. Especially, be sure toprevent condensation.

■	Between the internal control circuit substrate of thisproduct and the metal frame, a varistor (voltage
limit: approx. 40 V) is connected for prevention ofdamage from static electricity. So do not make awithstand voltage test or an insulation resistancetest on any equipment that has this productinstalled. Making such a test will break this product.
If such a test is necessary for the equipment,
remove the product from the equipment before
making the test.
■	When you make electric welding on equipment
having this product installed, remove the F.G.
(Frame Ground) connection before doing thewelding. Electric welding may break the product byan excessively high voltage or a surge voltage.

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Electric actuator Rod type

ESSD Series● Motor size: □28, □42, □56

Specifications
Descriptions

ESSD

Actuator type

Rod type

Motor

Stepping motor

Encoder type

Incremental type

Drive system

Slip screw

Motor size

mm

□28

Screw lead

mm

6

6

12

Stroke lengthmm

Range of operation speed mm/s

15 to 100

15 to 100

30 to 200

Speed of origin returning mm/s

15

15

30

Accuracy of repeated positioning mm

±0.05

±0.05

0.4 or less

0.4 or less

Lost motion

mm

□42

□56
24

6

12

60 to 400

15 to 100

30 to 200

60

15

30

±0.1

±0.2

±0.05

±0.1

0.5 or less

0.6 or less

0.4 or less

0.5 or less

50, 100, 150, 200

Max. load capacity*1 Vertical kg

1.5

11

5

1

25

15

Maximum press fitting forceN

30 or over

150 or over

70 or over

30 or over

450 or over

250 or overSetting method

Setting by the teaching pendant
Solenoid valve mode (single type, double 2-position type, double 3-position type)

Control mode

*47-point positioning mode
Pitch transfer mode

Indicator light (LED)Green: Operation (Blinking: Operation in preparation), Red: Alarm

Number of input points

7 points (photo-coupler insulation)

Number of output points

7 points (photo-coupler insulation)

Motor power supply voltage

24 VDC ± 10%

Instantaneous maximum current on the motor *3

4A

3A

4A

Average current on the motor*2

0.8 A

1.1 A

1.2 A

Control power supply voltage

24 VDC ± 10%

Current consumption by controller

200 mA or less (including the case when the teaching pendant is connected)

Insulation resistance

50 MΩ or higher in 500-VDC megger

Withstand voltage

No abnormality for 1 minute with 1000 VAC

Operating ambient temperature °C

0 to 50 (no condensation or freezing)

Operating ambient humidity%

35 to 85 (no condensation or freezing)

Storage ambient temperature °C-20 to 60 (no condensation or freezing)

Storage ambient humidity%

35 to 85 (no condensation or freezing)

Atmosphere

No corrosive gas

Degree of protection

Equivalent to IP40 of IEC standard (with protection covers on LAN ports)*1:The maximum load capacity becomes lower for higher speeds. For details, see the table (page 15) and the graph of technical document 2
Vertical Load Capacity and Horizontal Load Capacity.
*2:The average current is the current (reference value) at the maximum speed with the maximum load capacity.
*3:Use a power supply having an enough allowance for the instantaneous maximum current.
*4:The factory setting is the solenoid valve mode (double 2-position type).

Weight1(kg)

Descriptions

50st

100st

150st

200st

□28

0.8

1.0

1.1

1.2

□42

1.4

1.6

1.8

2.0

□56

2.9

3.3

3.6

3.9

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ESSD Series
How to order

How to order

ESSD

28

6

50

1
SymbolDescription

A Motor size

A Motor size

Model no.

28

□28

42

□42

56

□56

B LeadB LeadC Stroke length

D Option

E Cable length

Motor size

28

42

6

6 mm

●

●

56
●

12

12 mm

●

●

24

24 mm

●

C Stroke length

50

50 mm

100

100 mm

150

150 mm

200

200 mm

D Option

Blank

Female screw

N

Male screw

E Cable length

1

1m

3

3m

● Teaching pendant

ETP

2● Available cylinder switchesSW

T2H
Lead wire Lead wire
axial

radialT2H*

T2V*

Contact

Indicator
1 color indicator

Lead wire
quantity
2 wire

T3H*

T3V*

T2WH*

T2WV*

T3WH*

T3WV*

T2YH*

T2YV*

T3YH*

T3YV*

3 wireT2YD*-

2 wire3 wire2 wireProximity

3 wire2 color indicator

2 wire* indicates the lead wire length.

* Lead wire length
Blank 1 m (standard)3

3 m (option)55 m (option)*For details of cylinder switches, see Pneumatic Cylinder I (catalog No. CB-029S).
2

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ESSD Series
Dimensions● ESSD-28

Indicator light (LED)14(Width across flats)

8

Space for connecting
teaching pendant
70 mm or more

53 + stroke length

405206.5 + stroke length

23.5

23.5 11(1000 or 3000)

114

LAN port(For connecting
teaching pendant)

(5)

16
25
36

ø18
ø16

8

18

20
36

47

29

M8 × 1.25 depth 13

Cable (ø8.4)

4-M4 depth 8● Male screw type

Groove on main unitb Groove: For M4 square nut (See the figure below.)aab

M10 × 1.25

5.5

a

a

3.5

a

a

15

4.3

b

14
(Widthacross flats)

6

a Groove: For T-type cylinder switch

17.5

7.3

25.5
41

● ESSD-42
8

Indicator light (LED)14(Width across flats)

Space for connecting
teaching pendant
70 mm or more

23.5
59.5 + stroke length

495

215.5 + stroke length
26

11

114

(1000 or 3000)
LAN port(For connecting
teaching pendant)

(5)

ø18

7

ø16

25

36
50

61

36

M8 × 1.25 depth 13

16
36
50

Cable (ø8.4)

4-M6 depth 12● Male screw typea Groove: For T-type cylinder switch

a

a

a

b

M10 × 1.25

5.5

a

b

3

b Groove: For M4 square nut (See the figure below.)

a

3.5

a

14
(Width across flats)

6

Groove on main unit

15
4.3
7.3

17.5
25.5
41

Discontinue

ESSD Series
Dimensions

Dimensions● ESSD-56

Indicator light (LED)17(Width across flats)

13

Space for connecting
teaching pendant
70 mm or more
5
21.5
67.5 + stroke length

27 11

132

(5)

LAN port

ø20(For connecting teachingpendant)

Cable (ø8.4)

4-M6 depth 12
Groove on main unit

64a Groove: For T-type cylinder switch
b Groove: For M4 square nuta● Male screw type

(See the figure below.)

a

a

a

a

5.5

a

3.5

24
49

7.5

32

ø23

M10 × 1.5 depth 16

49
64

80.5
48.5

63

(1000 or 3000)

242.5 + stroke length817(Width across flats)

M14 × 1.5

4.3
b

b

7.3

20.5
23.5
36.5
45

4

Discontinue

Electric Actuator Table TypeELCR Series● Motor size: □28, □42

Specifications
Descriptions

ELCR Series

Actuator type

Table type

Motor

Stepping motor

Encoder type

Incremental type

Drive system

Slip screw + belt

Motor size

mm

□28

Screw leadmm

6Stroke length

□42
6

12

24

mm

50, 100

Range of operation speed mm/s

15 to 100

15 to 100

30 to 200

Speed of origin returning mm/s

15

15

30

60

Accuracy of repeated positioning mm

±0.05

±0.05

±0.1

±0.2

0.4 or less

0.4 or less

0.5 or less

0.6 or less7

Lost motion

mm50, 100, 150
60 to 400

Horizontalkg

4.5

7

7

capacity*1 Vertical kg

1

7

4

1

Maximum press fitting force N

10 or over

120 or over

60 or over

30 or overMax. load

Setting method

Setting by the teaching pendant
Solenoid valve mode (single type, double 2-position type, double 3-position type)

Control mode

*47-point positioning mode
Pitch transfer mode

Indicator light (LED)Green: Operation (Blinking: Operation in preparation), Red: Alarm

Number of input points

7 points (photo-coupler insulation)

Number of output points

7 points (photo-coupler insulation)

Motor power supply voltage

24 VDC ± 10%

Instantaneous maximum current on the motor *3

4A

3A

Average current on the motor *2

0.8 A

1.1 A

Control power supply voltage

24 VDC ± 10%

Current consumption by controller

200 mA or less (including the case when the teaching pendant is connected)

Insulation resistance

50 MΩ or higher in 500-VDC megger

Withstand voltage

No abnormality for 1 minute with 1000 VAC

Operating ambient temperature °C

0 to 50 (no condensation or freezing)

Operating ambient humidity %35 to 85 (no condensation or freezing)

Storage ambient temperature °C-20 to 60 (no condensation or freezing)

Storage ambient humidity %35 to 85 (no condensation or freezing)

Atmosphere

No corrosive gas

Degree of protection

Equivalent to IP40 of IEC standard (with protection covers on LAN ports)*1:	The maximum load capacity becomes lower for higher speeds. For details, see the table (page 15) and the graph of technical document 2
Vertical Load Capacity and Horizontal Load Capacity.
*2:	The average current is the current (reference value) at the maximum speed with the maximum load capacity.
*3:	Use a power supply having an enough allowance for the instantaneous maximum current.
*4:	The factory setting is the solenoid valve mode (double 2-position type).

Weight5(kg)

Descriptions

50st

100st

150st

□28

1.3

1.6

-

□42

2.1

2.5

2.9

Discontinue

ELCR Series
How to order

How to order

ELCR

28

6

50

1
SymbolDescription

A Motor size

A Motor size

Model no.

28

□28

42

□42

B LeadB LeadC Stroke length

D Cable length

Motor size

28

42

6

6 mm

●

●

12

12 mm

●

24

24 mm

●

C Stroke length

Motor size

28

42

50

50 mm

●

●

100

100 mm●●

150

150 mm

●D Cable length

1

1m

3

3m

● Teaching pendant

ETP

2● Available cylinder switchesSW

T2H
Lead wire Lead wire
axial

radialT2H*

T2V*

Contact

Indicator
1 color indicator

Lead wire
quantity
2 wire

T3H*

T3V*

T2WH*

T2WV*

T2WH*

T3WV*

T2YH*

T2YV*

T3YH*

T3YV*

3 wireT2YD*-

2 wire3 wire2 wireProximity

3 wire2 color indicator

2 wire* indicates the lead wire length.

* Lead wire length
Blank 1 m (standard)3

3 m (option)55 m (option)*For details of cylinder switches, see Pneumatic Cylinder I (catalog No. CB-029S).
6

Discontinue

ELCR Series
Dimensions● ELCR-28

Indicator light (LED)Stroke length: 50

28

6 +0.05+0.02 depth 6

43

30

48
3 × 2 - M5 depth 5

A40

D view

35.5

A
30

Space forconnecting
teaching pendant
70 mm or more

B

30

119

5.5

9

(1000 or 3000)

30.5

119

48

LAN port(For connecting teachingpendant)
D

46.5

5

Cable (ø8.4)

118.5

0.5

12.5

28

40

a

40

3 - M5 depth 9

(5)
280.5

18

41

37.2

0.3

3
62
50

Groove: For T-type cylinder switch
ø9.5
35.5

3 body mounting screws (see A-A cross-section)

30

M6 depth 9

41

ø5.5

a

30
22.2
A-A cross-section
6 +0.05+0.02 depth 6C

6 +0.05+0.02 depth 6

1

2-

2-

R3

R3

60

1

8

6+0.05+0.02 depth 6

B long hole section

C long hole section● ELCR-28

Indicator light (LED)Stroke length: 100
6 +0.05+0.02 depth 6

28
43

30
A

85

30

4 × 2 - M5 depth 5

40

D view

37

A
30

Space forconnecting
teaching pendant
70 mm or more

B
30

30

30

(5)

3
342
5.5

180.5

(1000 or 3000)
30.5

48
46.5

119
5

28

40

LAN port(For connecting teachingpendant)
D

a

12.5

Cable
(ø8.4)

180

0.5

40

ø9.5

Groove: For T-type cylinder switch

5 body mounting screws (see A-A cross-section)

37

30

30

30

30

M6 depth 9

41

ø5.5

a

9
18

41
3 - M5 depth 9

50

37.2

0.3

62

22.2
A-A cross-section

121.5

B long hole section

7

6 +0.05+0.02 depth 6

1

C

1

R3

8

depth 6

2-

6

2R3

6 +0.05+0.02 depth 6

+0.05
+0.02

C long hole section

Discontinue

ELCR Series
Dimensions

Dimensions● ELCR-42
Stroke length: 50

32
49.5

35
A

Indicator light (LED)48.5
3 × 2 - M5 depth 5

D view

49

Space forconnecting
teaching pendant
70 mm or more

B

40

ø9.5

A

50

ø5.5

37

6+0.05+0.02 depth 6

M6 depth 9

24.8
76

3

62
0.3

34.5

119

60.5

a

15

Cable (ø8.4)

118.5

0.5

37

LAN port(For connecting teachingpendant)
D
33

49

21.5

11

45.7

50

119.5

(1000 or 3000)

5

3 - M5 depth 11
a

11

54

A-A cross-section

(5)

287

Groove: For T-type cylinder switch

49

40

6 +0.05+0.02 depth 61

6+0.05+0.02 depth 6

2-

2-

R3

R3

1

2 body mounting screws (see A-A cross-section)

6 +0.05+0.02 depth 6

16 38

C

B long hole section

C long hole section● ELCR-42
Stroke length (st): 100, 150
6

+0.05
+0.02

32

depth 649.5

75 (100st)
35 125 (150st)

35

Indicator light (LED)
4 × 2 - M5 depth 5

A

3

34.5

50

M6 depth 9

24.8

(5)

A-A cross-section(1000 or 3000)
119

60.5

LAN port(For connecting teachingpendant)aGroove: For T-type cylinder switch

Cable (ø8.4)

180 (100st)
230 (150st)15

46 (100st)
51 (150st)

0.5

37

D

33

49

21.5

5

40
120 (100st)
160 (150st)1

6 +0.05+0.02 depth 66 +0.05+0.02 depth 62-

6 +0.05+0.02 depth 6

16115 (100st)
160 (150st)

R3

R3

1

4 (100st)
5 (150st) body mounting screws (see A-A cross-section)

2-

a

40

181 (100st)
231 (150st)

11

11

50

3 - M5 depth 11

40

Space forconnecting
teaching pendant
70 mm or more

348.5 (100st)
398.5 (150st)

76
62
54

45.7

0.3

46 (100st)
51 (150st)

B
40

ø9.5

A

ø5.5

37

D view

B long hole section

C long hole section

C

8

Discontinue

Teaching pendant

ETP-2● Connected actuators: ESSD, ELCR

Specifications
Descriptions

ETP-2

Display

16 characters × 2 lines (LCD)

Input key

5 keys (stop key: 1, operation keys: 4)Power supply

24 VDC, 100 mA or less (provided from the actuator)

Cable lengthm2

Weightg

140 (body only)

Operating ambient temperature °C

0 to 40 (no condensation or freezing)

Operating ambient humidity %35 to 85 (no condensation or freezing)

Storage ambient temperature °C-20 to 60 (no condensation or freezing)

Storage ambient humidity %35 to 85 (no condensation or freezing)

Degree of protection

Equivalent to IP50 of IEC standard

Connected actuators

ESSD series and ELCR series

Dimensions and names/functions of components
24

86

No

Name

1

LCD display

1

3

4

3

Cable length 2 m

Operation keys

140

Stop key2

2

Function[PUSH] key[PULL] key[BACK] key[ENTER]

72

key
Connector

4

16 characters × 2 lines
Use this key to stop the actuator operation.
If you make a long press when the actuator is stopped, theactuator leaves the stopping state (and enters the standby mode).
Use this key to select a menu item or to select a digit when changing a value.
For the jog operation and inching operation in the direction of push.
Use this key to select a menu item or to select a digit when changing a value.
For the jog operation and inching operation in the direction of pull.
Use this key to cancel the operation and toreturn to the previous screen.
Use this key to enter the selected menu anddefined data.
Connector for actuator

List of functions
Main

Menu
Sub 1

Operation[MOVE]/

Operation [MOVE](*1)

Jog operation [JOG]This item specifies the speed and performs the jog operation (push/pull).

Inching operation [INCH]

This item specifies the speed and the pitch, and performs the inching operation (push/pull).

Point operation [POINT]

According to the data configured by teaching, this item makes movement to the positions of the selected points (maximum of 7 points).

Origin returning [ORIGIN] This item finds the origin and returns to the origin.

Setting[SET]

Servo on/off [SERVO]This item turns the servo on or off.
This item specifies the position, speed, force, and acceleration of each point (maximum of 7 points).

Teaching [TEACH]
Parameter

Parameter setting [PARA] This item changes the parameter values.

[PARAMETER]

All clear [ALL CLR]

Current position [POSITION]
MonitorDescriptions

Sub 2

Resets the parameters to the factory default setting.
Use this item to find the current position.

Input/output [IN/OUT]

Use this item to check the condition of the input/output signals of the actuator.

Alarm [ALARM]

Use this item to view the current alarm and the past records.

[MONITOR] Model [MODEL]

Use this item to find the model code of the actuator.

Version [VERSION]

Use this item to find the version of the driver software in the actuator.

Lot/serial no. [LOT/SERIAL]

Use this item to find the lot number and the serial number.

Copy

Data saving [SAVE]

Use this item to save the actuator data in the teaching pendant.

[COPY]

Data writing (*1) [WRITE]

Use this item to write the data saved in the teaching pendant into the actuator.

*1: PLC operation is disabled for “operation/setting” and “data writing of copy.”

9

Discontinue

ETP-2

Operation structure

Operation flow
The figure below shows the flow of the operation of the teaching pendant.
(Basic operation)
Power-onInitial display

Use keysandfor selection.

Use thekey to display the next screen.

Use the BACK key to return to the previous screen.

Reading
driver info
Main menu[MAIN MENU]

Operation & setting[1. MOVE&SET]

Operation[1.1. MOVE]

Jog operation[1.1.1. JOG]
Inching operation[1.1.2. INCH]
Point operation[1.1.3. POINT]
Origin return operation[1.1.4. ORIGIN]
Servo on/off[1.1.5. SERVO]

Teaching[1.2.TEACH]
Parameter[1.3.PARAMETER]

Parameter setting[1.3.1. PARA]
All clear[1.3.2. ALL CLR]

Monitor[2. MONITOR]

Current position[2.1. POSITION]
Input/output[2.2 IN/OUT]
Alarm[2.3. ALARM]
Model[2.4. MODEL]
Version[2.5. VERSION]
Lot/serial no.
[2.6. LOT/SERIAL]

Copy[3. COPY]

Data saving[3.1. SAVE]
Data writing[3.2 WRITE]

For details, see the operation manual.
10

Discontinue

ESSD/ELCR Series
STEP-1

Checking the load capacity

STEP-2Checking the takt time

The load capacity varies depending on the mounting orientation and the conveyance speed.
Select a size and a lead with reference to technical information ❷ and ❸ .

Calculate the takt time for the selected product according to the example shown below, and confirm that theobtained takt time satisfies the requirement.

Setting ranges of speed and acceleration
Motor Leadsize (mm)
□28
□42

□56

Acceleration (m/s2)* Acceleration and deceleration cannot be set separately.

Speed(mm/s)

6

15, 20, 30, 40, 50, 60, 70, 80, 90, 100

0.4, 0.5, 0.6, 0.8, 1.0

615, 20, 30, 40, 50, 60, 70, 80, 90, 100

0.4, 0.5, 0.6, 0.8, 1.0

1230, 40, 60, 80, 100, 120, 140, 160, 180, 200

0.4, 0.5, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0

2460, 80, 120, 160, 200, 240, 280, 320, 360, 400

0.4, 0.5, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0

615, 20, 50, 60, 70, 80, 90, 100

0.4, 0.5, 0.6, 0.8, 1.0

1230, 40, 60, 80, 100, 120, 140, 160, 180, 200

0.4, 0.5, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0

Descriptions

Takt setting of general conveyance operation
Speed
mm/s

Acceleration area Constant speed area

Setting speed

Setting
Setting acceleration/deceleration
value
Motion distance

Deceleration area

Actual speed: Vb
AccelerationaReachable speed:
Vmax

DecelerationaAcceleration time
Deceleration timeTa
Ta
Constant speed time: Tc
Positioning time T

Calculated
value

Time
sec
Positionmm

Symbol Unit
V

mm/s

a

mm/s2

Remarks

S

mmReachable speed

Vmax

mm/s

mm/s Smaller value from V and Vmax

= (S × a)1/2

Actual speed

Vb

Acceleration/deceleration timeTas

= Vb/aTime of constant speed

Tcs= Sc/Vb

Acceleration/deceleration distanceSamm= (a × Ta2) / 2

Constant speed distanceScmm= S - 2 × Sa

Position determination timeTs

= 2 × Ta + Tc

-The acceleration and the deceleration are set to the same value.
-Acceleration/deceleration setting by the teaching pendant is made in units of m/s2.
Remember this when you make setting.
-The setting stroke and acceleration may not actually be achieved.
Compare Vmax and the setting speed.

Acceleration distance
Deceleration distance
Sa
Sa
Constant speed distance: Sc
Motion distance S

Descriptions

Takt setting of press fitting
Speed
mm/s

Acceleration area Constant speed area Deceleration area
Settingvalue

Actual speed: Vb
AccelerationaReachable speed:
Vmax

DecelerationaPress fitting speed
Vn

Deceleration Press fitting
Acceleration time
time
time
Td
Tn
Ta
Constant speed time: Tc
Positioning time T
Acceleration distance
Sa
Constant speed distance: Sc

Time
sec
Positionmm

Deceleration Press fitting
distance
distance
Sd
Sn

Motion distance S

Use a duty ratio of 50% or less.
Duty ratio = operating time / (operating time + stopping time)
11

Calculated
value

Symbol Unit

Setting speed

V

mm/s

Setting acceleration/deceleration

a

mm/s2

Motion distanceS

mmPress fitting speed

Vn

mm/s

Remarks

Press fitting distanceSnmm

Reachable speed

Vmax

mm/s = (a x (S - Sn + Vn2 / (2 × a)))1/2
mm/s Smaller value from V and Vmax

Actual speed

Vb

Acceleration timeTas

= Vb/aDeceleration timeTds

= (Vb - Vn) / a

Time of constant speed

Tcs= Sc/Vb

Press fitting timeTns

= Sn/Vn

Acceleration distanceSamm= (a × Ta2) / 2

Deceleration distance

Sdmm= ((Vb + Vn) × Td) / 2

Constant speed distanceScmm= S - (Sa + Sd + Sn)

Position determination timeTs

= Ta + Td + Tc + Tn

-The acceleration and the deceleration are set to the same value.
-Acceleration/deceleration setting by the teaching pendant is made in units of m/s2.
Remember this when you make setting.
-The setting stroke and acceleration may not actually be achieved.
Compare Vmax and the setting speed.

Discontinue

ELCR Series

Guideline for model selection

STEP-3Checking the tolerable moment (for ELCR only) * For the ESSD type, determine the value in accordance with the guide installed together.

Confirm that the moment produced by the acceleration to be set is within the tolerable limit.

3-1. Checking the tolerable moment in the motionless condition
W'
M1' × G
M2'
M3' × G+++<1
W' max
M1' max
M2' max
M3' max

M'T =M'T: Compound moment (must be less than 1)G: Acceleration configured in STEP2 (m/s2)

W'max : Maximum tolerance of W' (from the table below)
M1'max : Maximum tolerance of M1' (from the table below)
M2'max : Maximum tolerance of M2' (from the table below)
M3'max : Maximum tolerance of M3' (from the table below)
Load tolerance in stillness
Motor size
□28
□42

Stroke length(mm)50

Vertical load
W' max (N)Bending moment
M1' max (N•m)

380.8

100
50

548.8

100, 150

Side bending moment
M2' max (N•m)

17.8

19.2

37.3
31.1

37.6

56.2

Twist moment
M3' max (N•m)
17.8
37.3
31.1
56.2

Note:If you put the load on the end plate, apply the tolerance for stroke = 50 mm.

W (N)

W (N)
L (m)

L (m)

M1' = L × W

M3' = L × W

L (m)

W

L (m)

W (N)
W (N)

W' = W

M2' = L × W

12

Discontinue

ELCR Series

3-2. Checking the tolerable moment in the operating condition
W
M1
M3
M2
<1
+
+
+
Wmax
M1max
M3max
M2max

M'T =
MT

: Compound moment

Wmax: Maximum tolerance of W (from the table below)

M1max : Maximum tolerance of M1 (from the table below)
M2max : Maximum tolerance of M2 (from the table below)
M3max : Maximum tolerance of M3 (from the table below)
Load tolerance in operation
Motor size

Stroke length(mm)Vertical load
Wmax (N)

50

□28

47.6

100
50

□42

Bending moment
M1max (N•m)

68.6100, 150

Side bending moment
M2max (N•m)

1.9

Twist moment
M3max (N•m)
1.9

2.4

4.6
3.4

4.6
3.4

4.7

7.0

7.0

Note:If you put the load on the end plate, apply the tolerance for stroke = 50 mm.

From the value calculated in 3-1 and 3-2,

confirm that MT ≤ 1 and M'T ≤ 1.
● Vertical load: W (N)● Bending moment: M1 (N•m)
L1

W (N)

M1

W (N)

M1 = F1 × L1
F1 (N)

L1
W (N)

A

M1 = W × L1

L

L1 = A + L

M1● Side bending moment: M2 (N•m)

The values of L
are listed in thetable below.

● Twist moment: M3 (N•m)
W (N)

L2

M2

M3 = W × L3

M3

W (N)

L3 = A + L
A

M2 = W × L2

The values of L
are listed in thetable below.

L
L3

M2
F2 (N)
L2

M3 = F3 × L3
M2 = F2 × L2

L3

F3 (N)

M3

L valueSize

13

Unit (m)Stroke length
50

100

□28

0.09

0.15

□42

0.11

0.16

150
0.21

Discontinue

ELCR Series

1 : Table displacement by moment (reference values)
Technical information ●Table displacement by moment M1
Displacement at the tip of the table when a load (F1) is put on the table tip

ELCR-28 (M1)

160
120

Displacement (μm)

Displacement (μm)

100st
F1

80
40

50st

0

0

10

30
20
Load (N)ELCR-42 (M1)

300

40

150st

240
180

100st

120
60

50st

0

50

0

20

40
Load (N)60

80

Table displacement by moment M2
Displacement of the table tip (section A) when a load (F2) is put on the position that is L mm away from the table center

ELCR-28 (M2)80
Displacement (μm)

F2
L

60

Displacement (μm)

Section A

40
20
0

0

10

20
30
Load (N)

L value

ELCR-42 (M2)

80

40

60
40
20
0

50

0

20

40
Load (N)60

80

L
ELCR-28100

ELCR-42100

Angle of table displacement caused by moment M3
Angle of table displacement when a rotation moment (M3) is put on the table

ELCR-28 (M3)
50st

0.08

100st

0.06
0.04
0.02
0

0

5

ELCR-42 (M3)0.1
Displacement angle (°)

M3

Displacement angle (°)

0.1

10
15
Moment (N•m)

20

50st

0.08
0.06
0.04

100st, 150st

0.02
0

0

10

20
30
Moment (N•m)

40

14Discontinue

ESSD/ELCR Series

2 :Vertical and horizontal load capacities
Technical information ●Vertical and horizontal load capacities
Values for ESSD series are values when using both a free joint and a linear guide. These values vary depending on the manner of connection and the frictional resistance. (with ambient temperature of 20°C)
for ESSD are values when a guide is used together. These values vary
Horizontal load capacity (Values
depending on the manner of connection and the frictional resistance of the guide.)

Vertical load capacity
2.5

12
1.5

1.5

Lead 6

1

1

0.5
0

0

20

40

60

80

Load capacity (kg)

Load capacity (kg)

ESSD-28

10

10

2

8

Lead 6

6
4

3

2
0

100

0

20

40

Speed (mm/s)
30

11Lead 66

5

5

3

Lead 12
2

1
0

0

50

100

Lead 24 0.5

150 200 250 300

350 400

20

20

15

Lead 24

10

5

5
0

50

30

15

15

10

Lead 12

5

4
2

0

0

50

100

Load capacity (kg)

Load capacity (kg)

ESSD-56

Lead 620

Lead 620

20

15

Lead 12
12

10
5
0

200

150

100 150 200 250 300 350 400
Speed (mm/s)

25

25

20

0

50

2.5

12

2

10

Lead 6

1

1

0.5

0.5
0

20

0

40

60

80

6

4.5

2
0

20

6

Lead 6

4

4

3

2
0

Lead 122

150

Lead 24 0.5

100 150 200 250 300 350 400

Lead
6Load capacity (kg)

Load capacity (kg)

ELCR-428

760Lead 6, 12

7

80

100

7

6

Lead 24

4

Settable speed (mm/s)
15, 20, 30, 40, 50, 60, 70, 80, 90, 100

1230, 40, 60, 80, 100, 120, 140, 160, 180, 200

24

60, 80, 120, 160, 200, 240, 280, 320, 360, 400

615, 20, 50, 60, 70, 80, 90, 100

1230, 40, 60, 80, 100, 120, 140, 160, 180, 200

5

2
0

0

50

100 150 200 250 300 350 400
Speed (mm/s)* For settable speeds, see the table below.

1540

Speed (mm/s)

Speed (mm/s)

□56

4.5

Lead 610

8□28, 42

200

4

0

100

10

Motor size

150

8

Speed (mm/s)

0100
Speed (mm/s)

Load capacity (kg)

ELCR-28

Load capacity (kg)

Speed (mm/s)

1.5

Lead 12
10

10

0

25

25

100

Lead 620

Speed (mm/s)
30

80

25

25

9

Load capacity (kg)

ESSD-42

Load capacity (kg)1260

Speed (mm/s)

Discontinue

ESSD/ELCR Series

3 : Press fitting and clamp force
Technical information ●Press fitting, clamp force
Clamp force (reference)

35

50

30

40

25

Lead 620
15
10

Clamp force (N)Press fitting (N)

ESSD-28

Press fitting (reference)

5
0

50

60

70

80

90

20
10
0

100

Lead 6

30

50

100

Clamp force (N)Press fitting (N)

ESSD-42

Lead 6150

Lead 1250

Lead 24

150

60

70

80

90

Lead 12

100
50
0

50

100

Lead 24
50

Lead 6300
200

Lead 12

100

300
200

Lead 12

100
0

50

60

70

80

90

100

50

70

80

60

12
10

50

Lead 68

Clamp force (N)Press fitting (N)60

Current limitation (%)

Current limitation (%)

6
4
2

40

Lead 6

30
20
10
0

0
50

60

70

80

90

50

100

160
140

Lead 12

60
40
20
0

Lead 24
50

60

70

80

90

Current limitation (%)

100

Clamp force (N)

100
80

70

80

160
140

Lead 6

120

60

Current limitation (%)

Current limitation (%)

Press fitting (N)80

Lead 6400
Clamp force (N)Press fitting (N)

ESSD-56

70

500

400

ELCR-2860

Current limitation (%)

500

ELCR-4280

Lead 6

Current limitation (%)

0

70

200

200

0

60

Current limitation (%)

Current limitation (%)

Lead 6120
100
80

Lead 1260
40

Lead 24

20
0
50

60

70

80

Current limitation (%)*The speeds of press fitting and clamping are: Lead 6: 1, 2, 3 mm/s; lead 12: 2, 4, 6 mm/s; lead 24: 4, 8, 12 mm/s. The graphs
above are just for reference, which provide information on the relationship between the press fitting and the current limitation andthe relationship between the clamp force and the current limitation. For settable current limitation values, see the table below.
Press fitting

50(%), 61(%), 75(%), 82(%), 100(%)

Clamp

50(%), 61(%), 75(%), 82(%)

16

Discontinue

ESSD/ELCR Series
WiringWiringCable specification
Descriptions

Specifications

Type

20-core type cabtyre cord (UL94V-0)

Sheath material

Chloroethene

Sheath diameter

ø8.4

Sheath color

Gray

Cable core

0.2 mm2 (AWG24) annealed copper wire

Lead wire peeling length (reference)

7 mm from the tip of the lead wire

Basic structure

Actuator

Motor power source (24 V)24 V□42: 3 A□28, 56: 4 A
0V

Red (motor power supply +)Control power supply (24 V) 24 V

Red (white line) (control power supply +)Black (white line) (control power supply -)0V
General input *1

Upper-level system(Output signal)(PLC output unit, etc.)

Orange (input 2)

General input *1

Yellow (input 3)

General input *1
Output side

Green (input 4)

Origin return instruction signal

Purple (input 5)

Emergency stop instruction signal (b-contact connection)
Alarm reset instruction signal+ -Output COM+

Brown (white line) (output 1)
Orange (white line) (output 2)

General output *1

Yellow (white line) (output 3)

General output *1
Input side

Green (white line) (output 4)

Origin return completion signal

Purple (white line) (output 5)

Operation preparation completion signal

Input COM--+

Yellow green (white line) (output 7)

External power supply 24 VDCBlue (white line) (output COM +/-)

Note:
Check the wiring before electrification to prevent mistakes.
See the table below for general inputs and general outputs marked by *1.

Allocation of general inputs/outputs-: Not used

Control mode
Solenoid valve mode 7-point positioning mode Pitch transfer mode
Input 1

Operation instruction input

GeneralInput 2

Operation instruction input Positioning 1 input *1

input

Input 3

Start signal

Start signal
Positioning 1 input *1-

Positioning 2 input *1

Positioning 2 input *1-

Positioning 3 input *1-

Output 1

Positioning completion 1 output Positioning completion output Positioning completion output

GeneralOutput 2

Positioning completion 2 output Position information 1 output *2-

outputOutput 3-

Position information 2 output *2-

Output 4-

Position information 3 output *2-*1: In 7-point positioning mode and pitch transfer mode, the position is determined by turning each of input 2, 3, and 4 on or off.
*2: In 7-point positioning mode, the destination position is indicated by turning output 2, 3, and 4 on or off.

17

Output signal

Gray (white line) (output 6)

Alarm signal (b-contact connection)+

Gray (input 6)

Blue (input COM +/-)

General output *1(PLC input unit, etc.)

Input signal

Yellow green (input 7)

External power supply 24 VDCGeneral output *1

Upper-level system(Input signal)

Control power supply

Brown (input 1)

General input *1

Input 4Motor power supply

Black (motor power supply -)Discontinue

ESSD/ELCR Series

Power supply circuit and input/output circuit

Power supply circuit
Power supply specification
Descriptions

Power supply circuit

Specifications

Power supply

24 VDC ± 10%

Motor

voltage

power

Instantaneous

ESSD/ELCR-28: 4 A

supplymaximum

ESSD/ELCR-42: 3 A

current

ESSD-56: 4 A

Control
power
supplyMotor power supply (+24 V)

Power supply

Motor power supply (0 V)

Control power supply (+24 V)

24 VDC ± 10%

voltage
Current

200 mA or less *1

consumption

Control power supply (0 V)*1: This includes the case when the teaching pendant is mounted.

Input/output circuits
Input specification

Input circuit

Descriptions

Specifications

Number of input points (circuit)

7 points

Input voltage (V)24 VDC ± 10%

Input current (mA)

3 mA/point

Maximum input current (mA)

21 mA

Maximum current consumption (mA) *91 mA

Input current during ON

2 mA (min)Input current during OFF

0.5 mA (max)* The maximum current consumption value includes the current consumptionof the output circuit.

Output specification

Input

COM
The input has no polarity.
(COM can be used for both + and -.)Output circuit

Descriptions

Specifications

Number of Output points (circuit)

7 points

Load voltage (V)24 VDC ± 10%

Load current (mA)

10 mA or less per point

Maximum current (mA)

70 mA

Maximum current consumption (mA) *1

91 mA

Internal voltage drop

6 V or lower (25°C or lower) *2

Leakage current

10 μA

Output short-circuit protection circuit

Provided

Connected load

PLC

OutputCOM
The output has no polarity.
(COM can be used for both + and -.)*1: The maximum current consumption value includes the current consumptionof the input circuit.
*2: At 40°C, the value becomes 6 V or lower when the load current is 9 mA.

Example of an emergency stop wiring
External emergency switch

Actuator

Motor power source (24 V) 24 V
□42: 3 A□28, 56: 4 A
0V

Red (motor power supply +)Control power supply (24 V) 24 V

Red (white line) (control power supply +)Black (white line) (control power supply -)Black (motor power supply -)

0V

Relay
or PLC output (b-contact connection)

Gray (input 6)
Emergency stop instruction signal(b-contact connection)

Motor power supply

Control power supply

Input signal

Blue (input COM +/-)

18

Discontinue
CKD（SHANGHAI）CORPORATIONCKD KOREA CORPORATIONCKD EUROPE BRANCHCKD UK OFFICECKD USA CORPORATIONTAIWAN CKD CORPORATIONCKD VIETNAM
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2015.09