DAINCUBE DIO-32A User manual

DIO-32A
User’s manual
(R1) Version
DAINCUBE Corp.
E herCAT slave I/O module wi h Isola ed
DIO-32A Hardware user’s manual
Form 140108F-180703— July, 2018
DAINCUBE Corp.
Web: www.daincube.com
E-mail: [e-mail]
Tel: [phone]~4
Fax: [phone]
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2017 Daincube co.ltd. All rights reserved. Printed in the epublic of Korea

Preface
Copyrigh no ice
Copyright © 2005–201 Daincube . All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Impor an informa ion
This documentation is intended for qualified audience only. The product described herein is not an end user
product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Produc suppor
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: [e-mail]
Safe y precau ions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Symbols
The following symbols may be used in this specification:
⚠ Warning
Warnings indicate conditions that, if not observed, can cause personal injury.
⚠ Cau ion
Cautions warn the user about how to prevent damage to hardware or loss of data.
✏
No e
Notes call attention to important information that should be observed.

Con en s
1. In roduc ion ................................................................................................................... 5
1.1. General precautions ................................................................................................................ 5
2. Safe y informa ion ......................................................................................................... 5
3. Warran y and warran y coverage ................................................................................. 6
3.1. Warranty period ...................................................................................................................... 6
3.2. Scope of the warranty ............................................................................................................. 6
3.3. Service coverage .................................................................................................................... 6
4. Overview ........................................................................................................................ 7
4.1. Features .................................................................................................................................. 7
4.2. MODEL NO. ............................................................................................................................ 7
5. Specifica ions ................................................................................................................ 7
5.1. General ................................................................................................................................... 7
5.2. IO ............................................................................................................................................
5.3. EtherCAT ................................................................................................................................
6. Appearance .................................................................................................................... 8
6.1. Interface configuration .............................................................................................................
6.1.1. Power ................................................................................................................................................. 9
6.1.2. States indicator .................................................................................................................................. 9
6.1.3. I/O Terminal ....................................................................................................................................... 9
6.2. Dimension ............................................................................................................................. 10
7. Ins all he produc ....................................................................................................... 10
7.1. Product opening and inspection ............................................................................................ 10
7.2. Mounting ............................................................................................................................... 10
7.2.1. Mounting Holes ................................................................................................................................ 11
7.2.2. Din Rail mounting ............................................................................................................................. 11
7.3. EtherCAT connection ............................................................................................................ 12
7.3.1. EtherCAT cable ................................................................................................................................ 12
7.4. EtherCAT Process Data Object ............................................................................................. 13
7.4.1. DIO-32A-IO : 16-ch input/16-ch output(NPN) .................................................................................. 13
7.4.2. DIO-32A-IN: 32-ch input .................................................................................................................. 14
7.4.3. DIO-32A-OUT: 32-ch output (NPN) ................................................................................................. 14
7.5. Isolated Digital Input .............................................................................................................. 14
7.6. Isolated Digital Output ........................................................................................................... 15
8. Wiring ........................................................................................................................... 15
.1. Power.................................................................................................................................... 15
.2. Noise Filter ............................................................................................................................ 16
.3. Method wiring ........................................................................................................................ 17
.4. Earthing ................................................................................................................................ 1
9. Package ........................................................................................................................ 19
9.1. Packing list ............................................................................................................................ 19
9.2. Packaging & Labels .............................................................................................................. 19
10. General care and main enance .................................................................................. 20
10.1. Cleaning ............................................................................................................................ 20
11. EC direc ives and s andards ...................................................................................... 20
11.1. EC directives...................................................................................................................... 20

11.2. Standards .......................................................................................................................... 20
12. Reference lis ............................................................................................................... 21

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1. In roduc ion
Thank you very much for purchasing our product.
Improper usage or mishandling may result in a product not only being unable to deliver full functions but also
produce unexpected troubles or shorten the product’s life.
Please read this manual carefully, and operate the product properly by paying attention to its handling. When
operating the product, always keep this manual at hand and read the relevant items as required.
1.1. General precau ions
 Be sure to read this Instruction Manual for proper use of this product.
 Part or all of this Instruction Manual may not be used or reproduced without permission.
 Please take note that we shall not be liable for any effects resulting from using this Instruction manual.
 This manual may be modified when necessary because of improvement of the product, modification or
changes in specifications.
 Some drawings in this manual are shown as a typical example and may differ from the shipped product.
2. Safe y informa ion
 Before unpacking and installing the product or adding devices on it, carefully read all the manuals that
came with the package.
 Avoid using product in extreme dust, humidity and temperature conditions. Do not place the product in wet
area.
 Before carrying out assembly and adjustment work or maintenance and inspection work of the machine, be
sure to disconnect the power cord. Otherwise, electric shock may result.
 After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual electric
charges may result in electric shock.
⚠ Warning
 Be sure to check grounding before you use the unit. Danger of personal injury due to electric shock!
 Be sure to use the unit within the voltage range indicated.
 The operator must have a sufficient educational level and must know details of intended use described in
the user’s manual.
 Be sure to check the wiring to the main unit.
 When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case, inspect
wiring thoroughly and check it for properness before turning on the power.
 Before operating the unit, be sure to check that there is no danger in or around the operating range.
 Do not allow water or oil to get on the unit and the power cord.
 Install the unit in a place which can endure its weight and conditions while running.
 Take care not to squeeze and thus damage the cable with any object.
 Do not lay the cable over sharp edges to avoid damaging the cable sheath.
 Check the mounting screws regularly so that they are always firmly tightened.
 Never touch terminals directly or internal parts of controller.
 Do not disassemble or modify the product.
 Before carrying out assembly and adjustment work or maintenance and inspection work of the machine, be
sure to disconnect the power cord.
 Connect the power supply after completing the adjustment of all the cables and switches.
⚠ Cau ion
 After the shutdown window, turn off the power supply. Otherwise the components could be destroyed or
undefined signals could occur.
 To prevent the equipment from falling to the ground.

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 Never lay the device onto unstable surfaces. It could fall to ground and thus be damaged.
 It is recommended to use the unit in an environment where no electrical noise is present.
 In noisy environments, use a filter fitted.
 Never lay the device close to heat sources or into direct sunlight.
 Avoid exposing the device to mechanical vibrations, excessive dust, and humidity or to strong magnetic
fields.
 Make sure that no foreign objects or liquids can penetrate into the device.
 Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
 Always pay special attention to the robot’s movement in the Teaching Mode.
3. Warran y and warran y coverage
The DIO-32A that you purchased has been delivered upon completion of our strict shipping test.
3.1. Warran y period
The warranty period is as follows:
 12 months after our shipment.
3.2. Scope of he warran y
Where a defective condition occurs during proper use conditions and obviously under the responsibility of
the manufacturer, within the term above, we shall repair the product without charge.
However, any items that apply to the following are excluded from the warranty coverage.
 The warranty is not valid if the defect is due to accidental damage, mishandling, misuse, voltage fluctuation,
high/low voltage or natural disaster.
 If the product is repaired or tried to repair from unauthorized personal/Repair Shop.
 If the product serial number is tempered.
 The product is defective due to wear of parts, which can be considered as consumable parts by the nature.
(such as a cable)
 Defects resulting from changes over time such as natural color fading of paint.
 Defects resulting from mishandling or improper use.
 Defects resulting from an inadequacy or error in maintenance and inspection.
 Defects resulting from the use of any part other than our genuine parts.
 Defects resulting from a modification not approved by us or our dealers.
Only a delivered product shall be singly warranted, and no damage induced by the defect of the delivery
product can be warranted. For repair, transport the product to our factory.
3.3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer dispatching.
Therefore, the following are charged separately even within the warranty term:
 Maintenance and inspection.
 Technical guidance and technical training in the operating instructions.
 Technical guidance and technical training on program-related matters such as program creation.

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4. Overview
This section briefly describes the features, configuration, and usage of the DIO-32A (EtherCAT I/O).
4.1. Fea ures
 Simple and intuitive design for user-friendly use.
- Various mounting methods are available.
- Slim and compact size requires a small mounting space.
 Reverse voltage, overcurrent, over voltage (surge) protection circuit built-in.
 On the fly processing: EtherCAT
 Powerful MCU handles efficient network traffic.
 Distance between Stations up to 100 m (100BASE-TX)
 Support daisy chain connection
 EtherCAT conformance test tool verified
 Removable terminal block connector
 LED indicators for the I/O status
 Built-In digital I/O
 RoHS compliant
4.2. MODEL NO.
This section describes the DIO-32A product type.
Model I/O Con en s
DIO-32A-IN 32-ch input  Bi-directional input isolated by photo coupler
DIO-32A-OUT 32-ch output(NPN)  TR (NPN) output isolated by photo coupler
DIO-32A-IO 16-ch input/16-ch output(NPN)  16 channel input / 16 channel output module
Confirm that the model number described on the product is exactly what you ordered.
5. Specifica ions
5.1. General
I em Con en s
Power Supply  12~26Vdc
Connec ors  3-PIN 3.5 mm terminal * 1 (Power) : Reverse Protection
 RJ-45 * 2 (EtherCAT)
Power Consump ion
 Typical 24Vdc/50mA (max.24Vdc/100mA)
Environmen
 Operating temperature: 0℃ to +50℃
 Storage temperature: -20℃ to +70℃
 Humidity : 10% to 5% (Non-condensing)
 Altitude: Max. 2000 meters
 Pollution Degree 2(acc. to IEC 61131-2)
 Indoor Use Only
Cooling me hod  Ambient
Moun ing
 any orientation, Wall Mount, DIN rail
Me al Case Pain color  EGI Coating, Ivory color
Size
 136 x 0 x 37.5 mm(WxDxH)
weigh  About 365g
Cer ifica ion
 KC,CE Class A
✏
NOTE: Not following the prescribed specifications may cause damage to the product.

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5.2.
IO
I em Con en s
I
/
O Power Supply
 12~26Vdc
I
/
O power consump ion
 Typical 24Vdc/50mA (max.24Vdc/100mA)
I/O Connec ions
 -PIN 3.5 mm terminal * 4 (I/O): Reverse Protection
I/O
S a e
indica ors
 LED display (Green)
Number of circui s
per common
 16 /common
Digi al In Inpu Vol age  Logic 0 : 6.5VDC (Max)
 Logic 1 : .5VDC (Min)
Digi al ou
(NPN)
Load Vol age
 11~30 V
DC ,
Load Curren  500mA/ch (sink) @ 25℃, 350mA/ch (sink) @ 60℃
Isola ion me hod
 Photo coupler isolation
Response Delay Time
 100µs
Isola ion Resis ance  Over 100ＭΩ
Isola ion Vol age
 3750 Vrms (min)
5.3. E herCAT
I em Con en s
Communica ion pro ocol
 Dedicated protocol for EtherCAT
Da a Transfer Medium
 Cat.5e SFTP cable (Min),Cat.7 SFTP RJ-45 plug (Min)
Communica ion Dis ance
 Max.100 m (100BASE-TX)
Communica ion Cycle Time
 250 us(Max)
Da a Transfer Ra es
 100 Mbps
6. Appearance
6.1. In erface configura ion
3
4
5
6
1
2
7
8PORT
1 Power Terminal Block 3pin/3.5mm pitch (15EDGKD-3.5-03P)
2 S a es indica or PWR: Power on
RUN: Normal operation
ERR: Error
ECAT: EtherCAT States
3 Two RJ45 connec ors EtherCAT network IN
EtherCAT network OUT

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4 Type indica ion of IO IN or OUT type indication
5 B-CH Terminal 10pin/3.5mm Pitch (15EDGKDM-3.5-10P)
6 A-CH Terminal 10pin/3.5mm Pitch (15EDGKDM-3.5-10P)
7 Produc model (V mark) DIO32: 16-ch input / 16-ch output
IN32: 32-ch input
OUT32: 32-ch output
[Figure 6.1] DIO-32A Appearance
✏
NOTE: The Ethernet cable must be used the industrial EtherCAT dedicated cable.
6.1.1. Power
6.1.2. S a es indica or
When the power is input, the built-in MCU checks each function and turns on each LED.
LED Descrip ion
PWR  The system power is turned on
RUN  ON: Normal
 Blinking: Initialization, function check, waiting for communication connection
ERR  ON: H / W failure.
 Blinking: Error occurred during operation. Ex) Removing a communication line
ECAT
 EtherCAT State Indicator
 EtherCAT State Indicator
LED
S a us
Condi ion
Off
Init INIT = Initialization state.
Blinking
Pre-Operational P EOP = Pre-Operational state.
Single flash
Safe-Operational SAFEOP = Safe-Operational state.
On
Operational OP = Operational state.
6.1.3. I/O Terminal
Type Signal
Con en s
INPUT
COM Common: Power Or GND
IO24V Not connected
00~15 16 IN Port
OUTPUT
COM Ground
IO24V Output Power: +24Vdc
00~15 16 Out Port
I em
Con en s
+(+24V)
Power IN
-
(+24V)
GROUND
F.G
Earth ground

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6.2. Dimension
 Appearance Dimensions: 136 mm x 0 mm x 23.5mm (L x W x H)
All dimensions are in millimeters.
[Figure 6.2] DIO-32A Appearance Dimensions
7. Ins all he produc
Be sure to turn off the power before wiring.
When repairing or replacing, be sure to turn off the power.
7.1. Produc opening and inspec ion
This product has passed the performance test and defect inspection before shipment.
As soon as you receive the product, check for physical damage or defective product during shipment.
If any damage or defect is found, contact the place of purchase or our company immediately.
✏
NOTE: If repackaging is required, please keep the original packing materials.
7.2.
Mounting
Before installing the product, please consider the electrical specifications and environment for safe operation
The input power (DC + 24V) should be a clean control power separate from the machine's motor power.
Be sure to install the AC power with a certain distance from the AC power or the motor.
The installation of the DIO-32A should be firmly and firmly secured so that it will not fall or fall.

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7.2.1. Moun ing Holes
Four M3 sized tapped holes are required for mounting.
12 mm
66mm
[Figure 7.1] Mounting holes position drawing
7.2.2. Din Rail moun ing
 Mounting method using DIN rail adapter.
 Back side (vertical installation): DM-A35-35mm (Contact customer support)
[Figure 7.2] Din-rail adapter for Back Side
 For floor (horizontal installation): PHOENIX 120157
[Figure 7.3] Din-rail adapter for horizontal use

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 DM-A35-35mm
First, hang part 1 of the Dain-rail adapter on the Dain-rail. Pull down the part2 and walk.
1
2
[Figure 7.4] DM-A35-35mm
7.3. E herCAT connec ion
EtherCAT supports a variety of connection topologies including tree, daisy chain, star, and ring. The simplest
connection method is to connect using the "daisy-chain" topology as shown below.
EtherCAT
Master
[Figure 7.5] EtherCAT daisy-chain connection
 Cautions when wiring the EtherCAT cable
 The Ethernet cable must be used the industrial EtherCAT dedicated cable.
 Securely attach the connector of the EtherCAT cable. It causes severe problem in case of a faulty.
 Make sure that the EtherCAT cable is at least 10 cm away from the power line or inductive noise.
 Never disconnect the EtherCAT cable during operation.
7.3.1. E herCAT cable
 Recommended specification for EtherCAT cable
 Cable Minimum recommended: CAT.5e / 6 SFTP or higher
 Plug: STP CAT.5e RJ-45 P C (Metal Housing)
⚠ Cau ions :
Be sure o connec shield be ween cable and plug.
[Figure 7.6] STP CAT.5e Me al plug

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[Figure 7.7] CAT5E-SFTP, Ca 6-SFTP Cable
 Straight through patch
[Figure 7.8] 1:1 Cable Pin Configuration
7.4. E herCAT Process Da a Objec
This chapter describes the DIO-32A EtherCAT communication specifications.
7.4.1. DIO-32A-IO : 16-ch inpu /16-ch ou pu (NPN)
 Input 16
Index Sub-Index Bi Len Bi Posi ion Name
6000h
1 0 ~ 7 User Input 1 ~
2 0 ~ 7 User Input 9 ~ 16
3 0 ~ 7 Reserved
4 0 ~ 7 Reserved
 Output 16
Index Sub-Index Bi Len Bi Posi ion Name
7000h
1 0 ~7 User Output 1 ~
2 0 ~7 User Output 9 ~ 16
3 0 ~7 Reserved
4 0 ~7 Reserved

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7.4.2. DIO-32A-IN: 32-ch inpu
 Input 32
Index Sub-Index Bi Len Bi Posi ion Name
6000h
1 0 ~ 7 User Input 1 ~
2 0 ~ 7 User Input 9 ~ 16
3 0 ~ 7 User Input 17 ~ 24
4 0 ~ 7 User Input 25 ~ 32
 Output 0
Index Sub-Index Bi Len Bi Posi ion Name
7000h
1 0 ~7 Reserved
2 0 ~7 Reserved
3 0 ~7 Reserved
4 0 ~7 Reserved
7.4.3. DIO-32A-OUT: 32-ch ou pu (NPN)
 Inpu 0
Index Sub-Index Bi Len Bi Posi ion Name
6000h
1 0 ~ 7 Reserved
2 0 ~ 7 Reserved
3 0 ~ 7 Reserved
4 0 ~ 7 Reserved
 Output 32
Index Sub-Index Bi Len Bi Posi ion Name
7000h
1 0 ~7 User Output 1 ~
2 0 ~7 User Output 9 ~ 16
3 0 ~7 User Output 17 ~ 24
4 0 ~7 User Output 25 ~ 32
7.5. Isola ed Digi al Inpu
 Digital Input module is composed of Port units and supports both bidirectional inputs.
 Supports both NPN and PNP connections.
⚠
Cau ions : Input module does not use IO24V terminal.
DIO-32A supports both PNP and NPN input methods.
Connect to GND common or POWER common according to PNP and NPN method.
The sensor type determines whether to use PNP (COM-) or NPN (COM +).
 NPN Connection Examples (Power common)
COM
Input
Internal
circuit
Logic
circuit
DC24V
+
-

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 PNP Connection Examples (GND Common)
COM
Input
Internal
circuit
Logic
circuit
DC24V
+
-
7.6. Isola ed Digi al Ou pu
Each output port is composed of NPN type 16Port unit.
The maximum sink current per output is 350mA.
If a current higher than the allowable current is required, use an external part such as a relay.
The output port is by default the output latch type.
Keep last output when communication connection is lost.
✏
NOTE: The output must be configured as a common GND. Be sure to connect GND to COM terminal.
Connect the output power to the IO24V terminal.
 NPN Output circuit Examples
COM
Output
Internal
circuit Logic
circuit
IO24V
LOAD
+
-
8. Wiring
⚠
POINTS OF CAUTION
 Do not install cables (power supply, input, communication) close to noise sources (relay drive cable, high
frequency line, etc.).
 Do not bind these cables together with those in which noises are present. Do not install them in the same
duct.
8.1. Power
 The input power source should be a clean source with a voltage variation rate within ± 5%.
 Power lines are twisted a densely as possible, and should be connected as short as possible.

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 Please use power with less Noise between lines and ground.
 If Noise is more or larger, use an isolation transformer or Noise Filter.
 Power-line should be used the thickest (2mm or more). So that no voltage fluctuations.
 Separate the motor wiring and the DC power and signal line wiring as far as possible. Please drop as
possible over 100mm.
 Please separate the DC24V line from the motor line.
 Lightning-proof Surge absorber should be used to safety from such as lightning strikes and surges. Install
the surge protector.
[Figure 8-1] Surge absorber
✏
Note: Surge absorber should be selected to allow the voltage is higher than the maximum input
voltage.
8.2. Noise Fil er
 EMI: Electro Magnetic Interference
 EMS: Electro Magnetic Susceptibility
DC24V
AC 220V
DIO-32A
SMPS
AC Line Filter
[Figure 8-2] Apply a noise fil er
 Noise Filter must be installed on AC220V line. Motor noise so that it does not directly affect.
 Electronic components are caused the problems such as short lifetime or a deterioration or malfunction
because of intense noise.
[Figure 8-3] AC noise fil er

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⚠
Warning
Make sure he AC fil er capaci or safe y (PE) ground and connec ed correc ly.
You can avoid injury and / or damage o he equipmen .
✏
No e : The filter is an essential element of protection against electromagnetic disturbance Filters
prevent emitted interference acting on the power line and vice versa.
AC
Noise filter
SMPS
AC/DC
Power
AC Line
No Shield cables
Long distance
Narrow gap
[Figure 8-4] Noise fil er incorrec ins alla ion
 The supply cable to the noise filter and outgoing cables from the noise filter must not run parallel to
each other (see illustration):
8.3. Me hod wiring
(1) Signal and communica ion cables is placing a high-vol age cable or power line over a
dis ance of 10cm, please no affec ed by he noise and magne ic field
(2) If possible use separa e duc s for power cables and con rol lines.
(3) All cable should be he Shield cable.
(4) Minimizing he loops
[Figure 8-5] Avoiding loops in wiring designs
✏
Note: Wires that form a loop make an efficient antenna. Run feed and return wires together rather than
allowing a loop to form. Twisting the pair further reduces the antennae effects and can significantly reduce
EMI.
✏
No e
According to the NFPA79 approved by the United States, when the shielded wire is not used for
wiring between a servo amplifier and a servo motor, the wiring must be insulated from wiring of
other control or signal circuits. (Example: 100 mm or more for 20 A or less)

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(5) Excess cable
Better solution Good solution Not recommended
[Figure 8-6] Excess cable rea men
(6) Cabling ins ruc ions:
 Do not coil excess cable of different types (for example, motor power and feedback) together. An
efficient transformer is formed at HF.
 Cable lengths should ideally be trimmed to fit the application.
 If excess cable cannot be trimmed, it should be laid in an 'S' or figure eight pattern (refer to the figure
below).
(7) Ferri e core

Ferri e core urn
[Figure 8.7] Ferri e core urn
✏
No e: Using ferrite cores, increase the maximum number of turns around the ferrite for optimum
results.
8.4. Ear hing
 The F.G pin in a circle Connector must be wired to the F.G terminal of the SMPS.
 Earth pin on LAN1 and LAN2 is a signal Shield.
 Earth wire should be used more than 2 mm.
 The length of the ground line is as short as possible.
 AC Power Earth and control system Ground are must be isolated.
Master Slave Master Slave
√
[Figure 8-8] Ear h wiring me hods

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9. Package
9.1. Packing lis
The package configuration of DIO-32A is shown below.
 Basic parts
 Option and accessories Parts
I em
pho o
D
escrip ion
Qu
an i y
DIN Rail adapters
PHOENIX 120157
*
Option 2
DIN Rail adapters
DM-A35-35mm
*
Option 1
[Table 9-1] Packing lis
✏
Note: Please make sure there are no missing parts of the items listed in the checklist above
Note: Available for individual purchase by package
9.2.
Packaging & Labels
 Packing product: 1Box = 1Product x 10ea
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
1 BOX = 1 Product x 10ea
1 Product
[Figure 9-1] Car on box
I em
P
ho o
D
escrip ion
Quan i y
DIO-32A-IN
DIO-32A-OUT
DIO-32A-IO
Basic configuration
 Main part
1

DIO-32A Hardware user’s manual
DAINCUBE Corp. 20 / 21
10. General care and main enance
Your device is a product of superior design and craftsmanship and should be treated with care.
The following suggestions will help you.
 Keep the device dry. Precipitation, humidity, and all types of liquids or moisture can contain minerals that
will corrode electronic circuits. If your device does get wet, allow it to dry completely.
 Do not use or store the device in dusty, dirty areas. Its moving parts and electronic components can be
damaged.
 Do not store the device in hot areas. High temperatures can shorten the life of electronic devices, damage
cable, and warp or melt certain plastics.
 Do not store the device in cold areas. When the device returns to its normal temperature, moisture can form
inside the device and damage electronic circuit boards.
 Do not attempt to open the device.
 Do not drop, knock, or shake the device. Rough handling can break internal circuit boards and fine
mechanics.
 Do not paint the device. Paint can clog the moving parts and prevent proper operation.
 Unauthorized modifications or attachments could damage the device and may violate regulations governing
radio devices.
10.1. Cleaning
For cleaning the DIO-32A, use a soft cloth dampened with a small amount of water or a mild cleaning agent.
11. EC direc ives and s andards
The list of safety standards on the robot. This section does not cover the safety design methods and safety
equipment installation.
11.1. EC direc ives
2006/42/EC Directive for the safety of machinery with the application MD 2006/42/EC
2004/10 /EC EMC directive
2011/65/EC RoHS directive
11.2. S andards
EN ISO 12100: Safety of machinery - General principles for design – Risk assessment and risk reduction
EN ISO 13 49-1: Safety of machinery, safety related parts of control systems
-Part 1: General principles for design
EN ISO 13 50: Safety of machinery - Emergency stop - Principles for design
EN ISO 1021 -1: Robots for industrial environments - Safety requirements -Part1 Robot
EN ISO 97 7: Robots and robotic devices -- Coordinate systems and motion nomenclatures
EN ISO 92 3: Manipulating industrial robots, performance criteria, and related test methods
EN ISO 13732-1: Ergonomics of the thermal environment - Part 1
EN 61000-6-4(2007+A1:2011): Terminal disturbance voltage, Radiated disturbance
EN 61000-3-2:2014: Harmonic Distortion
EN 61000-3-3:2013: Voltage fluctuations & flicker
EN 61000-6-2:2005: Include below test types
EN 61000-4-2:2009: Electrostatic discharge
EN 61000-4-3:2006 +A1:200 +A2:2010: Radiated, radio-frequency, electromagnetic field