IAI PCON-CB series User manual

CB/CFB Standard Type
CGB/CGFB Safety Category
Complied Type
PCON-CB Series Controller
Instruction Manual
First Edition
POWER CON

POWER CON PCON-CB/LC
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
•This Instruction Manual is original.
•The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
•Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
•If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
•Using or copying all or part of this Instruction Manual without permission is prohibited.
•The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.

POWER CON PCON-CB/LC

POWER CON PCON-CB/LC
Construction of Instruction Manual for Each Controller Model
and This Manual
PCON-CB/CFB
PCON-CGB/CGFB
zBasic Specifications
•Positioner Operation PCON-CB/CFB (This Manual) ME0342
•Serial Communication Serial Communication【Modbus】ME0162
★Types to Select From
•PIO Control
•Pulse-Train Operation
•Fieldbus Control
(ⅰ) CC-Link CC-Link ME0254
(ⅱ) DeviceNet DeviceNet ME0256
(ⅲ) PROFIBUS-DP PROFIBUS-DP ME0258
(ⅳ) CompoNet CompoNet ME0220
(ⅴ) MECHATROLINK-Ⅰ/ⅡMECHATROLINK-Ⅰ/ⅡME0221
(ⅵ) EtherNet/IP EtherNet/IP ME0278
(ⅶ) EtherCAT EtherCAT ME0273
(ⅷ) PROFINET-IO PROFINET-IO ME0333
■Teaching Tool
•PC Software PC Software ME0155
•Teaching BOX
(ⅰ)TB-01 Touch Panel Teaching ME0324
(ⅱ)TB-02 Touch Panel Teaching ME0355
(ⅲ)TB-03 Data Setter ME0376

POWER CON PCON-CB/LC
Table of Overall Contents
Chapter 3 Operation
In this chapter, explains the comparison of operation patterns and
details of each operation such as positioning and pressing operations.
☆Position number input operation ⇒pg. 95
☆Operation by pulse train control ⇒pg.149
12
Name for Each Parts and Their Functions
In this chapter, explains the name for each parts and their
functions.
19
37
Chapter 2 Wiring
In this chapter, explains about the connections to actuators
and external devices.
71
Chapter 1 Specifications Check
In this chapter, explains the specifications of products, power
capacity, model codes, etc.
Chapter 4 Field Network
In this chapter, introduces the applicable fieldbus
and manual numbers for other instruction manuals. 157
Chapter 5 Collision Detection Feature
In this chapter, explains the setup and tuning for collision
detection feature.
Chapter 6 Power-Saving Function
In this chapter, explains how the power consumption can be saved. 163
Chapter 7 Absolute Reset and Absolute Battery
In this chapter, explains the procedures for absolute reset
and replacement of battery. 167
Chapter 8 Parameter
In this chapter, explains about the controller settings.
177
Chapter 9 Troubleshooting
In this chapter, explains how to act in errors and contents of them.
213
Chapter 10 Appendix
In this chapter, explains compliance with safety categories,
model codes of connectable actuators, etc. 233
Chapter 11 Warranty
In this chapter, explains about the Warranty.
317
161

POWER CON PCON-CB/LC
Table of Contents
Safety Guide ··································································································1
Precautions in Operation ··················································································8
International Standards Compliances ································································ 11
Name for Each Parts and Their Functions ·························································· 12
Actuator Axes······························································································· 16
Chapter 1 Specifications Check....................................................................................19
1.1 Product Check ............................................................................................................ 19
1.1.1 Parts...................................................................................................................... 19
1.1.2 Teaching Tool........................................................................................................ 20
1.1.3 Instruction Manuals Related to This Product, which are Contained in the
Instruction Manual (DVD). .................................................................................... 20
1.1.4 How to Read the Model Plate............................................................................... 21
1.1.5 How to Read the Model ........................................................................................ 21
1.2 List of Basic Specifications ......................................................................................... 22
1.3 Appearance ................................................................................................................ 24
1.3.1 CB Type・・・・・・For Incremental Screw-fixed Type ............................................... 24
1.3.2 CB Type・・・・・・For Incremental DIN rail-fixed Type ............................................. 25
1.3.3 CB Type・・・・・・For Simple Absolute Screw-fixed Type ........................................ 26
1.3.4 CB Type・・・・・・For Simple Absolute DIN rail-fixed Type ...................................... 27
1.3.5 CFB Type・・・・・For Incremental Screw-fixed Type ............................................... 28
1.3.6 CFB Type・・・・・For Incremental DIN rail-fixed Type ............................................. 29
1.3.7 Absolute Battery Unit (Option for Simple Absolute Type) ..................................... 30
1.4 I/O Specifications........................................................................................................ 31
1.4.1 PIO Input and Output Interface............................................................................. 31
1.4.2 Pulse Train Input Output Interface........................................................................ 32
1.5 Options ....................................................................................................................... 33
1.5.1 Pulse converter : AK-04 ........................................................................................ 33
1.6 Installation and Storage Environment......................................................................... 34
[1] Installation Environment...................................................................................... 34
[2] Storage and Preservation Environment .............................................................. 34
1.7 Noise Elimination and Mounting Method.................................................................... 35
Chapter 2 Wiring...........................................................................................................37
2.1 Positioner Mode (PIO Control) ................................................................................... 37
2.1.1 Wiring Diagram (Connection of Devices) ............................................................. 37
2.1.2 PIO Pattern Selection and PIO Signal.................................................................. 38
2.1.3 Wiring.................................................................................................................... 43
[1] Power Supply Connector (for Power Supply and Emergency Stop)...................43
[2] Motor • Encoder Circuit ....................................................................................... 47
[3] Absolute Circuit (For Simplified Absolute Type Only) ......................................... 47
[4] PIO Circuit ........................................................................................................... 48
2.2 Pulse Train Control Mode ........................................................................................... 54
2.2.1 Wiring Diagram (Connection of Devices) ............................................................. 54
2.2.2 I/O Signals in Pulse Train Control Mode............................................................... 55
[1] PIO Pattern 6 (Incremental Type for Actuator) .................................................... 55
[2] PIO Pattern 7 (Incremental Type for Actuator) .................................................... 56
2.2.3 Wiring.................................................................................................................... 57
[1] Power Supply Connector (for Power Supply and Emergency Stop)...................57
[2] Motor • Encoder Circuit ....................................................................................... 61
[3] PIO Circuit ........................................................................................................... 62
[4] Circuits for Pulse Train Control ........................................................................... 64

POWER CON PCON-CB/LC
2.3 Wiring Method ............................................................................................................ 65
2.3.1 Wiring Layout of Power Supply Connector........................................................... 65
2.3.2 Connection to Actuator ......................................................................................... 66
2.3.3 Connection of PIO ................................................................................................67
2.3.4 Connection of Pulse Train Signal ......................................................................... 68
2.3.5 SIO Connector Connection................................................................................... 69
Chapter 3 Operation .....................................................................................................71
3.1 Basic Operation .......................................................................................................... 71
3.1.1 Basic Operation Methods ..................................................................................... 71
3.1.2 Parameter Settings ............................................................................................... 74
3.2 Operation in Positioner Mode ..................................................................................... 75
[1] PIO Pattern Selection and Main Functions ......................................................... 75
[2] Overview of Major Functions............................................................................... 76
[3] Operation Modes of Rotary Actuator in Multiple Rotation Mode and
Command Limitations.......................................................................................... 76
3.2.1 Set of Position Table
(This section is not required in selection of pulse train control mode.) ................ 77
3.2.2 Control of Input Signal .......................................................................................... 82
3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5................. 82
[1] Emergency Stop Status (EMGS)......................................................................... 82
[2] Operation Mode (RMOD, RMDS) ....................................................................... 83
[3] Servo ON (SON, SV, PEND)............................................................................... 84
[4] Home Return (HOME, HEND, PEND, MOVE).................................................... 85
[5] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE).................... 89
[6] Alarm, Alarm Reset (*ALM, RES)........................................................................ 91
[7] Binary Output of Alarm Data Output (*ALM, PM1 to 8)....................................... 92
[8] Brake Release (BKRL) ........................................................................................ 94
3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3............... 95
[1] Positioning [Basic]
(PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD, TRQS) ..................... 95
[2] Speed Change During the Movement............................................................... 100
[3] Pitch Feeding (Relative Movement = Incremental Feed).................................. 101
[4] Pressing Operation ........................................................................................... 103
[5] Tension Operation ............................................................................................. 108
[6] Multi-step Pressing............................................................................................ 110
[7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-)...........111
[8] Pause and Operation Interruption (*STP, RES, PEND, MOVE) ....................... 113
3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO
Pattern 4 ............................................................................................................. 115
[1] Positioning [Basic] (ST0 to ST6, PE0 to PE6, PEND) ...................................... 115
[2] Pitch Feeding (Relative Movement = Incremental Feed).................................. 117
[3] Pressing Operation ........................................................................................... 119
[4] Tension Operation ............................................................................................. 123
[5] Multi-step Pressing............................................................................................ 125
[6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND).................... 126
3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO
Pattern 5 ............................................................................................................. 128
[1] Home Return (ST0, HEND)............................................................................... 128
[2] Features of LS Signals (LS0 to 2) ..................................................................... 132
[3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) ................................................... 133
[4] Speed Change During the Movement............................................................... 135
[5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND).................... 137
3.3 Pulse Train Control Mode (for Pulse Train Type) ..................................................... 138
3.3.1 I/O Signal Controls.............................................................................................. 139

POWER CON PCON-CB/LC
3.3.2 Operation Ready and Auxiliary Signals .............................................................. 139
[1] System Ready (PWR) ....................................................................................... 139
[2] Emergency Stop Status (*EMGS) ..................................................................... 139
[3] Operation Mode (RMOD, RMDS) ..................................................................... 140
[4] Compulsory Stop (CSTP).................................................................................. 141
[5] Servo ON (SON, SV) ........................................................................................ 141
[6] Home Return (HOME, HEND) .......................................................................... 142
[7] Datum Position Move (RSTR, REND)............................................................... 145
[8] Zone (ZONE1, ZONE2)..................................................................................... 146
[9] Alarm, Alarm Reset (*ALM, RES)...................................................................... 147
[10] Binary Output of Alarm Data Output (*ALM, ALM1 to 8) ................................... 147
[11] Brake Forcible Release (BKRL) ........................................................................ 148
3.3.3 Pulse Train Input Operation ................................................................................ 149
[1] Command Pulse Input (PP•/PP, NP•/NP) .........................................................149
[2] Position Complete (INP).................................................................................... 150
[3] Torque Limit Select (TL, TLR) ........................................................................... 151
[4] Deviation Counter Clear (DCLR)....................................................................... 151
3.3.4 Settings of Basic Parameters Required for Operation ....................................... 152
[1] Electronic Gear Setting ..................................................................................... 152
[2] Format Settings of Command Pulse Train ........................................................ 154
[3] Pulse Train Datum Position (Parameter No. 167)............................................. 154
3.3.5 Parameter Settings Required for Advanced Operations .................................... 155
[1] Position Command Primary Filter Time Constant ............................................. 155
[2] Torque Limit....................................................................................................... 155
[3] Clearing Deviation During Servo OFF or Alarm Stop........................................ 155
[4] Error Monitor During Torque Limiting ................................................................ 156
[5] Deviation Counter Clear Input........................................................................... 156
[6] Torque Limit Command Input ............................................................................ 156
[7] Pulse Count Direction ....................................................................................... 156
[8] Compulsory Stop Input...................................................................................... 156
Chapter 4 Field Network .............................................................................................157
[1] PCON-CB/CFB Type......................................................................................... 157
Chapter 5 Collision Detection Feature........................................................................161
5.1 Collision Detection Judgement................................................................................. 161
5.2 Settings..................................................................................................................... 162
5.3 Adjustment................................................................................................................ 162
Chapter 6 Power-saving Function...............................................................................163
6.1 Automatic Servo-off and Full Servo Functions ......................................................... 163
6.2 Automatic Current Reduction Feature...................................................................... 166
Chapter 7 Absolute Reset and Absolute Battery.........................................................167
7.1 Absolute Reset ......................................................................................................... 167
[1] Absolute Reset Procedure from Teaching Tool ................................................. 167
[2] Absolute Reset Using PIO ................................................................................ 170
7.2 Absolute Battery (for Simple Absolute Type)............................................................ 172
[1] For the Type to Attach Battery to Controller Side.............................................. 172
[2] When Using Absolute Battery Unit .................................................................... 172
7.2.1 Absolute Encoder Backup Specifications ........................................................... 172
7.2.2 Absolute Battery Charge..................................................................................... 172
7.2.3 Absolute Battery Voltage Drop Detection ........................................................... 173
7.2.4 Replacement of Absolute Battery ....................................................................... 174
[1] For the Type to Attach Battery to Controller Side.............................................. 174
[2] When Using Absolute Battery Unit .................................................................... 175
Chapter 8 Parameter ..................................................................................................177
8.1 Parameter List .......................................................................................................... 178
8.2 Detail Explanation of Parameters ............................................................................. 182
8.3 Servo Adjustment ..................................................................................................... 210

POWER CON PCON-CB/LC
Chapter 9 Troubleshooting .........................................................................................213
9.1 Action to Be Taken upon Occurrence of Problem .................................................... 213
9.2 Fault Diagnosis......................................................................................................... 214
9.2.1 Impossible Operation of Controller ..................................................................... 214
9.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ......................... 218
9.2.3 Generation of Noise and/or Vibration ................................................................. 220
9.2.4 Impossible Communication ................................................................................ 221
9.3 Alarm Level............................................................................................................... 222
9.4 Alarm List.................................................................................................................. 223
Chapter 10 Appendix ....................................................................................................233
10.1 Way to Set Multiple Controllers with 1 Teaching Tool............................................... 233
10.1.1 Connecting Example........................................................................................... 233
10.1.2 Detailed Connection Diagram of Communication Lines ..................................... 234
10.1.3 Axis No. Setting .................................................................................................. 234
10.1.4 Handling of e-CON Connector (How to Connect) .............................................. 235
10.1.5 SIO Converter..................................................................................................... 236
10.1.6 Communications Cable....................................................................................... 238
10.1.7 External Dimension............................................................................................. 238
10.2 Conformity to Safety Category ................................................................................. 239
[1] System Configuration........................................................................................ 239
[2] Wiring and Setting of Safety Circuit .................................................................. 240
[3] Examples of Safety Circuits .............................................................................. 242
[4] TP Adapter and Accessories ............................................................................. 248
10.3 When Connecting Power Supply with + Grounding ................................................. 250
10.4 Maintenance ............................................................................................................. 251
10.4.1 Consumed Parts ................................................................................................. 251
10.4.2 Maintenance Information .................................................................................... 251
10.4.3 Replacement of Fan (PCON-CFB) ..................................................................... 252
10.5 Example of Basic Positioning Sequence (PIO pattern 0 to 3).................................. 253
10.5.1 I/O Assignment ................................................................................................... 253
10.5.2 Ladder Sequence ............................................................................................... 254
[1] Servo ON (Emergency Stop) Circuit ................................................................. 254
[2] Operation and Stop Circuit ................................................................................ 254
[3] Pause Circuit ..................................................................................................... 255
[4] Reset Circuit...................................................................................................... 256
[5] Home Return Circuit.......................................................................................... 257
[6] Decode Circuit of Positioning Complete Position No. ....................................... 258
[7] Actuator Start Circuit ......................................................................................... 258
[8] Position 1 Operation Circuit .............................................................................. 259
[9] Position 2 Operation Circuit .............................................................................. 260
[10] Position 3 Operation Circuit .............................................................................. 261
[11] Commanded Position No. Output Ready Circuit............................................... 262
[12] Commanded Position No. Output Circuit .......................................................... 263
[13] Start Signal Output Circuit................................................................................. 263
[14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode).................. 264
10.6 List of Specifications of Connectable Actuators ....................................................... 265
Chapter 11 Warranty.....................................................................................................317
11.1 Warranty Period........................................................................................................ 317
11.2 Scope of the Warranty.............................................................................................. 317
11.3 Honoring the Warranty ............................................................................................. 317
11.4 Limited Liability ......................................................................................................... 317
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ....................................................................................................... 318
11.6 Other Items Excluded from Warranty ....................................................................... 318
Change History..............................................................................................................319

POWER CON PCON-CB/LC
Complete
Signal
Signal
Edit
Parameters of
controller
Actuator Controller
Command
Pulse
PLC
Enter an electronic
gear ratio.
Teaching Tool
Completion
Signal
SignalSignal
Edit Position
Table of
controller
Actuator
Position Number
+
Start Signal
PLC
Enter a data including
position, velocity,
acceleration or
deceleration, etc.
No. [G]
0
1 100.00 0.30 0.30
2 200.00 0.30 0.30
100.00
200.00
Acceleration DecelerationVelocity
[mm] [mm/s] [G]
Position
Controller Teaching Tool
No. [G]
0
1 100.00 0.30 0.30
2 200.00 0.30 0.30
100.00
200.00
Acceleration DecelerationVelocity
[mm] [mm/s] [G]
Position
☆Starting Procedures☆
Step 1 Confirm all the necessary things are prepared (Contact us or our sales agency in case of any missing)
Refer to the section “1.1 Product Check” in this manual for more detail.
☆
Controller (PCON-CB) ☆ Actuator and Connection Cable
(The cable differs depending on the actuator type. [Refer to Step3])
* Check also enclosed parts
[Refer to Section 1.1.1]
☆
CD-ROM (Enclosed in RCM-101-□□) ☆ DVD Instruction Manual
(The following software is included) (includes the following instruction manuals)
・RC PC software [Refer to Instruction Manuals related to this product, which are
provided on the 1.1.3 DVD.]
1) PCON-CB Instruction Manual (this manual)
2) RC PC Software Instruction Manual (ME0155)
☆
For Fieldbus Type: 3) Touch Panel Teaching Instruction Manual (ME0324)
Field Network Setting File 4) Each Fieldbus Instruction Manual (ME0254, etc.)
File (e.g. EDS File) 5) Instruction Manual of the Actuator
Download it in IAI homepage
(http://www.iai-robot.co.jp/)
Step 2 Check How to Operate
The operation modes and control methods will defer depending on the type you have purchased.
☆
What is Positioner Operation ☆ What is Pulse Train Control
☆
What is Fieldbus Control
Fieldbus communication is used instead of connected with and controlled by PIO.
Without using position data, operation can also be made by inputting numbers directly.
Check the operation modes and control methods available on the controller you have purchased.
It can be defined on the controller model code shown on the label in the front face of the controller.
Note example
Operate the
registered
position data
with PIO signal
Make operation
with command
pulse
SN: A40969951
PCON-CB-20PWAI-NP-0-0
L=30
ST=8
RCP2-GRSS Type Name
1) CB / CGB (select from positioner and pulse train)
2) CFB / CGFB (select from positioner and pulse train)
I/O Type
1) NP / PN (dedicated for positioner operation)
2) PLN / PLP (select from positioner and pulse train)
3) For others, (dedicated for fieldbus control)

POWER CON PCON-CB/LC
Step 3 Installation
xExternal Dimensions * Check in 1.3 Appearance as they differ for each type.
Controller Absolute Battery Unit
(option for Simple Absolute Type)
xNoise Elimination Grounding (Frame Ground)
1) Screw fixed type 2) DIN rail fixed type
xHeat Radiation and Installation
Keep the ambient temperature of the controller at 40°C or less.
To fix the units in the control box, use the attachment holes on top and bottom of the unit for
the screw fixed type, and use the DIN rails for the DIN rail fixed type. Install in the orientation
shown in the figure below for heat radiation.
CFB (screw affixed type), detach the fan unit once and use the attachment holes on the top.
[Refer to 10.4.3 Replacement of Fan]
“Refer to “1.6 Installation and Storage Environment” and “1.7 Noise Prevention and Installation”
5
35 84.8
69.6
170.5 178.5
φ5
Earth Terminal
(Grounding resistance at 100Ω or less)
Copper Wire :
Connect to an ground cable with
diameter 1.6mm (2mm2) or more.
Connect the ground line
together to the main unit
using the fixing screw. Connect the ground cable using
the tapped hole for FG connection
on the main unit.
M3 x 5 nickeled pan head
machine screw
(enclosure dedicated for
DIN rail fixed type)
MIN.
30mm
MIN.
30mm
MIN.
30mm
MIN.
30mm
MIN. 100mm
MIN. 50mm
MIN. 100mm
Ensure enough space
for wiring.
Ceiling
Floor Floor
Ceiling

POWER CON PCON-CB/LC
Step 4 Wiring Refer to Chapter 2 “Wiring”
[Positioner Operation] Refer to Sections 2.1 and 2.3
[Pulse Train Control] Refer to Sections 2.2 and 2.3
[Fieldbus Specification] Refer to Chapter 4
Step 5 Operate Unit
How you should look in the instruction manuals will differ depending on the operation modes and control methods
you choose.
Establish the settings for your operation needs.
●For Positioner Operation 3.1.1 (1) Basic Operation Methods ⇒3.2 Operation in Positioner Mode
●For Pulse Train Control
3.1.1 (2) Basic Operation Methods ⇒ 3.3 Operation with Pulse Train Control
●For Fieldbus Type Instruction Manual for Each Fieldbus (provided separately, refer to
Chapter 4 for manual number)
Caution Set it away from the mechanical end or peripherals as much as possible when turning the servo
ON. Move it apart when it interferes with peripherals. It may generate an alarm if it hits to the
mechanical end or peripherals when the servo is turned on. Also, in case the actuator is installed
in vertical orientation, turning ON and OFF the servo at the same spot may cause a slight drop
by the self-gravity. Pay attention not to pinch your finger or damage a work piece.
Caution Pay attention not to pinch your finger or damage a work piece by dropping the actuator with
self-gravity when it is released compulsorily with the brake release switch placed on the front
panel of this controller when it is installed in vertical orientation.
Caution This controller is equipped with a safety velocity function to make the operation in low speed
compulsorily. It is recommended to have this function activated in the first operation.
Connection cable differs depending on
actuator. [Refer to 2.1.3 [2]]
* Refer to 2.1.3 [4] for wiring
layout as the signals/features
differ for each PIO pattern
(selected in Parameter No. 25)
in PIO.
* Perform wiring referring to
Chapter 4 Fieldbus for the
fieldbus type.
Example for Basic Wiring

POWER CON PCON-CB/LC

POWER CON PCON-CB/LC
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
●This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
●Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.

POWER CON PCON-CB/LC
2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

POWER CON PCON-CB/LC
3
No. Operation
Description Description
(2) Cable Wiring
●Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
●Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
●Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
●When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
●Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
●Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
●The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).

POWER CON PCON-CB/LC
4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
●Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
●Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
●Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
●When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
●Take the measure so that the work part is not dropped in power failure or
emergency stop.
●Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
●Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

POWER CON PCON-CB/LC
5
No. Operation
Description Description
6 Trial
Operation
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
●When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
●Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
●Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
●Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
●Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
●Make sure to operate automatic operation start from outside of the
safety protection fence.
●In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

POWER CON PCON-CB/LC
6
No. Operation
Description Description
8 Maintenance
and
Inspection
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
●When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
●Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
●The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
●Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
●Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ●When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
●When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
●Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ●Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
●See Overseas Specifications Compliance Manual to check whether
complies if necessary.
●For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.