IAI PCON-CB series User manual

CB/CGB/CFB/CGFB
CBP/CGBP
PCON-CB Series Controller
Power CON
Instruction Manual Fourth Edition ME0342-4B
Controller Overview Chapter 1
Specifications Chapter 2
Wiring Chapter 3
Operation Chapter 4
Various Functions Chapter 5
Parameter Chapter 6
Maintenance and
Inspection Chapter 7
Troubleshooting Chapter 8
Appendix Chapter 9
Warranty Chapter10

ME0342-4B
Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this
product, providing the information you need in order to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents
explained herein to ensure safe use of the product.
The DVD enclosed with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary sections of the applicable instruction manual
by printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is
handling the product can refer to it quickly when necessary.
[Important]
●This instruction manual is an original document dedicated for this product.
●This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
●The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
●If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
●Use or reproduction of this instruction manual in full or in part without permission is
prohibited.
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text are registered trademarks.

ME0342-4B
Configuration of Instruction manual related to
PCON-C(G)B/C(G)FB/C(G)BP
Product name Instruction manual name Control
number
PCON-CB/CFB/CBP This document ME0342
PC Software
IA-OS
PC Software
IA-OS First Step Guide ME0391
RC/EC PC software RCM-101-MW/ RCM-101-USB Instruction
Manual ME0155
Touch Panel Teaching Pendant
TB-02
TB-01/01D/01DR
Applicable for Position Controller
Instruction Manual
ME0324
Touch Panel Teaching Pendant
TB-02
TB-02/02D
Applicable for Position Controller,
ELECYLINDER Instruction Manual
ME0355
Touch Panel Teaching Pendant
TB-03
TB-03
Position Controller, ELECYLINDER Wired
Link Instruction Manual
ME0376
CON System Field Network
CC-Link Type CC-Link Instruction Manual ME0254
CON System Field Network
CC-Link IE Field Type CC-Link IE Field Instruction Manual ME0389
CON System Field Network
CompoNet Type CompoNet Instruction Manual ME0220
CON System Field Network
DeviceNet Type DeviceNet Instruction Manual ME0256
CON System Field Network
EtherCAT Type EtherCAT Instruction Manual ME0273
CON System Field Network
EtherNet/IP Type EtherNet/IP Instruction Manual ME0278
CON System Field Network
MECHATROLINK-I/II Type
MECHATROLINK-I/II
Instruction Manual ME0221
CON System Field Network
PROFIBUS-DP Type PROFIBUS-DP Instruction Manual ME0258
CON System Field Network
PROFINET IO Type PROFINET IO Instruction Manual ME0333
Motion Network
MECHATROLINK-III Type
MECHATROLINK-III
Applicable Controllers Instruction Manual ME0317

ME0342-4B
Configuration of Instruction manual related to
PCON-C(G)B/C(G)FB/C(G)BP
Product name Instruction manual name Control
number
PCON-CB/CFB/CBP This document ME0342
PC Software
IA-OS
PC Software
IA-OS First Step Guide ME0391
RC/EC PC software RCM-101-MW/ RCM-101-USB Instruction
Manual ME0155
Touch Panel Teaching Pendant
TB-02
TB-01/01D/01DR
Applicable for Position Controller
Instruction Manual
ME0324
Touch Panel Teaching Pendant
TB-02
TB-02/02D
Applicable for Position Controller,
ELECYLINDER Instruction Manual
ME0355
Touch Panel Teaching Pendant
TB-03
TB-03
Position Controller, ELECYLINDER Wired
Link Instruction Manual
ME0376
CON System Field Network
CC-Link Type CC-Link Instruction Manual ME0254
CON System Field Network
CC-Link IE Field Type CC-Link IE Field Instruction Manual ME0389
CON System Field Network
CompoNet Type CompoNet Instruction Manual ME0220
CON System Field Network
DeviceNet Type DeviceNet Instruction Manual ME0256
CON System Field Network
EtherCAT Type EtherCAT Instruction Manual ME0273
CON System Field Network
EtherNet/IP Type EtherNet/IP Instruction Manual ME0278
CON System Field Network
MECHATROLINK-I/II Type
MECHATROLINK-I/II
Instruction Manual ME0221
CON System Field Network
PROFIBUS-DP Type PROFIBUS-DP Instruction Manual ME0258
CON System Field Network
PROFINET IO Type PROFINET IO Instruction Manual ME0333
Motion Network
MECHATROLINK-III Type
MECHATROLINK-III
Applicable Controllers Instruction Manual ME0317
ME0342-4B
Contents
Safety Guide···················································································· Intro-1
Precautions for Handling ···································································· Intro-8
Precautions for PC connection to Controller
grounded at positive terminal of 24V DC power supply····························· Intro-13
International Standard Compliance······················································· Intro-14
Actuator Coordinate System ······························································· Intro-15
Chapter 1 Controller Overview
1.1 Overview ················································································· 1-1
1.2 System Configuration ································································· 1-3
1.3 Name for Each Parts and Their Functions ······································ 1-4
1.4 Starting Procedures ··································································· 1-9
Chapter 2 Specifications
2.1 Product Check ·········································································· 2-1
2.1.1 Parts····································································································2-1
2.1.2 Teaching Tool ························································································2-2
2.1.3 How to Read the Model Plate····································································2-3
2.1.4 How to Read the Model ···········································································2-4
2.2 Operation Modes and Functions··················································· 2-5
2.2.1 Operation Mode of Controller····································································2-5
2.2.2 Positioner Mode (PCON-CB/CBP I/O Type: NP and PN) ································2-6
2.2.3 Pulse Train Control Mode (PCON-CB/CBP I/O Type: PLN and PLP)·················2-8
2.2.4 Field Network Operation Modes and Features··············································2-9
2.3 List of Basic Specifications ·························································· 2-11
2.4 External View············································································ 2-13
2.4.1 CB/CBP Type…For Battery-less Absolute/Incremental Screw-fixed Type ···········2-13
2.4.2 CB/CBP Type…For Battery-less Absolute/Incremental DIN rail-fixed Type ·········2-14
2.4.3 CB Type…Simple Absolute Screw-fixed Type···············································2-15
2.4.4 CB Type…For Simple Absolute DIN rail-fixed Type········································2-16
2.4.5 CFB Type…For Incremental Screw-fixed Type ·············································2-17
2.4.6 CFB Type…For Incremental DIN rail-fixed Type············································2-18
2.4.7 Absolute Battery Unit (Option for Simple Absolute Type)·································2-19
2.5 I/O Specifications ······································································ 2-20
2.5.1 PIO Input and Output Interface··································································2-20
2.5.2 Pulse Train Input Output Interface······························································2-21
2.6 Options···················································································· 2-22
2.6.1 Pulse Converter (Model : AK-04) ·······························································2-22
2.6.2 Absolute Battery • Absolute Battery Unit ······················································2-23
2.6.3 Loadcell································································································2-24

ME0342-4B
2.7 Installation and Storage Environment ············································ 2-26
2.7.1 Installation Environment···········································································2-26
2.7.2 Storage and Preservation Environment·······················································2-26
2.8 Noise Elimination and Mounting Method ········································ 2-27
2.8.1 Noise Elimination····················································································2-27
2.8.2 Installation and Mounting ·········································································2-28
Chapter 3 Wiring
3.1 Positioner Mode (PIO Control) ····················································· 3-1
3.1.1 Wiring Diagram (Connection of Devices) ·····················································3-1
3.1.2 PIO Pattern Selection and PIO Signal·························································3-2
3.1.3 Wiring ··································································································3-7
3.2 Pulse Train Control Mode···························································· 3-26
3.2.1 Wiring Diagram (Connection of Devices) ·····················································3-26
3.2.2 I/O Signals in Pulse Train Control Mode and Each Functions ··························3-27
3.2.3 Wiring ··································································································3-29
3.3 Wiring Method ·········································································· 3-42
3.3.1 Wiring Layout of Power Supply Connector···················································3-42
3.3.2 Connection to Actuator ············································································3-43
3.3.3 Connection of PIO ··················································································3-44
3.3.4 Connection of Pulse Train Signal ·······························································3-45
3.3.5 SIO Connector Connection·······································································3-47
3.3.6 Field Network Connector of PIO ································································3-48
Chapter 4 Operation
4.1 Basic Operation ········································································ 4-1
4.1.1 How to Turn on Power ·············································································4-1
4.1.2 Basic Operation Methods ·········································································4-2
4.1.3 Parameter Settings ·················································································4-8
4.2 Operation in Positioner Mode······················································· 4-9
4.2.1 Operation Modes of Rotary Actuator in Multiple Rotation Mode and
Command Limitations··············································································4-11
4.2.2 Set of Position Table (This section is not required in selection of
pulse train control mode.)·········································································4-12
4.2.3 Control of Input Signal ·············································································4-21
4.2.4 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7) ················4-22
4.2.5 Operation with the Position No. Input (PIO Patterns 0 to 3 and 6)·····················4-36
4.2.6 Direct Position Specification (Operation of PIO Pattern 4 and 7) ······················4-63
4.2.7 Direct Position Specification (PIO Pattern 5) ················································4-85
4.2.8 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)·········4-96

ME0342-4B
2.7 Installation and Storage Environment ············································ 2-26
2.7.1 Installation Environment···········································································2-26
2.7.2 Storage and Preservation Environment·······················································2-26
2.8 Noise Elimination and Mounting Method ········································ 2-27
2.8.1 Noise Elimination····················································································2-27
2.8.2 Installation and Mounting ·········································································2-28
Chapter 3 Wiring
3.1 Positioner Mode (PIO Control) ····················································· 3-1
3.1.1 Wiring Diagram (Connection of Devices) ·····················································3-1
3.1.2 PIO Pattern Selection and PIO Signal·························································3-2
3.1.3 Wiring ··································································································3-7
3.2 Pulse Train Control Mode···························································· 3-26
3.2.1 Wiring Diagram (Connection of Devices) ·····················································3-26
3.2.2 I/O Signals in Pulse Train Control Mode and Each Functions ··························3-27
3.2.3 Wiring ··································································································3-29
3.3 Wiring Method ·········································································· 3-42
3.3.1 Wiring Layout of Power Supply Connector···················································3-42
3.3.2 Connection to Actuator ············································································3-43
3.3.3 Connection of PIO ··················································································3-44
3.3.4 Connection of Pulse Train Signal ·······························································3-45
3.3.5 SIO Connector Connection·······································································3-47
3.3.6 Field Network Connector of PIO ································································3-48
Chapter 4 Operation
4.1 Basic Operation ········································································ 4-1
4.1.1 How to Turn on Power ·············································································4-1
4.1.2 Basic Operation Methods ·········································································4-2
4.1.3 Parameter Settings ·················································································4-8
4.2 Operation in Positioner Mode······················································· 4-9
4.2.1 Operation Modes of Rotary Actuator in Multiple Rotation Mode and
Command Limitations··············································································4-11
4.2.2 Set of Position Table (This section is not required in selection of
pulse train control mode.)·········································································4-12
4.2.3 Control of Input Signal ·············································································4-21
4.2.4 Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7) ················4-22
4.2.5 Operation with the Position No. Input (PIO Patterns 0 to 3 and 6)·····················4-36
4.2.6 Direct Position Specification (Operation of PIO Pattern 4 and 7) ······················4-63
4.2.7 Direct Position Specification (PIO Pattern 5) ················································4-85
4.2.8 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)·········4-96
ME0342-4B
4.3 Pulse Train Control Mode···························································· 4-101
4.3.1 I/O Signal Controls··················································································4-103
4.3.2 Operation Ready and Auxiliary Signals ·······················································4-104
4.3.3 Pulse Train Input Operation ······································································4-116
4.3.4 Settings of Basic Parameters Required for Operation ····································4-120
4.3.5 Parameter Settings Required for Advanced Operations··································4-124
4.4 Operation of Field Network Type··················································· 4-128
4.5 Absolute Reset ········································································· 4-129
4.5.1 How to Perform Absolute Reset·································································4-130
4.5.2 Absolute Battery Charge ··········································································4-135
Chapter 5 Various Functions
5.1 Collision Detection Feature·························································· 5-1
5.1.1 Collision Detection Judgement ··································································5-2
5.1.2 How to Settings······················································································5-3
5.1.3 How to Adjustment··················································································5-4
5.2 Power-saving Function ······························································· 5-5
5.2.1 AUTO Servo OFF and Full Servo Function ··················································5-5
5.2.2 Auto current down function ·······································································5-9
Chapter 6 Parameter
6.1 Parameter················································································ 6-1
6.1.1 Parameter List ·······················································································6-2
6.1.2 Parameter Details···················································································6-7
6.2 Servo Adjustment ······································································ 6-58
Chapter 7 Maintenance and Inspection
7.1 Periodic Inspection ···································································· 7-1
7.1.1 Periodic Inspection Items ·········································································7-2
7.2 Requests When Replacing Units ·················································· 7-4
7.3 Consumable Parts ····································································· 7-5
7.4 Component Replacement···························································· 7-6
7.4.1 Replacement of Absolute Battery·······························································7-6
7.4.2 How to Replace Fan Unit ·········································································7-8
7.5 Preventive Maintenance Function ················································· 7-9
7.5.1 Maintenance Information··········································································7-9
7.6 Predictive Maintenance Function ·················································· 7-12
7.6.1 Fan······································································································7-12
7.6.2 Overload Warning···················································································7-13

ME0342-4B
Chapter 8 Troubleshooting
8.1 Action to Be Taken upon Occurrence of Problem ····························· 8-1
8.2 Fault Diagnosis ········································································· 8-3
8.2.1 Impossible Operation of Controller ·····························································8-3
8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························8-7
8.2.3 Generation of Noise and/or Vibration··························································8-9
8.2.4 Impossible Communication·······································································8-10
8.3 About Alarms ············································································ 8-11
8.3.1 Simple Alarm Codes ···············································································8-11
8.3.2 Alarm Level ···························································································8-13
8.3.3 Alarm Details ·························································································8-14
Chapter 9 Appendix
9.1 Way to Set Multiple Controllers with 1 Teaching Tool ······························ 9-1
9.1.1 Connecting Example ···············································································9-2
9.1.2 Detailed Connection Diagram of Communication Lines ··································9-3
9.1.3 Axis No. Setting······················································································9-4
9.1.4 Handling of e-CON Connector (How to Connect) ··········································9-5
9.1.5 SIO Converter························································································9-6
9.1.6 Communications Cable············································································9-8
9.1.7 External Dimension·················································································9-8
9.2 Conformity to Safety Category··························································· 9-9
9.2.1 System Configuration ··············································································9-9
9.2.2 Wiring and Setting of Safety Circuit ····························································9-10
9.2.3 Examples of Safety Circuits ······································································9-12
9.2.4 TP Adapter and Accessories ·····································································9-18
9.3 Example of Basic Positioning Sequence (PIO pattern 0 to 3) ·················· 9-21
9.3.1 I/O Assignment ······················································································9-21
9.3.2 Ladder Sequence ···················································································9-22
9.4 List of Specifications of Connectable Actuators ···································· 9-32
9.4.1 Specifications for Actuators ······································································9-32
9.4.2 Correlation Diagrams of Speed and Payload················································9-74
9.4.3 Push Force / Gripping Force and Current Limit Value·····································9-128
9.4.4 Rotational Speed and Output Torque / Allowable Inertial Moment ·····················9-139
9.4.5 Pressing Force / Pulling Force and Current Limit of Pulse Pressing ··················9-142
Chapter 10 Warranty
10.1 Warranty Period ········································································ 10-1
10.2 Scope of the Warranty ································································ 10-1
10.3 Honoring the Warranty································································ 10-1
10.4 Limited Liability ········································································· 10-2

ME0342-4B
Chapter 8 Troubleshooting
8.1 Action to Be Taken upon Occurrence of Problem ····························· 8-1
8.2 Fault Diagnosis ········································································· 8-3
8.2.1 Impossible Operation of Controller ·····························································8-3
8.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························8-7
8.2.3 Generation of Noise and/or Vibration··························································8-9
8.2.4 Impossible Communication·······································································8-10
8.3 About Alarms ············································································ 8-11
8.3.1 Simple Alarm Codes ···············································································8-11
8.3.2 Alarm Level ···························································································8-13
8.3.3 Alarm Details ·························································································8-14
Chapter 9 Appendix
9.1 Way to Set Multiple Controllers with 1 Teaching Tool ······························ 9-1
9.1.1 Connecting Example ···············································································9-2
9.1.2 Detailed Connection Diagram of Communication Lines ··································9-3
9.1.3 Axis No. Setting······················································································9-4
9.1.4 Handling of e-CON Connector (How to Connect) ··········································9-5
9.1.5 SIO Converter························································································9-6
9.1.6 Communications Cable············································································9-8
9.1.7 External Dimension·················································································9-8
9.2 Conformity to Safety Category··························································· 9-9
9.2.1 System Configuration ··············································································9-9
9.2.2 Wiring and Setting of Safety Circuit ····························································9-10
9.2.3 Examples of Safety Circuits ······································································9-12
9.2.4 TP Adapter and Accessories ·····································································9-18
9.3 Example of Basic Positioning Sequence (PIO pattern 0 to 3) ·················· 9-21
9.3.1 I/O Assignment ······················································································9-21
9.3.2 Ladder Sequence ···················································································9-22
9.4 List of Specifications of Connectable Actuators ···································· 9-32
9.4.1 Specifications for Actuators ······································································9-32
9.4.2 Correlation Diagrams of Speed and Payload················································9-74
9.4.3 Push Force / Gripping Force and Current Limit Value·····································9-128
9.4.4 Rotational Speed and Output Torque / Allowable Inertial Moment ·····················9-139
9.4.5 Pressing Force / Pulling Force and Current Limit of Pulse Pressing ··················9-142
Chapter 10 Warranty
10.1 Warranty Period ········································································ 10-1
10.2 Scope of the Warranty ································································ 10-1
10.3 Honoring the Warranty································································ 10-1
10.4 Limited Liability ········································································· 10-2
ME0342-4B
10.5 Conformance with Applicable Standards/Regulations, etc.,
and Application Conditions ·························································· 10-2
10.6 Other Items Excluded from Warranty ············································· 10-2
Revision History····························································· Post-1

ME0342-4B

ME0342-4B
Safety Guide
ME0342-4B Intro-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.

Safety Guide
Intro-2 ME0342-4B
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

Safety Guide
Intro-2 ME0342-4B
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
Safety Guide
ME0342-4B Intro-3
No.
Operation
Description
Description
4 Installation and
Start
(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.
(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 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).
For detail, follow the description in an instruction manual of each controller
or controller built-in actuator.
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).

Safety Guide
Intro-4 ME0342-4B
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.

Safety Guide
Intro-4 ME0342-4B
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.
Safety Guide
ME0342-4B Intro-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.

Safety Guide
Intro-6 ME0342-4B
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 removed cover or 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.

Safety Guide
Intro-6 ME0342-4B
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 removed cover or 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.
Safety Guide
ME0342-4B Intro-7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the instruction manual for each model.
Level Degree of Danger and Damage Symbol
Danger This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury. Warning
Caution
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice

Precautions for Handling
Intro-8 ME0342-4B
Precautions for Handling
1. Make sure to follow the usage condition, environment and specification range of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Use the correct teaching tool.
Refer to the following item and use compatible tools for PC software and teaching pendant
usable for this controller.
Refer to [2.1.2 Teaching tool]
3. Back up data in order to be prepared for a breakdown.
Non-volatile memory is used for backup memory of this controller. Registered position data and
parameters are written in this memory and backed up. Therefore, these data will normally not be
lost even if the power is turned off. However, be sure to save the latest data to enable a quick
recovery process in case this controller needs to be replaced with a substitute due to
breakdown, etc.
How to save
(1) Save to an external memory or a hard disk using PC software
(2) Record position table and parameters in writing
4. Set the operation patterns.
This controller processes 8 types of control logics (including 6 types of PIO patterns and
2 types pulse train control) to meet various ways of usage, and changes the role of each
PIO signal following the selected control logic.
1) In PIO specification of PCON-CB/CFB, there are 6 types of the PIO patterns available to
choose from.
2) For Pulse Train specification of PCON-CB/CFB, not only 2 types of the pulse train control
modes, but also 6 types of the PIO patterns are available.
3) In PIO specification of PCON-CBP, not only the types of the force sensor use pressing
modes, but also 6 types of the PIO patterns are available.
The setup can be performed by using the parameter No.25 “PIO pattern selection”.
Refer to [2.2 Operation Modes and Functions] and [6.1.2 [18] PIO Pattern Select].
The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation
pattern setting to the logic that suits to your use after the power is turned on.
Warning
●Please note it is very risky when the control sequence and PIO pattern setting do not
match to each other. It may not only cause the normal operation disabled, but also may
cause an unexpected operation.

Precautions for Handling
Intro-8 ME0342-4B
Precautions for Handling
1. Make sure to follow the usage condition, environment and specification range of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Use the correct teaching tool.
Refer to the following item and use compatible tools for PC software and teaching pendant
usable for this controller.
Refer to [2.1.2 Teaching tool]
3. Back up data in order to be prepared for a breakdown.
Non-volatile memory is used for backup memory of this controller. Registered position data and
parameters are written in this memory and backed up. Therefore, these data will normally not be
lost even if the power is turned off. However, be sure to save the latest data to enable a quick
recovery process in case this controller needs to be replaced with a substitute due to
breakdown, etc.
How to save
(1) Save to an external memory or a hard disk using PC software
(2) Record position table and parameters in writing
4. Set the operation patterns.
This controller processes 8 types of control logics (including 6 types of PIO patterns and
2 types pulse train control) to meet various ways of usage, and changes the role of each
PIO signal following the selected control logic.
1) In PIO specification of PCON-CB/CFB, there are 6 types of the PIO patterns available to
choose from.
2) For Pulse Train specification of PCON-CB/CFB, not only 2 types of the pulse train control
modes, but also 6 types of the PIO patterns are available.
3) In PIO specification of PCON-CBP, not only the types of the force sensor use pressing
modes, but also 6 types of the PIO patterns are available.
The setup can be performed by using the parameter No.25 “PIO pattern selection”.
Refer to [2.2 Operation Modes and Functions] and [6.1.2 [18] PIO Pattern Select].
The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation
pattern setting to the logic that suits to your use after the power is turned on.
Warning
●Please note it is very risky when the control sequence and PIO pattern setting do not
match to each other. It may not only cause the normal operation disabled, but also may
cause an unexpected operation.
Precautions for Handling
ME0342-4B Intro-9
5. Clock Setting in Calendar Function
Alarm 069 "Real Time Clock Oscillation Stop Detected" may occur when turning the power on
for the first time after delivery. In that case, set the current time with the teaching tool.
When fully charged, time data can be retained approximately 10 days after the power is turned
OFF.
At shipment, time will be set but the unit will not be fully charged. Therefore, even if the above-
mentioned number of days has not passed from shipment, the time data may be lost.
6. Attempt not to exceed the actuator specifications in the pulse train control mode.
In Pulse Train Control Mode, the operation is performed corresponding to the input pulse.
•Input Pulse Value →Moving distance
•Input pulse frequency →Velocity
•Change in Input Pulse Frequency →Velocity change and acceleration/deceleration
Do not use the actuator above the specifications (for stroke, maximum velocity, maximum
acceleration/deceleration) for the commands of the movement amount, velocity and
acceleration/deceleration from the host controller (PLC). Doing so may cause an error or
malfunction.
The pressing operation velocity should be set to the rated pressing velocity when it is to conduct
the pressing operation. Pressing with velocity not at the rated pressing velocity could end up
with pressing force different from that shown in [9.4.3 Push Force / Gripping Force and Current
Limit Value]. Also, operation in velocity higher than the rated pressing velocity could cause an
error or malfunction.
Refer to [9.4 List of Specifications of Connectable Actuators] for the specifications and rated
pressing velocity for each actuator.
7. Regarding Serial Communication in Pulse Train Control Mode
In pulse train control mode, actuator operation is unavailable through serial communication.
In the pulse train control mode, the actuator operation is unavailable through serial
communication. However, it is possible to monitor the current status.
8. Actuator would not operate without servo-on and pause signals.
(1) Servo ON Signal (SON)
Servo ON signal (SON) is selectable from “Enable” or “Disable” by using a parameter.
It is settable by parameter No.21 “Select enable/disable servo ON input”.
Refer to [6.1.2 [15] Select enable/disable servo ON input].
If it is set to “Enable”, the actuator would not operate unless turning this signal on.
If parameter No.21 is set to “1”, SON requirement is disabled.
If it is set to “Disable”, the servo becomes on and the actuator operation becomes enabled
as soon as the power supply to the controller is turned on and the emergency stop signal is
cancelled.
This parameter is set to “0” (Enable) at delivery. Have the setting that suits the desired control
logic.

Precautions for Handling
Intro-10 ME0342-4B
(2) Pause Signal (*STP)
The input signal of the pause signal (*STP) is always on considering the safety. Therefore, in
general, the actuator would not operate if this signal is not on.
It is available to make this signal to “Disable”, if this signal is undesirable.
It is settable by parameter No.15 “Select enable/disable pause input”.
Refer to [6.1.2 [11] Select enable/disable pause input].
If parameter No.15 is set to “1” (Disable), the actuator can operate even if this signal is not
on.
This parameter is set to “0” (Enable) at delivery.
9. Note that there are some frictions and/or torsions in through-hole of rotary actuator when it is
used.
When using rotary actuator with a through hole in the center of the revolution and using the hole
to put cables through, have a treatment to prevent wear from rubbing or wire break due to the
cables getting twisted.
Take particular note on actuators of 360-degree specification because they can be rotated
infinitely in a single direction.
10. Limitations on operation of rotary actuator in index mode
Rotary actuators of 360°specification can select the normal mode for finite rotations or the index
mode enabling multi-rotation control by using parameter No.79 “Rotational axis mode selection”.
The following limitations are applied to the index mode:
1) In jog or inching operation using teaching tools such as PC software, etc., the one-time
command range enables a maximum of 360° in jog operation, or 1° in inching operation.
2) Pushing cannot be performed. For push torque, settings other than 0 cannot be made.
3) Do not repetitively execute positioning commands around 0 degree numerous times while
traveling in the vicinity of 0 degree. The rotation direction may switch, or operation may
become unstable.
4) Software stroke limit is disabled in index mode.
PCON-CBP/CGBP are the controllers dedicated for the pulse pressing.
Actuator model: RCP6-RRA*R-LCT (Described in the list)