ER4U Controller Manual. Scorpower USB Controller User`s Manual
Contents
1. Download provided by eLABZ com the information source for CNC Robotics Microcontroller and other electronics projects http elabz com Controller USB User Manual intelitek Copyright 2001 Intelitek Inc Catalog 100341 Rev C February 2002 Every effort has been made to make this book as complete and accurate as possible However no warranty of suitability purpose or fitness is made or implied Intelitek is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the software hardware and or the information contained in this publication Intelitek bears no responsibility for errors that may appear in this publication and retains the right to make changes to the software hardware and manual without prior notice INTELITEK INC 444 East Industrial Park Drive Manchester NH 03109 5317 Tel 603 625 8600 Fax 603 625 2137 www intelitek com Table of Contents 1 General Information 1 1 cce err rr urne nun uauau au uu aua R Ran aR Rua RR ua 1 About Controller USB 25e kee eee ue eS eoe soul alude e eoa Re nade 1 ACceptance InspeCUQfi s sesen ide e Den deer oec ipee eeo as vestes quibns 3 Repackaging Controller USB ade eet cate lont dan ecu ais 3 SPC CUM EG AU OMS 55d Ceu ses een aAa tatis epu uec Dr aM op an oid ides 4 2 Safety isuia EPC EET E CECE EE s ERREUR REA ETT CEE CE CEPR TCE EPECET TC EPC PE TET EET E EERNEE 62. Handling Controller USB os ccd Cake aci tedeenda Giada canteen 6 Warnings mr MX 6 PGES CIC y Button ios seti e n onbdefa bostes e iee tei se Eas 7 3 InstallatiOn s ss1 1 8 Getting to Know Controller USB eese rennen 8 Computer ReguirementS oiai ome e e EEEa a fte ax epis TESE 10 Installing Controller USB sailor a A ie ENE 10 Installing Peripheral Axes ceno D ween Mi eee 11 Installing a Remote Emergency Switch eiae ci e cte rris ee sedia ode ectes 12 4 Inputs and Outputs eere eer ee eren seen eee eeeeeeeeee eee 13 Output Terminals and LEDS iiie ettet ERN T SERA RATES an CS UR EA eR IUe das 13 Relay Outputs concede teh pecie dieta E rcc tue ure sd 13 Open Collector OUIDUIS ue iet a quede da ie ie yet ie Gaede 14 Analog OUtpUts restes e HP Seq eI beens RUIN UR Rea a AS a FR e a PATR N 15 Input Terminals and LBDS iat eto terat ei etit dodge e fastens 15 Digital Iputs in de o hie ba use n iore dedu e nes 16 Analog IpittS soie ur eph oon ii letal Docuit den tudo diu esae cate 17 5 Emergency Switches ce ee eren ne nu uu uan un uan an anu au arua Ra RR RR RaS 18 EMERGENCY Button and LED penes ope coto dekte eta equ etra e de des 18 Remote Emergency Switch iiti ede operi He Pe pora dde pa dvd 18 6 Maintenance and Repairs eee ree er eren enun nn uaa aaa u
3. If the voltage setting does not match your supply follow the instructions for changing the controller s voltage setting in the chapter Maintenance Do not connect voltage source to input terminals exceeding 24V 6 Controller USB 0202 Do not connect any output device that does not meet Controller USB specifications Never connect voltage from an external power supply directly to any open collector outputs Always connect the open collector outputs to a load that meets Controller USB specifications Do not drive a current higher than 1 5A through the relay outputs Do not drive a current higher than 0 5A through the open collector outputs Make sure that the voltage supply of a device connected via the relay output does not exceed 24VDC Emergency Button User Manual Pressing the Emergency button disconnects the power supply to the robot to axes 7 and 8 and halts the SCORBASE program The digital and analog outputs freeze their status 7 Controller USB 0202 3 Installation Getting to Know Controller USB Before beginning the installation it is recommended that you familiarize yourself with Controller USB Refer to Figures 3 1 and 3 2 and the legends that follows OOOOOOOOOOO OOOOOOOOOOOOOOOOO OOOO00 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOO000 Figure 3 1 Controller USB Rear Panel Legend Controller Rear Panel Power On Off Switch Power Line 110 220V AC socket Line Voltag
4. fixture Teach Pendant for Controller USB User Manual Repackaging Controller USB Save the packing materials and shipping carton You may need them later for shipment or for storage of Controller USB Controller USB should be repacked in its original packaging for transport User Manual 3 Controller USB 0202 Specifications The following table describes Controller USB specifications Controller USB Specifications Item Specification Type of Control Real time Multi tasking PID proportional integral differential PWM pulse width modulation Number of Servo Axes Maximum 8 Groups of Control 6 robot axes and 2 peripheral axes Axis interpolation in robot and peripherals groups Axis Drivers PWM H bridge drivers 15 kHz 3A standard 7A peak 12 24V depending on input voltage and load Path Trajectory Control CP Joint Linear Circular 1 5 ms control cycle parameter Software controlled acceleration deceleration PID parameters Speed Control Speed or Travel time definitions Ten speed levels are available Control Parameters I O control Speed velocity profile smoothing Axis position error Gripper operation Thermic impact limit protection Homing Encoder interface Cartesian calculations Power Requirements 110 220V AC 15 10 50 60Hz 180W max Internal Power Supplies Servo 24V depending on input voltage an
5. kit 127 1 24 V e Slidebase USB 1 0 m 24V Slidebase USB 1 8 m 24V To connect peripheral axes do the following 1 Turn off Controller USB before you connect any devices 2 Connect the peripheral device s D type connectors to the D9 connectors on the controller s front panel If you are connecting only one peripheral use the AXIS 7 connector 3 Tighten the cable connector screws 4 Configure the peripheral axes using the SCORBASE software Refer to the SCORBASE user manual User Manual ll Controller USB 0202 Installing a Remote Emergency Switch The EMERGENCY terminal at the back of Controller USB 7 allows you to add a remote switch such as a mushroom button that will function exactly like the control s EMERGENCY button To connect a remote emergency switch do the following 1 Make sure the EMERGENCY terminal contacts are normally closed NC 2 Remove the wire that shorts the two terminals of the EMERGENCY terminal 7 on the rear panel of Controller USB To do so insert a small screwdriver into the upper square opening of the terminal and press down to release each end of the wire 3 Connect the two wires from the remote emergency switch terminals to the EMERGENCY terminal 7 To do so insert a small screwdriver into the upper square opening of the terminal and press down while inserting each wire into the lower round openings of the terminal Remove the screwdriver to clamp the wire in pl
6. teach pendant connect it to the TEACH PENDANT connector 5 on the controller s rear panel It is recommended that you set the Teach Pendant Auto Teach switch to AUTO before you power on the system If the switch is set to AUTO the robot can be controlled either from the teach pendant or via Controller USB For more details refer to the teach pendant s user manual Connect the power cable to the POWER socket 2 on the controller s rear panel and to a grounded AC power source If a remote emergency switch is not in use connect the emergency switch bypass cable to the EMERGENCY terminal 7 on the controller s rear panel 10 Controller USB 0202 8 To install a remote emergency switch refer to the section Remote Emergency Switch Installation below 9 Once you have made all the required hardware connections you can turn on Controller USB 10 After you turn on the controller the power indicator LED 14 lights up Its color indicates that the controller is communicating with the PC green and not communicating orange Installing Peripheral Axes The D9 connectors on the front panel of Controller USB marked AXIS 7 and AXIS 8 are used for connecting SCORBOT motorized devices that can be controlled by Controller USB The following SCORBOT peripheral devices are supported Controller USB e Conveyor belt gray 24V e Linear positioning table 0 3 m 24V e XY positioning table 24V e Rotary table 24V e Motor
7. SB a Reinstall the USB driver Refer to the section USB Driver Installation below 20 Controller USB 0202 4 The gripper does not respond to open or close commands or responds incorrectly Make sure the robot cable is properly connected to Controller USB Turn Controller USB off then turn it on again and select on line mode m If problem persists contact your agent 5 Motor turns constantly in one direction or responds incorrectly Make sure the robot cable is properly connected to Controller USB Turn Controller USB off Then turn it on again and select on line mode m If problem persists contact your agent 6 Errors in the accuracy of the robot A faulty encoder may cause position deviations in one or more of the axes during the running of a program Contact your agent 7 Controller USB does not receive an input signal Check the input wiring 8 Controller USB does not issue output signals Check the output wiring Check whether a load has been connected properly 9 The Home position suddenly changes and the robot continues operation in relation to the new Home a This fault may occur continually or occasionally due to noisy electrical systems Execute the Home routine and reload the program you want to run If the fault occurs frequently use filtering equipment on your power line m If problem persists contact your agent U
8. a hardware driver booster to energize a device requiring higher power Figure 4 3 shows the interconnection scheme to analog outputs Control Box Analog Driver n Driver H Output Device A s Device B Figure 4 1 Analog Outputs Interconnection Scheme Input Terminals and LEDs User Manual Controller USB has 8 digital inputs and 4 analog inputs Eight green LEDs which correspond to the eight digital input status individually light up when any of the digital inputs are on Controller USB digital inputs are factory pre set as SOURCE For proper I O operation a paired source sink connection is required When connecting a Controller USB input to an external device be sure the external device output is SINK NPN type To change the input setting to sink refer to Figure 6 2 I O Jumpers The input states are read by software commands 15 Controller USB 0202 Digital Inputs Two types of devices can be connected to digital inputs 1 8 e Adry contact switch or sensor Connect the device to a controller input terminal and to a controller input ground Closing the switch or sensor contacts turns the output ON The interconnection scheme is shown in Figure 4 4 Control Box 1 a Dry Contact Digital Input Figure 4 4 Digital Input dry contact switch or sensor is connected to a Controller USB input e NPN sensing devices Connect the sensor output to a controller input and the s
9. a rau a aun 19 PSOE CUO En 19 TrouUbleShOOtin I 20 Opening he Controllers see Sues oh e a aa i aro ded nes 22 Changing VQ Jumper Settings 2 1o qid ege cette espe qut o oat te tnde det 22 Changing the Voltage Setting nete eie velle tue eed 24 PUSE Replaceimefit aea odit oto ea eave nana Ove Ie tut s Eire oqeb ds le EEE Mi ater nive aget 24 USB Driver Installation eeessseeeeeeeenrn enn e nnne e nnnm ene nnne n eres nni 24 1 General Information About Controller USB Controller USB is part of the SCORBOT robotic system In addition to the robot arm it can also be used to control peripheral motorized devices A teach pendant is available for this system The basic robotic system is comprised of three hardware components e Controller USB e SCORBOT robot arm e Computer The robot teach pendant and the controller are shown in Figure 1 1 Figure 1 1 System Overview User Manual 1 Controller USB 0202 The computer is connected to Controller USB via a USB module The robot is connected to Controller USB by a proprietary interface cable See block diagram in Figure 1 2 Controller USB controls the 24V power supply to six robot motors and to two motors of optional peripheral devices axes 7 and 8 Controller USB contains the circuits that control the motors by means of PWM signals and reads the encoder and microswitch signals Analog and di
10. ace User Manul 12 Controller USB 0202 4 Inputs and Outputs Output Terminals and LEDs Relay Outputs User Manual The output terminals allow Controller USB to control external devices in the robot s environment Controller USB has 12 outputs as follows e 4 digital relay outputs e 4 digital open collector outputs e 2 analog outputs Eight yellow LEDs which correspond to the eight digital outputs individually light up when any of the digital outputs are on Digital outputs 1 to 4 are relay outputs The relay outputs are controlled by SCORBASE software commands Maximum voltage allowed 24 V Maximum current allowed 1 5A Each relay output has three contact points e Common C e Normally Closed NC e Normally Open NO Normally before the relay is energized by a SCORBASE command the NO terminal is disconnected from the common line and the NC terminal is connected to the COM terminal When the relay is activated the NO terminal is connected to the COM terminal and the NC terminal is disconnected from the COM terminal Figure 4 1 shows the interconnection scheme for devices via relay outputs 13 Controller USB 0202 Devices are activated via SCORBASE according to the following truth table Output DeviceA Device B state NO NC Off Off On On On Off Power Supply em p EL eh E Figure 4 1 Output Relay 1 4 Interconn
11. d load Digital 5V 15V 12V Weight 7 kg 15 4 Ib Dimensions L 315mm W 223 5mm H 117 L 12 4 W 8 8 H 4 6 Ambient Operating Temperature 10 35 C 36 104 F Microcontroller NEC V853 on I O card User Manual 4 Controller USB 0202 Controller USB Specifications Item Specification Communication 2 integrated RS232 channels one for teach pendant one for future use 12 Volt power supply 12 volt power supply 0 1A Max Digital Outputs 8 digital outputs 24V max 1 5A Max 4 relays 5 8 open collectors sink source configurable Digital Inputs 8 Dry Contacts or 0 24 V 0 5A Max PNP NPN high low configurable Analog Outputs 2 analog outputs 8 bit resolution 20mA Max output voltage 0 10V Analog Inputs 4 analog inputs 8 bit resolution digital signal input voltage 0 10V Programming and Position Teaching SCORBASE software RoboCell 3D simulation software optional Teach Pendant optional Types of Positions Absolute Relative Cartesian Joint angle Encoder Position Feedback Incremental optical encoders for each axis Coordinate Systems XYZ coordinates Joint coordinates LED Indicators Main power alternating colors power on and communicating with PC green power on and not communicating with PC orange 8 digital inputs 8 digital outputs Emergency Safety Features Emergency swi
12. e Selector AC Power Fuse Drawer 110V 2A 220V 1A TEACH PENDANT connection RS232 COM port for future use Remote EMERGENCY switch 2 pin connector USB connector to PC wi oo Q090 tAn vc nye Robot 62 pin D type high density connector User Manual 8 Controller USB 0202 DIGITAL OUTPUTS EMERGENCY INPUTS OUTPUTS I D OU STOP i a rl o Of 4567 8 00000 V INPUTS 8 ANALOG INPUTS OUTPUTS H PULL TO RELEASE H 12V 129 343 intelitek gt gt Power upply SS Figure 3 2 Controller USB Front Panel Legend Controller Front Panel 10 Digital Input Output terminals 11 Analog Input Output terminals 12 Emergency Button and LED indicator 13 Digital Input Output LED indicators 14 Power LED indicator See below 15 Motors LED indicator lit when control on See below 16 Axes 7 and 8 driver D9 connectors separate for each device 17 Auxiliary 12 V dc Supply 0 1 Amp max The POWER LED changes color to indicate the following e Power on and controller communicating with PC green e Power on and controller not communicating with PC orange The MOTORS LED indicates whether or not power is being supplied to all connected motors This LED lights after SCORBASE is activated and the CON contro
13. e system check the following items The installation meets all safety standards The robot is properly secured to the work surface All cables are properly and securely connected Cable connector screws are fastened Replace any cables that show signs of abrasion or wear No output is connected directly to a power supply No people are within the robot s working area After you have switched on the PC and Controller USB check the following items The power LED is orange Motor LEDs on after SCORBASE starts and control on is selected No unusual noises are heard No unusual vibrations are observed in any of the robot axes There are no obstacles in the robot s working area Bring the robot to a position near home and activate the homing procedure Check the following items Robot movement is normal No unusual noise is heard when robot joins move Robot reaches home position in all five axes gripper axes 7 and 8 if connected and Homing Complete message appears 19 Controller USB 0202 Troubleshooting User Manual Whenever you encounter a malfunction try to locate source of the trouble by replacing the suspected faulty component for example the controller the robot arm cables with an identical component from a working system Do not open Controller USB except to change jumper setting There are no user serviceable parts inside Do not attempt internal repair procedures Contact your agent or dea
14. ection Scheme Open Collector Outputs User Manual Digital outputs 5 to 8 include a transistor with an open collector in its final stage These outputs must be connected to a load such as a resistor solenoid relay or motor When using an inductive load such as a solenoid or a relay connect a reversed biased protection diode across the load You may directly connect a Controller USB open collector output to a Controller USB digital input Output voltage 24V Maximum current 0 5A Never connect voltage from a power supply directly to any open collector outputs terminals 5 8 The open collector outputs must always be connected to a load of the above rating The interconnection scheme is illustrated in Figure 4 2 Device B will be energized when SCORBASE turns ON output 5 Device A will be energized when output 6 is turned ON by SCORBASE Note The open collector output is factory preset to SOURCE To change setting refer to Figure 6 2 I O Jumpers 14 Controller USB 0202 Analog Outputs Control Box es Figure 4 2 Open Collector Output Interconnection Scheme Analog outputs 1 and 2 allow you to control devices that operate in accordance with an analog input voltage such as an LED or a motor driver The analog outputs have 8 bit resolution A D converter and an output voltage of 0 10V The voltage is controlled via SCORBASE output word 0 255 0 10V The analog output current is limited to 20mA Use
15. ensor ground to a controller input ground as shown in Figure 4 5 Control Box Digital Sensor Input NPN 7 Figure 4 5 Digital Input voltage from external sensing devices is connected to a Controller USB input Notes e You can use the 12 Vdc power supply to power the sensor e The controller inputs are factory pre set to NPN sensors To change to PNP sensors change the input jumpers setting e For NPN sensors the voltage and input states are as follows e Voltage of 0 1 5 Vdc from NPN turns the input ON e Voltage of 2 5 24 Vdc turns the input OFF e Do not connect voltage exceeding 24 Vdc to the digital inputs User Manual 16 Controller USB 0202 Analog Inputs User Manual Analog Inputs 1 4 allow Controller USB to receive data from analog sensors The analog inputs have 8 bit resolution and input voltage range of 0 10V DC The analog inputs are read by software commands Figure 4 6 shows the interconnection scheme Control Box Sensor Zz Sensor Figure 4 6 Analog Input Interconnection Scheme Notes e Before connecting an analog sensor make sure Controller USB is switched off e You may use the 12 Vdc power supply to power the sensors e Do not connect voltage exceeding 10 Vdc to the analog inputs 17 Controller USB 0202 9 Emergency Switches EMERGENCY Button and LED When the red EMERGENCY button on the front panel or a remote EMERGENCY stop switch is pressed t
16. ge selector to the opposite side so that the proper voltage selection is visible Again using a pen or screwdriver pull out the fuse drawer Remove the fuse from its holder Replace the fuse with the appropriate fuse for your power supply a 110V AC requires 2A fuse a 220V AC requires 1A fuse Reinsert the fuse drawer and push until it snaps into place Fuse Replacement If Controller USB voltage setting does not match your AC power supply you must change the controller s AC power fuse l Use a small screwdriver to open the fuse drawer at the rear panel of the controller For replacement use 110V 2A or 220V 1A 3 Push the fuse drawer back to its normal position USB Driver Installation User Manual During software installation SCORBASE automatically installs a USB driver named ERUSBClass in the computer If another application has changed the driver or if the driver has been corrupted reinstall the ERUSBClass driver as follows l Select My Computer 2 Right click and select Properties or press Alt Enter a Click Device Manager a Select the ERUSBClass driver and remove it 3 Reinstall SCORBASE The correct USB driver will be reinstalled 24 Controller USB 0202
17. gital I O devices can also be interfaced with Controller USB via the digital and analog I O ports Controller USB can be connected to e Teach pendant enables direct manual control of axes Two motorized peripheral devices e Analog and digital I O devices e RS232 communication port for future use Optional 1 2 3 4 5 6 7 8 Remote emergency switch Teach pendant Axes 7 amp 8 Digital input Digital output Analog input Analog output RS 232 Figure 1 2 Block Diagram User Manual 2 Controller USB 0202 Acceptance Inspection After removing Controller USB from the shipping carton examine all components for signs of shipping damage If any damage is evident do not install or operate Controller USB Notify your freight carrier and begin appropriate claims procedures The following items are standard components in Controller USB package Make sure you have received all the items listed on the shipment s packing list If anything is missing contact your supplier Controller USB Package packing list 1 Controller USB 110 220V AC 2 Cables Power Cable 110 220 VAC UBS Cable Remote emergency switch by pass cable Emergency Bypass Plug required when TP not connected 4 SCORBASE software on CD Documentation Controller USB User Manual SCORBASE User Manual 6 Teach Pendant TP Optional and supplied only when ordered Teach Pendant Mounting
18. he following occurs Motor power is disconnected all motor movement stops and the MOTORS led turns off COFF control off state is activated Emergency LED lights up An emergency message is displayed on the teach pendant and in SCORBASE Program is aborted Controller USB outputs freeze in their current state All SCORBASE commands including HOME and CON cannot be activated Note Pressing the Emergency button will not stop the operation of an output device To stop the output device use the device s Emergency stop button When the EMERGENCY button on the front panel is pulled out or a remote EMERGENCY switch is released the following occurs The red emergency LED turns off A message appears on the SCORBASE screen prompting you select CON control on or to remain in COFF control off state If you select CON the green MOTORS LED turns on Remote Emergency Switch When a remote emergency switch is connected to Controller USB 7 it functions exactly like the EMERGENCY button located on the front panel of Controller USB User Manual 16 Controller USB 0202 6 Maintenance and Repairs To ensure continued optimum performance of Controller USB follow all safety guidelines and warnings and regularly perform the inspection procedure Inspection User Manual Perform a routine inspection of your system at the start of every working session in the following order 1 Before you power on th
19. l on command is issued The MOTORS LED goes out whenever any of the following occurs e COFF control off command is issued e EMERGENCY button is pressed e Controller USB detects a communication time out e Controller USB detects an over current error e SCORBASE closes User Manual 9 Controller USB 0202 Computer Requirements To operate and control the robot using SCORBASE and Controller USB the following requirements must be met Pentium IIIPC with 350 MHz processor or higher At least 128 MB of RAM Hard drive with at least 20 MB of free disk space Windows 98 2000 Super VGA or better graphics display minimum 256 colors A mouse or other pointing device USB port Installing Controller USB User Manual Do not yet connect Controller USB to the AC power supply The numbers in parentheses refer to Figures 3 1 and 3 2 T Make sure that Controller USB voltage setting 3 matches your power supply If the voltage setting does not match your supply refer to Changing the Voltage Setting in the chapter Maintenance Make sure the controller s power switch 1 is turned off 3 Connect the controller s USB socket 8 to the USB socket on the computer Connect the robot cable to the ROBOT port 9 on the controller Tighten the connector screws If a teach pendant will not be used connect the emergency bypass plug to the teach pendant port 5 on the controller s rear panel To use a
20. ler The following guidelines outline common symptoms and possible remedy 1 Controller USB power does not turn on The power LED on Controller USB front panel does not light up Verify that Controller USB power switch in on Make sure the AC power supply matches Controller USB voltage requirement as seen on the tag at the back of Controller USB m If the voltage supply and Controller USB voltage setting do not match disconnect immediately and change the voltage setting as described later in this chapter Make sure AC power is being supplied to the power outlet Make sure the power cable is connected to both the proper power source and Controller USB Check the 220V 1A 110V 2A fuse 2 No communication between Controller USB and computer Communication error message while operating robot from computer power LED is RED Select On line mode Make sure the connecting cable is properly connected to Controller USB and to the computer m If problem persists replace USB cable a Reinstall the USB driver Refer to the section USB Driver Installation below 3 Controller USB is on but robot arm cannot be activated or one axis fails to respond and an error message is displayed a Verify that Motors LED is lit Make sure an obstacle is not blocking the robot Make sure none of the axes has reached its mechanical limit Make sure the robot cable is properly connected to Controller U
21. ser Manual 21 Controller USB 0202 Opening the Controller There are no user serviceable parts inside Do not attempt internal repair procedures Contact your agent or dealer You may open Controller USB only when you need to change I O jumper setting Disconnect the power supply cable 2 Release the screws at the bottom of Controller USB 3 Slide the cover gently to the rear Changing l O Jumper Settings User Manual To change the digital input setting high low or to change the open collector output setting sink source you must open the controller and access the I O card 1 Open the controller as instructed above 2 Gently extract the I O card 3 Locate the jumpers on the upper left corner of the I O card as shown in Figure 6 1 4 Change the jumper settings Refer to the diagram in Figure 6 2 I O Jumpers Located Here Figure 6 1 Location of Jumpers on I O Card Note The input is factory preset to High The output is factory preset to Source 22 Controller USB 0202 Output 1 Source 3 Sink Source High 1 Low 0 Figure 6 2 I O Jumpers User Manual 23 Controller USB 0202 Changing the Voltage Setting If Controller USB voltage setting does not match your AC power supply you must change the controller s voltage setting Make sure Controller USB is not connected to an AC outlet during voltage setting l Using a pen or screwdriver push the volta
22. tches on Controller USB on Teach Pendant optional connection of remote switches Short circuit protection On overheating driver power shutdown On failure motor power shutdown On communication failure motor power shutdown Thermal impact and limit software protection Hardware watchdog for each axis protects against software faults User Manual 5 Controller USB 0202 2 Safety Handling Controller USB Do not hold Controller USB by either the front or rear panels Make sure that all cables are disconnected before moving Controller USB Warnings User Manual Do not operate Controller USB until you have studied this manual thoroughly Do not install or operate Controller USB under any of the following conditions Power supply is not grounded Ambient temperature drops below or exceeds the specified limits Exposed to large amounts of dust dirt salt iron powder or similar substances Subject to vibrations or shocks Exposed to direct sunlight Subject to chemical oil or water splashes Corrosive or flammable gas is present Power line contains spikes Near any equipment that generates large electrical noise Turn off Controller USB before you connect any inputs or outputs Do not plug Controller USB into the AC power outlet before making sure that its voltage requirement as marked at the rear panel of Controller USB matches your voltage supply
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