IAI America PCON-CY - Manual (Page 57)

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5. Operation Using I/O Signals
Warning: Since the drive motor is a pulse motor, the excited phase is detected when the servo is turned on for the
first time after turning on the power.
Therefore, one condition for the servo to turn on is that the actuator can move once the servo is turned
on.
If the slider or rod is contacting a mechanical end or the work is contacting any peripheral equipment,
the excited phase may not be detected correctly and an erroneous movement or excitation detection
error may occur.
In this case, move the actuator manually to an appropriate position before turning the servo on.
If the actuator is equipped with a brake, the brake must be forcibly released by turning on the brake
release switch. At this time, be careful not to pinch your hand or damage the robot hand or work by the
slider/rod, as the slider/rod may drop unexpectedly by its dead weight. If the actuator cannot be moved
by hand, you can change Parameter No. 28 (Direction of excited phase signal detection). Before
changing this parameter, contact IAI.