Muratec Automation VEHICLEMCOM MCOM: Merge/divergecommunication Modem User Manual

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MCOM Operation Manual
Model: MCOM(M-COM4,COM-TR,IND-TR)
st
1 edition
January 26, 2011
Control Design Section,
Semiconductor Engineering Dept.
MURATEC AUTOMATION CO., LTD.
Rev.
Rev.3
Rev.2
Rev.1
Approved Checked Prepared
11.03.04 Change Filter rate switch
11.03.03 Change FCC ID
11.02.28 Change block diagram
Doc. No.
Engineerring Dept
Engineerring Dept
Development Dept
2011.2.10
2011.2.10
2011.1.26
Kawashima
Inagaki
Onishi
Kawashima
Inagaki
Ohnishi
YSDA-3490 Rev.3
< Revision History >
Ver.
Date
2011/01/26
2011/02/28
10
2011/03/03
5.11
2011/03/04
Page
Description
The first edition.
Change block diagram
Change FCCID
Change Filter rate switch setting
ii
Muratec Automation Co., Ltd.
〈Contents〉
〉
1. Introduction ................................
................................................................
...............................................
................................
............... 1
1.1.
Application .......................................................................................................................1
1.2.
Related Rules, Laws ........................................................................................................1
1.3.
Abbreviations ...................................................................................................................1
2. Safety ................................
................................................................
.......................................................
................................
....................... 2
2.1.
Alert Boxes ......................................................................................................................2
2.1.1.
2.1.2.
2.1.3.
2.1.4.
2.1.5.
2.1.6.
General......................................................................................................................................... 2
Definitions of DANGER, WARNING and CAUTION .................................................................... 2
Precautions on use....................................................................................................................... 3
Storage ......................................................................................................................................... 3
Installation .................................................................................................................................... 4
Maintenance and Inspection......................................................................................................... 4
3. Outline of the Vehicle communication unit MCOM..................... 5
3.1.
Overview..........................................................................................................................5
3.2.
MCOM configuration........................................................................................................6
3.3.
Function of each unit .......................................................................................................7
3.3.1.
3.3.2.
3.3.3.
M-COM4 (Printed circuit board ) .................................................................................................. 7
COM-TR (power line COMmunication TRansformer) .................................................................. 8
IND-TR (INDuction line communication TRansformer)................................................................ 9
3.4.
FCC standard ................................................................................................................ 11
3.5.
Control/modulating of communication............................................................................ 12
3.5.1.
3.5.2.
Power line communication ......................................................................................................... 12
Induction line communication ..................................................................................................... 13
4. Specification ................................
................................................................
...........................................
................................
........... 14
4.1.
Input/Output................................................................................................................... 14
4.2.
Specification .................................................................................................................. 15
4.2.1.
4.2.2.
4.2.3.
M-COM4 ..................................................................................................................................... 16
COM-TR ..................................................................................................................................... 16
IND-TR ....................................................................................................................................... 16
5. Error process ................................
................................................................
..........................................
................................
.......... 17
6. Cautions on Use ................................
................................................................
.....................................
................................
..... 18
iii
Muratec Automation Co., Ltd.
Introduction
1. Introduction
1.1. Application
This document describes the operation of communication unit for transport system,
OHT, OHS, etc.
1.2. Related Rules, Laws
FCC part 15 subpart C
1.3. Abbreviations
(1) MCOM:
(2) COM-TR:
(3) IND-TR:
(4) CMC :
(5) CMC-BM:
(6) CMC-BC:
(7) CMC-TR:
Merge/diverge Communication Modem
power line Communication Transformer
INDuction line communication Transformer
Communication Modem Controller
Communication Modem Controller ：Base Modem
Communication Modem Controller ：Base Controller
Communication Modem Controller ：TRansformer
Muratec Automation Co., Ltd.
Safety
2. Safety
2.1. Alert Boxes
2.1.1.General
(1) Read and understand fully this manual and attached documents before operating the
products.
(2) Engage specialists in electrical and mechanical works.
(3) Don’t improve the product by yourselves.
(4) Be sufficiently proficient with the equipment, the relevant safety knowledge and the
precautions prior to using this product.
In the content of this “Safety Precautions ”, items which need to be alert shall be
classified into “DANGER”, “WARNING” and ”CAUTION”.
2.1.2.Definitions of DANGER, WARNING and CAUTION
DANGER: An imminently hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING: A potentially hazardous situation which, if not avoided, could result
in death or serious injury.
CAUTION: A potentially hazardous situation which, if not avoided, may result in
minor or moderate injury.
[Note 1]
Medium degree of injuries or light injuries refers to injuries, e.g., burns and electric
shock, which do not require hospitalization of or prolonged hospital visit by the
victims. As material losses refers to expanded losses pertaining to the damage of
property and equipment.
[Note 2]
Depending on the situation, the events described under “WARNING” may also result
in severe outcome. In either case, make sure that the advice is followed.
After reading, make sure this information shall be kept at places where it can
always be read by users.
Muratec Automation Co., Ltd.
Safety
2.1.3.Precautions on use
DANGER
Follow the following advice strictly to avoid electric shock or burns.
1. Only those who received training for maintenance and teaching can
do maintenance and teaching.
2. Don’t break the cable, impose excessive stress, place heavy
weights, or pinch it between items. Doing so may cause electric
shock.
WARNING
1. Don’t use the equipment at locations where water, corrosive
atmosphere, or flammable gas is present, or beside flammable
items. Doing so may cause life and fails.
2.1.4.Storage
PROHIBITION
1. Don’t store the equipment at locations where it is subject to rain, ater
hazardous gas or liquid.
MANDATORY ACTION
1. Store the equipment at locations in not subjected to sunshine. Store
it at predetermined relative humidity and temperature. 0 degrees C. 50 degrees C., 90% RH and below, no dew.
Muratec Automation Co., Ltd.
Safety
2.1.5.Installation
WARNING
1. Don’t climb on top of the equipment or place heavy items on it.
Doing so may cause injuries.
2. Don’t block the air inlet and outlet ports or allow foreign particles to
enter them. Doing so may cause fire.
3. Follow the installation direction strictly as it is so design for
dissipation of heat, fails or fire.
4. Don’t hit the equipment with strong impact. Doing so may cause
equipment fails.
2.1.6.Maintenance and Inspection
PROHIBITION
1. Don’t engage non-specialist technicians to disassemble and repair
the equipment.
DANGER
1. Before servicing MCOM unit，always shut off the power supply.
Shut off the power source of the non-conductive power line before
starting maintenance on MCOM unit.
Not doing so may cause electric shock.
Muratec Automation Co., Ltd.
Outline
3. Outline of the Vehicle communication unit MCOM
3.1. Overview
The communication unit MCOM (Merge/diverge Communication Modem) meet the
requirements of FCC Part15 Subpart C. The FCC ID is as follows.
FCC ID of MCOM: ZBQVEHICLEMCOM
1) Power line communication
MCOM is used for the communication between vehicle and the ground vehicle controller
in the transport system.
The communication signals are overlaid onto the power line for non-contact power
supply to the vehicles. In some systems, a separate signal lines may be used.
The communication unit CMC (Communication Modem Controller) is the groundside
communication unit. CMC is used for the communication between the groundside
vehicle controller and several vehicles.
CMC meet the requirements of FCC Part15 Subpart C. The FCC ID is as follows.
FCC ID of CMC: ZBQVEHICLECMC
MCOM modulate the signals sent from the vehicle and receive the modulated signals
from the ground vehicle controller. MCOM also demodulate the signals sent from the
groundside vehicle controller and transmit them to the ground vehicle controller.
The communication method in use is 2 levels FSK (frequency shift keying).
The communication frequencies are as follows.
From
to
Frequency
(1)
CMC →
MCOM：
300.33 kHz
(2)
MCOM→
CMC：
353.25 kHz
2) Induction line communication
MCOM is used for the communication between vehicle and other Vehicle in the
transport system.
MCOM outputs the detection signal of one bit in the controller when the existence of the
signal which other vehicle transmitted.
An Induction line is installed on both sides of the track. Therefore one transformer and
circuit are each right and left, and they are equal. It can be changed if one transformer
is used for the reception or it is used for the transmission. A left-right IND-TR is
combined with the loop line, and it can watch each other's transmitting signal. Then, a
trouble such as the breakage of the transformer can be diagnosed.
The communication method in use is Adoption of On Off Keying Method.
The communication frequencies are 88.8kHz.
Muratec Automation Co., Ltd.
Outline
3.2. MCOM configuration
Fig. 1 and show the basic configuration of MCOM.
MCOM consists of the following units.
The MCOM unit may vary in its outward form depending on the transport system.
However, the internal configuration is common.
(1)M-COM4 (Printed circuit board)
(2) COM-TR(power line Communication Transformer)

 The power line communication transformer of transmission

 The power line communication transformer of reception
(3) IND-TR(INDuction line communication Transformer)

 The induction line Communication transformer(transmission and reception)
Power supply line or Communication
Communication line
Tx:353.25kHz Rx:300.33kHz
353.25kHz
300.33kHz
TX
RX
TX RX
Induction line
TX RX
CMCCMC-TR
88.8KHz
COMCOM-TR
CMCCMC-BM
INDIND-TR
Other
CMCCMC-BC
M-COM4
COM4
Vehicle
Communication board
CMC
Communication Modem
DC24V,5V,+12V,-12V
Controller
signal
HOST
The groundside
Vehicle Controller
Communication
DC Power
Controller
Supply
Vehicle
Fig. 1 Basic configuration of MCOM
Muratec Automation Co., Ltd.
MCOM
Merge/diverge
COmmunication
COmmunication Modem
Outline
3.3. Function of each unit
Fig. 2 shows the block diagram of M-COM4.
In addition, the MCOM unit may vary in its outward form depending on the transport
system. However, the internal configuration is common.
All units are connected by the cable.
3.3.1.M-COM4 (Printed circuit board )
M-COM4 is a print board with two communication functions, power line communication
and induction line communication.
Fig. 3 shows the outward form of the printed circuit board M-COM4.
1) Power line communication
M-COM4 board is an interface unit to handle the signals from/to the groundside vehicle
controller.
A signal is transmitted and received by the order of the controller.
This is a modem unit to handle the signals from/to the groundside vehicle controller.
It incorporates a driver that modulates the digital signals sent from the controller to
analog signals and overlay the converted signals onto the non-contact power supply line
or signal line.
It also demodulates the analog signals sent from the groundside vehicle controller to
digital signals and transmit them to controller.
2) Induction line communication
M-COM4 board is an interface unit to handle the signals from/to the other vehicles.
A signal is transmitted and received by the order of the controller.
This is a modem unit to handle the signals from/to the other vehicles.
It incorporates a driver that modulates the digital signals sent from the controller to
analog signals and overlay the converted signals onto the induction line.
It also demodulates the analog signals sent from the other vehicles to digital signals and
transmit them to controller.
The receiving circuit and the transmitting circuit are prepared by the set to the induction
coil on either side. It can change whether a receiving circuit is connected or a
transmitting circuit is connected with the setting signal from the controller to a
right-and-left IND-TR.
Intermittent sending of the 88.88kHz digital signal is carried out from the signal
generating circuit, and a transmitted signal is amplified with transmitting amplifier, and is
transmitted with a coil.
The capacitor for resonance is connected to a coil in series, and voltage amplification of
the 88.88kHz is carried out alternatively.
A receiving circuit converts into a pulse signal the modulation signal received with the
receiving coil, and counts the number of pulses by the signal detector.
If it becomes beyond a value with the number of counts, it will be considered that other
vehicles were detected.
Muratec Automation Co., Ltd.
Outline
In M-COM4, the following variation is, and the setting of the dip switch is different
because of the vehicle model. The setting is changed with switch 1-6.
The setting of switch 1-6 do not change, please.
Switch 7-8 is a switch that sets the baud rate of the filter for the noise cancellation built
into M-COM4. It is effective in M-COM4A-G3-2.
ON
OFF
Fig 2．
．Switch for selecting a vehicle model
Table 1 Application table
Applicable
Part Number
Vehicle
Part Name
DSW1
G1 series
HM2-G2730-500
G2 series
HM2-G2737-500
G3-2
HM2-G2732-500
*1: Filter rate switch
(7,8)=
(on,off)= 19.2kbps
(off,on)= 28.8kbps
M-COM4A-G1
M-COM4A-G2
M-COM4A-G3
on
on
off
off
on
off
off
off
off
off
off
on
off
off
off
off
off
off
*1
3.3.2.COM-TR (power line COMmunication TRansformer)
The transmission transformer overlays the signals from the controller onto the
non-conductive power line or signal line.
The reception transformer receives the signals from vehicles overlaid in the non-conduct
power line or signal line.
Muratec Automation Co., Ltd.
Outline
Fig. 4 shows the outer forms of the transformers.
*The COM-TR may vary in its outward form depending on the transport system. However,
the internal configuration is common.
3.3.3.IND-TR (INDuction line communication TRansformer)
The transmission transformer overlays the signals from the controller onto the induction
line.
The reception transformer receives the signals from vehicles overlaid in the induction line.
It can be changed if one transformer is used for the reception or it is used for the
transmission.
A left-right IND-TR is combined with the loop line, and it can watch each other's
transmitting signal. Then, a trouble such as the breakage of the transformer can be
diagnosed.
Fig. 5 shows the outer forms of the transformers.
*The IND-TR may vary in its outward form depending on the transport system. However,
the internal configuration is common.
RX-transformer
M COM
Block Diagram
PCB:
CO
300.33kHz
M-COM4
COM4
RX-Amp.
RX-Filter
Demodulator
Squelch
Power Line
Or
Communication line
TX-Amp.
TX-transformer
Resonance circuit
Switch circuit
Modulator
X’tal OSC(24MHz)
Serial I/F(TTL)
Control logic
CPU
Reset Circuit
Power Line Communication Part
Board
CO
Ferrite core
353.25kHz
Induction Line Communication Part
Parallel DIO
RX-Amp.
Demodulator
Demodulator
RX-Amp.
Modulator
Power
Supply
+24V
+5V
+12V
-12V
0V
RX-Filter.
TX-Amp.
TX-Amp.
Switch circuit
RX-Filter.
Switch circuit
Resonance circuit
Resonance circuit
88.8kHz
Left-transformer
88.8kHz
Induction Line
IN
Fig. 2 The block diagram of MCOM
Muratec Automation Co., Ltd.
Right-transformer
IN
Outline
Fig. 3 Outward form of the MCOM's main printed circuit board M-COM4
61
169
90
Fig. 4
For example the outline form of the transformer COM-TR
10
Muratec Automation Co., Ltd.
Outline
Fig. 5 The outer forms of the transformer IND-TR
3.4. FCC standard
The transmission assembly in the communication unit MCOM meets FCC Part15 Subpart
C as the intentional radiator.
FCC ID of MCOM: ZBQVEHICLEMCOM
[Note.1]
The FCC certificate position may vary because different case materials and shapes are
adopted for different customers.
This device complies with part 15 of the FCC Rules.Operation is subject to the following
two conditions;this device may not cause interference, and this device must accept any
interference received, including interference that may cause undesired operation
11
Muratec Automation Co., Ltd.
Outline
NOTICE
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection
against harmful interference when the equipment is operated in a commercial environment. This
equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likely to cause harmful interference in which
case the user will be required to correct the interference at his own expense.
FCC WARNING
Changes or modifications not expressly approved by the party responsible for compliance could
void the user's authority to operate the equipment.
3.5. Control/modulating of communication
3.5.1.Power line communication
Control/modulating of communication use the connector CN30.
A communication-timing chart is shown in the Fig. 6.
Please control signal according to the communication chart shown in Fig. 6.
In addition, all the signals are TTL-Level.
When you transmit a signal, enable an RTS signal.
When you finish transmitting
data, please disable a signal of
RTS for reception of the following
data.
M-COM4
RTS
CTS
533usec
TXD
RXD
DATA
From the groundside
vhicle controller
DATA
Min. 833usec
200usec
Carrier
RX Ready
(MASK)
Please prepare the waiting time for 833 seconds
or more with the software by the side of ATI.
Since the mask of reception on an
M-COM4
board is covered for 200usec after
RTS becomes disable.
Note.
Signal of “Carrier” and “RX Ready(MASK)” are internal signals of the M-COM2 board.
Fig. 6 Power net line communication-timing chart of MCOM
12
Muratec Automation Co., Ltd.
Outline
1) The 533usec delay circuit is the circuit to guarantee, from the time that a
request-to-send signal (RTS) outputted from the controller is generated, to the time
that a transmitting circuit attains to the rated value. Time is up in 533usec after RTS
was set to ON, and a clear-to-send signal (CTS) returns to controller.
2) The 200-μsec Delay circuit masks transmitted signal during the time from the end of
the request-to-send (RTS) till the lapse of transmitted signal against received signal,
as the enabled transmitted signal may affect receiving circuit, Resulting in erratic
output. This delay circuit times out in 200μsec after the RTS is ended.
3) After receiving data from the groundside vehicle controller, please prepare the
waiting time for 833 seconds or more with the software by the side of ATI. When
fewer than this time, it is because a NBV-BC substrate cannot receive data.
3.5.2.Induction line communication
Control/modulating of communication use the connector CN39.
A communication-Logic table is shown in the Table. 2.
Please control signal according to the communication table shown in Table. 2.
In addition, all the signals are TTL-Level.
For example, when you want to transmit from a left IND-TR and to receive from a right
IND-TR, please make a signal into
Table. 1
Table. 1
Signal status (transmit: left IND-TR, receive: right IND-TR)
CN39
pin
Signal
name
LON
RON
Direction
signal
Input
Input
Input
Input
When M-COM4 breaks down, the breakdown signal is output. Breakdown signals are 10
pins of CN39.
The detection of the breakdown by feeds back the transmission signal of 88.8kHz to the
reception circuit, checks, and when the signal cannot be received though it transmits, is
breakdown output.
The main content to break down is disconnected IND-TR, and is a breakdown of M-COM4
internal circuit, etc.
The pulse signal that always repeats ON/OFF of each 30msec from 9 pins of CN39 is
output. The controller can confirm whether the M-COM4 circuit operates by observing this
signal.
13
Muratec Automation Co., Ltd.
Specification
4. Specification
4.1. Input/Output
Input and output ,and pin assigns of M-COM4 board are shown in Table. 2.
Table. 2
CN35 DC Power Supply
pin
signal
+24V
+5V
DG
+12V
AG
-12V
Input and output ,and pin assigns of M-COM4 board
Direction
in
in
in
in
Operation
I/F
CN30L Power Line Communication control/modulation signal Left
pin
signal
Direction
Operation
DG
CTS_L
out
Clear to send
RXD_L
out
DG
RTS_L
in
Request to send
TXD_L
in
DG
R_SET
in
Select Right
L_SET
in
Select Left
CN30R Power Line Communication control/modulation signal Right
pin
signal
Direction
Operation
DG
CTS_L
out
Clear to send
RXD_L
out
DG
RTS_L
in
Request to send
TXD_L
in
DG
CN31L COM_TR(Left Receiver)
pin
signal
Direction
Signal+
Signal-
Signal+
Signal-
Signal+
Signal-
TTL
TTL
TTL
TTL
I/F
GND(+24V,+5V)
TTL
TTL
TTL
TTL
analog
analog
Operation
I/F
analog
analog
Operation
I/F
out
out
CN34 COM_TR(Right Transmitter)
pin
signal
Direction
GND(+24V,+5V)
TTL
TTL
I/F
in
in
CN33 COM_TR(Left Transmitter)
pin
signal
Direction
I/F
in
in
CN32R COM_TR(Right Receiver)
pin
signal
Direction
Operation
power
power
GND(+24V,+5V)
power
GND(+12V,-12V)
power
analog
analog
Operation
I/F
14
Muratec Automation Co., Ltd.
Specification
Signal+
Signal-
out
out
CN37 IND_TR(Left Transceiver)
pin
signal
Direction
Signal+
(NC)
GND
(NC)
Signal-
Signal+
(NC)
GND
(NC)
Signal-
I/F
Operation
in/out
analog
For Shield
in/out
analog
CN38 IND_TR(Right Transceiver)
pin
signal
Direction
analog
analog
I/F
Operation
in/out
analog
For Shield
in/out
analog
CN39 Induction Line control signal
pin
signal
Direction
Operation
Transmitter
mode
Transmitter
mode
Left
transmission on
Right
transmission on
I/F
Receiver mode
TTL
Receiver mode
TTL
off
TTL
off
TTL
Left detect LED
on
Right
detect
LED on
TTL
L-SET
in
R-SET
in
L-ON
in
R-ON
in
DG
DG
L-LED
out
off
R-LED
out
off
10
WDP
ERROR
out
out
TTL
TTL
11
12
13
14
15
16
L-DETECT
R-DETECT
DG
DG
(DUTL)
(DUTR)
out
out
out
out
Watch dog pulse
normal
Induction
coil
broken
off
Left detect
off
Right detect
off
off
TTL
TTL
Left front detect
Right
front
detect
TTL
TTL
TTL
4.2. Specification
Power line communication speed:
Power line communication method:
19.2 kbps （MAX 38.4 kbps）
2 levels FSK
Induction line communication method:
On/Off keying
15
Muratec Automation Co., Ltd.
Specification
4.2.1.M-COM4
Name
Manufacturer
Model number
Weight
Size
Input Voltage
Power
consumption
Printed circuit board:M-COM4
MURATEC AUTOMATION CO.,LTD
HM2-G2737-500, HM2-G2730-500, HM2-G2732-500
Approx. 0.5 kgf
125 (W) x 240mm (L) x 30mm (H)
DC power supply 24V, 5V, 12V, -12V
DC24V
22.5W
DC5V
2W
27W
DC12V
1.5W
DC-12V
1W
4.2.2.COM-TR
Unit name
COM-TR
Manufacturer MURATEC AUTOMATION CO.,LTD
Model number Z90679200□
Approx.1.6kgf
Weight
*Case materials, shape and power supply transformer vary with the
system.
90mm (W) x 169 mm (L) x 61 mm (H)
Size
*Case materials, shape and power supply transformer vary with the
system.
MAX 1W
Power
*When communication signal transmitted through the non-contact power
consumption
line.
4.2.3.IND-TR
Unit name
IND-TR
Manufacturer MURATEC AUTOMATION CO.,LTD
Model number Z906846200, Z906846300
Approx.0.3kgf
Weight
*Case materials and shape vary with the system.
67.5mm (W) x 50mm (L) x 43mm (H)
Size
*Case materials and shape vary with the system.
Power
MAX 1W
consumption
*When communication signal transmitted through the induction line.
16
Muratec Automation Co., Ltd.
Specification
5. Error process
[Note.1]
Before servicing MCOM，always shut off the power supply.
[Note.2]
If the communication signals are overlaid onto the non-conductive power line, also shut off
the power source of the non-conductive power line before starting maintenance on
MCOM.

Communication error
Is the Controller sending communication signals？
Check the settings for the Controller.
Are the power indicator lights of M-COM4 illuminated？
Is the power supply of DC24V,5V and ±12V connected？
Turn the power supply OFF. Is the input resistance of the DC power
almost 0 ohm？
Replace the DC power supply.
Is the connection between the controller and M-COM4 normal？
Restore connection.
Is the connection between the COM-TR and M-COM4 normal？
Restore connection.
Is the noise of a power net line normal？
The noise of a power net line is reduced.

Communication error
Is the Controller sending communication signals？
Check the settings for the Controller.
Are the power indicator lights of M-COM4 illuminated？
Is the power supply of DC24V,5V and ±12V connected？
Turn the power supply OFF. Is the input resistance of the DC power
almost 0 ohm？
Replace the DC power supply.
Is the connection between the controller and M-COM4 normal？
Restore connection.
Is the connection between the IND-TR and M-COM4 normal？
Restore connection.
Isn't the source of a noise that emits 100kHz near IND-TR?
Remove the source of a noise.
Doesn't it disconnect a induction line?
Restore disconnection of a guidance line.
17
Muratec Automation Co., Ltd.
Cautions on use
6. Cautions on Use
(1) If the noise of a power net line is large, since communication quality will deteriorate,
please reduce a noise.
(2) When the noise generation source near 100kHz is in near, in order that induction line
communication may cause incorrect detection, please remove a noise generation
source.
(3) Don't arrange a choke coil and a power system switching circuit near the IND-TR.
(4) Since the pulse signal of a self-vehicle and other vehicles may synchronize, please be
sure to perform a pulse output timing change to different timing for every cart during
transmission from the exterior in induction line communication..
(5) If the communication signals are overlaid onto the non-conductive power line, also shut
off the power source of the non-conductive power line before starting maintenance on
MCOM.
18
Muratec Automation Co., Ltd.

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