FCC ID: RMN-CTS-PCOM-2ND pCOM

pCOM Specification

* There is a possibility of interference during the operation of corresponding radio equipment. Revision 1.97 November 8, 2022 Updated By: SH. Youn Approval Signatures Name

(Job Position) Name

(Job Position) Name

(Job Position)

Date:

Date:

Date:

Copyright 2016 This document contains confidential information of CanTops and is not to be disclosed or used except in accordance with applicable contracts or agreements. This document must be rendered illegible when being discarded. Confidential i CTS-pCOM Series Revision 1.97

(Page intentionally left blank) pCOM pCOM Specification Table of Contents 1. Product Introduction ............................................................................................................. 1 2. Characteristics of the Product ............................................................................................. 2 3. Product Code Configuration ................................................................................................ 3 4. System Block Diagram (Ex, VHL) ......................................................................................... 7 5. Input / Output Circuit ............................................................................................................ 8 6. Main Specification of the Product ........................................................................................ 9 7. Tools Specification ............................................................................................................. 12 8. Connector Specification ..................................................................................................... 15 9. LED INDICATION DETAILS ................................................................................................. 18 10. Main Pins Functions ........................................................................................................... 19 11. Main Communication Functions ........................................................................................ 20 12. Main Motion Functions ....................................................................................................... 22 13. Serial Command .................................................................................................................. 27 Confidential i CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Revision History Revision History:

Rev. Date/

Location Description of Change Initials 1.0 2018.06.27./

SH. Youn 1.1 2018.12.11./

SH. Youn 1.2 2019.01.22./

SH. Youn 1.3 2019.04.23./

SH. Youn All All All All

- Initially Released

- Changed the specification to 16Bit Version

- Product Code Configuration changed, 16Bit Cable added, Filter Case Size changed Current consumption revised

-Product Code Configuration changed, Specification for 6A Current Filter added, Filter Case for 6A added. Belt/Board Cable color on the Connector Specification is changed (White/Black) and Input circuit current is revised 1.4 2019.05.08./

Connector Specification

- AMP Connector (16Bit) Specification is added SH. Youn 1.5 2019.07.25./

SH. Youn Main Motion Function USER SERIAL

- Motion function is added

- USER SERIAL description is added

- Product code configuration is changed

- iMAN is changed to iMAN+

1.6 2019.10.10./

Connector Specification,

- I/O connector specification is changed SH. Youn Product Code Configuration

- Product code configuration is changed 1.7 2019.11.19./

Product Code Configuration

- VHL Maker information revised SH. Youn Main pins functions

- Details for the Input pins floating treatmentisadded 1.8 2020.02.19./

6. Main Specification of the

- USER Serial Data transmitted amount revised SH. Youn Product 7. Tools Specification 8. Connector Specification 9. LED Indication Details 11. Main communication functions 12. Main motion functions

- Filter Case carving is added

- Cable color of 8 Bit product is changed

- GO LED turn off time changed

- User serial function revised

- Motion function revised 1.9 2020.10.06/ SH. 3. Product Code Configuration

- Typo corrected and code system revised Youn 6. Main Specification of the

- Typo on RF communication band corrected Product 8. Connector Specification

- Certificate phrase inserted

- 16 Bit current consumption revised and 8 Bit current consumption added

- Connector related details are distinguished as a separate document 1.91 2022.05.12/ SH. 3. Product Code Configuration

- New I/O Connector specification is added Youn 1.92 2022.05.17/ SH. 3. Product Code Configuration

- New Maint, User Connector specification is added Youn Confidential ii pCOM pCOM Specification Revision History 1.93 2022.05.24/ SH. 3. Product Code Configuration

- New User Connector specification is added Youn 1.94 2022.06.20/ SH. 6. Main Specification of the

- Cable specification is revised Youn Product 1.95 2022.07.26/ SH. 6. Main Specification of the

- Communication cycle is revised, Data transmission Youn Product amount is revised 11. Main communication functions 7. Tools Specification

- Filter Case drawing is revised 1.96 2022.08.18/ SH. 3. Product Code Configuration

- Insert cable related text Youn 6. Main Specification of the

- Insert maximum cable length statement Product 1.97 2022.11.08/ SH. 3. Product Code Configuration

- 'AA' specification change Youn Confidential ii pCOM pCOM Specification 1. Product Introduction CTS-pCOM series is the product developed to control remote IO with existing power line on the remote IO controlling system that is using the power line and communication media separately. Input and Output data and additional information can be transmitted and received through the power line connected between two devices and also, it is designed to be operated stably in a noisy environment. In particular, this product provides optimal solution to transmit the controlling information as it uses 24V power line to be supplied through the belt which is supporting the Hand area when controlling the Hand of the OHT. VHL (OHT) Hoist control part Belt (+24V Power+Data) Hand control part FOUP Confidential 1 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification 2. Characteristics of the Product Wired communication available using previously installed +24V power line Easily applicable structure without major change of existing system Long distance communication is available even when used with the belt used structure 16 Bit I/O information and user information can be transmitted 16 Bit I/O can be expanded (RS-232: Maintenance Serial Port) Wireless monitoring of I/O information is available Log storage and wireless download is available Safety function is reinforced with various additional function Convenience of maintenance increased using various log information Influence for the system is minimized using high frequency modulation system Optimized communication environment setup function is available while considering the circumjacent noise. Confidential 2 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification 3. Product Code Configuration Code System CTS-pCOM-AA-B-CD-dd-ee-fgh-ij-kkk-lll-mmm-nnn AA 08 16 A8 AF 8/16bits Select 8bit 16bit 8bit 16bit B Master/slave Select S M Slave Master C 0 0 D 2 5 dd SE DA MU SF SA ee 03 06 Reserved 0 0 USER Serial Select RS-232 RS-485 VHL Maker SEMES DAIFUKU Muratec SynusTech SFA Filter Current 3A 6A I/O Connector SMR-12V-N+SMR-12V-N f 0 No connector 1 HIF-26D-1.27R 2 3 HIF-26D-1.27R+HIF-26D-1.27R 4 5 AMP 1-1318118-9 + 1-1318119-4 6 SMR-10V-N+SMR-12V-N SMR-18V-N+SMR-18V-N+SMR-5V-N 7 8 SMR-12V-N+SMR-12V-N+SMR-12V-

N+SMR-12V-N Molex Molex 35572-03 ( or 35155-

0300 ) ( Only Power Cable ) 9 Molex 51103-0200 ( Only Power Cable ) nnn PLC Cable Length(mm) 030 040 300 400 mmm 000 030 040 lll 000 010 020 kkk 000 030 040 User Serial Cable Length(mm) No cable 300 400 Maint Serial Cable Length(mm) No cable 100 200 I/O Cable Length(mm) No cable 300 400 i 0 1 2 3 j 0 1 2 3 PLC-Board Direction No connector Molex 5557-02 WAGO 734-102/037-000 WAGO 734-302 PLC-Belt Direction No connector Molex 5559-02 WAGO 734-302 WAGO 734-102/037-000 g 0 1 2 3 h 0 1 2 3 4 5 Maint Serial Connector No connector Molex 3p (51103-0310) JST SMR-03V-N 9P DSUB(Female) User Serial Connector No connector Molex 3p (51103-0310) JST SMR-03V-N AMP 1-1318120-3 9P DSUB(Female) Molex 4p (5559-04) Confidential 3 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Product composition : It consists of a pair of Master and Slave, and the components are as shown in the drawing above. Confidential 4 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Example of Product Code) Classification Code CTS-pCOM-08-M-02-SE-03-222-11-040-010-030-030 8Bit Master 8Bit Slave AA 08 B M CD 02 8/16Bits Select 8bit Master/slave Select Master User Serial Select RS-232 VHL Maker SEMES Filter Current 3A SE 03 f 2 I/O Connector SMR-12V-N+SMR-12V-N g 2 h 3 Maint Serial Connector JST SMR-03V-N User Serial Connector JST SMR-03V-N nnn PLC Cable Length(mm) 030 300 mmm 030 lll 010 485/232 Cable Length(mm) 300 Maint Serial Cable Length(mm) 100 I/O Cable kkk Length(mm) 040 400 i 1 j 1 PLC-Board Direction Molex 5557-02 PLC-Belt Direction Molex 5559-02 CTS-pCOM-08-S-02-SE-03-222-33-040-010-040-030 AA 08 B S CD 08 8/16Bits Select 8bit Master/slave Select Slave User Serial Select RS-232 VHL Maker SEMES Filter Current 3A I/O Connector SMR-11V-N+SMR-12V-N Maint Serial Connector JST SMR-03V-N User Serial Connector JST SMR-03V-N SE 03 f 2 g 2 h 2 nnn PLC Cable Length

(mm) 030 300 mmm 040 lll 010 kkk 040 485/232 Cable Length (mm) 400 Maint Serial Cable Length(mm) 100 I/O Cable Length(mm) 400 PLC-Board i Direction 3 302 JST 734-

j PLC-Belt Direction 3 JST 734-102/037-

000 Confidential 5 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification CTS-pCOM-16-M-05-SE-06-422-22-040-010-030-030 16Bit Master 16Bit Slave AA 08 B M CD 04 8/16Bits Select 16bit Master/slave Select Master User Serial Select RS-485 VHL Maker SEMES Filter Current 6A I/O Connector SMR-18V-N+SMR-18V-

N+SMR-5V-N Maint Serial Connector JST SMR-03V-N User Serial Connector JST SMR-03V-N SE 06 f 4 g 2 h 3 CTS-pCOM-16-S-05-SE-06-322-11-040-010-030-030 AA 16 B S CD 04 8/16Bits Select 16bit Master/slave Select Slave User Serial Select 8bit VHL Maker SEMES Filter Current 6A I/O Connector HIF-26D-1.27R+HIF-26D-

1.27R Maint Serial Connector JST SMR-03V-N User Serial Connector JST SMR-03V-N SE 06 f 3 g 2 h 3 nnn 030 PLC Cable Length(mm) 300 mmm 030 lll 010 kkk 040 i 2 j 2 485/232 Cable Length(mm) 300 Maint Serial Cable Length(mm) 100 I/O Cable Length(mm) 400 PLC-Board Direction WAGO 734-102/037-

000 PLC-Belt Direction WAGO JST 734-302 nnn 030 PLC Cable Length(mm) 300 mmm 030 lll 010 kkk 040 i 1 j 1 485/232 Cable Length(mm) 300 Maint Serial Cable Length(mm) 100 I/O Cable Length(mm) 400 PLC-Board Direction Molex 5557-02 PLC-Belt Direction Molex 5559-02 Confidential 6 CTS-pCOM Series Revision 1.97 pCOM 4. System Block Diagram (Ex, VHL) pCOM Specification

< Block Diagram of VHL Inside Hoist device: Before>

< Block Diagram of VHL Inside Hoist device: Example of the use of pCOM >

Above diagram is an example of the configuration of Hoist device to be used for the Loading & Unloading of the target object to be returned from VHL in vertical direction. CanTops does not sell Slip Ring and Belt from above configuration, and Slip Ring and Belt to be suitable for the characteristics of pCOM need to be selected separately. In many cases, existing components can be used as they are and the user needs to select optimized one through the interlocking test with pCOM. 1) pCOM (Master) This is a communication module to be used on the VHL controller side which will be operated by receiving 24V power from VHL controller, and transmitting and receiving the modulated signals for the communication by connecting the pCOM Cable to 24V power line to be supplied to Hand part. 2) pCOM (Slave) This is a communication module to be connected to the Hand controller and 24V power will be supplied to Hand controller and pCOM Slave by connecting pCOM Cable to the provided 24V power line. Confidential 7 CTS-pCOM Series Revision 1.97 pCOM 5. Input / Output Circuit pCOM Specification Input Circuit: Max. 1.7mA. This will be connected to the Output circuit to be interfaced with pCOM. Output Circuit: NPN type Open Collector, Max. operating current is 20mA / 30V VCE max will be connected to the circuit of the product to be interfaced with 100mV / 10mA, pCOM. Confidential 8 CTS-pCOM Series Revision 1.97 pCOM 6. Main Specification of the Product pCOM Specification Classification Detailed Item GO STATE Indicator (LED) Rx Tx IN OUT Connector Cable Input Output External device connection

(LED) Contents Will be turned on when communication between master and slave pCOMs are started. This is a Watchdog signal and it will be flickering to indicate the status of operation. This will be turned on when communication data is entered into pCOM. This will be turned on when communication data comes out from pCOM. This indicates the operation status of input port (16Bit) This indicates the operation status of output port (16Bit) Master pCOM: Optional Slave pCOM: Optional Common specification for both 8 Bit / 16 Bit

: 28AWG x 38C + 26AWG x 2C Shield Cable length : 3m (Max) 16 Bit Input, Transistor IN, 24V On : 10mA, Off : Lower than 0.1mA 16 Bit Output, Open Collector, NPN, 30V Max. operation current 20mA I/O transmission time Max 38ms Main function Communication media Communication distance Communication method Communication error check Communication cycle Main functions Communication media Communication speed Main functions Communication media Communication speed Data transmission quantity (power line communication) Power measuring function Slope / Wobbling

/ Impact Power line communication function Maint serial communication function User serial communicati on function Safety and additional functions RF communicati on function Main functions Communication media Input / Output data transmission *2) User / Monitoring information transmission 24V Power line 10m (winding & unwinding type structure belt), 18m

(normal wire) 1:1 Communication, Half Duplex CRC-16 Approx. 13ms (Max) For manager 16 Bit Input / Output expansion data setup / checkup *3) Monitoring information checkup *5) RS-232C 57600bps User information transmission *4) RS-232C/RS-485 Variable (9600/19200/38400/57600/115200bps) Approx. 10KB/S Max : 30V, 20ms cycle 3 axes acceleration sensor and 3 axes gyroscope are used, 5ms cycle Communication data monitoring using iMAN+*6), F/W update, LOG download, parameter change 2.4GHz ISM Band, Bandwidth 1MHz Confidential 9 CTS-pCOM Series Revision 1.97 pCOM Environment Band Width Safety Functions Communication method ID Setup Channel (CH) Setup ID/CH Management Operation distance Storage environment Operation environment pCOM Specification 2,402~2,480MHz *1) Serial No. (ID) identifying function, CRC-16 1:1 Communication, Half Duplex pCOM ID No. to prevent the interference with adjacent pCOM. This is consisted of 5 digit ASCII code:

00001~FFFFF This is a communication frequency to be used for the wireless communication. Frequency needs to be managed to prevent the radio interference between adjacent pCOMs. This is consisted of 3 digit ASCII code: 000 ~122 Each product will be set with different ID No. (B96A7-xxxxx) when ship out from the factory and the CH will be set with the same value (CH=0) *7) CH needs to be changed (0~122) depending on the environment of use. Within 2m However, there must be no interfering objects in the middle of radio not disconnecting and stable communication environment Storage temperature: -25 ~ 70C Storage humidity: 5 ~ 95% RH (however, no condensation is allowed) Operation temperature: 0 ~ 40C Operation humidity: 35~85% RH (however, no condensation is allowed) Vibration: Lower than 4~150 Hz, 4.9m/s2 Input voltage DC 24V10%

Power Current consumption 16 Bit: Lower than 150mA @24V 8 Bit: Lower than 100mA @24V Case material Size (WxHxD) Weight Polycarbonate 50x66x20mm (connector extruded area excluded) Approx. 300g (IO cable length 1.5m)

*1) This can be used in such an environment as there is no frequency interference with other wireless devices (wireless LAN, Bluetooth, etc.).

*2) Input / Output data means 16 Bit Input / Output and 16 Bit Input / Output Expansion. 16 Bit I/O allocates and uses the data to be required for the real time based transmission. 16 Bit I/O expansion (RS-232) data will allocate the other data.

*3) Input / Output Expansion data will be configured through the serial for Maint and supports 16bit/ 16bit. I/O expansion data can be set and verified through the response after the serial transmission is made to [controller pCOM].

*4) Users information means the user exclusive data to be transmitted between the products (ex. [OHT Hand]) and pCOM does not get involved for corresponding information. Confidential 10 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification

*5) Monitoring information means the one for the additional functions provided by pCOM and it can be the information for 24V power of Hand part and optional functions.

*6) iMAN+ means pCOM management tool to be provided by CanTops Co., Ltd.

*7) CH 0 means 2400MHz band width. 81st channel will be used for [pCOM iMAN+] Wireless Link when RF ID/CH is acquired. Confidential 11 CTS-pCOM Series Revision 1.97 pCOM 7. Tools Specification Size is subject to be changed. pCOM Specification Main Case (unit: mm) - SILK : 16bit Confidential 12 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Filter Case-3A (unit: mm) Confidential 13 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Filter Case-6A (unit: mm) Confidential 14 CTS-pCOM Series Revision 1.97 pCOM 8. Connector Specification pCOM Specification Below is an example of connection of the connectors. Please contact us when changing the Cable specification. 1) For 16 Bit Slave SMR-18V-N, SMR-05V-N, SMR-03V-N Connector CTS-pCOM-16-S-05-dd-ee-422-33-kkk-lll-mmm-nnn Function SMR-18V-N Pin No Color Function SMR-18V-N Pin No Color IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 IN 10 IN 11 IN 12 IN 13 IN 14 IN 15 IN 16

+VIN GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 White (Black1) White (Black2) White (Black3) White (Black4) White (Red1) White (Red2) White (Red3) White (Red4) OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 OUT 8 Yellow (Black1) OUT 9 Yellow (Black2) OUT 10 Yellow (Black3) OUT 11 Yellow (Black4) OUT 12 Yellow (Red1) OUT13 Yellow (Red2) OUT 14 Yellow (Red3) OUT 15 Yellow (Red4) OUT 16 White Black

Control Connector SMR-05V-N Maint Serial Connector SMR-03V-N SELECT GO MODE TRIGGER ES Maint-TxD Maint-RxD GND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 1 2 3 4 5 1 2 3 Orange (Black1) Orange (Black2) Orange (Black3) Orange (Black4) Orange (Red1) Orange (Red2) Orange (Red3) Orange (Red4) Gray (Black1) Gray (Black2) Gray (Black3) Gray (Black4) Gray (Red1) Gray (Red2) Gray (Red3) Gray (Red4)

PINK (Red2) PINK (Black1) PINK (Red1) PINK (Red3) PINK (Black2) Black Brwon Red Confidential 15 CTS-pCOM Series Revision 1.97 pCOM User Serial Connector pCOM Specification USER-TxD USER-RxD SMR-03V-N Board 734-302 Belt 734-102/037-000 GND GND 24V P-

P+

1 2 3 1 2 1 2 Black Brwon Red Black White Black White Cable connection diagram SMR-11V-N, SMR-12V-N 2) For 16 Bit Master SMR-18V-N, SMR-05V-N, SMR-03V-N Connector CTS-pCOM-16-M-05-dd-ee-422-22-kkk-lll-mmm-nnn Function SMR-18V-N Pin No Color Function SMR-18V-N Pin No Color IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 IN 8 IN 9 IN 10 IN 11 1 2 3 4 5 6 7 8 9 10 11 White (Black1) White (Black2) White (Black3) White (Black4) White (Red1) White (Red2) White (Red3) White (Red4) Yellow (Black1) OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 OUT 8 OUT 9 Yellow (Black2) OUT 10 Yellow (Black3) OUT 11 1 2 3 4 5 6 7 8 9 10 11 Orange (Black1) Orange (Black2) Orange (Black3) Orange (Black4) Orange (Red1) Orange (Red2) Orange (Red3) Orange (Red4) Gray (Black1) Gray (Black2) Gray (Black3) Confidential 16 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Yellow (Black4) OUT 12 IN 12 IN 13 IN 14 IN 15 IN 16

+VIN GND 12 13 14 15 16 17 18 Yellow (Red1) Yellow (Red2) Yellow (Red3) Yellow (Red4) White Black Control Connector SMR-05V-N Maint Serial Connector SMR-03V-N User Serial Connector SMR-03V-N Board 734-102/037-000 Belt 734-302 OUT13 OUT 14 OUT 15 OUT 16

SELECT GO MODE TRIGGER ES Maint-TxD Maint-RxD GND USER-TxD USER-RxD GND GND 24V P-

P+

12 13 14 15 16 17 18 1 2 3 4 5 1 2 3 1 2 3 1 2 1 2 Gray (Black4) Gray (Red1) Gray (Red2) Gray (Red3) Gray (Red4)

PINK (Red2) PINK (Black1) PINK (Red1) PINK (Red3) PINK (Black2) Black Brwon Red Black Brwon Red Black White Black White Cable connection diagram SMR-18V-N, SMR-18V-N, SMR-05V-N Confidential 17 CTS-pCOM Series Revision 1.97 pCOM 9. LED INDICATION DETAILS pCOM Specification LED 1~16 IN OUT GO Indication Details Indicates the operation of pCOM internal input circuit. Will be turned on during Low state Indicates the pCOM internal output status. Will be turned on during TR On. Will be turned on when communication between master and slave pCOM is established. GO LED and Output Off time after the disconnection of communication would be approx. 0.5 sec, and it can be set between 0.070 ~ 2.500 using <R>

command. This will be used as a Watchdog signal to check the status of the inside of this product. Turned on continuously STATE Note 1) Cycle

- Master: 0.25 s

- Slave: 1s

- When communication initialization is failed, 2s ~ 4s LED layout drawing IN : pCOM input signal OUT : pCOM output signal ST : pCOM operation status 2 Fixing holes GO : pCOM Communication signal Confidential 18 CTS-pCOM Series Revision 1.97 pCOM 10. Main Pins Functions pCOM Specification Signal Mode

(Input) How to use Input to select the mode of pCOM Enter Low *1) : Slave Mode (no need to connect anything from outside as it is connected from inside of pCOM to GND) Enter High *1) or process floating *2) : Master Mode (OHT) Input to operate pCOM communication Select

(Input) Low Input: Stop the communication function of pCOM Enter High or process Floating: start operation of the communication function of pCOM Input for the try of [pCOM iMAN+] wireless Link (RF ID/CH acquisition) When it is in normal state. Enter Low at VHL Controller

(maintenance) Trigger

(Input) When auto link between iMAN+ and pCOM is required. When enter High (up to 10 times, it tries Trigger with iMAN+ once a sec. However, High state needs to be maintained) Time difference between Low -> High input should be longer than 1 sec. If wireless ID of pCOM for iMAN+ is acquired / when acquisition is failed / when acquisition is not required, enter Low GO

(Output) ES

(Output) Enter High or process Floating: Trigger function will not be used GO LED will be turned On when communication between Master and Slave pCOM is established (NPN open collector On) Status notification for pCOM option information It detects when it is higher than certain level of slope of Hand due to the sagging, etc. of the belt, and also detects wobbling and impact during Hoist operation and displays them using ES signal. (NPN Open Collector On)

*1) Enter Low: 0V of power, Enter High: 24V of power

*2) Process Floating: Inside pull-up, No electrical connection Mode Description Master Mode Slave Mode This is a mode to be used by attaching on OHT. System transmits the input data (I/O, Serial) to the power line if the Select signal is Open and set to operate pCOM. System displays the received data (I/O, Serial) if there is a response

(receipt) after the transmission. This is a mode to be used by attaching on Hand. System will be in receiving standby state if the Select signal is Open and set to operate pCOM, and also, System displays the received data (I/O, Serial) if the data is received from Master through power line communication and transmits the input data (I/O, Serial) to Master pCOM through power line. For I/O, output of received data will be applied on a real time basis, and for Serial, system will respond when there is a serial command from the controller. Confidential 19 CTS-pCOM Series Revision 1.97 pCOM 11. Main Communication Functions pCOM Specification Power line communication Characteristics This is the main communication media which transmits the I/O and additional data. Function Communication cycle: approx. 13 ms (Max) Packet information: I/O data + User information + Monitoring information Data information Classification I/O Maint Serial User Serial Standard Input (16 points)/

Input (16 points)/

User information Output (16points) Output (16points) Monitoring information: Voltage, communication status PLC output strength can be adjusted automatically Wireless Characteristics It operates at the maintenance point only and communicates with iMAN+. Function

[pCOM iMAN+] Link pCOM ID/CH transmission Monitoring data I/O information Communication status information Maintenance Log collection Parameter change FW download This product uses 2.4GHz wireless Wi-Fi band, and it may have interference when it is used with the same frequency band width wireless devices. Therefore, in order to use this product without interference, please choose the frequency band width that does not have interference with the other wireless devices.

[pCOM iMAN+]

Link method

[Method 1]

- Attach wireless ID of pCOM on Hand part when manufacturing VHL.

- Operator can enter corresponding ID on iMAN+ manually and use during maintenance work [method 2]

- Output the [Trigger signal] to pCOM from VHL when maintenance is required.

[Trigger signal] means the output signal to be transferred from VHL to pCOM. Confidential 20 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification pCOM performs the Link operation automatically with iMAN+ when entering the Trigger signal and acquires the wireless ID. User Serial Characteristics Communication speed (9600/19200/38400/57600/115200bps) and parity (none, even, odd) can be set Default Communication speed Data Bit 115200 8 Parity none Stop Bit 1 Data transmission quantity (power line transmission) : approx. 10KB/S 5 Bytes can be transferred per each of data communication cycle (3ms) User serial buffer size can be set: 100 ~ 2000 Byte Default: 500 Byte Function pCOM transfers the User serial data through PLC. Input data transfers up to 17 Byte at each of the pCOM data transmission point. Data received through PLC will be transferred to User Serial immediately. Cautions User data can be transferred when the communication between pCOMs is established

(GO On). User data can be delayed when pCOM communication is delayed. Data loss can be occurred when User serial buffer size is exceeded if the input speed of User Data is faster than the PLC data transmission speed continuously. pCOM does not guarantee the loss of User Serial data. User Serial transmission can be accomplished only when it responds after at least 2 ms passed once the User Serial data is received when pCOM User Serial 485 communication is used. Confidential 21 CTS-pCOM Series Revision 1.97 pCOM 12. Main Motion Functions pCOM Specification Specification AXIS ASSIGNMENT

+X

+Z

+Y When installed vertical to z axis on pCOM surface, vertical axis to the surface is z axis depending on the installation direction. Motion output Classification Value Unit Remarks Accuracy at pause state

( X / Y Axis ) Accuracy during in motion

( X / Y Axis )

< 0.2 Degree Except Z axis

< 3 Degree Except Z axis Angle Resolution 0.01 Degree Output Range X Axis

-90 ~ +90 Degree Default : 0 Y Axis

-90 ~ +90 Degree Default : 0 Z Axis 0 ~ 360 Degree Default : 180 Z axis has a drift and does not guarantee the accuracy. Slope Characteristics Slope will be decided by verifying the pCOM posture information. STATE 1 2 3 4 IN 5 UT 6 7 8 G O C an t o p s Slope due to the belt error will be detected Confidential 22 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Characteristics Data information Classification Master Slave Standard X, Y, Z angle X, Y, Z angle System will treat it as an error when slope is detected ES signal output Motion information record System detects when the motion of the other side is in horizontal and stop state. Wobbling Characteristics System judges the wobbling by verifying the posture information of pCOM. Wobbling due to the belt looseness error will be detected Function Data information Classification Master Standard X, Y, Z angle Slave X, Y, Z System will treat it as an error when wobbling is detected ES signal output Motion information record System detects when the motion of the other side is in horizontal and stop state. Confidential 23 CTS-pCOM Series Revision 1.97 pCOM Impact Characteristics pCOM Specification Impact higher than certain level will be detected by acquiring the motion information of pCOM. EQ Impact will be detected Function Data information Classification Master Slave Standard 3 axes integrated 3 axes integrated acceleration of gravity [G]

acceleration of gravity [G]

System will treat it as an error when impact is detected ES signal output Motion information record Vibration Characteristics Vibration information will be transferred by acquiring the pCOM motion information. Function Data information Classification Master Slave Standard Frequency : 10 ~ 100Hz Frequency : 10 ~ 100Hz Acceleration : m/s^2[Peak]

Acceleration : m/s^2[Peak]

Vibration information is a simple measurement which accuracy is not guaranteed. Precise measuring instrument needs to be used when it is found not accurate. It cannot be measured during in motion state. Confidential 24 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification Motion information verifying method Use of iMAN+

Use of Maintenance Serial Motion command list Characteristics Parameter can be set using Maintenance Serial and iMAN+. Serial Commands on Chapter 13 will be used for the standard command &

response method. Command Function MINFO Motion information verification MTINFO TARGET motion information verification ML Motion log download Set value ASCII Code ASCII Code

Length

(BYTE) Remarks 2 2

Please refer to pCOM serial communication specification for the commands. Commands can be added or modified during development. Confidential 25 CTS-pCOM Series Revision 1.97 pCOM Motion Precautions Cautions pCOM Specification pCOM must be in no motion state when setting up the horizontal state It needs to be reset if the horizontality is set and horizontality error is too big. There should be no change of motion for 3 seconds for the sake of motion stabilization during the initial operation stage. You can acquire the motion information of the target when the communication between pCOMs is established (GO On). Motion information of the target can be delayed when pCOM communication is delayed. Confidential 26 CTS-pCOM Series Revision 1.97 pCOM 13. Serial Command pCOM Specification Communication specification Interface Communication Data Bit Parity Stop Bit RS-232C speed 57,600 Standard command / response 8bit None None Setting command Head0 Command Separate setting value SUM Tail0 Head1 Command Separate Setting value SUM Tail1 Response Checking command Head0 Command SUM Tail0 Head1 Command Separate setting value SUM Tail1 Response Item Size Headx x=0 x=1 1 1 Contents Character

HEX HEX 3Ch 5Bh Command Changeable by Set the character string by each of command each command Separator 1

3Dh Preset value Changeable by Set the preset value each command SUM Note 1) Tailx x=0 x=1 2 1 Note 1) Example of SUM mark Code 2 character.

Set the hexadecimal number of the lower 1 Byte of the command, separator and preset value by 1 Byte as ASCII Classification Command separator Preset value Character M

1 SUM HEX 4Dh

3Dh

31h

B B 42h 42h All contents use ASCII Code, and English character are case-sensitive. SUM uses upper case only Confidential 27 CTS-pCOM Series Revision 1.97 3Eh 5Dh ASCII Code pCOM pCOM Specification Command list Command Function Preset value ASCII Code OHT O II 16 Bit input setup / input response ASCII Code IO 16 Bit input setup / input response ASCII Code UB UP UL US User Serial Baudrate User Serial Parity User Serial Buffer Length ASCII Code ASCII Code ASCII Code Remained User Serial storage ASCII Code space CUD User Serial Buffer Clear Log download Current time set

ASCII Code 23 Version verification ASCII Code Number of communications retry ASCII Code RF Channel setup RF ID Setup ASCII Code ASCII Code 4 3 3 5 L T V R C A Remarks Set once pCOM based pCOM based Length

(BYTE) 6 4 4 1 1 4 4

Please refer to the pCOM serial communication specification for the commands. Commands can be added or modified during development

*) Specification of this product is subject to be changed without notice to improve the performance of the product. Warning This device is a Class A product. This device may cause radio interference in residential area, in which case users may need to take suitable counter actions. Confidential 28 CTS-pCOM Series Revision 1.97 pCOM pCOM Specification This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:

(1) This device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause undesired operation. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

Reorient or relocate the receiving antenna. Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. Consult the dealer or an experienced radio/TV technician for help. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. Confidential 29 CTS-pCOM Series Revision 1.97

CanTops Co., Ltd. Product Name : pCOM Model : CTS-pCOM Rating : 24 V , 0.2 A FCC ID : RMN-CTS-pCOM-2nd

: R-C-ca5-CTS-pCOM-2nd This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause undesired operation. Made in Korea CTS-pCOM-AF-S-02-SF-06-

722-11-090-020-020-015 S/N Manufacturing Date : 2022. 11

Confidentiality Request Letter 26/12/2022 To:

Federal Communications Commission Authorization and Evaluation Division 7435 Oakland Mills Road Columbia, MD 21046-1609 Subject: Confidentiality Request for FCC ID: (RMN-CTS-pCOM-2nd) Pursuant to CFR 47 sections 0.457 and 0.459, we respectfully request permanent confidential treatment of the following Exhibits accompanying this application be held confidential:

Type of Confidentiality Requested Short Term Short Term Short Term Short Term Short Term Short Term Short Term Short Term Short Term Permanent Permanent Permanent Permanent Permanent Permanent Permanent Exhibit Block Diagrams External Photos Internal Photos Operation Description/Theory of Operation Parts List & Placement/BOM Tune-Up Procedure Schematics Test Setup Photos Users Manual The above materials contain trade secrets and proprietary information not customarily released to the public. The public disclosure of these materials may be harmful to the applicant and provide unjustified benefits to its competitors. Permanent Confidentiality:

The applicant requests the exhibits listed above as permanently confidential be permanently withheld from public review due to materials that contain trade secrets and proprietary information not customarily released to the public. Short-Term Confidentiality:

To avoid premature release of sensitive information prior to marketing or release of the product to the public, the applicant requests the following documents contained in this certification application be temporarily withheld from public disclosure for an initial period of 180 days. The applicant understands that disclosure of this application and all accompanying documentation will not be made before the date of the Grant for this application. Sincerely, Clients signature:

Clients name & title: Sang-Gyu, Han / Director

Date: 26.12. 2022 Subject: Family model declaration letter Product: pCOM FCC ID: RMN-CTS-Pcom-2nd Model : CTS-pCOM FCC Family Model:

CTS-pCOM, CTS-pCOM-08, CTS-pCOM-16, CTS-pCOM-A8, CTS-pCOM-AF Product Basic model Family Model Description Keyboard and Mouse CTS-pCOM-08

(I/O) 8 bit pCOM CTS-pCOM CTS-pCOM-16

* (I/O) 16 bit CTS-pCOM-A8 Same appearance and circuit as CTS-pCOM. Model name varies depending on sales use. Same appearance and circuit as CTS-pCOM. Model name varies depending on sales use. CTS-pCOM-AF Same appearance and circuit as CTS-pCOM. Model name varies depending on sales use. Sincerely, Clients signature:

Clients name & title: Sang-Gyu, Han / Director