Denso RC5 manual

ROBOT

RC5 CONTROLLER

INTERFACE MANUAL

Contents

Main ROBOT RC5 CONTROLLER INTERFACE MANUAL Page Robot models covered by this manual Important How the documentation set is organized How this book is organized Page SAFETY PRECAUTIONS WARNING CAUTION Terminology and Definitions 1. Introduction 2. Installation Precautions 2.1 Insuring the proper installation environment 2.2 Service space Page 2.8 Setting-up the safety fence or enclosure 2.9 Positioning of rope or chain Page 3. Precautions while robot is running 3.1 Creation of working regulations and assuring worker adherence 3.2 Display of operation panel 3.3 Ensuring safety of workers performing jobs within the robot's restricted space Q R Page 3.8 Precautions in repairs 4. Daily and periodical inspections 5. Management of floppy disks Page Page Page Page Page Chapter 1 General Information about RC5 Controller 1.1 Controller Model Name on Nameplate RC5 -VSE 6 B A -P <Notes for Robot System Type A> 1 Modified Deadman Switch Functions in Robot System "Type A" 1.2 Modified deadman switch functions 2 Single point of control function 4 1.2 Names of the Robot Controller Components Names of Robot Controller Components (VM-D/HM-E series) The following figures show the names of the robot controller components. n For VM-D/HM-E series <Front> n For robot series except VM-D/HM-E <Front> Names of Robot Controller Components (Robot series except VM-D/HM-E) 6 7 1.3 Robot Controller Specifications [ 1 ] Specifications The table below lists the robot controller specifications. Robot Controller Specifications Page Page 10 n Location of IPM boards Rear view of the controller The table below shows the location of IPM boards for robot series or models. Page 1.4.2 Typical Robot System Configurations Page Chapter 2 General Information about the Interface 2.1 Standard Mode and Compatible Mode 2.2 Switching between Modes Page Page Page Page Page Page Page 2.3 Types and General Information about I/O Signals 2.3.1 Standa rd Mode 23 2.3.2 Compatible Mode 2.4 Using User I/O Signals (common to both modes) 2.4.1 I/O Type Variable Declaration 2.4.2 I/O Type Global Variables 2.4.3 I/O Type Local Variables 2.4.4 User Input Commands 2.4.5 User Output Commands 26 Chapter 3 System I/O Signals Standard Mode 3.1 Types and Functions of System Output Signals (Standard The table below lists the system output signals used in standard mode. 3.2 Usage of System Output Signals (Standard Mode) 3.2.1 Robot Initialization Complete (Output) (5) OFF condition 3.2.2 Auto Mode (Output) 3.2.3 External Mode (Output) 3.2.4 Servo ON (Output) 3.2.5 Robot-in-operation (Output) 3.2.6 Normal CPU (Output) 3.2.7 Robot Failure (Output) 3.2.8 Robot Warning (Output) 3.2.9 Dead Battery Warning (Output) (5) OFF condition 3.2.10 Continue Start Permitted (Output) 3.2.11 SS mode (Output) 3.2.12 Emergency Stop (Output from a contact) 38 3.3 Types and Functions of System Input Signals (Standard The table below lists the system input signals to be used in standard mode: 3.4 Usage of System Input Signals (Standard Mode) 3.4.1 Enable Auto (Input) 3.4.2 Robot Stop (Input) (4) Timing of the input 3.4.3 Step Stop (All Tasks) (Input) (2) Terminal 3.4.4 Instantaneous Stop (All Tasks) (Input) 3.4.5 Interrupt Skip (Input) WRONG 3.5 Command Execution I/O Signals Dedicated to Standard Mode 3.5.1 General Information about Commands 46 3.5.2 Processing I/O Commands 3.5.2.1 General Information about Processing I/O commands to be executed are processed as shown below. Page 3.5.2.2 Using Each Signal Line [ 1 ] Command and Data Areas [ 2 ] Strobe Signal (Input) [ 3 ] Command Processing Complete (Output) [ 4 ] Status Area 52 3.5.3 I/O Commands Details 3.5.3.1 List of I/O Commands (Note) In execution of Continue Start command, program numbers will be ignored. The table below lists I/O commands. 3.5.3.2 Program Operation Command (0001) Page Page 3.5.3.3 External Speed and Acceleration Setting (0010) 3.5.3.4 Error Read (0 100) (3) Hexadecimal codes (4) Description 3.5.3.5 Type I V ari able W r ite (0101) Page 3.5.3.7 Mode Switching (0111) Page 3.5.3.8 Clear Robot Failure (1000) 3.5.3.9 I/O Write (1001) 3.5.3.10 I/O Read (1010) 3.6 Example of Using System I/O Signals in Standard Mode (1) Equipment setup example (2) Outline of procedure (3) Start and stop procedure, and system I/O signals 67 Start and Stop Procedure and System I/O Signals-1 (Continued on following page) 68 (Continued from preceding page) 69 Chapter 4 System I/O Signals Compatible Mode 4.1 Types and Functions of System Output Signals (Compatible The table below lists the system output signals used in the compatible mo de. 4.2 Usage of System Output Signals in the Compatible Mode 4.2.1 Robot Power ON Complete 4.2.2 Auto Mode (Output) 4.2.3 Servo ON (Output) 4.2.4 CAL Complete (Output) 4.2.5 External Mode (Output) 4.2.6 Teaching (Output) 4.2.7 Program Start Reset (Output) 4.2.8 Robot-in-operation (Output) 4.2.9 Single-Cycle End (Output) 4.2.10 Normal CPU (Output) 4.2.11 Robot Failure (Output) 4.2.12 Robot Warning (Output) 4.2.13 Dead Battery Warning (Output) 4.2.14 Error No. (Output) (5) Clear conditions (6) Hexadecimal codes 4.2.15 Continue Start Permitted (Output) 4.2.16 SS mode (Output) 4.2.17 Emergency Stop (Output from a contact) 86 4.3 Types and Functions of System Input Signals (Compatible Mode) The table below lists the system input signals to be used in compatible mod e. 4.4 Usage of System Input Signals in Compatible Mode 4.4.1 Enable Auto (Input) 4.4.2 Operation Preparation Start (Input) Page 4.4.3 Program No. Select (Input) Page 4.4.4 Program Start (Input) Page Page (4) Example of program start signal (rise) ON and (fall) OFF timing Page Program Start Signal Rise Output Signal Timing 4.4.5 Program Reset (Input) When issued with the Operation Preparation Start 4.4.6 Robot Stop (Input) (2) Function (4) Input timing 4.4.7 Step Stop (All Tasks) (Input) 4.4.8 Instantaneous Stop (All Tasks) (Input) 4.4.9 Clear Robot Failure (Input) 4.4.10 Interrupt Skip (Input) WRONG 4.4.11 Continue Start (Input) 4.5 Example of Using System I/O Signals in Compatible Mode (1) Equipment setup example (2) Outline of procedure (3) Start and stop procedure and system I/O signals 108 Start and Stop Procedure and System I/O Signals-1 (Continued on the next page) 109 (Continued from preceding page) Chapter 5 Connector Pin Assignment and I/O Circuits (NPN type) 5.1 Connector Pin Assignment (NPN type) 5.1.1 Connector Pin Assignment Common to Both Modes (NPN type) (1) HAND I/O CN9: Connector for end-effector I/O (common to both modes) Page 5.1.2 Connector Pin Assignment in Standard Mode (1) OUTPUT CN10: User-/System-output connector (standard mode) CN10 Pin Assignment, in standard mode (NPN type) (2) INPUT CN8: User-/System-input connector (standard mode) CN8 Pin Assignment, in standard mode (NPN type) 5.1.3 Connector Pin Assignment in Compatible Mode (1) OUTPUT CN10: User-/System-output connector (compatible mode) CN10 Pin Assignment, in compatible mode (NPN type) (2) INPUT CN8: User-/System-input connector (compatible mode) CN8 Pin Assignment, in compatible mode (NPN type) 5.2 Robot Controller I/O Circuits (NPN type) 5.2.1 User-Input, System-Input and Hand-Input Circuits (NPN type) Page Page 5.2.2 Robot Stop and Enable Auto Input Circuits 5.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type) Page Page Page 124 5.2.4 Emergency Stop Circuit 5.2.4.1 Standa rd ty pe (When the internal power source is used) (When an external power source is used) Emergency Stop Circuit (Standard type) Page 5.2.5 I/O Power Connector (NPN type) Page 5.3 Wiring Notes for Robot Controller I/O Connectors (NPN type) Check point (2) Connector Terminals and Check Points (NPN type) Connector for hand I/O Connector for user/system input Connector for user/system output Connector for I/O power source Chapter 6 Connector Pin Assignment and I/O Circuits (PNP type) 6.1 Connector Pin Assignment (PNP type) 6.1.1 Connector Pin Assignment Common to Both Modes (PNP type) (1) H AND I/O CN9: Connector for end-effector I/O (common to both modes) (2) I/O POWER CN7: Power connector for I/O (common to both modes) 6.1.2 Connector Pin Assignment in Standard Mode (1) OUTPUT CN10: User-/System-output connector (standard mode) CN10 Pin Assignment, in standard mode (PNP type) 133 (2) INPUT CN8: User-/System-input connector (standard mode) CN8 Pin Assignment, in standard mode (PNP type) 6.1.3 Connector Pin Assignment in Compatible Mode (1) OUTPUT CN10: User-/System-output connector (compatible mode) CN10 Pin Assignment, in compatible mode (PNP type) (2) INPUT CN8: User-/System-input connector (compatible mode) CN8 Pin Assignment, in compatible mode (PNP type) 6.2 Robot Controller I/O Circuits (PNP type) 6.2.1 User-Input, System-Input and Hand-Input Circuits (PNP type) Page Page 6.2.2 Robot Stop and Enable Auto Input Circuits 6.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type) (1) The User-Output, System-Output and Hand-Output Circuit are open Page Page Page 144 6.2.4 Emergency Stop Circuit 6.2.4.1 Standa rd ty pe (When the internal power source is used) (When an external power source is used) Emergency Stop Circuit (Standard type) Page 6.2.5 I/O Power Connector (PNP type) Page 6.3 Wiring Notes for Robot Controller I/O Connectors (PNP type) Check point (1) Connector Terminals and Check Points (PNP type) Connector for hand I/O Connector for user/system input Connector for user/system output Connector for I/O power source 150 Chapter 7 7.1 Multi-core Cables with Connectors I/O Cables (Optional items) 151 7.2 Wiring of Primary Power Source Index Page RC5 CONTROLLER INTERFACE MANUAL