Denso RC5 guide

For the input timing of the operation preparation start signal and • to „, see the figure given below.

Caution: The operation preparation start signal and each input signal, except the Enable Auto signal, will be turned OFF (falling) upon turning ON of the external mode output is turned ON.

Although the robot is made to execute all items at start-up, execute only necessary items at the time of recovery from suspension during operation to reduce recovery time.

The required time to execute all items may be about 5 seconds depending on CAL time. The time is about 1.3 seconds without CAL. (Once CAL is completed, it does not need to be executed again as long as the power to the Robot Controller is turned ON.) Determine whether to execute CAL according to the CAL complete output.

Input

Output

				Automatic	ON (shorted)
				operation enable	OFF (open)


				Operation	ON (shorted)
				preparation start	OFF (open)

			• Motor power ON		ON (shorted)
					OFF (open)


			‚ CAL execution		ON (shorted)
					OFF (open)


		ƒ SP100			ON (shorted)
					OFF (open)


	„ External				ON (shorted)
				mode switching	OFF (open)


				Automatic	ON (shorted)
				mode output	OFF (open)


			Servo ON		ON (shorted)
					OFF (open)


			CAL complete		ON (shorted)
					OFF (open)


				External	ON (shorted)
				mode output	OFF (open)

1 ms. or more

The power to the motor is turned ON.

CAL starts		CAL ends

SP is set to 100.

The mode is switched to

external mode.

Approx.2.0s

Approx. 2.5s	CAL time

Approx. 0.5s

Note		indicates the input or output of the signal, and		indicates robot operation.

Example of Operation Preparation Start Signal Timing Chart

89

Image 109

Denso RC5 manual Example of Operation Preparation Start Signal Timing Chart

Contents

Robot Page Robot models covered by this manual Preface Interface Manual this book How the documentation set is organized How this book is organized Describes I/O cables and wiring IiiPage Safety Precautions Structure. Therefore, when using the robot controller in an Should not be installed in any environment whereRobot and peripheral equipment should be installed so that Sufficient service space is maintained for safe teaching Safety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools Lighting Operating procedures required to run the robot Or maintenance inspections, set working regulations forRobot speed when performing teaching Signaling methods to be used when more than one worker Safety Precautions Page Management of floppy disks Page Contents Dedicated to Standard Mode 100 Index Coding of Controller Model Name Controller Model Name on NameplatePosition Code Denotes Coding Sample Deadman switches are located as shown below How to identify your robot system as Type aSymbol denoting Type a External Auto Limited Mode Internal Auto Limited ModeSetting the parameter Front Names of the Robot Controller ComponentsLeft side Right side Names of Robot Controller Components VM-D/HM-E series For robot series except VM-D/HM-E Connector Marking Name Table below lists the robot controller specifications Robot Controller SpecificationsRobot Controller Specifications Page Outer dimensions of the robot controller are shown below Outer Dimensions Series Location Models Location of IPM boards Internal Circuits of the Controller Typical configuration Controller System Configuration Robot System Configuration Typical Robot System Configurations System Configuration Example Switching between Modes Standard Mode and Compatible Mode Auxiliary Functions I/O window appears as shown below I/O Monitor window appears Choose allocation window appears as shown below I/O assignment mode is switchedFollowing system message appears Screen returns to the Auxiliary Functions I/O window Section ComputerGUIDE, , Section Click on the DIO Manager button in the System Manager Options window will appear as shown below Hardware settings will appear Connect button appears in a pressed state Options window closes Transfer Environment Table window appears Update the data I/O assignment mode is switched Standard Mode Types and General Information about I/O Signals Compatibility with conventional VS series robots Compatible ModeControlled by user program Type No. Function Points User Input Commands Using User I/O Signals common to both modes1 I/O Type Variable Declaration 2 I/O Type Global Variables SET Command User Output Commands Types and Functions of System Output Signals Standard Mode System I/O Signals Standard Mode Robot Initialization Complete Output Usage of System Output Signals Standard Mode Auto mode Output Auto Mode OutputOn condition OFF conditions No.7 of connector CN10 External Mode OutputExternal Mode Output Terminal number Servo on Output No.4 of connector CN10Servo on Output Robot-in-operation Output Signal will be turned OFF with Stop ALL Programs Normal CPU Output Normal CPU Output Robot Failure Output Robot Failure Output Robot Warning Output Robot Warning Output Dead Battery Warning Output Dead Battery Warning Output This signal comes on when the SS mode is selected SS mode OutputContinue Start Permitted Output Emergency Stop Output from a contact No of connector CN10 Emergency stop +Contact Types and Functions of System Input Signals Standard Mode Enable Auto Input Usage of System Input Signals Standard ModeNo of connector CN8 Relationship Between Enable Auto Input and Selectable Mode Timing of the input Robot Stop Input Step Stop Signal No.5 of connector CN8Step Stop All Tasks Input Terminal Minimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks Input Interrupt Skip Input Terminal number No.9 of connector CN8See the Programmers Manual I, , 12.3 Interrupt ON/OFF Input Conditions and Operation of Interrupt Skip Wrong Example of Operation When an Interrupt Skip is Input Table below shows the I/O commands functions General Information about CommandsCommand Functions Outline of I/O Command Processing Commands to be executed are processed as shown belowPage Terminal numbers Using Each Signal Line Strobe Signal Input No of connector CN10 Command Processing Complete Output Status Area Nos to 32 of connector CN10 Table below lists I/O commands 3 I/O Commands Details List of I/O CommandsList of I/O Commands Format Program Operation CommandDescription Page Page External Speed and Acceleration Setting Example of Error Number Output Error ReadHexadecimal codes Refer to the figure given below Type I Variable Write Type I Variable Read Mode Switching Page Clear Robot Failure This command clears a robot failure that has been caused 3.9 I/O Write 3.10 I/O Read Equipment setup example Example of Using System I/O Signals in Standard ModeExample of Equipment Setup Using a Robot Start and stop procedure, and system I/O signals Outline of procedure On following Start and Stop Procedure and System I/O Signals-1 END From preceding System I/O Signals Compatible Mode Robot Power on Complete Usage of System Output Signals in the Compatible Mode Teach Check ⋅ MOTORu OFv F CAL Complete Output Signal outputs to the external device that CAL is completedCAL Complete Output External Mode Output Teaching Output Teaching Output Program Start Reset Output on Condition Program Start Reset Output Program will be turned OFF with Stop ALL Programs Single-Cycle End Output Single-Cycle End Output Normal CPU Output Operated. Cancelu ƒv L ‘ € ì Robot Warning Output Power on No.17 to No.28 of connector CN10 Error No. OutputSignal will be output when an error occurs Clear conditions Continue Start Permitted Output Emergency Stop Output from a contact Types and Functions of System Input Signals Compatible Mode OFF Usage of System Input Signals in Compatible Mode Operation Preparation Start Input Motor power on input Example of Operation Preparation Start Signal Timing Chart Program No. Select Signal No.11 to No.18 of connector CN8Program No. Select Input Example of Program No. Select Signal Sequence Circuit Example of Program No. Select Signals Program Start Operation-1 Program Start Input Program Start Operation-2 Program Start Operation-3 Example of Program Start Signal Rise Timing Example of program start signal rise on and fall OFF timing Example of Program Start Signal Fall Timing-2 Example of Program Start Signal Fall Timing-1 Program Start Signal Rise Output Signal Timing Input Conditions and Operation of Program Reset Signal Program Reset Input When issued with the Operation Preparation Start Input timing 101 102 103 Clear Robot Failure Input 104 Refer to the Programmers Manual I Continue Start Input Example of Operation When an Interrupt Skip Signal is Input 106 Example of Using System I/O Signals in Compatible Mode Start and stop procedure and system I/O signals On the next 108 109 SignalOperation Preparation Start Input Connector Pin Assignment Common to Both Modes NPN type Connector Pin Assignment NPN type110 CN1 Pin Assignment Terminal No Name 111 Output CN10 User-/System-output connector standard mode Connector Pin Assignment in Standard Mode112 113 Input CN8 User-/System-input connector standard mode Output CN10 User-/System-output connector compatible mode Connector Pin Assignment in Compatible Mode114 115 Input CN8 User-/System-input connector compatible mode User-Input, System-Input and Hand-Input Circuits NPN type Robot Controller I/O Circuits NPN type116 117 118 Robot Stop and Enable Auto Input Circuits Robot Stop and Enable Auto Input Circuits 120 121 122 Example of Circuit with Lamp NPN type 123 Emergency Stop Circuit When the internal power source is usedStandard type 124 125 Dual emergency stop typeEmergency Stop Circuit Dual emergency stop type 126 5 I/O Power Connector NPN type 127 128 Wiring Notes for Robot Controller I/O Connectors NPN TypeChecking Example Name Meaning Check Number Point 129 Connector Pin Assignment Common to Both Modes PNP type Connector Pin Assignment PNP type130 131 O Power CN7 Power connector for I/O common to both modes 132 Terminal Number Name Port Wire Color Port Wire number color 133 Input CN8 User-/System-input connector standard mode 134 #26, #2 and #27,…#25 and #50 135 User-Input, System-Input and Hand-Input Circuits PNP type Robot Controller I/O Circuits PNP type136 137 138 Robot Stop and Enable Auto Input Circuits 140 141 142 Example of Circuit with Lamp PNP type 143 144 145 146 5 I/O Power Connector PNP type 147 148 Wiring Notes for Robot Controller I/O Connectors PNP Type 149 150 Multi-core Cables with ConnectorsCables Optional items 151 Modifying the Shielding Wire Example Robot Controller Power Supply Specifications Wiring of Primary Power Source Index Servo on Output Second Edition June First Edition