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Denso RC5 manual Program Start Operation-2

Models: RC5

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‚When the status of the program start signal is switched from OFF to ON with the program step-stopped, the program will resume from the step following the suspended step and stop at the cycle end.

Robot status

Single-cycle operation

Performing

remaining

Operating halfway

At step-stop

operation

	Program start	ON (shorted)
	signal (input)	OFF (open)

	Step-stop	ON (shorted)
	signal (input)	OFF (open)

Program Start Operation-2

Caution: To cancel the execution of the remaining steps of a step- stopped program and start it from the beginning, input a program reset signal, a program No. select signal and a program start signal at the same time. For further information, refer to Subsection 6.4.5 "Program Reset (Input)".

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Denso RC5 manual Program Start Operation-2

Contents

Robot Page Robot models covered by this manual PrefaceInterface Manual this book How the documentation set is organizedHow 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 teachingSafety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools LightingOperating 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 workerSafety Precautions Page Management of floppy disks Page Contents Dedicated to Standard Mode 100 Index Position Code Denotes Coding Sample Controller Model Name on NameplateCoding of Controller Model Name Symbol denoting Type a How to identify your robot system as Type aDeadman switches are located as shown below Setting the parameter Internal Auto Limited ModeExternal Auto Limited Mode Front Names of the Robot Controller ComponentsLeft side Right side Names of Robot Controller Components VM-D/HM-E seriesFor robot series except VM-D/HM-E Connector Marking Name Robot Controller Specifications Robot Controller SpecificationsTable below lists the robot controller specifications Page Outer dimensions of the robot controller are shown below Outer DimensionsSeries Location Models Location of IPM boardsInternal Circuits of the Controller Typical configuration Controller System ConfigurationRobot System Configuration Typical Robot System ConfigurationsSystem Configuration Example Switching between Modes Standard Mode and Compatible ModeAuxiliary Functions I/O window appears as shown below I/O Monitor window appearsChoose allocation window appears as shown below I/O assignment mode is switchedFollowing system message appears Screen returns to the Auxiliary Functions I/O windowSection ComputerGUIDE, , Section Click on the DIO Manager button in the System ManagerOptions window will appear as shown below Hardware settings will appearConnect button appears in a pressed state Options window closesTransfer Environment Table window appears Update the dataI/O assignment mode is switched Standard Mode Types and General Information about I/O SignalsControlled by user program Type No. Function Points Compatible ModeCompatibility with conventional VS series robots User Input Commands Using User I/O Signals common to both modes1 I/O Type Variable Declaration 2 I/O Type Global VariablesSET Command User Output CommandsTypes and Functions of System Output Signals Standard Mode System I/O Signals Standard ModeRobot Initialization Complete Output Usage of System Output Signals Standard ModeAuto mode Output Auto Mode OutputOn condition OFF conditionsNo.7 of connector CN10 External Mode OutputExternal Mode Output Terminal numberServo on Output No.4 of connector CN10Servo on Output Robot-in-operation Output Signal will be turned OFF with Stop ALL ProgramsNormal CPU Output Normal CPU OutputRobot Failure Output Robot Failure OutputRobot Warning Output Robot Warning OutputDead Battery Warning Output Dead Battery Warning OutputContinue Start Permitted Output SS mode OutputThis signal comes on when the SS mode is selected Contact No of connector CN10 Emergency stop +Emergency Stop Output from a 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 ModeTiming of the input Robot Stop InputStep Stop Signal No.5 of connector CN8Step Stop All Tasks Input TerminalMinimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks InputInterrupt Skip Input Terminal number No.9 of connector CN8See the Programmers Manual I, , 12.3 Interrupt ON/OFF Input Conditions and Operation of Interrupt SkipWrong Example of Operation When an Interrupt Skip is InputCommand Functions General Information about CommandsTable below shows the I/O commands functions Outline of I/O Command Processing Commands to be executed are processed as shown belowPage Terminal numbers Using Each Signal LineStrobe Signal Input No of connector CN10 Command Processing Complete OutputStatus Area Nos to 32 of connector CN10List of I/O Commands 3 I/O Commands Details List of I/O CommandsTable below lists I/O commands Description Program Operation CommandFormat Page Page External Speed and Acceleration Setting Example of Error Number Output Error ReadHexadecimal codes Refer to the figure given belowType I Variable Write Type I Variable Read Mode Switching Page Clear Robot Failure This command clears a robot failure that has been caused3.9 I/O Write 3.10 I/O Read Example of Equipment Setup Using a Robot Example of Using System I/O Signals in Standard ModeEquipment setup example Start and stop procedure, and system I/O signals Outline of procedureOn following Start and Stop Procedure and System I/O Signals-1END From precedingSystem I/O Signals Compatible Mode Robot Power on Complete Usage of System Output Signals in the Compatible ModeTeach 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 OutputProgram Start Reset Output on Condition Program Start Reset OutputProgram will be turned OFF with Stop ALL Programs Single-Cycle End Output Single-Cycle End OutputNormal 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 conditionsContinue 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 ModeOperation Preparation Start Input Motor power on inputExample of Operation Preparation Start Signal Timing Chart Program No. Select Input No.11 to No.18 of connector CN8Program No. Select Signal Example of Program No. Select Signal Sequence Circuit Example of Program No. Select SignalsProgram Start Operation-1 Program Start InputProgram Start Operation-2 Program Start Operation-3 Example of Program Start Signal Rise Timing Example of program start signal rise on and fall OFF timingExample of Program Start Signal Fall Timing-2 Example of Program Start Signal Fall Timing-1Program Start Signal Rise Output Signal Timing Input Conditions and Operation of Program Reset Signal Program Reset InputWhen issued with the Operation Preparation Start Input timing 101 102 103 Clear Robot Failure Input104 Refer to the Programmers Manual IContinue Start Input Example of Operation When an Interrupt Skip Signal is Input106 Example of Using System I/O Signals in Compatible ModeStart and stop procedure and system I/O signals On the next 108 Operation Preparation Start Input Signal109 110 Connector Pin Assignment NPN typeConnector Pin Assignment Common to Both Modes NPN type CN1 Pin Assignment Terminal No Name 111112 Connector Pin Assignment in Standard ModeOutput CN10 User-/System-output connector standard mode 113 Input CN8 User-/System-input connector standard mode114 Connector Pin Assignment in Compatible ModeOutput CN10 User-/System-output connector compatible mode 115 Input CN8 User-/System-input connector compatible mode116 Robot Controller I/O Circuits NPN typeUser-Input, System-Input and Hand-Input Circuits NPN type 117 118 Robot Stop and Enable Auto Input Circuits Robot Stop and Enable Auto Input Circuits120 121 122 Example of Circuit with Lamp NPN type 123Emergency Stop Circuit When the internal power source is usedStandard type 124Emergency Stop Circuit Dual emergency stop type Dual emergency stop type125 126 5 I/O Power Connector NPN type127 Checking Example Wiring Notes for Robot Controller I/O Connectors NPN Type128 Name Meaning Check Number Point 129130 Connector Pin Assignment PNP typeConnector Pin Assignment Common to Both Modes PNP type 131 O Power CN7 Power connector for I/O common to both modes132 Terminal Number Name Port Wire Color Port Wire number color133 Input CN8 User-/System-input connector standard mode134 #26, #2 and #27,…#25 and #50 135136 Robot Controller I/O Circuits PNP typeUser-Input, System-Input and Hand-Input Circuits PNP type 137 138 Robot Stop and Enable Auto Input Circuits 140 141 142 Example of Circuit with Lamp PNP type 143144 145 146 5 I/O Power Connector PNP type147 148 Wiring Notes for Robot Controller I/O Connectors PNP Type149 Cables Optional items Multi-core Cables with Connectors150 151 Modifying the Shielding Wire ExampleRobot Controller Power Supply Specifications Wiring of Primary Power SourceIndex Servo on Output Second Edition June First Edition