First Edition, Second Edition June | Denso RC5 manual

RC5 CONTROLLER

INTERFACE MANUAL

First Edition	February 2002
Second Edition	June 2002

	DENSO WAVE INCORPORATED	6D20C
	Factory Automation Division	6D20C
	Factory Automation Division

The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.

In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual.

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Denso RC5 manual First Edition, Second Edition June

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 Sufficient service space is maintained for safe teaching Should not be installed in any environment whereStructure. Therefore, when using the robot controller in an Robot and peripheral equipment should be installed so that Safety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools Lighting Signaling methods to be used when more than one worker Or maintenance inspections, set working regulations forOperating procedures required to run the robot Robot speed when performing teaching 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 Names of Robot Controller Components VM-D/HM-E series Names of the Robot Controller ComponentsFront Left side Right side 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 Screen returns to the Auxiliary Functions I/O window I/O assignment mode is switchedChoose allocation window appears as shown below Following system message appears Click on the DIO Manager button in the System Manager ComputerSection GUIDE, , Section 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 2 I/O Type Global Variables Using User I/O Signals common to both modesUser Input Commands 1 I/O Type Variable Declaration 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 OFF conditions Auto Mode OutputAuto mode Output On condition Terminal number External Mode OutputNo.7 of connector CN10 External Mode Output 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 Relationship Between Enable Auto Input and Selectable Mode Usage of System Input Signals Standard ModeEnable Auto Input No of connector CN8 Timing of the input Robot Stop Input Terminal No.5 of connector CN8Step Stop Signal Step Stop All Tasks Input Minimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks Input Input Conditions and Operation of Interrupt Skip Terminal number No.9 of connector CN8Interrupt Skip Input See the Programmers Manual I, , 12.3 Interrupt ON/OFF 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 Refer to the figure given below Error ReadExample of Error Number Output Hexadecimal codes 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 Clear conditions Error No. OutputNo.17 to No.28 of connector CN10 Signal will be output when an error occurs 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 123 124 When the internal power source is usedEmergency Stop Circuit Standard type 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