Denso RC5 specification

Copyright © DENSO WAVE INCORPORATED, 2002

All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher.

Specifications are subject to change without prior notice.

All products and company names mentioned are trademarks or registered trademarks of their respective holders.

Image 2

Denso RC5 manual

Contents

Robot Page Preface Robot models covered by this manual How the documentation set is organized Interface Manual this book Describes I/O cables and wiring Iii How this book is organizedPage Safety Precautions Robot and peripheral equipment should be installed so that Should not be installed in any environment whereStructure. Therefore, when using the robot controller in an Sufficient service space is maintained for safe teaching Safety Precautions Page No robot modification allowed Cleaning of tools Lighting Refer to the Installation & Maintenance Guide Robot speed when performing teaching Or maintenance inspections, set working regulations forOperating procedures required to run the robot 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 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 Left side Right side Names of the Robot Controller ComponentsFront Names of Robot Controller Components VM-D/HM-E series For 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 Outer dimensions of the robot controller are shown below Location of IPM boards Series Location Models Controller System Configuration Internal Circuits of the Controller Typical configuration Typical Robot System Configurations Robot System Configuration System Configuration Example Standard Mode and Compatible Mode Switching between Modes I/O Monitor window appears Auxiliary Functions I/O window appears as shown below Following system message appears I/O assignment mode is switchedChoose allocation window appears as shown below Screen returns to the Auxiliary Functions I/O window GUIDE, , Section ComputerSection Click on the DIO Manager button in the System Manager Hardware settings will appear Options window will appear as shown below Options window closes Connect button appears in a pressed state Update the data Transfer Environment Table window appears I/O assignment mode is switched Types and General Information about I/O Signals Standard Mode Controlled by user program Type No. Function Points Compatible ModeCompatibility with conventional VS series robots 1 I/O Type Variable Declaration Using User I/O Signals common to both modesUser Input Commands 2 I/O Type Global Variables User Output Commands SET Command System I/O Signals Standard Mode Types and Functions of System Output Signals Standard Mode Usage of System Output Signals Standard Mode Robot Initialization Complete Output On condition Auto Mode OutputAuto mode Output OFF conditions External Mode Output External Mode OutputNo.7 of connector CN10 Terminal number Servo on Output No.4 of connector CN10Servo on Output Signal will be turned OFF with Stop ALL Programs Robot-in-operation Output 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 Continue 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 No of connector CN8 Usage of System Input Signals Standard ModeEnable Auto Input Relationship Between Enable Auto Input and Selectable Mode Robot Stop Input Timing of the input Step Stop All Tasks Input No.5 of connector CN8Step Stop Signal Terminal Instantaneous Stop All Tasks Input Minimum Instantaneous Stop Pulse Width See the Programmers Manual I, , 12.3 Interrupt ON/OFF Terminal number No.9 of connector CN8Interrupt Skip Input Input Conditions and Operation of Interrupt Skip Example of Operation When an Interrupt Skip is Input Wrong Command Functions General Information about CommandsTable below shows the I/O commands functions Commands to be executed are processed as shown below Outline of I/O Command ProcessingPage Using Each Signal Line Terminal numbers Strobe Signal Input Command Processing Complete Output No of connector CN10 Nos to 32 of connector CN10 Status Area List 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 Hexadecimal codes Error ReadExample of Error Number Output Refer to the figure given below Type I Variable Write Type I Variable Read Mode Switching Page This command clears a robot failure that has been caused Clear Robot Failure 3.9 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 Outline of procedure Start and stop procedure, and system I/O signals Start and Stop Procedure and System I/O Signals-1 On following From preceding END System I/O Signals Compatible Mode Usage of System Output Signals in the Compatible Mode Robot Power on Complete 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 Program Start Reset Output on Condition 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 Signal will be output when an error occurs Error No. OutputNo.17 to No.28 of connector CN10 Clear conditions Continue Start Permitted Output Emergency Stop Output from a contact Types and Functions of System Input Signals Compatible Mode Usage of System Input Signals in Compatible Mode OFF Motor power on input Operation Preparation Start Input Example 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 Signals Example of Program No. Select Signal Sequence Circuit Program Start Input Program Start Operation-1 Program Start Operation-2 Program Start Operation-3 Example of program start signal rise on and fall OFF timing Example of Program Start Signal Rise Timing Example of Program Start Signal Fall Timing-1 Example of Program Start Signal Fall Timing-2 Program Start Signal Rise Output Signal Timing Program Reset Input Input Conditions and Operation of Program Reset Signal When issued with the Operation Preparation Start Input timing 101 102 Clear Robot Failure Input 103 Refer to the Programmers Manual I 104 Example of Operation When an Interrupt Skip Signal is Input Continue Start Input Example of Using System I/O Signals in Compatible Mode 106 Start 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 111 CN1 Pin Assignment Terminal No Name 112 Connector Pin Assignment in Standard ModeOutput CN10 User-/System-output connector standard mode Input CN8 User-/System-input connector standard mode 113 114 Connector Pin Assignment in Compatible ModeOutput CN10 User-/System-output connector compatible mode Input CN8 User-/System-input connector compatible mode 115 116 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 Circuits 120 121 122 123 Example of Circuit with Lamp NPN type Standard type When the internal power source is usedEmergency Stop Circuit 124 Emergency Stop Circuit Dual emergency stop type Dual emergency stop type125 5 I/O Power Connector NPN type 126 127 Checking Example Wiring Notes for Robot Controller I/O Connectors NPN Type128 129 Name Meaning Check Number Point 130 Connector Pin Assignment PNP typeConnector Pin Assignment Common to Both Modes PNP type O Power CN7 Power connector for I/O common to both modes 131 Terminal Number Name Port Wire Color Port Wire number color 132 Input CN8 User-/System-input connector standard mode 133 134 135 #26, #2 and #27,…#25 and #50 136 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 140 141 142 143 Example of Circuit with Lamp PNP type 144 145 5 I/O Power Connector PNP type 146 147 Wiring Notes for Robot Controller I/O Connectors PNP Type 148 149 Cables Optional items Multi-core Cables with Connectors150 Modifying the Shielding Wire Example 151 Wiring of Primary Power Source Robot Controller Power Supply Specifications Index Servo on Output First Edition Second Edition June