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Denso RC5 manual Controller System Configuration

Models: RC5

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1.4Controller System Configuration

1.4.1 Internal Circuits of the Controller (Typical configuration)

The block diagram below shows the internal circuits of an RC5 controller designed for a 6-joint robot.

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Denso RC5 manual Controller System Configuration, Internal Circuits of the Controller Typical configuration

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 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 thatSafety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools LightingSignaling 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 teachingSafety 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 sideFor 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 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 appearsScreen returns to the Auxiliary Functions I/O window I/O assignment mode is switchedChoose allocation window appears as shown below Following system message appearsClick on the DIO Manager button in the System Manager ComputerSection GUIDE, , SectionOptions 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 SignalsCompatibility 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 DeclarationSET 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 ModeOFF conditions Auto Mode OutputAuto mode Output On conditionTerminal number External Mode OutputNo.7 of connector CN10 External Mode OutputServo 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 OutputThis 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 CN8Timing of the input Robot Stop InputTerminal No.5 of connector CN8Step Stop Signal Step Stop All Tasks InputMinimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks InputInput Conditions and Operation of Interrupt Skip Terminal number No.9 of connector CN8Interrupt Skip Input See the Programmers Manual I, , 12.3 Interrupt ON/OFFWrong Example of Operation When an Interrupt Skip is InputTable 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 LineStrobe Signal Input No of connector CN10 Command Processing Complete OutputStatus Area Nos to 32 of connector CN10Table 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 codesType 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 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 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 Clear conditions Error No. OutputNo.17 to No.28 of connector CN10 Signal will be output when an error occursContinue 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 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 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 108 109 SignalOperation Preparation Start Input Connector Pin Assignment Common to Both Modes NPN type Connector Pin Assignment NPN type110 CN1 Pin Assignment Terminal No Name 111Output CN10 User-/System-output connector standard mode Connector Pin Assignment in Standard Mode112 113 Input CN8 User-/System-input connector standard modeOutput CN10 User-/System-output connector compatible mode Connector Pin Assignment in Compatible Mode114 115 Input CN8 User-/System-input connector compatible modeUser-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 Circuits120 121 122 Example of Circuit with Lamp NPN type 123124 When the internal power source is usedEmergency Stop Circuit Standard type125 Dual emergency stop typeEmergency Stop Circuit Dual emergency stop type 126 5 I/O Power Connector NPN type127 128 Wiring Notes for Robot Controller I/O Connectors NPN TypeChecking Example Name Meaning Check Number Point 129Connector 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 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 135User-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 143144 145 146 5 I/O Power Connector PNP type147 148 Wiring Notes for Robot Controller I/O Connectors PNP Type149 150 Multi-core Cables with ConnectorsCables Optional items 151 Modifying the Shielding Wire ExampleRobot Controller Power Supply Specifications Wiring of Primary Power SourceIndex Servo on Output Second Edition June First Edition