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Denso RC5 manual Typical Robot System Configurations

Models: RC5

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1.4.2 Typical Robot System Configurations

The block diagrams below show typical robot system configurations.

To connect encoders via a time-division multiplexed bus: Connect the robot controller (CN12) to the robot unit with a motor/encoder cable (see below).

To connect encoders via parallel interface: Connect the robot controller (CN12 and CN13) to the robot unit with a motor cable and encoder cable, respectively.

nRobot system configuration with encoders connected via a multiplexed bus (VM-D, VS-E, HS-E, and HM-E)

Robot System Configuration

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Denso RC5 manual Typical Robot System Configurations

Contents

Robot Page Preface Robot models covered by this manualHow the documentation set is organized Interface Manual this bookDescribes I/O cables and wiring Iii How this book is organizedPage Safety Precautions Should not be installed in any environment where Structure. Therefore, when using the robot controller in anRobot and peripheral equipment should be installed so that Sufficient service space is maintained for safe teachingSafety Precautions Page No robot modification allowed Cleaning of tools Lighting Refer to the Installation & Maintenance GuideOr maintenance inspections, set working regulations for Operating procedures required to run the robotRobot 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 Names of the Robot Controller Components FrontLeft 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 Outer dimensions of the robot controller are shown belowLocation of IPM boards Series Location ModelsController System Configuration Internal Circuits of the Controller Typical configurationTypical Robot System Configurations Robot System ConfigurationSystem Configuration Example Standard Mode and Compatible Mode Switching between ModesI/O Monitor window appears Auxiliary Functions I/O window appears as shown belowI/O assignment mode is switched Choose allocation window appears as shown belowFollowing system message appears Screen returns to the Auxiliary Functions I/O windowComputer SectionGUIDE, , Section Click on the DIO Manager button in the System ManagerHardware settings will appear Options window will appear as shown belowOptions window closes Connect button appears in a pressed stateUpdate the data Transfer Environment Table window appearsI/O assignment mode is switched Types and General Information about I/O Signals Standard ModeControlled by user program Type No. Function Points Compatible ModeCompatibility with conventional VS series robots Using User I/O Signals common to both modes User Input Commands1 I/O Type Variable Declaration 2 I/O Type Global VariablesUser Output Commands SET CommandSystem I/O Signals Standard Mode Types and Functions of System Output Signals Standard ModeUsage of System Output Signals Standard Mode Robot Initialization Complete OutputAuto Mode Output Auto mode OutputOn condition OFF conditionsExternal Mode Output No.7 of connector CN10External Mode Output Terminal numberServo on Output No.4 of connector CN10Servo on Output Signal will be turned OFF with Stop ALL Programs Robot-in-operation OutputNormal 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 Usage of System Input Signals Standard Mode Enable Auto InputNo of connector CN8 Relationship Between Enable Auto Input and Selectable ModeRobot Stop Input Timing of the inputNo.5 of connector CN8 Step Stop SignalStep Stop All Tasks Input TerminalInstantaneous Stop All Tasks Input Minimum Instantaneous Stop Pulse WidthTerminal number No.9 of connector CN8 Interrupt Skip InputSee the Programmers Manual I, , 12.3 Interrupt ON/OFF Input Conditions and Operation of Interrupt SkipExample of Operation When an Interrupt Skip is Input WrongCommand 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 numbersStrobe Signal Input Command Processing Complete Output No of connector CN10Nos to 32 of connector CN10 Status AreaList 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 Error Read Example of Error Number OutputHexadecimal codes Refer to the figure given belowType I Variable Write Type I Variable Read Mode Switching Page This command clears a robot failure that has been caused Clear Robot Failure3.9 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 signalsStart and Stop Procedure and System I/O Signals-1 On followingFrom preceding ENDSystem I/O Signals Compatible Mode Usage of System Output Signals in the Compatible Mode Robot Power on CompleteTeach 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 Program Start Reset Output on ConditionProgram 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 Error No. Output No.17 to No.28 of connector CN10Signal 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 Usage of System Input Signals in Compatible Mode OFFMotor power on input Operation Preparation Start 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 Signals Example of Program No. Select Signal Sequence CircuitProgram Start Input Program Start Operation-1Program Start Operation-2 Program Start Operation-3 Example of program start signal rise on and fall OFF timing Example of Program Start Signal Rise TimingExample of Program Start Signal Fall Timing-1 Example of Program Start Signal Fall Timing-2Program Start Signal Rise Output Signal Timing Program Reset Input Input Conditions and Operation of Program Reset SignalWhen issued with the Operation Preparation Start Input timing 101 102 Clear Robot Failure Input 103Refer to the Programmers Manual I 104Example of Operation When an Interrupt Skip Signal is Input Continue Start InputExample of Using System I/O Signals in Compatible Mode 106Start 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 Name112 Connector Pin Assignment in Standard ModeOutput CN10 User-/System-output connector standard mode Input CN8 User-/System-input connector standard mode 113114 Connector Pin Assignment in Compatible ModeOutput CN10 User-/System-output connector compatible mode Input CN8 User-/System-input connector compatible mode 115116 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 121 122 123 Example of Circuit with Lamp NPN typeWhen the internal power source is used Emergency Stop CircuitStandard type 124Emergency Stop Circuit Dual emergency stop type Dual emergency stop type125 5 I/O Power Connector NPN type 126127 Checking Example Wiring Notes for Robot Controller I/O Connectors NPN Type128 129 Name Meaning Check Number Point130 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 131Terminal Number Name Port Wire Color Port Wire number color 132Input CN8 User-/System-input connector standard mode 133134 135 #26, #2 and #27,…#25 and #50136 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 type144 145 5 I/O Power Connector PNP type 146147 Wiring Notes for Robot Controller I/O Connectors PNP Type 148149 Cables Optional items Multi-core Cables with Connectors150 Modifying the Shielding Wire Example 151Wiring of Primary Power Source Robot Controller Power Supply SpecificationsIndex Servo on Output First Edition Second Edition June