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Denso RC5 manual System I/O Signals Standard Mode

Models: RC5

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Chapter 3

System I/O Signals Standard Mode

3.1Types and Functions of System Output Signals (Standard

Mode)

The table below lists the system output signals used in standard mode.

Types and Functions of System Output Signals to be Used in Standard Mode

	Application	Signal name	Function

		Robot initialization	Outputs when preparations for operation are ready to
		complete	start.

	Start-up	Auto mode	Outputs when the robot is in Auto mode.
	Start-up
		External mode	Outputs when the robot is in external mode.

		Servo ON	Outputs when the power to the motor is turned ON.

	Program execution	Robot-in-operation	Outputs when the robot is in operation (the program is
	Program execution	Robot-in-operation	being executed).
			being executed).

		Normal CPU	Outputs when the CPU (hardware) of the Robot
		Normal CPU	Controller is normal.
			Controller is normal.

		Robot failure	Outputs when a serious error, such as a servo error
		Robot failure	and a program error, occurs.
	Error/Warning		and a program error, occurs.

		Robot warning	Outputs when a slight error occurs.
		Robot warning	Outputs when a slight error occurs.

		Dead battery warning	Outputs when the voltage of the encoder back-up
		Dead battery warning	battery or memory back-up battery dangerously low.
			battery or memory back-up battery dangerously low.

	Continue start	Continue start	Outputs when Continue Start is enabled.
	Continue start	permitted	Outputs when Continue Start is enabled.
		permitted

	Safe start function	SS mode	Outputs when the robot is in SS mode. Refer to the
	Safe start function	SS mode	SETTING-UP MANUAL, Chapter 3, Subsection 3.4.6
			"SS (Safe Start) Function."

	Emergency stop	Emergency stop	Outputs from a contact exclusively designed for an
	Emergency stop	Emergency stop	emergency stop circuitry.
			emergency stop circuitry.

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Denso RC5 manual System I/O Signals Standard Mode, Types and Functions of System Output Signals Standard Mode

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 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 teachingSafety Precautions Page No robot modification allowed Cleaning of tools Lighting Refer to the Installation & Maintenance GuideRobot 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 workerSafety 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 Left side Right side Names of the Robot Controller ComponentsFront Names of Robot Controller Components VM-D/HM-E seriesFor 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 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 belowFollowing system message appears I/O assignment mode is switchedChoose allocation window appears as shown below Screen returns to the Auxiliary Functions I/O windowGUIDE, , Section ComputerSection 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 ModeCompatibility with conventional VS series robots Compatible ModeControlled by user program Type No. Function Points 1 I/O Type Variable Declaration Using User I/O Signals common to both modesUser Input Commands 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 OutputOn condition Auto Mode OutputAuto mode Output OFF conditionsExternal Mode Output External Mode OutputNo.7 of connector CN10 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 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 No of connector CN8 Usage of System Input Signals Standard ModeEnable Auto Input Relationship Between Enable Auto Input and Selectable ModeRobot Stop Input Timing of the inputStep Stop All Tasks Input No.5 of connector CN8Step Stop Signal TerminalInstantaneous Stop All Tasks Input Minimum Instantaneous Stop Pulse WidthSee the Programmers Manual I, , 12.3 Interrupt ON/OFF Terminal number No.9 of connector CN8Interrupt Skip Input Input Conditions and Operation of Interrupt SkipExample of Operation When an Interrupt Skip is Input WrongTable below shows the I/O commands functions General Information about CommandsCommand 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 AreaTable 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 Hexadecimal codes Error ReadExample of Error Number Output 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 Equipment setup example Example of Using System I/O Signals in Standard ModeExample of Equipment Setup Using a Robot 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 Signal will be output when an error occurs Error No. OutputNo.17 to No.28 of connector CN10 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 Signal No.11 to No.18 of connector CN8Program No. Select Input 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 108 109 SignalOperation Preparation Start Input Connector Pin Assignment Common to Both Modes NPN type Connector Pin Assignment NPN type110 111 CN1 Pin Assignment Terminal No NameOutput CN10 User-/System-output connector standard mode Connector Pin Assignment in Standard Mode112 Input CN8 User-/System-input connector standard mode 113Output CN10 User-/System-output connector compatible mode Connector Pin Assignment in Compatible Mode114 Input CN8 User-/System-input connector compatible mode 115User-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 121 122 123 Example of Circuit with Lamp NPN typeStandard type When the internal power source is usedEmergency Stop Circuit 124125 Dual emergency stop typeEmergency Stop Circuit Dual emergency stop type 5 I/O Power Connector NPN type 126127 128 Wiring Notes for Robot Controller I/O Connectors NPN TypeChecking Example 129 Name Meaning Check Number PointConnector Pin Assignment Common to Both Modes PNP type Connector Pin Assignment PNP type130 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 #50User-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 140 141 142 143 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 150 Multi-core Cables with ConnectorsCables Optional items Modifying the Shielding Wire Example 151Wiring of Primary Power Source Robot Controller Power Supply SpecificationsIndex Servo on Output First Edition Second Edition June