General Information about Commands, Command Functions | Denso RC5

3.5Command Execution I/O Signals Dedicated to Standard Mode

In standard mode the I/O commands can be executed using command execution I/O signals. I/O commands execute the following.

⋅Operate (start and stop) a program for each task.

⋅Refer to or change variables from the external device.

⋅Refer to or change inputs and outputs from the external device.

3.5.1General Information about Commands

The table below shows the I/O commands functions.

	I/O Command Functions

Command	Description of function

	⋅ Starts the program cycle (specified program).
	⋅ Step-stops the program (specified program/all programs).
Program operation	⋅ Immediately stops the program (specified program/all
	programs).
	⋅ Resets the program (specified program/all programs).

	⋅ Sets the external speed.
Speed setting	⋅ Sets the external acceleration.
	⋅ Sets the external deceleration.

Error number read	⋅ Outputs the error number to the system I/O area.

Type I variable write	⋅ Reads a value from the system I/O area and substitutes it for a
	Type I variable.
Type I variable read	⋅ Outputs a Type I variable to the system I/O area.

Mode switching	⋅ Switches the robot operation mode.

Clear robot failure	⋅ Clears a robot failure from the external device.

Internal I/O write	⋅ Sets the state of internal inputs and outputs.

Internal I/O read	⋅ Outputs the state of internal inputs and outputs to the system I/O
	area.

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Denso RC5 manual General Information about Commands, Table below shows the I/O commands functions, Command Functions

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 Structure. Therefore, when using the robot controller in an Should not be installed in any environment whereRobot and peripheral equipment should be installed so that Sufficient service space is maintained for safe teaching Safety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools Lighting Operating procedures required to run the robot Or maintenance inspections, set working regulations forRobot speed when performing teaching 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 Front Names of the Robot Controller ComponentsLeft side Right side 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 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 Choose allocation window appears as shown below I/O assignment mode is switchedFollowing system message appears Screen returns to the Auxiliary Functions I/O window Section ComputerGUIDE, , Section Click on the DIO Manager button in the System Manager 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 Controlled by user program Type No. Function Points Compatible ModeCompatibility with conventional VS series robots User Input Commands Using User I/O Signals common to both modes1 I/O Type Variable Declaration 2 I/O Type Global Variables 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 Auto mode Output Auto Mode OutputOn condition OFF conditions No.7 of connector CN10 External Mode OutputExternal Mode Output Terminal number 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 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 Enable Auto Input Usage of System Input Signals Standard ModeNo of connector CN8 Relationship Between Enable Auto Input and Selectable Mode Timing of the input Robot Stop Input Step Stop Signal No.5 of connector CN8Step Stop All Tasks Input Terminal Minimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks Input Interrupt Skip Input Terminal number No.9 of connector CN8See the Programmers Manual I, , 12.3 Interrupt ON/OFF Input Conditions and Operation of Interrupt Skip Wrong Example of Operation When an Interrupt Skip is Input Command Functions General Information about CommandsTable below shows the I/O commands 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 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 Example of Error Number Output Error ReadHexadecimal codes Refer to the figure given below 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 Example of Equipment Setup Using a Robot Example of Using System I/O Signals in Standard ModeEquipment setup example 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 No.17 to No.28 of connector CN10 Error No. OutputSignal will be output when an error occurs Clear conditions 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 Input No.11 to No.18 of connector CN8Program No. Select Signal 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 Operation Preparation Start Input Signal109 110 Connector Pin Assignment NPN typeConnector Pin Assignment Common to Both Modes NPN type CN1 Pin Assignment Terminal No Name 111 112 Connector Pin Assignment in Standard ModeOutput CN10 User-/System-output connector standard mode 113 Input CN8 User-/System-input connector standard mode 114 Connector Pin Assignment in Compatible ModeOutput CN10 User-/System-output connector compatible mode 115 Input CN8 User-/System-input connector compatible mode 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 Example of Circuit with Lamp NPN type 123 Emergency Stop Circuit When the internal power source is usedStandard type 124 Emergency Stop Circuit Dual emergency stop type Dual emergency stop type125 126 5 I/O Power Connector NPN type 127 Checking Example Wiring Notes for Robot Controller I/O Connectors NPN Type128 Name Meaning Check Number Point 129 130 Connector Pin Assignment PNP typeConnector Pin Assignment Common to Both Modes PNP type 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 #50 135 136 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 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 Cables Optional items Multi-core Cables with Connectors150 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