External Speed and Acceleration Setting, Function | Denso RC5

3.5.3.3External Speed and Acceleration Setting (0010)

(1)Function

This command sets the external speed, acceleration and deceleration values selected in data area 1 to the values specified in data area 2.

This command is executable only in external mode. An error will occur in other modes.

(2)Format

Command area (4 bits, input) 0010

Data area 1 (8 bits, input) 00000001: Speed setting

00000010: Acceleration setting

00000100: Deceleration setting

An error (ERROR2032) will occur if data other than the above is set.

Data area 2 (16 bits, input)

Set values: Speed, acceleration and deceleration to be set

Enter any of the external speed, acceleration and deceleration values specified in data area 1.

The values must be between 1 and 100. If they are out of this range, an error (ERROR2003) will occur.

Status area (16 bits, output) Nothing will be output.

(3)Description

•Speed setting

The external speed is set to the value specified in data area 2. The value must be between 1 and 100. An error (ERROR2003) will occur if the value is out of this range.

The external acceleration and deceleration will be set simultaneously as shown below by setting the external speed:

External acceleration and external deceleration = External speed2/100 (minimum value: 1)

‚Acceleration setting

The external acceleration is set to the value specified in data area 2. The value must be between 1 and 100. An error (ERROR2003) will occur if the value is out of this range.

ƒDeceleration setting

The external deceleration is set to the value specified in data area 2. The value must be between 1 and 100. An error (ERROR2003) will occur if the value is out of this range.

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Denso RC5 manual External Speed and Acceleration Setting, Function

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 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 teaching Safety Precautions Page No robot modification allowed Cleaning of tools Lighting Refer to the Installation & Maintenance Guide Or 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 worker Safety 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 the Robot Controller Components FrontLeft side Right side Names of Robot Controller Components VM-D/HM-E series For 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 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 I/O assignment mode is switched Choose allocation window appears as shown belowFollowing system message appears Screen returns to the Auxiliary Functions I/O window Computer SectionGUIDE, , Section 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 Compatibility with conventional VS series robots Compatible ModeControlled by user program Type No. Function Points Using User I/O Signals common to both modes User Input Commands1 I/O Type Variable Declaration 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 Auto Mode Output Auto mode OutputOn condition OFF conditions External Mode Output No.7 of connector CN10External Mode Output 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 This 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 Usage of System Input Signals Standard Mode Enable Auto InputNo of connector CN8 Relationship Between Enable Auto Input and Selectable Mode Robot Stop Input Timing of the input No.5 of connector CN8 Step Stop SignalStep Stop All Tasks Input Terminal Instantaneous Stop All Tasks Input Minimum Instantaneous Stop Pulse Width Terminal number No.9 of connector CN8 Interrupt Skip InputSee the Programmers Manual I, , 12.3 Interrupt ON/OFF Input Conditions and Operation of Interrupt Skip Example of Operation When an Interrupt Skip is Input Wrong Table 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 numbers Strobe Signal Input Command Processing Complete Output No of connector CN10 Nos to 32 of connector CN10 Status Area Table 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 Error Read Example of Error Number OutputHexadecimal codes 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 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 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 Error No. Output No.17 to No.28 of connector CN10Signal 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 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 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 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 108 109 SignalOperation Preparation Start Input Connector Pin Assignment Common to Both Modes NPN type Connector Pin Assignment NPN type110 111 CN1 Pin Assignment Terminal No Name Output CN10 User-/System-output connector standard mode Connector Pin Assignment in Standard Mode112 Input CN8 User-/System-input connector standard mode 113 Output CN10 User-/System-output connector compatible mode Connector Pin Assignment in Compatible Mode114 Input CN8 User-/System-input connector compatible mode 115 User-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 Circuits 120 121 122 123 Example of Circuit with Lamp NPN type When the internal power source is used Emergency Stop CircuitStandard type 124 125 Dual emergency stop typeEmergency Stop Circuit Dual emergency stop type 5 I/O Power Connector NPN type 126 127 128 Wiring Notes for Robot Controller I/O Connectors NPN TypeChecking Example 129 Name Meaning Check Number Point Connector 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 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 User-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 type 144 145 5 I/O Power Connector PNP type 146 147 Wiring Notes for Robot Controller I/O Connectors PNP Type 148 149 150 Multi-core Cables with ConnectorsCables Optional items 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