Denso RC5 manual Outline of procedure, Start and stop procedure, and system I/O signals

Function Example of Equipment Operating Panel

Classificati	Part	Application
on
Display	Display	Displays messages, such as ROBOT PREPARATION
		OK.
	Q Automatic operation	⋅ Lights during automatic operation.
		⋅ Turned OFF when the robot is not in automatic
	indicator lamp
		operation.
Lamp	R Robot external mode	⋅ Lights when the robot is in external mode.
	indicator lamp	⋅ Turned OFF when the robot is not in external mode.
	S Operation OK indicator	⋅ Lights when the Enable Auto signal is ON.
	lamp	⋅ Turned OFF when the Enable Auto signal is OFF.
	Q Robot preparation button	Starts the preparation of the robot.
	R Automatic start button	Starts the operation of the equipment.
Switch
	S Cycle stop button	Stops the equipment after a cycle of operations is
		completed.
	T Operation/Adjustment	Automatic operation of the robot possible when
		OPERATION is selected.
	selector switch	Manual operation or teach check of the robot possible
		when ADJUSTMENT is selected.

Caution: Actual equipment requires emergency stop, interlock and other functions; however, described here are the necessary functions.

(2)Outline of procedure

Described below is the outline of the procedure when using the equipment taken as an example shown on the previous page.

Follow steps • to ƒ.

•Operation preparation start

After setting the MOTOR ON, CAL EXECUTION, EXTERNAL SPEED 100 and EXTERNAL MODE SWITCHING bits, execute the mode switching command to bring the robot into external automatic operation mode. This operation will be completed when the EXTERNAL MODE output signal is turned ON.

‚Automatic operation

Start the program by which the robot starts from the operation origin, performs operations, and returns to the operation origin.

ƒOperation end

Terminate the day’s operations with a cycle stop, and turn OFF the power.

(3) Start and stop procedure, and system I/O signals

The following pages show the relationship between the system I/O signals for start and stop, worker’s operation, display on the equipment operation panel, PLC proceeding, and robot motion.

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