On following | Denso RC5 specification

Step

Q Operation preparation start

R Operation start area check

Worker’s operation and display on					PLC processing					Robot operation
	equipment’s operation panel				PLC processing					Robot operation
	equipment’s operation panel

	Equipment power ON


	Setting
	operation/adjustment				Enable Auto ON					(Internal processing)
	selector switch to
	selector switch to
	operation




	Operation OK indicator
	lamp ON

Setting Mode selector switch of the operating panel or the teach pendant to AUTO

			(Note •)

Robot preparation				Data area 1 input ON
button ON				Data area 1 input ON
button ON

				Executing mode				Motor power ON
				switching command				Motor power ON
				switching command


								Executing CAL


								Setting SP 100

Switching mode to

external mode

Robot external mode				(Internal processing)					External mode ON
indicator lamp ON

Moving robot arm close to operation origin, when external mode indicator lamp is ON and operation position 1 indicator lamp is OFF.

Robot operation origin				(Internal processing)						Operation position 1
indicator lamp ON

										ON
										ON


Robot preparation OK				When both are ON
Robot preparation OK				When both are ON
display				(Internal processing)

Start and Stop Procedure and System I/O Signals-1

(Continued on following page)

67

Image 87

Denso RC5 manual On following, Start and Stop Procedure and System I/O Signals-1

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 Sufficient service space is maintained for safe teaching Should not be installed in any environment whereStructure. Therefore, when using the robot controller in an Robot and peripheral equipment should be installed so that Safety Precautions Page Refer to the Installation & Maintenance Guide No robot modification allowed Cleaning of tools Lighting Signaling methods to be used when more than one worker Or maintenance inspections, set working regulations forOperating procedures required to run the robot Robot speed when performing teaching Safety Precautions Page Management of floppy disks Page Contents Dedicated to Standard Mode 100 Index Controller Model Name on Nameplate Coding of Controller Model NamePosition Code Denotes Coding Sample How to identify your robot system as Type a Deadman switches are located as shown belowSymbol denoting Type a Internal Auto Limited Mode External Auto Limited ModeSetting the parameter Names of Robot Controller Components VM-D/HM-E series Names of the Robot Controller ComponentsFront Left side Right side For robot series except VM-D/HM-E Connector Marking Name Robot Controller Specifications Table below lists the robot controller specificationsRobot 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 Screen returns to the Auxiliary Functions I/O window I/O assignment mode is switchedChoose allocation window appears as shown below Following system message appears Click on the DIO Manager button in the System Manager ComputerSection GUIDE, , Section 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 Compatible Mode Compatibility with conventional VS series robotsControlled by user program Type No. Function Points 2 I/O Type Global Variables Using User I/O Signals common to both modesUser Input Commands 1 I/O Type Variable Declaration 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 OFF conditions Auto Mode OutputAuto mode Output On condition Terminal number External Mode OutputNo.7 of connector CN10 External Mode Output No.4 of connector CN10 Servo on OutputServo 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 SS mode Output This signal comes on when the SS mode is selectedContinue Start Permitted Output No of connector CN10 Emergency stop + Emergency Stop Output from a contactContact Types and Functions of System Input Signals Standard Mode Relationship Between Enable Auto Input and Selectable Mode Usage of System Input Signals Standard ModeEnable Auto Input No of connector CN8 Timing of the input Robot Stop Input Terminal No.5 of connector CN8Step Stop Signal Step Stop All Tasks Input Minimum Instantaneous Stop Pulse Width Instantaneous Stop All Tasks Input Input Conditions and Operation of Interrupt Skip Terminal number No.9 of connector CN8Interrupt Skip Input See the Programmers Manual I, , 12.3 Interrupt ON/OFF Wrong Example of Operation When an Interrupt Skip is Input General Information about Commands Table below shows the I/O commands functionsCommand 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 3 I/O Commands Details List of I/O Commands Table below lists I/O commandsList of I/O Commands Program Operation Command FormatDescription Page Page External Speed and Acceleration Setting Refer to the figure given below Error ReadExample of Error Number Output Hexadecimal codes 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 Using System I/O Signals in Standard Mode Equipment setup exampleExample of Equipment Setup Using a Robot 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 Signal outputs to the external device that CAL is completed CAL Complete OutputCAL 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 Clear conditions Error No. OutputNo.17 to No.28 of connector CN10 Signal will be output when an error occurs 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 No.11 to No.18 of connector CN8 Program No. Select SignalProgram No. Select Input 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 Signal 109Operation Preparation Start Input Connector Pin Assignment NPN type Connector Pin Assignment Common to Both Modes NPN type110 CN1 Pin Assignment Terminal No Name 111 Connector Pin Assignment in Standard Mode Output CN10 User-/System-output connector standard mode112 113 Input CN8 User-/System-input connector standard mode Connector Pin Assignment in Compatible Mode Output CN10 User-/System-output connector compatible mode114 115 Input CN8 User-/System-input connector compatible mode Robot Controller I/O Circuits NPN type User-Input, System-Input and Hand-Input Circuits NPN type116 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 123 124 When the internal power source is usedEmergency Stop Circuit Standard type Dual emergency stop type 125Emergency Stop Circuit Dual emergency stop type 126 5 I/O Power Connector NPN type 127 Wiring Notes for Robot Controller I/O Connectors NPN Type 128Checking Example Name Meaning Check Number Point 129 Connector Pin Assignment PNP type Connector Pin Assignment Common to Both Modes PNP type130 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 Robot Controller I/O Circuits PNP type User-Input, System-Input and Hand-Input Circuits PNP type136 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 Multi-core Cables with Connectors 150Cables Optional items 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