Denso RC5 Specifikace

ROBOT RC5 CONTROLLER INTERFACE MANUAL

3.3 Control devices outside the robot's restricted space The robot controller, teach pendant and mini-pendant should be installed outside t

80 4.2.11 Robot Failure (Output) (1) Function The signal outputs to the external device that a problem, such as a servo error and a program error, oc

81 4.2.12 Robot Warning (Output) (1) Function The signal outputs to the external device that a minor error has occurred with an I/O command or durin

82 4.2.13 Dead Battery Warning (Output) (1) Function The signal will be output when the voltage of the encoder back-up battery or memory back-up batt

83 4.2.14 Error No. (Output) (1) Function When an error occurs, the signal outputs the error number in a 3-digit (12-bit) hexadecimal code. (2) Termi

84 4.2.15 Continue Start Permitted (Output) (1) Function The controller will output this signal when the continue start is permitted. (2) Terminal nu

85 4.2.17 Emergency Stop (Output from a contact) (1) Function This signal outputs from a contact exclusively designed for an emergency stop circuitry

86 4.3 Types and Functions of System Input Signals (Compatible Mode) The table below lists the system input signals to be used in compatible mode.

87 4.4 Usage of System Input Signals in Compatible Mode The usage of each system input signal in compatible mode is described below: 4.4.1 Enable A

88 4.4.2 Operation Preparation Start (Input) (1) Function ⋅ By turning ON (short) this signal, input signals  to  described in (3), input conditio

89 For the input timing of the operation preparation start signal and  to , see the figure given below. Caution: The operation preparation start

SAFETY PRECAUTIONS 3.9 Setting-up a safety fence A safety fence should be set up so that no one can easily enter the robot's restricted s

90 4.4.3 Program No. Select (Input) (1) Function The program number to be executed can be specified from the external device by inputting this signa

91 Example of Program No. Select Signals Program No. (decimal) Input signal 1 15 26 65 20 = 1 1 1 0 1 21 = 2 0 1 1 0 22 = 4 0 1 0 0 23 = 8 0 1 1 0 24

92 4.4.4 Program Start (Input) (1) Function This signal starts the program specified with the program No. select signal from the external device. (2

93  When the status of the program start signal is switched from OFF to ON with the program step-stopped, the program will resume from the step fol

94  When the status of the program start signal is switched from OFF to ON with the program immediately stopped, the program will resume from the s

95 (4) Example of program start signal (rise) ON and (fall) OFF timing  Example of program start signal rise (ON) timing The figure below shows how

96  Example of program start signal fall (OFF) timing a) The following figure shows how to make the program start signal fall with a robot system ou

97 T1, T2, T3: within 100 ms.Program start ON (shorted)signal (input) OFF (open)Robot in operation(output)Program start reset(output) Sin

98 4.4.5 Program Reset (Input) (1) Function By turning ON (short) this signal, any program can be forcibly executed from the beginning in a step-sto

99 When issued with the Operation Preparation Start  The figure below shows the input conditions and an operation timing chart.  Input Program R

3.11 No robot modification allowed Never modify the robot unit, robot controller, teach pendant or other devices. 3.12 Cleaning of tools I

100 4.4.6 Robot Stop (Input) (2) Function  The signal stops the robot with the external device by opening the robot stop input  The signal readie

101 4.4.7 Step Stop (All Tasks) (Input) (1) Function Input this signal to step-stop the program being executed from the external device. All tasks w

102 4.4.8 Instantaneous Stop (All Tasks) (Input) (1) Function Input this signal to instantaneously stop the program being executed from the external

103 4.4.9 Clear Robot Failure (Input) (1) Function The robot can recover from a stopped state, resulting from a robot failure by turning ON (shorted

104 4.4.10 Interrupt Skip (Input) (1) Function If this signal is turned ON (shorted) during execution of the robot operation command within the range

105 Caution: When turning ON (shorted) the interrupt skip signal, at least either the program reset signal or the program start signal must be turned

106 4.5 Example of Using System I/O Signals in Compatible Mode This section describes an example of starting and stopping the robot using system I/O

107 Function Example of Equipment Operating Panel Classification Part Application Display Display Displays messages, such as ROBOT PREPARATION OK. 

108 Step Worker’s operation and display on equipment’s operation panel PLC processing Robot operation  Operation preparation start  Operation s

109 (Continued from preceding page) Step Worker’s operation and display on equipment’s operation panel PLC processing Robot operation  Automatic o

SAFETY PRECAUTIONS 4. Precautions while Robot is Running Warning Touching the robot while it is in operation can lead to serious injury. Please en

110 4.6 Selectable I/O Mode [Ver 1.95 or later] 4.6.1 What is a selectable I/O mode? Version 1.95 has added a selectable I/O mode, a mode that al

111 4.6.2 Setting up the selectable I/O mode [ 1 ] From the teach pendant (1) In the Choose allocation window, choose "Compatible Allocation.&

112 [ 2 ] In WINCAPSII (1) From the Tool menu of DIO Manager, select the Options command. (2) Click on the Hardware tab in the Options window. (3

113 (4) In the Selectable I/O Setting window, select the I/O allocation type (New or Modify) and check off the check boxes as you want. (5) To fi

114 Parameter details No. Parameters Function 1 Step Stop If you will not use the Step Stop function in running your robot, you may set this paramet

115 4.6.4 System output signal lines that can serve as user I/O signal lines In the selectable I/O mode, you may modify the following parameters to

116 Parameter details No. Parameters Function 1 State Output If you do not need to confirm the Robot power ON complete signal with the external equi

117 4.6.5 Sample usage of selectable I/O mode The sample below gives instructions on how to add user I/O signal lines. (1) From the teach pendant,

118 Chapter 5 Connector Pin Assignment and I/O Circuits (NPN type) This chapter explains the connector pin assignment and circuits of NPN type (sour

119 (2) I/O POWER CN7: Power connector for I/O (common to both modes) CN7 Pin Assignment, common to both modes (NPN type) View from the cable sid

4) Implementation of measures for noise prevention 5) Signaling methods for workers of related equipment 6) Types of malfunctions and how t

120 5.1.2 Connector Pin Assignment in Standard Mode (1) OUTPUT CN10: User-/System-output connector (standard mode) CN10 Pin Assignment, in standard

121 (2) INPUT CN8: User-/System-input connector (standard mode) CN8 Pin Assignment, in standard mode (NPN type) View from the cable side Terminal

122 5.1.3 Connector Pin Assignment in Compatible Mode (1) OUTPUT CN10: User-/System-output connector (compatible mode) CN10 Pin Assignment, in compa

123 (2) INPUT CN8: User-/System-input connector (compatible mode) CN8 Pin Assignment, in compatible mode (NPN type) View from the cable side Termi

124 5.2 Robot Controller I/O Circuits (NPN type) 5.2.1 User-Input, System-Input and Hand-Input Circuits (NPN type) The following two pages show ex

125 (When the internal power source is used) (When an external power source is used) User-Input and System-Input Circuits (NPN type)

126 (When the internal power source is used) (When an external power source is used) Hand-Input Circuits (NPN type)

127 5.2.2 Robot Stop and Enable Auto Input Circuits The Robot Stop and Enable Auto signals are important for safety. The input circuit for these sig

128 5.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type) The following two pages show an example of the configuration and connectio

129 (When the internal power source is used) (When an external power source is used) User-Output and System-Output Circuits (NPN type)

SAFETY PRECAUTIONS 4.5 Release of residual air pressure Before disassembling or replacing pneumatic parts, first release any residual air pressu

130 (When the internal power source is used) (When an external power source is used) Hand-Output Circuits (NPN type)

131 Example of Circuit with Lamp (NPN type) Supplied from the I/O power connector when the internal power source is usedLamp Transistor array Con

132 5.2.4 Emergency Stop Circuit The following figures show the examples of configuration and connection of emergency stop circuit for the robot con

133 5.2.4.2 Dual emergency stop type Emergency Stop Circuit (“Dual emergency stop type”)

134 5.2.5 I/O Power Connector (NPN type) For the power source to communicate signals between the robot controller and the external device, the inter

135 I/O Power Connection Sample (When an external power source is used) (NPN type) Caution: Use a cable of 0.5 mm2 or more in size for the wir

136 5.3 Wiring Notes for Robot Controller I/O Connectors (NPN type) After the wiring of the controller's I/O connectors is completed, check the

137 Connector Terminals and Check Points (NPN type) Connector for hand I/O View from cable side engaging face Connector for user/system input V

138 Chapter 6 Connector Pin Assignment and I/O Circuits (PNP type) This chapter explains the connector pin assignment and circuits of PNP type (sink

139 (2) I/O POWER CN7: Power connector for I/O (common to both modes) CN7 Pin Assignment, common to both modes (PNP type) View from the cable side

5. Daily and Periodical Inspections (1) Be sure to perform daily and periodical inspections. Before starting jobs, always check that there is n

140 6.1.2 Connector Pin Assignment in Standard Mode (1) OUTPUT CN10: User-/System-output connector (standard mode) CN10 Pin Assignment, in standard

141 (2) INPUT CN8: User-/System-input connector (standard mode) CN8 Pin Assignment, in standard mode (PNP type) View from the cable side Terminal

142 6.1.3 Connector Pin Assignment in Compatible Mode (1) OUTPUT CN10: User-/System-output connector (compatible mode) CN10 Pin Assignment, in compa

143 (2) INPUT CN8: User-/System-input connector (compatible mode) CN8 Pin Assignment, in compatible mode (PNP type) View from the cable side Termi

144 6.2 Robot Controller I/O Circuits (PNP type) 6.2.1 User-Input, System-Input and Hand-Input Circuits (PNP type) The following two pages show ex

145 (When the internal power source is used) (When an external power source is used) User-Input and System-Input Circuits (PNP type)

146 (When the internal power source is used) (When an external power source is used) Hand-Input Circuits (PNP type)

147 6.2.2 Robot Stop and Enable Auto Input Circuits The Robot Stop and Enable Auto signals are important for safety. The input circuit for these sig

148 6.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type) The following two pages show an example of the configuration and connectio

149 (When the internal power source is used) (When an external power source is used) User-Output and System-Output Circuits (PNP type)

Contents Preface ...

150 (When the internal power source is used) (When an external power source is used) Hand-Output Circuits (PNP type)

151 LampTransistor arrayControllerSupplied from the II/O power connectorwhen the internal power source is used Example of Circuit with Lamp (PNP

152 6.2.4 Emergency Stop Circuit The following figures show the examples of configuration and connection of emergency stop circuit for the robot con

153 6.2.4.2 Dual emergency stop type Emergency Stop Circuit (“Dual emergency stop type”)

154 6.2.5 I/O Power Connector (PNP type) For the power source to communicate signals between the robot controller and the external device, the inter

155 I/O Power Connection Sample (When an external power source is used) (PNP type) Caution: Use a cable of 0.5 mm2 or more in size for the wiri

156 6.3 Wiring Notes for Robot Controller I/O Connectors (PNP type) After the wiring of the controller's I/O connectors is completed, check th

157 Connector Terminals and Check Points (PNP type) Connector for hand I/O View from cable side engaging face Connector for user/system input

158 Chapter 7 I/O Wiring 7.1 Multi-core Cables with Connectors Multi-core cables with connectors to be used for the I/O wiring of the Robot Contr

159 If you do not use optional cables listed on the previous page, use the recommended connectors and cables listed below. Recommended Connectors fo

3.4 Usage of System Input Signals (Standard Mode) ...39 3.

160 7.2 Wiring of Primary Power Source Observe the following precautions when wiring the primary power source of the robot controller: (1) Connect

RC5 CONTROLLER INTERFACE MANUAL First Edition February 2002 Third Edition September 2002 Fourth Edi

4.5 Example of Using System I/O Signals in Compatible Mode...106 4.6 Selecta

Copyright © DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any fo

1 Chapter 1 General Information about RC5 Controller The RC5 controller is available in several models which differ in detailed specifications to ma

2 <Notes for Robot System “ Type A”> 1 Modified Deadman Switch Functions in Robot System "Type A" In Robot System "Type A"

3 2 “Single point of control” function The “Single point of control” function is added only for Robot System “Type A”. This function limits the robo

4 1.2 Names of the Robot Controller Components The following figures show the names of the robot controller components.  For VM-D/HM-E series <F

5  For robot series except VM-D/HM-E <Front> Note: CN13 is not provided on the VS-E and HS-E series. Names of Robot Controller Components (R

6 Connectors for the VM-D, VS-E, and H∗-E series (Encoders connected via bus) Connector No. Marking Name Connector No. Marking Name CN1 RS232C Serial

7 1.3 Robot Controller Specifications [ 1 ] Specifications The table below lists the robot controller specifications. Robot Controller Specificat

8 WARNING ⋅ DO NOT touch fins. Their hot surfaces may cause severe burns. ⋅ DO NOT insert fingers or foreign objects into openings. Doing so may ca

9 [ 2 ] Outer Dimensions The outer dimensions of the robot controller are shown below. Outer Dimensions of Robot Controller (for VM-D/HM-E series

i Preface Thank you for purchasing this high-speed, high-accuracy assembly robot. This manual covers interfacing required when you integrate your

10  Location of IPM boards The table below shows the location of IPM boards for robot series or models. Series & models Location Item (8) (

11 1.4 Controller System Configuration 1.4.1 Internal Circuits of the Controller (Typical configuration) The block diagram below shows the internal

12 1.4.2 Typical Robot System Configurations The block diagrams below show typical robot system configurations. To connect encoders via a time-divis

13  Robot system configuration with encoders connected via a parallel interface (VS-D, VC-E, H*-D, and XYC-D) System Configuration Example

14 Chapter 2 General Information about the Interface 2.1 Standard Mode and Compatible Mode The robot controller can be operated in two different mo

15 [ 1 ] Switching from the Teach Pendant Follow the procedure below when switching from one mode to the other from the teach pendant: 4 STEP 1 On

16 4 STEP 3 The Choose allocation window appears as shown below. NOTE: If your robot controller has a built-in DeviceNet master, the Select Port Ass

17 [ 2 ] Switching from the Computer Follow the procedure below when switching from one mode to the other from the computer. 4 STEP 1 Start WINCAPS

18 4 STEP 3 Select the SETTING command from the Tools menu of DIO Manager. The Options window will appear as shown below. 4 STEP 4 Click on the

19 4 STEP 5 Select the desired assignment mode from the right-hand popup menu in the I/O Allocation frame (Ver. 1.6 or later). 4 STEP 6 Click

ii How the documentation set is organized The documentation set consists of the following books. If you are unfamiliar with this robot and option(

20 4 STEP 8 Click on the Transfer button. The Transfer Environment Table window appears. 4 STEP 9 Check off the check box by clicking on the Har

21 4 STEP 11 The Transmitting hard setting table window appears displaying a bar graph that indicates the transfer progress. 4 STEP 12 After th

22 2.3 Types and General Information about I/O Signals This section describes the I/O signals for the Robot Controller. The I/O signals are grouped

23 2.3.2 Compatible Mode In the compatible mode, the input and output points are arranged in disregard of compatibility with conventional VS series

24 2.4 Using User I/O Signals (common to both modes) To use user I/O signals you need to first declare, in the program, the use of user I/O as I/

25 2.4.5 User Output Commands There are three types of user output commands, SET, RESET and OUT. The SET and RESET commands turn ON and OFF all user

26 Chapter 3 System I/O Signals Standard Mode 3.1 Types and Functions of System Output Signals (Standard Mode) The table below lists the system ou

27 3.2 Usage of System Output Signals (Standard Mode) The usage of each system output signal in standard mode is described below: 3.2.1 Robot Init

28 3.2.2 Auto Mode (Output) (1) Function The signal outputs to the external device that the robot is in auto mode. (2) Terminal number No.6 of conne

29 3.2.3 External Mode (Output) (1) Function The signal outputs to the external device that the robot is in external mode. (2) Terminal number No.7

iii How this book is organized This book is just one part of the robot documentation set. This book consists of SAFETY PRECAUTIONS and chapters on

30 3.2.4 Servo ON (Output) (1) Function The signal outputs to the external device that the power to the motor of the robot is turned ON. (2) Termina

31 3.2.5 Robot-in-operation (Output) (1) Function This signal outputs to the external device that the robot is in operation. (2) Terminal number No

32 3.2.6 Normal CPU (Output) (1) Function The signal outputs to the external device that the Robot Controller CPU (hardware) is normal. (2) Terminal

33 3.2.7 Robot Failure (Output) (1) Function The signal outputs to the external device that a problem (such as a servo error or a program error) occ

34 3.2.8 Robot Warning (Output) (1) Function The signal outputs to the external device that a minor error occurs with an I/O command or during servo

35 3.2.9 Dead Battery Warning (Output) (1) Function The signal will be output when the voltage of the encoder back-up battery or memory back-up batt

36 3.2.10 Continue Start Permitted (Output) (1) Function The controller will output this signal when the continue start is permitted. (2) Terminal nu

37 3.2.12 Emergency Stop (Output from a contact) (1) Function This signal outputs from a contact exclusively designed for an emergency stop circuitry

38 3.3 Types and Functions of System Input Signals (Standard Mode) The table below lists the system input signals to be used in standard mode: Type

39 3.4 Usage of System Input Signals (Standard Mode) The usage of each system input signal in standard mode is described below. 3.4.1 Enable Auto (

40 3.4.2 Robot Stop (Input) (1) Function  The signal stops the robot from the external device by opening the robot stop input.  The signal readie

41 3.4.3 Step Stop (All Tasks) (Input) (1) Function Input this signal to step-stop the program being executed from the external device. All tasks wi

42 3.4.4 Instantaneous Stop (All Tasks) (Input) (1) Function Input this signal to instantaneously stop the running programs from an external device.

43 3.4.5 Interrupt Skip (Input) (1) Function If this signal is turned ON (shorted) during execution of the robot operation command, within the range

44 Caution: When turning ON (shorting) the interrupt skip signal, at a minimum either the program reset signal or the program start signal must be tu

45 3.5 Command Execution I/O Signals Dedicated to Standard Mode In standard mode the I/O commands can be executed using command execution I/O sign

46 3.5.2 Processing I/O Commands 3.5.2.1 General Information about Processing I/O commands to be executed are processed as shown below. ⋅Command

47  Set a command area, a data area (if necessary) and command and data area odd parity for the command execution I/O signal from the external devic

48 3.5.2.2 Using Each Signal Line [ 1 ] Command and Data Areas This section describes the usage of the command area (4 bits, input), data area 1 (

49 [ 2 ] Strobe Signal (Input) (1) Function This signal informs the Robot Controller that the command area, data areas 1 and 2, and the command and

SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions. Strict observance of these warning and caution i

50 [ 3 ] Command Processing Complete (Output) (1) Function The signal outputs to the external device that I/O command processing is completed. (2)

51 [ 4 ] Status Area This section describes the usage of the status area (16 bits, output) and of status area odd parity (output). (1) Function The

52 3.5.3 I/O Commands Details 3.5.3.1 List of I/O Commands The table below lists I/O commands. List of I/O Commands Command area Data area 1 D

53 3.5.3.2 Program Operation Command (0001) (1) Function This command controls the operating state of the program specified in data area 2 based on

54  Program start This command is executable only in external mode. An error (ERROR2032) will occur in other modes. This command starts the program

55  Reset This command immediately stops and also initializes the program of the program number specified in data area 2. PRO0 to PR032767 can be st

56 3.5.3.3 External Speed and Acceleration Setting (0010) (1) Function This command sets the external speed, acceleration and deceleration values s

57 3.5.3.4 Error Read (0100) (1) Function This command outputs the existing error number to the status area. This command is output to the status ar

58 3.5.3.5 Type I Variable Write (0101) (1) Function This command substitutes the value specified in data area 2 for the Type I (integer type) glob

59 3.5.3.6 Type I Variable Read (0110) (1) Function This command outputs to the status area the value of the Type Ι (integer type) global variable o

1. Introduction This section provides safety precautions to be observed for the robot system. The installation shall be made by qualified person

60 3.5.3.7 Mode Switching (0111) (1) Function This command switches the robot mode from the external device to prepare the robot for operation. Thi

61  External speed 100 (bit 1) When this bit is set, the external speed, external acceleration and external deceleration of the Robot Controller wi

62 3.5.3.8 Clear Robot Failure (1000) (1) Function This command clears a robot failure that has been caused. (2) Format Command area (4 bits, inpu

63 3.5.3.9 I/O Write (1001) (1) Function This command substitutes the status specified in data area 1 for the 8-bit internal I/O area starting from

64 3.5.3.10 I/O Read (1010) (1) Function This command outputs to the lower 8 bits of the status area the status of the 8-bit internal I/O area star

65 3.6 Example of Using System I/O Signals in Standard Mode This section illustrates an example of starting and stopping the robot using system I/O

66 Function Example of Equipment Operating Panel Classification Part Application Display Display Displays messages, such as ROBOT PREPARATION OK.  A

67 Step Worker’s operation and display on equipment’s operation panel PLC processing Robot operation  Operation preparation start  Operation st

68 (Continued from preceding page) Step Worker’s operation and display on equipment’s operation panel PLC processing Robot operation  Automatic ope

69 Chapter 4 System I/O Signals Compatible Mode 4.1 Types and Functions of System Output Signals (Compatible Mode) The table below lists the system

SAFETY PRECAUTIONS 3. Installation Precautions 3.1 Insuring the proper installation environment  For standard type The standard type has not

70 4.2 Usage of System Output Signals in the Compatible Mode The usage of each system output signal in the compatible mode is described below. 4.2.

71 4.2.2 Auto Mode (Output) (1) Function The signal outputs to the external device that the robot is in the auto mode. (2) Terminal number No.4 of c

72 4.2.3 Servo ON (Output) (1) Function The signal outputs to the external device that the power to the robot motor is turned ON. (2) Terminal numbe

73 4.2.4 CAL Complete (Output) (1) Function The signal outputs to the external device that CAL is completed. (2) Terminal number No. 11 of connector

74 4.2.5 External Mode (Output) (1) Function The signal outputs to the external device that the robot is in the external mode. (2) Terminal number N

75 4.2.6 Teaching (Output) (1) Function The signal outputs to the external device that the robot is in the manual mode or teaches check mode. (2) Te

76 4.2.7 Program Start Reset (Output) (1) Function This signal is output to the external device when the robot receives a start signal from the exte

77 4.2.8 Robot-in-operation (Output) (1) Function The signal outputs to the external device that the robot is in operation (executing more than one

78 4.2.9 Single-Cycle End (Output) (1) Function The signal outputs to the external device that a single-cycle of the program is completed. Caution

79 4.2.10 Normal CPU (Output) (1) Function The signal outputs to the external device that the CPU (hardware) of the Robot Controller is normal. (2) T