Denso RC5 Specifikace

ROBOT**-D/-E SERIESOPTIONS MANUAL

Chapter6 µ µ µ µVision Board...

88Step 2As an example, assume that the EPR should be changed.Step 3On the SYSTEM PARAM screen, enter a new value and press [OK].Step 4In this example,

89Step 5The data will be written to the memory of the DeviceNet master.Step 6Based on the new values, the network is being constructed.

90Step 7After parameter writing is normally completed, the following screen will display.NOTE: You may change the ISC value in the same procedure.

919.4.4 Displaying the Master StatusThe MasterState screen allows you to check the current communication status of theDeviceNet master and the flag s

92Step 3The next statuses will display.Step 4The following statuses will display.Step 5The last statuses will display.

93Details of errors and the meanings of flags are given below.Error No. Error Details0x01 I/O area duplicated0x02 Out of I/O area0x03Configuration err

94SerialNo change complete:This is a flag used by the system in serial number overwriting. Normally, 0 is written here.Scanlist change complete:This i

959.4.5 Network Error Indication on DeviceNet MasterThe network error display parameter is set to "0: Every Time" by default. It meansthat

96Step 3Enter “1” in this example and press [OK].Step 4Check the newly entered value and press [OK].Step 5Following this system message, switch the co

979.4.6 Allocating Ports Dedicated to the DeviceNet MasterIn the DeviceNet master allocation mode, parallel and DeviceNet master I/O areasare basical

Chapter10 PROFIBUS-DP Slave Board ...

98Changing allocation of ports dedicated to the DeviceNet masterStep 1On the top screen of the teach pendant, press [F4 I/O] and then press [F6 Aux.].

99Step 3Following the system message, switch the controller power OFF and then ON.NOTE: If this message appears, you must switch the controller power

100Chapter10 PROFIBUS-DP Slave Board10.1 OverviewIf the robot controller has a PROFIBUS-DP slave board built-in, it may communicatewith external dev

10110.1.2 Installing the Robot Controller Equipped with a PROFIBUS-DPSlave Board[Refer to the "Installing the Robot Controller" given in th

10210.1.3 SpecificationsItem SpecificationsCommunications protocol PROFIBUS-DP–complientTransmission speed 9.6K, 19.2K, 93.75K, 187.5K, 500K, 1.5M, 3

10310.3 Parameter Entry Procedure10.3.1 Entering the Node Address and Number of I/Os with the TeachPendantYou may choose the number of I/Os for the

104Operating Procedure for Setting Node Address and I/O ModuleStep 1On the top screen of the teach pendant, press [F4 I/O.]-[F6 Aux.]-[F6 PROFI slv].T

105Step 3On the screen shown in Step 2, press [OK]. The system message window willappear as shown below.Turn the controller power off and on. Then the

106Chapter11 Configuring the RS-232CExtension Board (Recommended Option)If you install an RS-232C extension board to the robot controller, the contro

10711.3 Setting the Jumpers and DIP Switch on the RS-232CExtension BoardSet the jumpers and DIP switch on the RS-232C extension board as shown below.

10811.4 RS-232C Extended Serial Ports and Line NumberAssignmentThe RS-232C extension board features two COM ports--COM3 and COM4. Twoserial data tran

109n Setting the transmission rate for RS-232C serial interface portsAccess: [F6: Set]—[F5: Set Com.]—[F2 Serial IF]Select each of the COM3 and COM4 a

11011.6 Coding Sample for Transmission Error Recovery'!TITLE "<Title>"PROGRAM sample...DEFPOS lp1(10) 'Local position varia

111Chapter12 Mounting Extension BoardsThis section describes how to mount the µVision board, Ethernet board, andDeviceNet boards.If you do not mount

112Step 3Remove the two screws fastening the side plate from the front panel of the robotcontroller as shown below.Step 4Remove the side plate.

113Step 5Remove the panel fastening screw and then the panel hole blank cap.To mount the µVision board, remove the lower blank cap.To mount the Ethern

114Step 7Fully insert the µVision board in the lower slot connector.Step 8Fully insert the Ethernet board or the DeviceNet board(s) into the upper or

115Step 9Using the removed panel hole blank cap, push up the panel of each extensionboard. Secure the extension board with the panel fastening screw.S

116Step 11Set the assembled extension board strut back into place and tighten the screws.Tightening torque: 0.69 Nm ±20%Step 12Adjust the position of

117Step 13Install the side plate and secure it with two screws.Step 14Put the top cover and secure it with eight screws.The mounting of the extension

1PART 1 OPTIONAL OPERATIONDEVICESChapter1 Teach PendantThe teach pendant is an entry/operation device for creating programs and teaching.The teach pe

118PART 3 OTHER OPTIONSChapter13 Controller Protective BoxA controller protective box is an optional heat exchanger box to protect the robotcontrolle

11913.3 Names of the ComponentsThe figure below shows the names of components.Model Names of componentsFB-9FB-10

12013.4 External DimensionsExternal dimensions of the controller protective box are shown in the figure below.FB-9 FB-10

12113.5 Setting up the Controller Protective BoxPlacing the controller protective box(1) Place the controller protective box on a flat, level plane.

12213.6 Precautions(1) The controller protective box is a dust-proof, splash-proof structure equivalent toJIS IP53.The controller protective box is n

IndexsymbolsµVision Board...28AAssignment of Serial I/O Data ...

**-D/-E SERIESOPTIONS MANUALFirst Edition February 2002Second Edition June 2002Third Edition August 2002Fourth Edition September 2002Fifth Edition

21.2 Names of Teach Pendant ComponentsThe figure below shows the names of the teach pendant components.Deadman switchDeadman switchBack of teach pend

31.3 Teach Pendant Specifications1.3.1 SpecificationsThe table below lists the teach pendant specifications.Teach Pendant SpecificationsItem Specifi

41.3.2 Outer DimensionsThe figure below shows the outer dimensions of the teach pendant.Outer Dimensions of the Teach Pendant

51.3.3 Pendantless StateWhat is Pendantless State?The state without having connected the operating panel and the teach pendant to therobot controller

61.3.4 Connecting and Disconnecting Operating Paneland Teach PendantThe operating panel and the teach pendant can be connected or disconnected withth

7Connection and Disconnection ProceduresProcedureSteps(A)Step 1 Select the AUTO mode, and activate an emergency stop.Step 2 Disconnect the connector f

Copyright © DENSO WAVE INCORPORATED, 2002All rights reserved. No part of this publication may be reproduced in any form or by any means withoutpermiss

8Chapter2 Operating PanelThe operating panel is a fixed type operation console that allows you to recover therobot from a stop due to problems caused

92.2 Names of Operating Panel ComponentsThe figure below shows the names of the operating panel components.Names of Operating Panel ComponentsMode se

102.3 Operating Panel SpecificationsThe table below lists the operating panel specifications.Operating Panel SpecificationsItem SpecificationsModel O

112.4 Mounting and Connecting the Operating PanelMounting the operating panelThe operating panel is a fixed type operation console. Mount it to the e

12Connecting the operating panelAs shown in the figure given below, the operating panel can be connected to therobot controller. A teach pendant can a

13Chapter3 Mini-Pendant (In version 1.7 or later)The mini-pendant is an entry/operation device for operating the robot manually,starting programs, an

143.2 Names of Mini-Pendant ComponentsThe figure below shows the names of the mini-pendant components.Names of Mini-Pendant Components

153.3 Mini-Pendant Specifications3.3.1 SpecificationsThe table below lists the mini-pendant specifications.Mini-Pendant SpecificationsItem Specifica

163.3.2 Outer DimensionsThe figure below shows the outer dimensions of the mini-pendant.Outer Dimensions of the Mini-Pendant3.3.3 Connecting the Min

173.4 Specifications of WINCAPSII LightWINCAPSII Light that comes with the mini-pendant is PC teaching system software.It is a functionally limited v

iPrefaceThank you for purchasing optional devices designed for DENSO robots.This manual covers the specifications, installation, and use of optional d

18Chapter4PC Teaching System Software, "WINCAPSII"The PC teaching system facilitates the creation and editing of robot programs. Usethis sys

194.2 Operating Environment RequiredThe PC teaching system software requires the operating environment listed below.Operating Environment for the PC

204.3 Communications CableTo enable the computer and the robot controller to communicate with each other,they must be connected with a communications

21PART 2 OPTIONAL BOARDS FOR RC5CONTROLLERChapter5 Floppy Disk DriveThe floppy disk drive is an optional storage device that stores or reads data suc

225.3 Location of the Floppy Disk Drive and its ComponentNamesLocation of the Floppy Disk Drive and its Component NamesFloppy disk insertion slotInse

235.4 Mounting the Floppy Disk DriveMount the floppy disk drive into the robot controller according to the followingprocedure:Step 1Remove the eight

24Step 3Remove the four screws from the upper plate and take off the upper plate.Step 4Push the two pins of the blank cap outwards and remove the blan

25Step 5Mount the floppy disk drive in the appropriate position of the robot controller.The floppy disk drive is secured to a disk drive mounting plat

26Step 7Secure the floppy disk drive mounting plate with four screws.Step 8Connector J6 FDD 26P on the printed circuit board has a cable lock.If the c

27Step 9Securely push in the connector lock.Step 10Put the top cover and secure it with eight screws.The mounting of the floppy disk drive is complete

iiEnabling extension functions by the teach pendantAccess: [F6 Set]—[F7 Options.]—[F8 Extnsion]—[F5 Input ID]Enables the extension function. Once enab

28Chapter6 µµµµVision Board6.1 µµµµVision Board SpecificationsIf the robot controller has a built-in µVision board, it can handle a variety of

29µµµµVision BoardNote (1) Switches and the short pins on the µVision board have been set at the factory. Do notchange the settings. A failure may res

306.1.1 Location of the µµµµVision Board and Names of ConnectorsInsert a µVision board into extension slot 3 shown in the figure below.Inserting the

316.1.2 Block Diagram and Internal Configuration of µµµµVision BoardBlock Diagram of µµµµVision BoardThe above figure illustrates the processing flow

32Overlay ConceptOverlaying(superpose)Camera and processed screen image (256 gradations)Camera and processed screen image (256 gradations)X = 280Y = 2

336.2 Peripheral Devices6.2.1 General Information about the Camera4-M2 depth 3 (tightening torque: 0.39 N⋅m)Camera cable (option)Connect to the came

34Caution (1) When mounting the camera to the equipment, tighten the screwssecurely to the specified torque. See the figure given on theprevious page.

356.2.2 General Information about the MonitorPower switchAdjuster coverPilot lampInput impedanceImage signal outputImage signal inputBNC cableTo µvis

36Chapter7 Ethernet BoardIf the robot controller has a built-in Ethernet board, it can communicate with the PCteaching system according to the TCP/IP

377.3 Ethernet Board Parts NamesThe parts names of the Ethernet board and its functions are shown in the figure andthe table below.Ethernet Board Par

iiiEnabling extension functions in WINCAPSIIEnables the extension function. Once enabled, the setting will be retained even if thecontroller power is

38Chapter8 DeviceNet Slave Board8.1 OverviewIf the robot controller has a built-in DeviceNet slave board, it can communicate withexternal devices ac

398.2 Product SpecificationsThe figure below shows the location of the LEDs, DIP switches, and DeviceNetconnector on the DeviceNet slave board.(A)LED

408.2.1 Names and Functions of Slave Board Components(A) Status indicator LEDsThe status indicators MS and NS ("A" in the figure given on t

41(B) DIP switch (SW101)Use the DIP switch for setting the node address and bit rate as shown below.DIP Switch SettingNOTE: Always turn off the contro

42Setting the bit rateTo match the bit rate of the robot controller with that of the network, use selectors 7and 8 of the DIP switch, referring to the

438.2.2 General SpecificationsThe following tables list the controller environmental and communicationspecifications.(1) Environmental requirementsIt

448.3 Assignment of Serial I/O DataTwo types of serial I/O data assignment modes are available--standard assignmentmode and compatible assignment mod

45(2) Output DataNo. Content No. Content No. Content No. Content768769770771772773774775Robot runningRobot alarmServo ONRobot initialization finishedA

468.3.2 Compatible Assignment Mode(1) Input DataNo. Content No. Content No. Content No. Content512513514515516517518519Step stop (all tasks)Continue

478.4 Parameter Entry Procedure8.4.1 Entering the Number of Input/Output SlotsThis controller allows you to increase or decrease the number of input

ivHow the documentation set is organizedThe documentation set consists of the following books. If you are unfamiliar with this robot andoption(s), ple

48Step 3Press [F1 Set H/W] on the following screen.F1Step 4Select the box for changing the number of DeviceNet input/output slots and thenpress [F5 Ch

49Step 6Check that the number has been correctly changed (from 8 to 10 in this example)and press OK.Step 7Turn the controller power OFF and then turn

508.4.2 Quick Reference Table for the Number of Input/Output SlotsThe table below lists the correspondence between the number of input/output slots i

518.5 Field Network Error Indication (Version 1.5 or later)In Main Software Version 1.5 or later, the "10: FieldNetwork ErrDisplay" paramet

52Step 2Select "10: FieldNetwork ErrDisplay" and press [F5 Change.].F5Step 3Enter "1" in this example and press [OK].Step 4Check t

53Step 5Following the system message, switch the controller power off and then on.NOTE: If this message appears, you must switch the controller off.

548.6 Network Error Detector Suppression (Version 1.7 or later)If facilities are powered up, the network components will immediately start toestablis

55Step 2Select "17: Insensitive time to network error" and press [F5 Change.].F5Step 3Enter "4000" in this example and press [OK].

56Step 5Following the system message, switch the controller power off and then on.NOTE: If this message appears, you must switch the controller off.

578.7 Error Code TableHere, only the error codes relative to DeviceNet communication errors are describedin the table below. For other error codes,

vHow this book is organizedThis book is just one part of the robot documentation set. This book consists of chapters 1 through 12.PART 1 OPTIONAL OP

58LEDsError code What has happened: What to do:MS NS1230 Retry error in the DPRAM built in the robotcontrollerTurn the controller power off and thenon

59RC5 EDS File ($ DeviceNet Manager Generated Electronic Data Sheet)[File]DescText= "RC5 EDS File";CreateDate= 11-14-1997;CreateTime= 15:00:

60Chapter9 DeviceNet Master Board9.1 OverviewDeviceNet is a serial communication system that makes it easy to interconnectcontrol devices such as PL

619.1.1 Features(1) DeviceNet-compliantThe DeviceNet is an internationally open network developed by Allen-Bradley and isdesigned to allow control de

629.1.2 System Configuration Sample

639.1.3 System Construction Procedure(1) First, connect the master and slave devices with each other by using DeviceNetcables, referring to the syste

649.2 Product SpecificationsThe figure below shows the location of the LEDs, DIP switches, and DeviceNetconnector on the DeviceNet master board.9.2.1

65(A) Status indicator LEDsThe status indicators MS and NS ("A" in the figure given on the previous page) canlight or flash in green or red.

66(B) DIP switch (SW1)Use the DIP switch for setting the node address and bit rate as shown below.NOTE: Always turn off the controller power (includin

67DIP Switch DIP Switch12481632NodeAddress1 2 4 8 16 32NodeAddress001101 44 011011 54101101 45 111011 55011101 46 000111 56111101 47 100111 57000011 4

68(C) DeviceNet connectorThe robot controller uses an open screw connector whose pin arrangement is shownbelow.NOTE: When the controller power (includ

699.2.2 General Specifications(1) Environmental requirementsItem SpecificationsPower requirements 5 VDC (supplied via the controller ISA bus)Operatin

709.3 ALLOCATING I/O AREAS9.3.1 I/O Allocation When a DeviceNet Master Board is InstalledIf a DeviceNet master board is installed to the robot contr

719.3.2 Allocation of System PortsWhen using a DeviceNet master board, you may choose a system port allocationfrom the following five patterns. For t

72Parallel systemI/Os in compatiblemodeParallel systemI/Os in standardmode0System area 200System area 33User area* 47 User area* 47Hand* 55 Hand* 55In

739.4 Building Up a DeviceNet Network9.4.1 Network Configuration Sample and ConfiguratorsNodesA DeviceNet network has two kinds of nodes: slaves to

74Communication power supplyTo operate a DeviceNet network, a communication power must be supplied to eachnode through DeviceNet cables. The communica

75Trunk line lengthThe permissible total length of a trunk line used in a DeviceNet network will differdepending upon the data transmission speed and

769.4.2 Creating a ScanlistWhat is “scanlist”?A scanlist is a parameter list that allows a DeviceNet master to identify slaves that areunder its cont

77Step 2On the following screen, press [F6 Aux.].F6Step 3Press [F9 SlaveMap].

ContentsPreface...

78Step 4The latest scanlist will appear.Press [F4 Scanning] on this screen.(The default of the slave map is the fixed I/O allocation screen.)F4Step 5W

79Step 6The current scanning results will display.Screen explanationIn the fixed I/O allocation, each block has 16 input points and 16 output points.

80Displaying and changing node (slave) setting informationStep 1To display or change node information, press the relevant node number on thescreen bel

81Step 3As an example, let's change node 0 to the bit strobe mode here. Note that whenthe communication method is changed, an error will occur if

82Step 5The DeviceNet master changes the interface with the slave.Step 6Node 0 has been changed to the bit strobe mode.NOTE: You may change the I/O da

83Changing the I/O allocation modeThe procedure for switching from the fixed I/O allocation mode to the free I/Oallocation mode is explained here.Step

84Step 3In accordance with the change of the allocation mode, the DeviceNet masterscans the network and changes the I/O allocation.Step 4When the foll

85Step 5The input area in the free I/O allocation mode will display.Step 6Press [F2 OutArea] to display the output area.

86Explanation about screenInput area display screenThe display above indicates that slave ID4 is allocated to input areas 1024 to 1039.Output area dis

879.4.3 Changing Master ParametersUsually there is no need to change these parameters. This is because the DeviceNetmaster automatically detects the