Denso RC5 manuals

Denso RC5 Specifications (56 pages)

Brand: Denso | Category: Robotics | Size: 5.28 MB |

English

Table of contents

HS-G SERIES

1

Preface

3

How this book is organized

4

Contents

5

1.1 Standard Components

7

1.2 Optional Components

8

Configuration of the Robot

10

2.2.2 Name Plate

12

CONTROLLER MANUAL

14

(HS/HSS-G)

17

Vibration Dampening Time

24

(1) HS-4535*G

25

(2) HS/HSS-4545*G

28

(3) HS/HSS-4555*G

31

Z-axis coordinate (mm)

34

There is no speed limit when

34

(3) HS-G-UL (UL-Listed)

38

(For straight plug)

39

Unit: mm

40

Chapter 4

48

4.2 Outer Dimensions

50

Chapter 5 Warranty

52

Chapter 6 Appendix

53

Horizontal Articulated Robot

55

Denso RC5 Specifications (692 pages)

Brand: Denso | Category: Robotics | Size: 4.17 MB |

English

Table of contents

PROGRAMMER’S MANUAL I

1

PROGRAM DESIGN AND COMMANDS

1

(Ver. 1.95)

1

Important

3

How this book is organized

5

PART 2 COMMAND REFERENCE

6

1. Introduction

8

2. Installation Precautions

8

2.8 Setting-up the safety

10

2.9 Positioning of rope or

10

SAFETY PRECAUTIONS

11

3. Precautions

12

4. Daily and periodical

15

5. Management of

15

CONTENTS

17

Disables the gravity offset

39

ST_SetCompFControl

40

ST_ResetCompVMode

40

VISREFCAL

48

PROGRAM DESIGN

49

Chapter 1

51

Sample Program

51

1.1 Model Case Application

53

1.2 Program Flow

54

1.3 Program List

55

Chapter 1 Sample Program

57

Program coding list “PRO2”

58

Chapter 2

61

Program Flow

61

Chapter 2 Program Flow

63

2.1.1 Calling a Subroutine

64

2.1.2 Calling a Program

65

2.1.3 Program Recursive Call

66

2.2 Running a Program

67

2.3 Multitasking

68

2.3.2.2 I/O

69

2.4 Serial Communication

70

2.4.4 Sample Application

71

2.5 Library

76

2.5.2 Palletizing Library

77

[ 1 ] Palletizing Parameter

78

[ 3 ] Palletizing Counter

82

82

2.5.2.2 Palletizing Program

84

Chapter 3

89

Robot Motion

89

3.1.1 Absolute Motion

91

3.1.2 Relative Motion

91

MOVEMENT1 motion

92

MOVEMENT2 motion

92

3.2.1 Pass Motion

93

3.2.2 End Motion

93

Pass motion

94

End motion

94

Encoder value check motion

94

Servo deviation

94

Same pass motion path unde

98

Chapter 3 Robot Motion

101

3.3 Interpolation Control

102

3.3.2 CP Control

103

Motion Instruction

104

Chapter 4

113

Speed, Acceleration

113

Designation

113

4.2 Speed Designation

115

Internal Deceleration

115

Acceleration

116

4.6.1 Control Set 0

119

Positioning time

121

Motion range (deg.)

121

4.6.2 Control Set 1

122

4.6.3 Control Set 2

123

4.6.4 Control Set 3

124

4.6.6 Notes for Setting

125

User Preferences

126

[F6 Aux.]

131

[F7 Config.]

131

4.8 Safety Features

137

Chapter 5

139

Vision Control

139

5.1 Vision Control

141

[ 1 ] Area

142

[ 2 ] Center of Gravity

142

Window Object

143

Major axis

143

Minor axis

143

5.1.1.5 Binarization

144

Number of pixels

145

5.1.1.7 Edge

147

5.1.1.8 Labeling

148

Search model Window

149

Search model

149

Image data

149

COMMAND REFERENCE

151

Chapter 6

153

Guide to Command

153

Reference

153

Explanations

155

6.2 Command List

156

Chapter 7

157

PAC Language

157

Configuration

157

Elements

157

7.1 New Robot Language PAC

159

7.3 Language Element

161

7.4 Name

161

7.5 Identifier

162

[ 1 ] Global Variable

163

[ 2 ] Local Variable

165

7.5.2 Function

166

7.5.3 Label

166

7.5.4 Program

167

7.6 Data Type

168

7.7 Data Type Conversion

169

7.8 Constant

170

7.8.3 Vector Type Constant

172

7.8.4 Pose Constant

172

[ 2 ] Joint Type Constant

173

7.9 Expression and Operator

174

7.9.3 Relational Operator

175

7.9.4 Logical Operator

176

7.9.6 Vector Operation

177

7.9.7 Position Operation

177

7.9.8 Joint Operation

178

Chapter 8

181

8.1 Statement and Line

183

8.3 Label

185

8.4 Character Set

186

8.5 Reserved Word

187

8.6 Declaration Statement

188

'postposition is used

189

[ 3 ] Array Declaration

190

8.7 Assignment Statement

192

Command Example

194

8.8 Flow Control Statement

195

8.8.4 Repeat

196

*SUBROUTINE:

197

[ 2 ] Program

198

8.9 Robot Control Statement

199

8.9.4 Time Control Statement

200

8.12 Time and Date Control

203

8.13 Error Control

204

8.14 System Information

205

8.15 Preprocessor

206

8.16.1 Calling with a Value

207

8.17 Vision Control

209

8.17.3 Draw

210

8.17.4 Image Processing

210

8.17.5 Code Recognition

211

8.17.6 Labeling

211

8.17.7 Search Function

211

8.17.8 Result Obtaining

212

8.17.9 Vision Calibration

212

Chapter 9

213

Declaration

213

Statements

213

9.1 Program Name

215

AREA (Statement )

216

Related Terms

217

9.3 User Function

218

9.4 Home Coordinates

219

9.5 Tool Coordinates

220

9.6 Work Coordinates

221

9.7 Local Variable

222

DEFSNG (Statement)

223

DEFDBL (Statement)

224

DEFSTR (Statement)

225

DEFVEC (Statement)

226

DEFPOS (Statement)

227

DEFJNT (Statement)

228

DEFTRN (Statement)

229

9.8 Array

231

Chapter 10

233

Assignment

233

10.1 Variables

235

10.2 Vector

236

LETO (Statement)

237

LETP (Statement)

238

10.3 Figure

239

10.4 Link Angle

240

10.5 Posture

241

10.6 Rotation Component

242

LETRY (Statement)

243

LETRZ (Statement)

244

LETT (Statement)

245

10.7 Axis Component

246

DEFPOS lp1, lp2

247

DEFVEC lv1, lv2

247

Function

248

Explanation

248

Chapter 11

249

Flow Control

249

11.1 Program Stop

251

STOPEND (Statement)

253

11.2 Call

254

11.3 Repeat

259

EXIT DO (Statement)

261

EXIT FOR (Statement)

264

REPEAT-UNTIL (Statement)

265

WHILE-WEND (Statement)

266

11.4 Conditional Branch

267

SELECT CASE (Statement)

269

11.5 Unconditional Branch

271

11.6 Comment

273

Chapter 12

275

Robot Control

275

12.1 Motion Control

277

DEPART (Statement)

280

DRAW (Statement)

283

DRIVEA (Statement)

287

for the specified

288

ROTATEH (Statement)

298

CURJNT (System Variable)

300

'lp1

302

'lp2

302

CUREXJ (Statement)

303

DESTJNT (System Variable)

304

DESTPOS (System Variable)

305

DESTTRN (System Variable)

306

DESTEXJ (Statement)

307

POSCLR (Statement)

310

12.2 Figure Control

311

FIGAPRL (Function)

313

FIGAPRP (Function)

315

12.3 Stop Control

316

INTERRUPT ON/OFF (Statement)

318

12.4 Speed Control

320

JSPEED (Statement)

322

JACCEL 25 (JSPEED*JSPEED÷100)

323

JDECEL 25 (JSPEED*JSPEED÷100)

323

CURACC (System Variable)

327

CURJACC (System Variable)

328

CURDEC (System Variable)

329

CURJDEC (System Variable)

330

CURJSPD (System Variable)

331

CURSPD (System Variable)

332

CUREXTACC

333

ACCEL, DECEL, CUREXTDEC

333

CUREXTSPD

335

12.5 Time Control

336

CHANGETOOL (Statement)

338

CHANGEWORK (Statement)

339

WORK, CHANGEWORK, WORKPOS

341

12.7 Interference Check

342

RESETAREA (Statement)

343

12.8 Supervisor Task

344

12.9 Internal Servo Data

345

12.10 Particular Control

347

Internal payload condition

348

External payload condition

348

Chapter 13

381

Input/Output

381

Control Statements

381

13.1 I/O Port

383

Sets an I/O port to OFF

389

RESET <I/O variable>

389

SET, DEFIO

389

(Server/Client) Port

390

LINEINPUT (Statement)

391

WRITE (Statement)

393

FLUSH (Statement)

394

(RS232C and Ethernet ports)

395

(Version 1.5 or later)

396

13.4 Pendant

402

PRINTDBG (Statement)

403

BUZZER (Statement)

404

PRINTLBL (Statement)

405

TP operation screen sample

408

<Parameter

410

Type>

410

Page caption example

415

Chapter 14

423

Multitasking

423

14.1 Task Control

425

KILL (Statement)

426

SUSPEND (Statement)

427

DEFEND (Statement)

428

STATUS (Function)

429

14.2 Semaphore

430

CREATESEM (Function)

431

DELETESEM (Statement)

434

FLUSHSEM (Statement)

435

GIVESEM (Statement)

436

TAKESEM (Statement)

437

14.3 Arm Semaphore

438

(2) extended-joints

439

GIVEARM (Statement)

443

TAKEVIS (Statement)

444

GIVEVIS (Statement)

445

Chapter 15

447

Functions

447

15.1 Arithmetic Function

449

Chapter 15 Functions

451

DEFSNG lf1, lf2, lf3, lf4

453

DEFSNG lf1, lf2

454

DEFINT li1, li2

454

RND (Function)

457

SGN (Function)

458

15.2 Trigonometric Function

460

(Function) [Conforms to SLIM]

461

'lf5 to lf3

465

15.3 Angle Conversion

467

RAD (Function)

468

15.4 Speed Conversion

470

15.5 Time Function

471

15.6 Vector

472

OVEC (Function)

473

PVEC (Function)

474

MAGNITUDE (Function)

475

J2P (Function)

476

J2T (Function)

477

P2J (Function)

478

P2T (Function)

479

T2J (Function)

480

T2P (Function)

481

TINV (Function)

482

15.8 Distance Extraction

483

15.9 Figure Component

484

15.10 Angle Component

485

15.11 Axis Component

486

15.12 Rotation Component

489

POSRY (Function)

490

POSRZ (Function)

491

POST (Function)

492

15.13 Figure Component

493

15.14 Position Function

494

AREASIZE (Function)

495

TOOLPOS (Function)

496

WORKPOS (Function)

497

ASC (Function)

498

DIM li1 As Integer

499

DEFSTR ls1, ls2

499

SPRINTF$ (Function)

501

Chapter 16

513

Constants

513

16.1 Built-in Constants

515

ON (Built-in constant)

516

PI (Built-in constant)

517

FALSE (Built-in constant)

518

TRUE (Built-in constant)

519

Chapter 17

521

Time/Date Control

521

17.1 Time/Date

523

DEFINT li1, li2, li3

525

Chapter 18

527

Error Controls

527

18.1 Error Information

529

ERR (System Variable)

530

ERRMSG$ (Function)

531

18.2 Error Interruption

532

RESUME (Statement)

533

Chapter 19

535

System Information

535

19.1 System

537

LETENV (Statement)

538

VER$ (Function)

539

19.2 Log

540

CLEARLOG (Statement)

541

STOPLOG (Statement)

542

Chapter 20

543

Preprocessor

543

(Preprocessor Statement)

545

(Preprocessor Statement)

546

20.2 File Fetch

548

20.3 Optimization

549

Chapter 21

551

(Option)

551

21.3 Image Input and Output

555

CAMMODE (Statement)

556

CAMLEVEL (Statement)

558

VISCAMOUT (Statement)

559

VISPLNOUT (Statement)

560

VISOVERLAY (Statement)

561

VISDEFTABLE (Statement)

563

VISREFTABLE (Function)

565

21.4 Window Setting

566

(End X coordinate

567

WINDCLR (Statement)

571

WINDCOPY (Statement)

572

WINDREF (Function)

574

WINDDISP (Statement)

575

21.5 Draw

576

VISBRIGHT (Statement)

578

VISCLS (Statement)

579

( X coordinate, Y coordinate)

581

VISLINE (Statement)

582

VISPTP (Statement)

583

VISRECT (Statement)

584

(X coordinate, Y coordinate)

585

VISELLIPSE (Statement)

586

VISSECT (Statement)

587

VISCROSS (Statement)

588

VISLOC (Statement)

589

VISDEFCHAR (Statement)

591

VISPRINT (Statement)

592

21.6 Vision Processing

593

(X coordinate

594

Y coordinate)

594

VISHIST (Statement)

595

VISREFHIST (Function)

596

VISLEVEL (Function)

597

VISBINA (Statement)

599

VISBINAR (Statement)

601

VISFILTER (Statement)

602

VISMASK (Statement)

604

VISCOPY (Statement)

606

VISMEASURE (Statement)

607

VISPROJ (Statement)

610

VISEDGE (Statement)

612

21.7 Code Recognition

616

21.8 Labeling

619

Center of gravity coordinate

619

Filet dia. width

619

Filet dia. height

619

Filet dia. reference point

619

Main axis angle

622

Peripheral length

622

Label number 2

624

Label number 0

624

Label number 1

624

Label number 3

624

Label number2

626

Label number3

626

SHDEFMODEL (Statement)

628

SHREFMODEL (Statement)

630

SHCOPYMODEL (Statement)

631

SHCLRMODEL (Statement)

632

SHDISPMODEL (Statement)

633

SHMODEL (Statement)

634

Pad height

638

Clearance

638

Corner position

638

SHCORNER (Statement)

639

Pad width

641

SHCIRCLE (Statement)

642

21.10 Obtaining Results

645

VISGETSTR (Function)

646

VISPOSX (Function)

647

VISPOSY (Function)

648

VISSTATUS (Function)

649

VISREFCAL (Function)

650

Chapter 22

651

Appendices

651

22.1 Character Code Table

653

[ 1 ] Available 32 Figures

654

Chapter 22 Appendices

655

(1) Shoulder figure

655

(2) Elbow figure

655

(3) Wrist figure

656

(4) 6th-axis figure

656

(5) 4th-axis figure

657

Figure 7. Location of Pw

660

≤180° around

664

22.4 Configuration List

666

(Tool end

672

speed in CP motion)

672

199 Arc interpolation

672

22.5 Reserved Word List

673

Correspondence Table (VS)

675

22.8 Setting Parameter Table

681

Index

685

Denso RC5 Specifications (182 pages)

Brand: Denso | Category: Robotics | Size: 3.77 MB |

English

Table of contents

INTERFACE MANUAL

1

Preface

3

How this book is organized

5

3. Installation Precautions

9

SAFETY PRECAUTIONS

11

Warning

13

Contents

17

RC5 - VSE 6 B A - P

21

2.3 Setting the parameter

23

/HM-E series

24

<Front>

25

[ 1 ] Specifications

27

[ 2 ] Outer Dimensions

29

 Location of IPM boards

30

(VM-D, VS-E, HS-E, and HM-E)

32

(VS-D, VC-E, H

33

-D, and XYC-D)

33

2.2 Switching between Modes

34

2.3.1 Standard Mode

42

2.3.2 Compatible Mode

43

2.4.4 User Input Commands

44

2.4.5 User Output Commands

45

Chapter 3

46

(5) OFF condition

47

3.2.2 Auto Mode (Output)

48

3.2.4 Servo ON (Output)

50

3.2.6 Normal CPU (Output)

52

(4) ON condition

54

3.2.11 SS mode (Output)

56

3.4.1 Enable Auto (Input)

59

3.4.2 Robot Stop (Input)

60

(2) Terminal

61

Halt OFF (open)

62

Dedicated to Standard Mode

65

[ 2 ] Strobe Signal (Input)

69

[ 4 ] Status Area

71

3.5.3 I/O Commands Details

72

(2) Format

73

(3) Description

73

3.5.3.4 Error Read (0100)

77

Type I Variable Read (0110)

79

3.5.3.9 I/O Write (1001)

83

3.5.3.10 I/O Read (1010)

84

(1) Equipment setup example

85

Chapter 4

89

4.2.2 Auto Mode (Output)

91

4.2.3 Servo ON (Output)

92

⋅ CAL EXECUTION and OPERATION

93

4.2.6 Teaching (Output)

95

4.2.10 Normal CPU (Output)

99

(1) Function

100

(2) Terminal number

100

(3) Usage

100

(4) ON conditions

100

(5) OFF conditions

100

(1) Function

101

4.2.14 Error No. (Output)

103

4.2.16 SS mode (Output)

104

(4) Contact

105

(Compatible Mode)

106

4.4.1 Enable Auto (Input)

107

The mode is switched to

109

external mode

109

(2) Terminal numbers

110

4.4.4 Program Start (Input)

112

1-cycle Operation

112

Program Start Operation-2

113

Program Start Operation-3

114

1→T2→T3 in the figure

116

4.4.5 Program Reset (Input)

118

4.4.6 Robot Stop (Input)

120

ON (shorted)

122

50 ms. or more required

122

Instantaneous

122

(e.g., conveyor)

126

(2) Outline of procedure

127

 Operation start area check

128

Operation position 1 ON

128

 Automatic operation

129

 Operation end

129

Executing single-cycle

129

[ 1 ] From the teach pendant

131

[ 2 ] In WINCAPSII

132

Parameter details

134

User I/O signal lines

137

Chapter 5

138

5.2.4.1 Standard type

152

Check point (2)

156

Chapter 6

158

6.2.4.1 Standard type

172

Check point (1)

176

Chapter 7 I/O Wiring

178

: 230 VAC, phase R

180

B: 230 VAC, phase S

180

C: Not used

180

D: Ground

180

RC5 CONTROLLER

181

Denso RC5 Specifications (138 pages)

Brand: Denso | Category: Robotics | Size: 3.18 MB |

English

Table of contents

OPTIONS MANUAL

1

Important

3

[F5 Input ID]

4

The serial number appears

5

How this book is organized

7

Contents

9

PART 1 OPTIONAL OPERATION

13

1.3.1 Specifications

15

1.3.2 Outer Dimensions

16

What is Pendantless State?

17

Setting the Pendantless State

17

Pendantless State Precautions

17

Procedure

19

Chapter2 Operating Panel

20

TP socket

22

Operating panel face

23

To be secured

23

M4 screw

23

(5 mm or more)

23

(In version 1.7 or later)

25

3.3.1 Specifications

27

3.3.2 Outer Dimensions

28

Saving programs and data

29

Getting a snapshot

29

Chapter4

30

× 480 or higher

31

4.3 Communications Cable

32

CONTROLLER

33

Chapter6

40

6.1.1 Location of the µ

42

Overlay Concept

44

6.2 Peripheral Devices

45

Chapter7 Ethernet Board

48

Ethernet Board Parts Names

49

8.1 Overview

50

8.2 Product Specifications

51

(A) Status indicator LEDs

52

(B) DIP switch (SW101)

53

Setting the node address

53

Setting the bit rate

54

(C) DeviceNet connector

54

8.2.2 General Specifications

55

(1) Input Data

56

(2) Output Data

57

Robot initialization finished

57

Continue start permitted

57

Command process finished

57

Status area odd parity

57

(Version 1.5 or later)

63

(Version 1.7 or later)

66

8.7 Error Code Table

69

9.1 Overview

72

9.1.1 Features

73

9.2 Product Specifications

76

0: OFF 1: ON

79

9.2.2 General Specifications

81

9.3 ALLOCATING I/O AREAS

82

CONTROLLER INTERFACE MANUAL

84

Trunk lines and drop lines

85

Terminating resistors

85

Communication power supply

86

Connection style

86

Trunk line length

87

Drop line length

87

What is “scanlist”?

88

Scanlist creation procedure

88

Press [F9 SlaveMap]

89

Screen explanation

91

Explanation about screen

98

Input area display screen

98

Output area display screen

98

[Scan] and [Change] keys

98

DeviceNet

109

10.1 Overview

112

Slave Board

113

10.1.3 Specifications

114

→ CIF30-DPS → Hil_7504.GSD

117

Model COM-2(PC)F

118

Manufactured by CONTEC

118

Extension Board

119

Assignment

120

11.7 Limited Warranty

122

Remove the side plate

124

PART 3 OTHER OPTIONS

130

13.3 Names of the Components

131

13.4 External Dimensions

132

Preparing a power supply

133

13.6 Precautions

134

Denso devices