Denso RC5 Specifications download pdf (Page 17)

Contents

Preface ................................................................................................................................................................................ i

How the documentation set is organized ........................................................................................................................ii

How this book is organized .............................................................................................................................................iii

SAFETY PRECAUTIONS

Chapter 1 General Information about RC5 Controller ....................................................................................... 1

1.1 Controller Model Name on Nameplate............................................................................................................1

1.2 Names of the Robot Controller Components...................................................................................................4

1.3 Robot Controller Specifications.......................................................................................................................7

1.4 Controller System Configuration...................................................................................................................11

1.4.1 Internal Circuits of the Controller (Typical configuration) .............................................................. 11

1.4.2 Typical Robot System Configurations ............................................................................................. 12

Chapter 2 General Information about the Interface .......................................................................................... 14

2.1 Standard Mode and Compatible Mode ..........................................................................................................14

2.2 Switching between Modes .............................................................................................................................14

2.3 Types and General Information about I/O Signals.........................................................................................22

2.3.1 Standard Mode ................................................................................................................................. 22

2.3.2 Compatible Mode............................................................................................................................. 23

2.4 Using User I/O Signals (common to both modes) .........................................................................................24

2.4.1 I/O Type Variable Declaration.......................................................................................................... 24

2.4.2 I/O Type Global Variables................................................................................................................ 24

2.4.3 I/O Type Local Variables.................................................................................................................. 24

2.4.4 User Input Commands ..................................................................................................................... 24

2.4.5 User Output Commands................................................................................................................... 25

2.4.6 Note When Using Input Signals....................................................................................................... 25

Chapter 3 System I/O Signals Standard Mode.................................................................................................... 26

3.1 Types and Functions of System Output Signals (Standard Mode).................................................................26

3.2 Usage of System Output Signals (Standard Mode)........................................................................................27

3.2.1 Robot Initialization Complete (Output) ........................................................................................... 27

3.2.2 Auto Mode (Output)......................................................................................................................... 28

3.2.3 External Mode (Output) ................................................................................................................... 29

3.2.4 Servo ON (Output)........................................................................................................................... 30

3.2.5 Robot-in-operation (Output) ............................................................................................................ 31

3.2.6 Normal CPU (Output)...................................................................................................................... 32

3.2.7 Robot Failure (Output)..................................................................................................................... 33

3.2.8 Robot Warning (Output) .................................................................................................................. 34

3.2.9 Dead Battery Warning (Output) ....................................................................................................... 35

3.2.10 Continue Start Permitted (Output) ................................................................................................... 36

3.2.11 SS mode (Output) ............................................................................................................................ 36

3.2.12 Emergency Stop (Output from a contact)......................................................................................... 37

3.3 Types and Functions of System Input Signals (Standard Mode) ...................................................................38

1 2 ... 12 13 14 15 16 17 18 19 20 21 22 ... 181 182

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