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Denso RC5 Specifications Page 33
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13
Robot system configuration with encod
ers connected via a parallel interface
(VS-D, VC-E,
H
*
-D, and XYC-D)
System Configuration Example
1
2
...
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181
182
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
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