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manual abstract
Specifications are subject to change without prior notice. All products and company names mentioned are trademarks or registered trademarks of their respective holders. Preface Thank you for purchasing this high-speed, high-accuracy assembly robot. This manual covers interfacing required when you integrate your robot system configured with the RC5 robot controller into your facilities. Before use, read this manual carefully together with related manuals to safely get the maximum benefit from your robot in your assembling operations. Robot models covered by this manual All robot models configured with RC5 controller Important To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS." i How the documentation set is organized The documentation set consists of the following books. If you are unfamiliar with this robot and option(s), please read all books and understand them fully before operating your robot and option(s). GENERAL INFORMATION ABOUT ROBOT Provides the packing list of the robot and outlines of the robot system, robot unit, and robot controller. INSTALLATION & MAINTENANCE GUIDE Provides instructions for installing the robot components and customizing your robot, and maintenance & inspection procedures. BEGINNER'S GUIDE Introduces you to the DENSO robot. Taking an equipment setup example, this book guides you through running your robot with the teach pendant, making a program in WINCAPSII, and running your robot automatically. SETTING-UP MANUAL Describes how to set-up or teach your robot with the teach pendant, operating panel, or mini-pendant. WINCAPSII GUIDE Provides instructions on how to use the teaching system WINCAPSII which runs on the PC connected to the robot controller for developing and managing programs. PROGRAMMER'S MANUAL (I), (II) Describes the PAC programming language, program development, and command specifications in PAC. RC5 CONTROLLER INTERFACE MANUAL - this book - Describes the RC5 controller, interfacing with external devices, system- and user-input/output signals, and I/O circuits. ERROR CODE TABLES List error codes that will appear on the teach pendant, operating panel, or PC screen if an error occurs in the robot series or WINCAPSII. These tables provide detailed description and recovery ways. OPTIONS MANUAL Describes the specifications, installation, and use of optional devices. ii How this book is organized This book is just one part of the robot documentation set. This book consists of SAFETY PRECAUTIONS and chapters one through nine. SAFETY PRECAUTIONS Defines safety terms and related symbols and provides precautions that should be observed. Be sure to read this section before operating your robot. Chapter 1 Outline of the RC5 Controller Provides an outline of the RC5 controller. The robot controller is available in several models that will differ in detailed specifications to match robot models to be connected. Chapter 2 General Information about the Interface Introduces you to the interface required for connecting the robot controller with a PLC or other external equipment. It describes two I/O allocation modes available--standard mode and compatible mode, and the switching procedure between those modes. Describes declaration of I/O variables and user I/O signals. Chapter 3 System I/O Signals in Standard Mode Describes system I/O signals available in standard mode, and describes I/O signals that execute I/O commands. Chapter 4 System I/O Signals in Compatible Mode Describes the functions, terminal numbers, and on/off conditions of system I/O signals in compatible mode. Chapter 5 I/O Circuits and Connectors (NPN type) Describes the I/O circuits and connector pin layout of an NPN I/O board (source input and sink output). The NPN I/O board is designed for the use in Japan. Chapter 6 I/O Circuits and Connectors (PNP type) Describes the I/O circuits and connector pin layout of a PNP I/O board (sink input and source output). Chapter 7 I/O Wiring Describes I/O cables and wiring. iii SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions. Strict observance of these warning and caution indications are a MUST for preventing accidents, which could result in bodily injury and substantial property damage. Make sure you fully understand all definitions of these terms and related symbols given below, before you proceed to the text itself. WARNING Alerts you to those conditions, which could result in serious bodily injury or death if the instructions are not followed correctly. CAUTION Alerts you to those conditions, which could result in minor bodily injury or substantial property damage if the instructions are not followed correctly. Terminology and Definitions Maximum space: Refers to the volume of space encompassing the maximum designed movements of all robot parts including the end-effector, workpiece and attachments. (Quoted from the RIA* Committee Draft.) Restricted space: Refers to the portion ...