Denso RC5 Spezifikationen PDF herunterladen (Seite 31)

1.4 Controller System Configuration

1.4.1 Internal Circuits of the Controller (Typical configuration)

The block diagram below shows the internal circuits of an RC5 controller designed for

a 6-joint robot.

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 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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