ROBOT **-D/-E SERIES OPTIONS MANUAL
Copyright © DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. 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 optional devices designed for DENSO robots. This manual covers the specifications, installation, and use of optional devices to be configured in the **-D/-E series robot system together with the RC5 controller. Before use, read this manual carefully to safely get the maximum benefit from your robot and options in your assembling operations.
Enabling extension functions by the teach pendant Access: [F6 Set]—[F7 Options.]—[F8 Extnsion]— [F5 Input ID] Enables the extension function. Once enabled, the setting will be retained even if the controller power is turned off and on. (1) Press [F8 Extnsion] in the Option Menu, and the System Extension window will appear as shown below. The serial number appears. (2) Press [F5 Input ID] on the System Extension window, and the numeric keypad will appear. (3) Enter the password and press [OK].
Enabling extension functions in WINCAPSII Enables the extension function. Once enabled, the setting will be retained even if the controller power is turned off and on. (1) When WINCAPSII and the controller are in connection, choose the “System Extension” from Help Menu. (2) The System Extension window appears. Enter the password and press [Add]. The serial number appears. (3) Restart the controller to make the extension function go into effect.
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.
How this book is organized This book is just one part of the robot documentation set. This book consists of chapters 1 through 12. PART 1 OPTIONAL OPERATION DEVICES Describes optional operation devices designed for operating your robot. Chapter 1 Teaching Pendant Chapter 2 Operating Panel Chapter 3 Mini-Pendant (In version 1.7 or later) Chapter 4 PC Teaching System "WINCAPSII" PART 2 OPTIONAL BOARDS FOR RC5 CONTROLLER Describes optional boards that can be installed to the RC5 controller.
Contents Preface.................................................................................................................................................................................i How the documentation set is organized........................................................................................................................iv How this book is organized..................................................................................................................................
Chapter6 µVision Board...............................................................................................................................................28 µ 6.1 µVision Board Specifications..................................................................................................................................28 6.1.1 Location of the µVision Board and Names of Connectors .......................................................................30 6.1.
Chapter10 PROFIBUS-DP Slave Board .....................................................................................................................100 10.1 Overview...............................................................................................................................................................100 10.1.1 Location of the PROFIBUS-DP Slave Board and Functions of its Components ...................................100 10.1.
PART 1 OPTIONAL OPERATION DEVICES Chapter1 Teach Pendant The teach pendant is an entry/operation device for creating programs and teaching. The teach pendant can perform all operations except automatic external operation. 1.1 Teach Pendant Functions For instructions on how to operate the teach pendant, refer to the SETTING-UP MANUAL. Programming and teaching This function allows you: - to enter commands and store the robot arm position.
1.2 Names of Teach Pendant Components The figure below shows the names of the teach pendant components.
1.3 1.3.1 Teach Pendant Specifications Specifications The table below lists the teach pendant specifications.
1.3.2 Outer Dimensions The figure below shows the outer dimensions of the teach pendant.
1.3.3 Pendantless State What is Pendantless State? The state without having connected the operating panel and the teach pendant to the robot controller is called a pendantless state. Setting the Pendantless State As described below, there are four ways to set the pendantless state: (1) Turning ON the power to the robot controller without the operating panel and the teach pendant. (2) Disconnecting the connected teach pendant. (3) Disconnecting the connected operating panel.
1.3.4 Connecting and Disconnecting Operating Panel and Teach Pendant The operating panel and the teach pendant can be connected or disconnected with the power to the robot controller ON. Connect or disconnect them according to the procedure described below. The table below shows the state of change resulting from connecting or disconnecting the operating panel and/or the teach pendant. Each letter in the table represents the appropriate connecting and disconnecting procedure (×: no procedure applicable).
Connection and Disconnection Procedures Procedure (A) (B) (C) (D) Steps Step 1 Select the AUTO mode, and activate an emergency stop. Step 2 Disconnect the connector from CN5 on the robot controller. Step 3 Connect the connector used for pendantless operation to CN5 of the robot controller. Step 4 Error 2187 occurs. Clear it from the external device. Step 1 Select the AUTO mode, and activate an emergency stop. Step 2 Perform disconnection. See the SETTING-UP MANUAL, Section 5.
Chapter2 Operating Panel The operating panel is a fixed type operation console that allows you to recover the robot from a stop due to problems caused by peripheral units, etc. The panel has minimum necessary teaching/operating functions. To the operating panel you may connect a teach pendant which is designed for teaching and other fine operations. The ROBOT STOP button and the STOP key on the operating panel and the teach pendant are available anytime.
2.2 Names of Operating Panel Components The figure below shows the names of the operating panel components.
2.3 Operating Panel Specifications The table below lists the operating panel specifications. Operating Panel Specifications Item Specifications Model OP-RC5-1 Display Liquid crystal display with backlight, 16 characters × 2 lines Power source 24 VDC (supplied from robot controller) Operation 23 flat key switches, ROBOT STOP button, mode selector switch, deadman switch Installation conditions Temperature: 0 to 40°C Humidity: 90% RH or less (Dew condensation shall not be allowed.
2.4 Mounting and Connecting the Operating Panel Mounting the operating panel The operating panel is a fixed type operation console. Mount it to the equipment, referring to the figure given below.
Connecting the operating panel As shown in the figure given below, the operating panel can be connected to the robot controller. A teach pendant can also be connected to the operating panel. Connection type 1: Operating panel only Operating panel Robot controller Mode switch Turn this switch to the MANUAL or AUTO position. Pendantless connector NOTE: Be sure to secure the operating panel to a safe place such as equipment.
Chapter3 Mini-Pendant (In version 1.7 or later) The mini-pendant is an entry/operation device for operating the robot manually, starting programs, and teaching. It has no programming function. Using the mini-pendant together with WINCAPSII or WINCAPSII Light enables efficient programming and teaching. 3.1 Mini-Pendant Functions For instructions on how to operate the mini-pendant, refer to the SETTING-UP MANUAL.
3.2 Names of Mini-Pendant Components The figure below shows the names of the mini-pendant components.
3.3 3.3.1 Mini-Pendant Specifications Specifications The table below lists the mini-pendant specifications.
3.3.2 Outer Dimensions The figure below shows the outer dimensions of the mini-pendant. Outer Dimensions of the Mini-Pendant 3.3.3 Connecting the Mini-Pendant You may connect the mini-pendant to the "pendant" connector on the robot controller. When it is connected, neither the teach pendant nor operating panel can be used concurrently.
3.4 Specifications of WINCAPSII Light WINCAPSII Light that comes with the mini-pendant is PC teaching system software. It is a functionally limited version of WINCAPSII. Except that WINCAPSII Light is limited to the following functions, it is the same as WINCAPSII. Refer to WINCAPSII given in the next chapter. Entering and editing robot programs In WINCAPSII Light, you may enter or edit robot programs. You may also develop new programs by making use of existing programs.
Chapter4 PC Teaching System Software, "WINCAPSII" The PC teaching system facilitates the creation and editing of robot programs. Use this system to improve creation and/or robot management programs. For further information about how to use this teaching system, refer to the WINCAPSII GUIDE. 4.1 Functions in WINCAPSII WINCAPSII has the following functions: Entering and editing robot programs In WINCAPSII, you may enter or edit robot programs.
4.2 Operating Environment Required The PC teaching system software requires the operating environment listed below. Operating Environment for the PC Teaching System Software CPU Pentium or higher capacity OS Windows 95 or upper version (See Note 1.) Memory 32 MB or more (64 MB recommended) Hard disk A free area of 80 MB or more is required at installation. Monitor resolution 640 × 480 or higher Note 1 WINCAPSII cannot run properly on earlier versions of Windows 95.
4.3 Communications Cable To enable the computer and the robot controller to communicate with each other, they must be connected with a communications cable. Use the appropriate RS-232C for cross cable wiring, as shown below.
PART 2 OPTIONAL BOARDS FOR RC5 CONTROLLER Chapter5 Floppy Disk Drive The floppy disk drive is an optional storage device that stores or reads data such as robot programs, to/from a floppy disk. It may be built in the robot controller. 5.1 Floppy Disk Drive Functions The floppy disk drive has the following functions: Formatting This function initializes a floppy disk so that it can store data. You need to initialize a new floppy disk before use. Floppy disks will be initialized in MS-DOS format.
5.3 Location of the Floppy Disk Drive and its Component Names Floppy disk insertion slot Eject button Indicator Location of the Floppy Disk Drive and its Component Names Floppy disk insertion slot Insert a floppy disk through this slot. (See the figure given below.) Eject button Push this button to eject the floppy disk. Indicator This lamp comes ON when the floppy disk is accessed. Notch Inserting direction Inserting a Floppy Disk Caution: Do not eject the floppy disk when the indicator is lit.
5.4 Mounting the Floppy Disk Drive Mount the floppy disk drive into the robot controller according to the following procedure: Step 1 Remove the eight screws from the controller top cover. Step 2 Lift the top cover up and off the robot controller.
Step 3 Remove the four screws from the upper plate and take off the upper plate. Step 4 Push the two pins of the blank cap outwards and remove the blank cap.
Step 5 Mount the floppy disk drive in the appropriate position of the robot controller. The floppy disk drive is secured to a disk drive mounting plate. Step 6 Secure the front panel of the floppy disk drive with two screws.
Step 7 Secure the floppy disk drive mounting plate with four screws. Step 8 Connector J6 FDD 26P on the printed circuit board has a cable lock. If the connector is locked, lift and unlock it. The lock is made of resin. Do not apply excessive force to it since the lock could easily break. Handle it with extra care. Fully insert the flat cable of the floppy disk drive into connector J6 FDD 26P on the circuit board.
Step 9 Step 10 Securely push in the connector lock. Put the top cover and secure it with eight screws. The mounting of the floppy disk drive is completed.
Chapter6 µVision Board 6.1 µVision Board Specifications If the robot controller has a built-in µVision board, it can handle a variety of image processor functions. Similar to other commands, image processing commands are already incorporated and no special operations or programming are required.
Operating condition setting switch (all off) Program adjustment connector (Not used.) Camera trigger short pins (Not used.) ISA mapping switch (fixed) Camera 1 input connector Camera 2 input connector Monitor output connector Serial port (Not used.) I/O port (Not used.) Extension connectors (Not used.) Interrupt short pin (Not used.) µVision Board Note (1) Switches and the short pins on the µVision board have been set at the factory. Do not change the settings. A failure may result.
6.1.1 Location of the µVision Board and Names of Connectors Insert a µVision board into extension slot 3 shown in the figure below. Inserting the board in a wrong slot may damage the internal circuits of the robot controller. For the installation procedure, refer to Chapter 11, "Mounting Extension Boards.
6.1.2 Block Diagram and Internal Configuration of µVision Board Animation (camera image) Camera 1 Selector A/D LT Selector LT Overlay circuit (superpose) D/A Monitor Camera 2 Image storage memory (4 processed screens) Static image (image memory) Image processing circuit Drawn image CPU Dedicated drawn image memory (2 screens) Block Diagram of µVision Board The above figure illustrates the processing flow of the µVision board as a reference.
X = 280 Y = 245 Overlaying (superpose) Camera and processed screen image (256 gradations) X = 280 Y = 245 Camera and processed screen image (256 gradations) Overlay Concept 32
6.2 Peripheral Devices 6.2.1 General Information about the Camera C mount Camera cable (option) 4-M3 depth 3.5 (tightening torque: 0.69 N⋅m) Connect to the camera input connector on the µVision board CS-8320B camera (back) 4-M2 depth 3 (tightening torque: 0.39 N⋅m) Camera Dimensions and its Parts Names Camera Specifications Item Specifications Manufacturer Tokyo Electronic Industry Co., Ltd.
Caution (1) When mounting the camera to the equipment, tighten the screws securely to the specified torque. See the figure given on the previous page. (2) Do not apply a strong impact or vibration to the camera. A failure may result. (3) When opening the camera top cover and changing the settings, be sure to turn the controller power off or disconnect the camera cable. (4) For setting up cameras, refer to the instruction manual that comes with the camera.
6.2.2 General Information about the Monitor Input impedance Image signal output Image signal input Adjuster cover Power switch Pilot lamp BNC cable To µvision board monitor output connector Monitor Dimensions and its Parts Names Monitor Specifications Item Specifications Manufacturer Chuo Musen Co., Ltd. Manufacturer’s model TMP-233-03 Cathode-ray tube 9-inch, monochrome Image input NTSC signal 0.7 Vp-p (straight polarity) Power supply 100 VAC, 50/60 Hz Power consumption Approx.
Chapter7 Ethernet Board If the robot controller has a built-in Ethernet board, it can communicate with the PC teaching system according to the TCP/IP protocol. This board is helpful for communication between a single PC teaching system and more than one robot controller. It also provides faster communication than an RS232C cable, contributing to improved response of the PC teaching system. 7.1 Components in Package Check that following components are contained in the package of the Ethernet board.
7.3 Ethernet Board Parts Names The parts names of the Ethernet board and its functions are shown in the figure and the table below. Ethernet Board Parts Names LEDs and Connector on the Ethernet Board Name Function Link LED Lights if the UTP port detects a signal. CRS LED Lights if a carrier signal is detected. This LED will remain ON if no cable is connected to the UTP connector. RJ-45 UTP connector Used for 10BaseT connection. 7.
Chapter8 DeviceNet Slave Board 8.1 Overview If the robot controller has a built-in DeviceNet slave board, it can communicate with external devices according to the DeviceNet-compliant protocol. As a slave unit for serial communications which is compliant with the open network DeviceNet, the robot controller may easily exchange I/O data with a variety of DeviceNet-compliant control devices of many manufacturers. 8.1.
8.2 Product Specifications The figure below shows the location of the LEDs, DIP switches, and DeviceNet connector on the DeviceNet slave board.
8.2.1 Names and Functions of Slave Board Components (A) Status indicator LEDs The status indicators MS and NS ("A" in the figure given on the previous page) can light or flash in green or red. Each of the ON, flashing, and OFF states of those indicators shows the module or network status as listed below. The flashing interval is once per second (0.5 second of ON and 0.5 second of OFF). LED name Color State Definition Explanation Normal state • The unit works normally.
(B) DIP switch (SW101) Use the DIP switch for setting the node address and bit rate as shown below. Node address setting Bit rate setting DIP Switch Setting NOTE: Always turn off the controller power (including the network power) before setting the DIP switch. Setting the node address Set the node address of the robot controller using selectors 1 through 6 of the DIP switch, referring to the table below.
Setting the bit rate To match the bit rate of the robot controller with that of the network, use selectors 7 and 8 of the DIP switch, referring to the table below: Bit Rate Setting By DIP Switch Selectors on the DIP switch Selector 7 Selector 8 0 0 0 1 1 0 1 1 Bit rate 125 kbps 250 kbps 500 kbps 500 kbps Note 1: Selector OFF and ON are expressed by 0 and 1, respectively. (Before shipment from the factory, both of these selectors are set to 0 (=500 kbps) by default.
8.2.2 General Specifications The following specifications.
8.3 Assignment of Serial I/O Data Two types of serial I/O data assignment modes are available--standard assignment mode and compatible assignment mode (which is compatible with our previous models). In each of those assignment modes, serial input/output data are assigned as shown in [ 1 ] and [ 2 ]. The controller equipped with a DeviceNet slave board transfers the system input/output data only through the DeviceNet, disabling the parallel ports.
(2) Output Data No. 768 769 770 771 772 773 774 775 No. 800 801 802 803 804 805 806 807 Content Content Robot warning Auto mode External mode Battery warning No. 776 777 778 779 780 781 782 783 Content OUTPUT 800 OUTPUT 801 OUTPUT 802 OUTPUT 803 OUTPUT 804 OUTPUT 805 OUTPUT 806 OUTPUT 807 No.
8.3.2 Compatible Assignment Mode (1) Input Data No. 512 513 514 515 516 517 518 519 Content Step stop (all tasks) Continue start Halt (all tasks) Operation ready start Skip interrupt Program start – – No. 520 521 522 523 524 525 526 527 No. 544 545 546 547 548 549 550 551 Content INPUT 544 INPUT 545 INPUT 546 INPUT 547 INPUT 548 INPUT 549 INPUT 550 INPUT 551 No.
8.4 8.4.1 Parameter Entry Procedure Entering the Number of Input/Output Slots This controller allows you to increase or decrease the number of input/output slots in bytes. The number of input slots can be set in the range from 8 (default) to 32 (max.), and the number of output slots in the range from 7 (default) to 32 (max.). The setting procedure is given below: Step 1 Press [F4 I/O] on the following screen. F4 Step 2 Press [F6 Aux.] on the following screen.
Step 3 Press [F1 Set H/W] on the following screen. F1 Step 4 Select the box for changing the number of DeviceNet input/output slots and then press [F5 Change]. F5 Step 5 Enter a required number of slots on the following screen and press OK. The quick reference table given in the next subsection [ 2 ] will be helpful for you to determine the number of input/output slots.
Step 6 Check that the number has been correctly changed (from 8 to 10 in this example) and press OK. Step 7 Turn the controller power OFF and then turn it back ON according to the message on the following screen. NOTE: The internal data that you have changed will not go into effect until you turn the controller power off and on.
8.4.2 Quick Reference Table for the Number of Input/Output Slots The table below lists the correspondence between the number of input/output slots in DeviceNet and the number of user input/output points. DeviceNet No. of input slots Max. number of user input points In standard In compatible assignment assignment mode mode DeviceNet No. of output slots Max.
8.5 Field Network Error Indication (Version 1.5 or later) In Main Software Version 1.5 or later, the "10: FieldNetwork ErrDisplay" parameter is newly added to the I/O Hardware Settings window (Access: [F4 I/O]—[F6 Aux.]—[F1 Set H/W]). This parameter allows you to choose whether a network error will display "every time" it occurs or at the "first time." This parameter takes effect in the DeviceNet masters and slaves and the PROFIBUS slaves.
Step 2 Select "10: FieldNetwork ErrDisplay" and press [F5 Change.]. F5 Step 3 Enter "1" in this example and press [OK]. Step 4 Check the newly entered value and press [OK].
Step 5 Following the system message, switch the controller power off and then on. NOTE: If this message appears, you must switch the controller off.
8.6 Network Error Detector Suppression (Version 1.7 or later) If facilities are powered up, the network components will immediately start to establish connections between the master and slaves. If connected as a slave, the robot controller will start to establish connection with the master (PLC). The time required for the establishment will differ depending upon manufacturers of masters.
Step 2 Select "17: Insensitive time to network error" and press [F5 Change.]. F5 Step 3 Enter "4000" in this example and press [OK]. Step 4 Check the newly entered value and press [OK].
Step 5 Following the system message, switch the controller power off and then on. NOTE: If this message appears, you must switch the controller off.
8.7 Error Code Table Here, only the error codes relative to DeviceNet communication errors are described in the table below. For other error codes, refer to the ERROR CODE TABLES, "2 Controller Error Code Table.
Error code What has happened: What to do: 1230 Retry error in the DPRAM built in the robot controller Turn the controller power off and then on, and do the same operation again. 1232 Reset command received Turn the controller power off and then on, and do the same operation again. • The robot controller has received a reset command from the master device.
RC5 EDS File ($ DeviceNet Manager Generated Electronic Data Sheet) [File] DescText= "RC5 EDS File"; CreateDate= 11-14-1997; CreateTime= 15:00:00; ModDate= 06-26-1999; ModTime= 10:57:07; Revision= 1.
Chapter9 DeviceNet Master Board 9.1 Overview DeviceNet is a serial communication system that makes it easy to interconnect control devices such as PLCs, computers, sensors, and actuators. DeviceNet sharply cuts cost in wiring and allows connection of DeviceNet-compliant devices of various manufacturers, enabling cost-effective and convenient system construction.
9.1.1 Features (1) DeviceNet-compliant The DeviceNet is an internationally open network developed by Allen-Bradley and is designed to allow control devices (e.g., sensors and actuators) to communicate with each other. (2) Can be networked with control devices of various manufacturers The robot controller equipped with DeviceNet master board can be networked with DeviceNet-compliant control devices of various domestic and foreign manufacturers since the communications specifications are open.
9.1.
9.1.3 System Construction Procedure (1) First, connect the master and slave devices with each other by using DeviceNet cables, referring to the system configuration sample. It is essential to connect terminating resistors. The power supply for communications should not be turned on at this stage. (More details about wiring and system configuration are described in Subsection 9.2.2 and in Section 9.4, respectively.) (2) Set the communications speed for master and slave devices.
9.2 Product Specifications The figure below shows the location of the LEDs, DIP switches, and DeviceNet connector on the DeviceNet master board. 9.2.
(A) Status indicator LEDs The status indicators MS and NS ("A" in the figure given on the previous page) can light or flash in green or red. Each of the ON, flashing, and OFF states of those indicators shows the module or network status as listed below. The flashing interval is once per second (0.5 second of ON and 0.5 second of OFF). LED Name Color Status Status Definition • The device is working normally.
(B) DIP switch (SW1) Use the DIP switch for setting the node address and bit rate as shown below. NA 1 2 4 8 16 32 Viewed from top NOTE: Always turn off the controller power (including the network power) before setting the DIP switch. Setting the node address Set the node address of the robot controller using selectors (NA) of the DIP switch, referring to the table below.
DIP Switch DIP Switch 1 2 4 8 16 32 Node Address 1 2 4 8 16 32 Node Address 0 0 1 1 0 1 44 0 1 1 0 1 1 54 1 0 1 1 0 1 45 1 1 1 0 1 1 55 0 1 1 1 0 1 46 0 0 0 1 1 1 56 1 1 1 1 0 1 47 1 0 0 1 1 1 57 0 0 0 0 1 1 48 0 1 0 1 1 1 58 1 0 0 0 1 1 49 1 1 0 1 1 1 59 0 1 0 0 1 1 50 0 0 1 1 1 1 60 1 1 0 0 1 1 51 1 0 1 1 1 1 61 0 0 1 0 1 1 52 0 1 1 1 1 1 62 1 0 1 0 1 1 53 1
(C) DeviceNet connector The robot controller uses an open screw connector whose pin arrangement is shown below. NOTE: When the controller power (including the network power) is on, do not disconnect/connect the communication connector or touch its pins. Doing so will result in a failure. Black Blue Shield White Red You are recommended to use solderless terminals of the type shown below on the cables to be connected.
9.2.
9.3 ALLOCATING I/O AREAS 9.3.1 I/O Allocation When a DeviceNet Master Board is Installed If a DeviceNet master board is installed to the robot controller, the robot I/O areas will be allocated as listed below. When the robot controller leaves the factory, both the parallel I/O areas and DeviceNet master I/O areas are allocated as user-I/O ports, except hand I/Os and I/Os numbered 72, 73, and 74. You may enable or disable system-I/Os of parallel I/O areas with the teach pendant.
9.3.2 Allocation of System Ports When using a DeviceNet master board, you may choose a system port allocation from the following five patterns. For the choosing procedure, refer to Subsection 9.4.6 “Allocating Ports Dedicated to the DeviceNet Master.” Note that “Allocation of DeviceNet slave system I/Os in compatible mode” and “Allocation of DeviceNet slave system I/Os in standard mode” are reserved for future expansion, so their allocations are the same as that of “All user ports.
Parallel system I/Os in compatible mode Parallel system I/Os in standard mode 0 System area 20 Input User area* 47 Hand* 55 0 System area 33 Input Reserved. 64 Hand Output 128 71 System area 103 User area User area 127 128 Internal I/O 127 Internal I/O 512 Input Not used. 768 Not used. Output 1024 Not used. 1024 User area* Input 2048 Output 55 64 Hand 71 768 Input Hand* System area 103 Output Not used. Output 47 Reserved.
9.4 9.4.1 Building Up a DeviceNet Network Network Configuration Sample and Configurators Nodes A DeviceNet network has two kinds of nodes: slaves to which external I/Os are connected, and a master that controls these slaves. Note that their addresses are just network settings, so the master and slaves can be freely arranged on physical sites. Trunk lines and drop lines The trunk line is a cable whose both ends are terminated with resistors. A drop line is a cable that branches off the trunk line.
Communication power supply To operate a DeviceNet network, a communication power must be supplied to each node through DeviceNet cables. The communication power supply, internal circuit power supply, and I/O power supply should be supplied separately. Connection style As shown below, a variety of connection styles are available for DeviceNet. They include multidrop, star connection, T-ports, daisy chain, and drop line branching.
Trunk line length The permissible total length of a trunk line used in a DeviceNet network will differ depending upon the data transmission speed and the type of cables used (thick cable or thin cable). Communications speed Maximum cable length when only thick cables are used 125 Kbps 500 m 250 Kbps 250 m 500 Kbps 100 m Maximum cable length when only thin cables are used 100 m A DeviceNet network may be constructed with thick and thin cables together.
9.4.2 Creating a Scanlist What is “scanlist”? A scanlist is a parameter list that allows a DeviceNet master to identify slaves that are under its control during communication. Network communications are not possible without a scanlist.
Step 2 On the following screen, press [F6 Aux.]. F6 Step 3 Press [F9 SlaveMap].
Step 4 The latest scanlist will appear. Press [F4 Scanning] on this screen. (The default of the slave map is the fixed I/O allocation screen.) F4 Step 5 Wait for a while when the network is being scanned.
Step 6 The current scanning results will display. Screen explanation In the fixed I/O allocation, each block has 16 input points and 16 output points. The whole screen area represents 16 × 24 = 1024 I/O points. Blue bar Green bar In the figure shown at left, the blue bar indicates the number of input points at node 8 and the green bar, the number of output points. This slave has the following numbers of points: Inputs = 3.5 blocks × 16 = 56 points Outputs = 4.
Displaying and changing node (slave) setting information Step 1 To display or change node information, press the relevant node number on the screen below. Step 2 On the screen below, only the communication method and I/O data length can be changed: the other parameters are displayed but cannot be changed.
Step 3 As an example, let's change node 0 to the bit strobe mode here. Note that when the communication method is changed, an error will occur if the specified slave lacks the chosen communication function. Step 4 If the displayed communication method is OK, press [OK].
The DeviceNet master changes the interface with the slave. Step 5 Step 6 Node 0 has been changed to the bit strobe mode. NOTE: You may change the I/O data length also on this screen but you need to make the same setting change for slaves at the same time, which makes the setting difficult. If you change the slave parameters, therefore, you are recommended to scan the network again.
Changing the I/O allocation mode The procedure for switching from the fixed I/O allocation mode to the free I/O allocation mode is explained here. Step 1 Press [F11 DevAssign] on the Auxiliary Function (I/O) screen. Step 2 Change the setting from “Fixed I/O assign” to “Free I/O assign” and press [OK].
Step 3 In accordance with the change of the allocation mode, the DeviceNet master scans the network and changes the I/O allocation. Step 4 When the following screen appears, the scan is completed. Press [F9 SlaveMap] and confirm the new setting.
Step 5 The input area in the free I/O allocation mode will display. Step 6 Press [F2 OutArea] to display the output area.
Explanation about screen Input area display screen This indicates the address pointed out to the left [1024] plus 07, i.e. address [1031]. This is the starting address of the DeviceNet master I/O input area. The display above indicates that slave ID4 is allocated to input areas 1024 to 1039. Output area display screen This indicates the address pointed out to the left [2048] plus 07, i.e. address [2055]. This is the starting address of the DeviceNet master I/O output area.
9.4.3 Changing Master Parameters Usually there is no need to change these parameters. This is because the DeviceNet master automatically detects the network status and writes the typical parameters. Only when you need to change the EPR or ISD, change these parameters. For example, you need to decrease the EPR value in order to shorten the disconnection detection time. To make master parameters revert to the original after change, enter “0.” Do not change serial numbers.
Step 2 As an example, assume that the EPR should be changed. Step 3 On the SYSTEM PARAM screen, enter a new value and press [OK]. Step 4 In this example, enter “2000” here. Check the entered value. If it is normal, press [OK].
Step 5 The data will be written to the memory of the DeviceNet master. Step 6 Based on the new values, the network is being constructed.
Step 7 After parameter writing is normally completed, the following screen will display. NOTE: You may change the ISC value in the same procedure.
9.4.4 Displaying the Master Status The MasterState screen allows you to check the current communication status of the DeviceNet master and the flag statuses. It is intended for reference, for example when a network error has occurred. Step 1 Press [F12 MastrStat]. Step 2 Out of the 18 statuses, the heading five will display.
Step 3 The next statuses will display. Step 4 The following statuses will display. Step 5 The last statuses will display.
Details of errors and the meanings of flags are given below. Error No.
SerialNo change complete: This is a flag used by the system in serial number overwriting. Normally, 0 is written here. Scanlist change complete: This is a flag used by the system in scanlist overwriting. Normally, 0 is written here. EPR change complete: This is a flag used by the system in EPR overwriting. Normally, 0 is written here. ISD change complete: This is a flag used by the system in ISD overwriting. Normally, 0 is written here.
9.4.5 Network Error Indication on DeviceNet Master The network error display parameter is set to "0: Every Time" by default. It means that a network error will display every time if it occurs at execution of each I/O command. The default is for safe operation of the facilities and is ideal for practical operation. However, during checking of program operations with dummy I/Os for adjusting facilities, you need to set this parameter to "1: First Time.
Step 3 Enter “1” in this example and press [OK]. Step 4 Check the newly entered value and press [OK]. Step 5 Following this system message, switch the controller power OFF and then ON. NOTE: If this message appears, you must switch the controller power OFF.
9.4.6 Allocating Ports Dedicated to the DeviceNet Master In the DeviceNet master allocation mode, parallel and DeviceNet master I/O areas are basically allocated to user ports, except that I/O numbers 72 (Normal robot CPU), 73 (robot-in-operation), and 74 (robot failure) are allocated to system output ports.
Changing allocation of ports dedicated to the DeviceNet master Step 1 On the top screen of the teach pendant, press [F4 I/O] and then press [F6 Aux.]. The following screen will appear. Press [F2 AlocMode]. F2 Step 2 Using the jog dial or the cursor keys, select the desired allocation mode. Next, press [OK]. To cancel the changes made, press [Cancel].
Step 3 Following the system message, switch the controller power OFF and then ON. NOTE: If this message appears, you must switch the controller power OFF.
Chapter10 PROFIBUS-DP Slave Board 10.1 Overview If the robot controller has a PROFIBUS-DP slave board built-in, it may communicate with external devices according to the PROFIBUS-DP–compliant communications protocol. The robot controller works as a slave unit. The robot controller may exchange I/O data with PROFIBUS-DP–compliant field devices of different manufacturers. For details about PROFIBUS, refer to the PROFIBUS website as shown below. PROFIBUS International http://www.profibus.com 10.1.
10.1.2 Installing the Robot Controller Equipped with a PROFIBUS-DP Slave Board [Refer to the "Installing the Robot Controller" given in the INSTALLATION & MAINTENANCE GUIDE.] When locating the robot controller equipped with a PROFIBUS-DP slave board onto a place where the controller may be subjected to vibration, install it "stand-alone" or "to the mounting panel with controller's rubber feet kept attached (see below).
10.1.3 Specifications Item Specifications Communications protocol PROFIBUS-DP–complient Transmission speed 9.6K, 19.2K, 93.75K, 187.5K, 500K, 1.5M, 3M, 6M, and 12M bps, with automatic recognition Interface connector 9-pin, D-sub connector Communications media RS-485 interface cable (Type A recommended) Communications distance (when Type A interface cable is used) Transmission speed (bps) 9.6 K to 93.75 K 187.5 K Distance/segment 1200 m 1000 m 500 K 1.
10.3 Parameter Entry Procedure 10.3.1 Entering the Node Address and Number of I/Os with the Teach Pendant You may choose the number of I/Os for the robot controller from the tables given below. These I/Os are viewed from the robot controller. They are opposite of the I/Os displayed on the teach pendant, as listed below. Points for User Input Points for input Max. number of points in standard assignment mode Max.
Operating Procedure for Setting Node Address and I/O Module Step 1 On the top screen of the teach pendant, press [F4 I/O.]-[F6 Aux.]-[F6 PROFI slv]. The PROFIBUS-DP Slave window will appear as shown below. Step 2 Choose the Note Address, Input Setting, or Output Setting field that you want to set by using the right- and left-arrow cursor keys or directly touching the target item field.
Step 3 On the screen shown in Step 2, press [OK]. The system message window will appear as shown below. Turn the controller power off and on. Then the new settings will take effect. 10.3.2 Configuring the Robot Controller from the PC with the PROFIBUS Configurator Configure the robot controller (node address and I/O module) by using the PROFIBUS configurator (GSD file) stored in the CD-ROM that comes with the PROFIBUS slave board. CD-ROM:\EDS\PROFIBUS\GSD\Hil_7504.
Chapter11 Configuring the RS-232C Extension Board (Recommended Option) If you install an RS-232C extension board to the robot controller, the controller may support three RS232C serial data transmission lines (One standard line plus two addon lines). The RS-232C should be set into extension slot #1 or #2. Floppy disk drive (option) Extension slot #1 or #2 FG terminal Robot stop button Memory backup battery holder Pilot lamps Fuse box Power switch Output IC box 11.
11.3 Setting the Jumpers and DIP Switch on the RS-232C Extension Board Set the jumpers and DIP switch on the RS-232C extension board as shown below. Jumper/DIP SW Settings SW1 JP1 Set selectors 1 and 3 to ON. Set a jumper cap onto pin 14. JP2 Set a jumper cap onto NC. ON SW1 1 2 3 4 JP1 9 3 4 5 6 7 10 11 12 14 15 NC JP2 9 3 4 5 6 7 10 11 12 14 15 NC JP3 9 3 4 5 6 7 10 11 12 14 15 NC 107 JP3 Seta a jumper cap onto NC.
11.4 RS-232C Extended Serial Ports and Line Number Assignment The RS-232C extension board features two COM ports--COM3 and COM4. Two serial data transmission lines #2 and #3 are assigned to COM3 and COM4, respectively. COM4 (#3) COM3 (#2) 11.5 Communications Configuration of RS-232C Extension Board Follow the procedure described below to configure communications feature of COM3 and COM4 on the RS-232C extension board. n Setting the communication permission Access: [F6: Set]—[F5: Set Com.]—[F1 Permit.
n Setting the transmission rate for RS-232C serial interface ports Access: [F6: Set]—[F5: Set Com.]—[F2 Serial IF] Select each of the COM3 and COM4 and then press [F5 Change.] to the transmission rate, parity (None, Odd or Even) and other values. NOTE: The default transmission speed for the RS-232C extension board is 19,200 bps. The maximum transmission speed is 38,400 bps. If the transmission speed is set to 38,400 bps, however, a communications failure may occur frequently.
11.6 Coding Sample for Transmission Error Recovery '!TITLE "
" PROGRAM sample . . . DEFPOS lp1(10) DEFINT li1 , . . li1 = 0 . . . WHILE li1 < 10 . . . INPUT #2,lp1(li1) com_state #2,I280 IF I280 < 0 THEN PRINT #2,"R" ELSE PRINT #2,"A" li1 = li1 + 1 END IF . . . . WEND End 'Local position variable. 'Local integer variable. 'Initialize li1. 'Repeat pre-decision. 'Get data on line #2 into 'li1(li1). 'Get communication status into I280. 'If an error occurs, the value is –1. 'Output retry instruction.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-123.html>PAGE 123</a></h6><p>Chapter12 Mounting Extension Boards This section describes how to mount the µVision board, Ethernet board, and DeviceNet boards. If you do not mount all of these boards, skip steps unrelated to the object board. NOTE: In the illustrations below, the typical controller model is drawn. Step 1 Remove the eight screws from the controller top cover. Step 2 Lift and remove the top cover from the robot controller.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-124.html>PAGE 124</a></h6><p>Step 3 Remove the two screws fastening the side plate from the front panel of the robot controller as shown below. Step 4 Remove the side plate.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-125.html>PAGE 125</a></h6><p>Step 5 Remove the panel fastening screw and then the panel hole blank cap. To mount the µVision board, remove the lower blank cap. To mount the Ethernet board or DeviceNet boards, remove the upper or the middle blank cap. Step 6 To mount the µVision board to the robot controller (RC5-VM6A), remove the screws from the extension board retaining strut and take off the strut. If you do not mount the µVision board, skip to Step 8. Required only for the robot controller (RC5-VM6A) designed for the VM-6070D.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-126.html>PAGE 126</a></h6><p>Step 7 Fully insert the µVision board in the lower slot connector. Step 8 Fully insert the Ethernet board or the DeviceNet board(s) into the upper or the middle slot connector.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-127.html>PAGE 127</a></h6><p>Step 9 Step 10 Using the removed panel hole blank cap, push up the panel of each extension board. Secure the extension board with the panel fastening screw. Secure the board support plate to the extension board strut. Required only for the robot controller (RC5-VM6A) designed for the VM-6070D.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-128.html>PAGE 128</a></h6><p>Step 11 Set the assembled extension board strut back into place and tighten the screws. Tightening torque: 0.69 Nm ±20% Required only for the robot controller (RC5-VM6A) designed for the VM-6070D. Step 12 Required only for the robot controller (RC5-VM6A) designed for the VM-6070D. Adjust the position of each board support plate with the screw so that each extension board will be supported firmly. When installing more than one extension board, be sure to tighten screws starting on the lower board.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-129.html>PAGE 129</a></h6><p>Step 13 Install the side plate and secure it with two screws. Step 14 Put the top cover and secure it with eight screws. The mounting of the extension boards is now finished.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-130.html>PAGE 130</a></h6><p>PART 3 OTHER OPTIONS Chapter13 Controller Protective Box A controller protective box is an optional heat exchanger box to protect the robot controller from an undesirable environment (dust, oil mist) in plant. It has two kinds of models (FB-9, FB-10) for the variation of the controller external size. 13.1 Models of Controller Protective Box Models of controller protective box and applicable controllers are shown in the figure below.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-131.html>PAGE 131</a></h6><p>13.3 Names of the Components The figure below shows the names of components.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-132.html>PAGE 132</a></h6><p>13.4 External Dimensions External dimensions of the controller protective box are shown in the figure below.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-133.html>PAGE 133</a></h6><p>13.5 Setting up the Controller Protective Box Placing the controller protective box (1) Place the controller protective box on a flat, level plane. (2) Do not place anything within 150 mm from the heat exchanger of the controller protective box. Preparing a power supply Make a single-phase 200 VAC power supply (86W for the FB-9, 35W for the FB-10) ready for use. Connect the power supply to the fan motor drive terminal. Recommended cable: 1.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-134.html>PAGE 134</a></h6><p>13.6 Precautions (1) The controller protective box is a dust-proof, splash-proof structure equivalent to JIS IP53.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-135.html>PAGE 135</a></h6><p>Index symbols µVision Board ............................................................28 Mounting Extension Boards..................................... 111 A N Assignment of Serial I/O Data ...................................44 Network Error Detector Suppression (Version 1.7 or later)...................................................54 C Camera ....................................................................... 33 Communications Cable ..............................................</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-136.html>PAGE 136</a></h6><p></p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-137.html>PAGE 137</a></h6><p>**-D/-E SERIES OPTIONS MANUAL First Edition Second Edition Third Edition Fourth Edition Fifth Edition February 2002 June 2002 August 2002 September 2002 November 2002 DENSO WAVE INCORPORATED Factory Automation Division 11D**C The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.</p></li><li><h6><a class="text-decoration-none text-link fw-bold" href=/manual/denso/rc5/1-specifications-english/page-138.html>PAGE 138</a></h6><p></p></li></ul></nav></div></section></section></main><footer class=page-footer><div class="container flex-column py-3 py-sm-4"><div class="row mb-1 mb-sm-2 mb-md-5"><a href=/ class="brand offset-sm-0 col-sm-4 col-md-3 col-lg-2 offset-2 col-8 text-center text-md-start"><img class=logo-small src=/assets/img/brand-large.png alt=Manualshelf></a></div><div class=row><dl class="text-center text-sm-start col-sm-3"><dt class=fw-bold>Who We Are</dt><dd><a class=text-decoration-none href=/about>About Us</a></dd><dd><a class=text-decoration-none href=/company>Company</a></dd><dd><a class=text-decoration-none href=/careers>Careers</a></dd><dd><a class=text-decoration-none href=/terms>Terms & Privacy</a></dd></dl><dl class="text-center text-sm-start col-sm-3"><dt class=fw-bold>Resources</dt><dd><a class=text-decoration-none href=/brands>List of Manufacturers</a></dd><dd><a href=/ class=text-decoration-none>Support</a></dd><dd><a class=text-decoration-none href=/press>For the Press</a></dd><dd><a class=text-decoration-none href=/press#assets>Media assets</a></dd><dd><a class=text-decoration-none href=/faq>FAQ</a></dd></dl><dl class="text-center text-sm-start col-sm-3"><dt class=fw-bold>Get in touch</dt><dd><a class=text-decoration-none href=#>Blog</a></dd><dd><a class=text-decoration-none href=#>Email</a></dd><dd><a class=text-decoration-none href=/dmca>DMCA</a></dd></dl></div><div class=row><div class="text-center text-sm-start col-sm-4 pe-sm-0"><a href=https://www.facebook.com/pages/ManualShelf/1488826334681423 class="fs-5 text-center d-inline-block social rounded-2 align-middle text-decoration-none me-2"><i class="fab fa-facebook-f"></i></a><a href=https://www.twitter.com/ManualShelf class="fs-5 text-center d-inline-block social rounded-2 align-middle text-decoration-none me-2"><i class="fab fa-twitter"></i></a><a href=https://plus.google.com/+ManualShelf class="fs-5 text-center d-inline-block social rounded-2 align-middle text-decoration-none me-2"><i class="fab fa-google-plus-g"></i></a><a href=http://www.pinterest.com/ManualShelf class="fs-5 text-center d-inline-block social rounded-2 align-middle text-decoration-none"><i class="fab fa-pinterest-p"></i></a></div><div class="col col-sm-8 d-flex flex-column align-items-center flex-sm-row flex-wrap flex-sm-nowrap justify-content-center justify-content-sm-end"><div class="copy w-auto d-flex align-items-center justify-content-center justify-content-sm-end mt-2 mt-sm-0 me-2">ManualShelf © 2013-2025</div><select class="form-select form-select-sm w-auto mt-2 mt-sm-0"><option value=usa>USA</option></select><div></div></div><div id=pixel><script>
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