Denso RC5 Specifications
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.
Options covered by this manual
Optional devices designed for robot systems configured with RC5 controller
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY
PRECAUTIONS."
To the customer who purchased an extension board as an additional component
If you purchase an extension board requiring the system to enable the extension function with a password, check the password label on the cover of this manual. The password is prepared in relation to the serial number assigned to your robot controller. By using the password, you need to make the system enable the extension function according to the procedure below.
NOTE: If your extension board is installed to any robot controller other than the one whose serial number you informed us of at the time of purchase, the extension function cannot be enabled.
NOTE: If you purchase a robot controller with a built-in extension board, no enabling operation is required since the robot controller is set up with the extension function enabled.
(1) Check that the serial number printed on the password label on the cover of this manual is identical with that of your robot controller.
(2) Remove the password label from this manual and attach it to the OTHER MODIFICATIONS area of the SETPRM LIST on your robot controller.
(3) Enable the extension function of the extension board according to the instructions given on the following pages.
i
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].
The name of the newly added function will be displayed.
(4) Restart the controller to make the extension function go into effect.
ii
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.
iii
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 minipendant.
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
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 - this book -
Describes the specifications, installation, and use of optional devices.
iv
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
Chapter 2
Chapter 3
Chapter 4
Teaching Pendant
Operating Panel
Mini-Pendant (In version 1.7 or later)
PC Teaching System "WINCAPSII"
PART 2 OPTIONAL BOARDS FOR RC5 CONTROLLER
Describes optional boards that can be installed to the RC5 controller. If you place an order for our robot system together with these optional boards, those boards will be built in the RC5 controller at the factory and then the robot system will be delivered.
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Floppy Disk Drive
µ
Vision Board
Ethernet Board
DeviceNet Slave Board
DeviceNet Master Board
Chapter 10 PROFIBUS-DP Slave Board
Chapter 11 Configuring the RS-232C Extension Board (Recommended Option)
Chapter 12 Mounting Extension Boards
PART 3 OTHER OPTIONS
Describes options except optional operation devices and optional boards.
Chapter 13 Controller Protective Box v
Contents
Block Diagram and Internal Configuration of
Vision Board .................................................................31
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. You may specify a program and enter program steps one by one,
- to modify, delete, or copy those commands and robot arm positions, and
- to check edited programs in running them in Teach check mode.
Operating the robot
This function turns power to the motor ON/OFF, executes CAL, starts and stops automatic operation, and performs manual operation.
Displaying
This function displays the contents of programs, the progress of running programs, ongoing step number, current robot position or error messages.
1
1.2 Names of Teach Pendant Components
The figure below shows the names of the teach pendant components.
LOCK key
MOTOR key
Mode selector switch
Hand strap
Cursor keys
R-SEL (Robot selection) switch
M-MOD (Motion mode) key
SPEED key
ROBOT stop button
Jog dial
STOP key
Cancel key
OK key
Hand strap
Arm traverse keys
LCD screen
SHIFT key
Function keys
Deadman switch
Deadman switch
Back of teach pendant
Names of Teach Pendant Components
2
1.3 Teach Pendant Specifications
1.3.1 Specifications
The table below lists the teach pendant specifications.
Model
Display
Item
Power source
Operation
Installation conditions
Outside dimensions
(W x H x D)
Weight
Cable length
Teach Pendant Specifications
Specifications
TP-RC5-1
Liquid crystal display with backlight, 640
×
480 pixels
24 VDC (supplied from robot controller)
Robot stop button, deadman switch, jog dial, MOTOR power on/off key, AUTO/MANUAL selector switch, function keys, arm traverse keys, LOCK key, R-SEL
(robot selection) key, M-MOD (motion mode) key,
SPEED key, cursor keys, STOP key, OK key, Cancel key
Temperature: 0 to 40°C
Humidity: 90% RH or less
(Dew condensation shall not be allowed.)
260
×
186
×
60 mm (excluding projections)
1 kg
4 m, 8 m, or 12 m
3
1.3.2 Outer Dimensions
The figure below shows the outer dimensions of the teach pendant.
Outer Dimensions of the Teach Pendant
4
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.
(4) Disconnecting the connected operating panel and teach pendant.
Caution: Refer to the operation procedures described in Subsection 1.3.4
Connecting and Disconnecting Operating Panel and Teach
Pendant" on the next page when connecting or disconnecting the operating panel and the teach pendant with the power to the robot controller ON.
Pendantless State Precautions
Since no teach pendant is connected in the Pendantless state, the robot cannot enter the manual operation mode or the teach check mode.
The robot is therefore in the Auto mode whenever the Enable Auto input is free. The external mode cannot be switched, and the program cannot start to run.
When operating the robot in the Pendantless state perform the following steps:
(1) Set the robot not to start to operate when the Enable Auto input is free.
(2) Enable Auto input free state and automatic mode output. Refer to the RC5
CONTROLLER INTERFACE MANUAL, Subsections 4.2.2 and 6.2.2, “Auto Mode
(Output).”
Set the equipment to make an emergency stop in an AND state.
Add (1) and (2) above to the external sequence circuit.
5
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).
Change of State by Connection and Disconnection
After change
Before change
Pendantless mode
OP connected TP connected
Pendantless mode
×
(A) (B)
OP connected (D)
× ×
OP and TP connected
(A)
(C)
TP connected
OP and TP connected
(D)
(D)
×
(D)
×
×
×
×
Caution: The operating panel and the teach pendant cannot be connected or disconnected while a program is being executed.
6
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 5.9, "Preparing the Robot Controller to Unplug the
Teach Pendant."
Step 3 Disconnect the connector from CN5 on the robot controller within 15 seconds.
Step 4 Connect the connector for Pendantless operation to CN5 on the robot controller.
Step 1 Set the mode selector switch on the operating panel to TP.
Step 2 Set the mode selector switch on the teach pendant to
AUTO, and activate an emergency stop.
Step 3 Perform disconnection. See the SETTING-UP MANUAL,
Section 5.9, "Preparing the Robot Controller to Unplug the
Teach Pendant."
Step 4 Disconnect the teach pendant from the operating panel within 15 seconds.
Step 5 Connect the connector used for Pendantless operation to the operating panel.
Step 6 Set the mode selector switch on the operating panel to
MANUAL.
Step 1 Disconnect the connector used for pendantless operation from CN5 on the robot controller.
Step 2 Connect the operating panel or teach pendant to CN5 on the robot controller.
7
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. For other functions, you may select the operating panel or teach pendant. To switch between the operating panel and teach pendant, use the mode selector switch on the operating panel.
2.1 Operating Panel Functions
Operating
The operating panel provides these functions--motor power ON/OFF, CAL execution, program selection, speed change, automatic operation start/stop and manual operation. For further information, see the SETTING-UP MANUAL.
Display
The operating panel has an LCD capable of displaying 2 lines of 16 characters. It displays the current robot position, ongoing program number, error code when an error occurs, and related information in alphanumerical characters.
Teaching
With the operating panel, you may run the robot manually and start programs. As listed below, you may also edit variables, get robot arm positions into variables in teaching, and move the robot arm by specifying a desired variable, depending upon the version of the main software. Choosing work coordinates or tool coordinates is also possible. For details, refer to the SETTING-UP MANUAL.
Version of main software
Function
Version 1.2 or later Editing variables
Description
Version 1.4 or later Teaching the current position
Choosing work coordinates or tool coordinates
Version 1.6 or later Operating the robot arm by specifying a desired variable
You may edit variables by entering numerical values.
You may get the current position into P variables, J variables, and T variables. It is used for position teaching.
You may choose work coordinates or tool coordinates.
You may move the robot arm according to the specified variable. It is used to confirm variables you have preset in teaching.
Connecting the Teach Pendant
You may connect the teach pendant to the TP terminal at the bottom of the operating panel. Setting the mode selector switch on the operating panel to the TP position allows you to operate the robot from the teach pendant.
When the mode selector switch is set to the MANUAL or AUTO position, the robot is operated from the operating panel.
8
2.2 Names of Operating Panel Components
The figure below shows the names of the operating panel components.
Mode selector switch
M-MOD key
R-SEL (Robot selection) key
MOTOR key
ROBOT STOP button
SHIFT key
STOP key
Cancel key
OK key
Arm traverse keys
Deadman switch
Names of Operating Panel Components
9
2.3 Operating Panel Specifications
The table below lists the operating panel specifications.
Operating Panel Specifications
Item
Model
Display
Power source
Operation
Installation conditions
Dimensions
(H x W x D)
Weight
Cable length
Others
Specifications
OP-RC5-1
Liquid crystal display with backlight, 16 characters
×
2 lines
24 VDC (supplied from robot controller)
23 flat key switches, ROBOT STOP button, mode selector switch, deadman switch
Temperature: 0 to 40
°
C
Humidity: 90% RH or less (Dew condensation shall not be allowed.)
140
×
100
×
40 mm (Excluding projections such as switches)
Approx. 0.7 kg
4 m or 8 m
Equipped with a socket for connecting the teach pendant
(See Note.)
(Note) When no teach pendant is connected, a pendantless connector should be connected to the
TP socket.
Caution: The operating panel is a fixed type operation console. Be sure to secure it to the equipment.
10
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.
Operating panel face
(5 mm or more)
M4 screw
To be secured from the rear
Mounting the Operating Panel
11
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.
NOTE: When using the operating panel without the teach pendant connected, always insert the pendantless connector into the TP socket on the operating panel.
Connection type 2: Operating panel connected with the teach pendant
Mode switch
To use the teach pendant, turn this switch to the TP position.
To use the operating panel, turn this switch to the MANUAL or
AUTO position.
Teach pendant
Operating panel
Robot controller
NOTE: The total cable length must not be more than 12 m when the operating panel and the teach pendant are to be connected in series.
Connecting the Operating Panel to the Robot Controller and the Teach Pendant
12
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.
Teaching
This function allows you to store the robot arm position (limited to editing of P variables and J variables). You can check edited programs in running them step by step.
Operating the robot
This function turns power to the motor ON/OFF, executes CAL, starts and stops automatic operation, and performs manual operation.
Displaying
This function displays the current robot arm position, running program number, ongoing step number or error codes.
13
3.2 Names of Mini-Pendant Components
The figure below shows the names of the mini-pendant components.
Names of Mini-Pendant Components
14
3.3 Mini-Pendant Specifications
3.3.1 Specifications
The table below lists the mini-pendant specifications.
Mini-Pendant Specifications
Model
Display
Item
Power source
Operation
Specifications
MP5J4K (with 4 m cable)
MP5J8K (with 8 m cable)
MP5J12K (with 12 m cable)
Liquid crystal display, 128
×
64 pixels
24 VDC (supplied from robot controller)
33 membrane switches, robot stop button, mode selector switch, deadman switch
Installation conditions
Outside dimensions
(W) x (H) x (D)
Weight
Temperature: 0 to 40°C
Humidity: 90% RH or less
(Dew condensation shall not be allowed.)
86 x 218
×
38 mm
(excluding projections such as switches)
Approx. 0.3 kg (excluding cables. See Note below.)
Cable length
Accessory
4 m, 8 m, or 12 m
WINCAPSII Light
Note: Cable weight
Approx. 0.2 kg (4 m), 0.4 kg (8 m), 0.6 kg (12 m)
15
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.
16
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.
Reading/writing programs and data
WINCAPSII Light may read programs, variables, coordinate values, CALSET data, log data, and other data from the robot controller and display them on the PC screen or can write them to the robot controller.
NOTE: To use this function, the robot controller and the PC must be connected with each other using a communications cable.
Saving programs and data
WINCAPSII Light may store programs, CALSET data, log data, and other data onto the hard disk or floppy disks. It may also read out those stored data and re-edit or write them to the robot controller.
Getting a snapshot
WINCAPSII Light may get a snapshot containing robot motion data from the robot controller and display the robot motion at one particular point in time on the PC screen, enabling you to check it.
17
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. You may also develop new programs by making use of programs supplied as a library or with existing programs.
Reading/writing programs and data
WINCAPSII may read programs, variables, coordinate values, CALSET data, log data, and other data from the robot controller and display them on the PC screen or can write them to the robot controller.
NOTE: To use this function, the robot controller and the PC must be connected with each other using a communications cable.
Saving programs and data
WINCAPSII may store programs, CALSET data, log data, and other data onto the hard disk or floppy disks. It may also read out those stored data and re-edit or write them to the robot controller.
Printing programs and data
If you connect a printer to the PC, WINCAPSII may print out programs, CALSET data, log data, and other data.
Simulating the robot motion
WINCAPSII may simulate the robot motion in animation on the PC screen.
NOTE: To use this function, the robot controller and the PC must be connected with each other using an interface cable.
During automatic operation or manual operation using the teach pendant, the simulated image moves corresponding to the actual robot motion.
18
4.2 Operating Environment Required
The PC teaching system software requires the operating environment listed below.
CPU
OS
Memory
Hard disk
Monitor resolution
Operating Environment for the PC Teaching System Software
Pentium or higher capacity
Windows 95 or upper version (See Note 1.)
32 MB or more (64 MB recommended)
A free area of 80 MB or more is required at installation.
640
×
480 or higher
Note 1 WINCAPSII cannot run properly on earlier versions of Windows
95.
The version of Windows 95 can be checked with [Control Panel –
System – Information]. If A, B or C is not displayed (no symbol) at the end of the version information (4.00, 95B), update your
Windows 95 with the Windows 95 Service Pack 1 that is available from the Microsoft's web site.
19
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.
Robot controller
CN1 (RS-232C) connector
(9-pin D-SUB female)
Computer (IBM PC compatible)
(9-pin D-SUB female)
View from the cable side
Frame Frame
Shield
RS-232C Communication Cable Wiring Diagram (IBM PC compatible)
Robot controller
CN1 (RS-232C) connector
(9-pin D-SUB female)
Computer (PC-98)
(25-pin D-SUB male)
View from the cable side
Frame
Shield
RS-232C Communications Cable Wiring Diagram (PC-98)
Frame
20
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.
Saving
This function stores programs, CALSET data, etc. from the robot controller onto a floppy disk.
Loading
This function reads programs, CALSET data, etc. from a floppy disk to the robot controller.
Caution NEVER load the CALSET data prepared for other robots. If loaded, the robot will malfunction. It is DANGEROUS.
5.2 Floppy Disk Drive Specifications
The table below lists the specifications of the built-in floppy disk drive.
Table 3-6 Built-in Floppy Disk Drive Specifications
Item
Power source
Environmental conditions
Weight
Applicable floppy disk
Specifications
5 VDC (supplied from the robot controller)
Temperature : 5 to 40
°
C
Humidity : 20% to 80% (without dew condensation)
155 g (body alone)
Type 2HD, 3.5-inch floppy disk
Storage capacity
1.44 MB
21
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
Eject button
Indicator
Insert a floppy disk through this slot.
(See the figure given below.)
Push this button to eject the floppy disk.
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. Doing so will damage or destroy data stored on the floppy disk.
22
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.
23
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.
24
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.
25
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. If the flat cable is inserted fully, the blue line marked on the connecting section will become aligned with the top edge of the connector.
26
Step 9 Securely push in the connector lock.
Step 10 Put the top cover and secure it with eight screws.
The mounting of the floppy disk drive is completed.
27
Chapter6
µµµµ
Vision Board
6.1
µµµµ
Vision Board Specifications
If the robot controller has a built-in
µ
Vision 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.
µµµµ
Vision Board Specifications
Item Specifications
CPU
Image storage memory for processed images
(Horizontal x Vertical)
Overlay memory for drawn images
(Horizontal x Vertical)
Search model registration memory
Image input, number of channels
Image output
32-bit CPU
512
624
×
×
480 pixels, 8 bits
480 pixels, 2 bits
1 MB (H255
×
V255
×
×
×
4 screens
2 screens
8 models), Up to 100 models registrable
EIA/CCIR monochrome, 256 gradations, 2 channels
Note (1)
Image processing
Processing range specification (window)
Self-diagnosis function
Error display
Power source
Environmental conditions
(during operation)
EIA/CCIR monochrome, 256 gradations, 1 channel
Binary feature extract
(area, center of gravity, main axis angle, luminance integration), histogram, edge detection, image-to-image operation, filtering, labeling, light/dark image search, code recognition (QR code)
Up to 512 windows registrable
(shape: straight line, rectangle, circle, ellipse, sector)
Memory check, incorrect input, incorrect processing range, improper camera connection, etc.
Errors will be displayed on the teach pendant (option).
5 VDC, 12 V (supplied from controller ISA)
Temperature: 0 to 40
°
C
Humidity: 90 %RH or less
(Dew condensation shall not be allowed.)
Note (2)
Outside dimensions
(H x W x D)
21.4
×
114
×
185 mm (excluding projections of connectors)
Note (1) The number of registrable models will differ depending upon the model image and/or size.
(2) Since power is supplied from the inside of the robot controller, no external power source is required.
28
Operating condition setting switch (all off)
Program adjustment connector (Not used.)
ISA mapping switch (fixed)
Camera trigger short pins (Not used.)
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.)
µµµµ
Vision Board
Note (1) Switches and the short pins on the
µ
Vision board have been set at the factory. Do not change the settings. A failure may result.
Note (2) Do not connect anything to the unused connectors on the board. A failure may result.
Note (3) The serial port and the I/O port on the board are unusable. Do not connect anything to them.
A failure may result.
29
6.1.1 Location of the
µµµµ
Vision Board and Names of Connectors
Insert a
µ
Vision 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."
Extension slot 1
Extension slot 2
Extension slot 3
(
µ
Vision board)
I/O port
(TTL I/O not used)
Serial port
(RS-232C not used)
Monitor output connector
Camera input connector 1
Camera input connector 2
Location of
µµµµ
Vision Board and Names of Connectors
Camera input connector 1
Camera input connector 2
Used for connection with camera 1 (12-pin, round connector)
Used for connection with camera 2 (12-pin, round connector)
Monitor output connector Used for connection with the monitor (BNC).
Serial port
I/O port
RS-232C port (Not used.)
TTL level input/output: 1 point each (Not used.)
Pin No.
1
2
3
4
8
9
10
5
6
7
11
12
Camera Input Connector Pin Layout
(Manufacturer: Hirose Electric HR10A-10R-12S or equivalent)
Signal name
GND
+12V
GND
VIDEO
HDGND
HD
VD
NC
NC
NC
TRIG
VDGND
Remarks
Camera power GND
Camera power 12V
Camera power GND
Video signal
HD synchronous signal GND
Horizontal synchronous signal
Vertical synchronous signal
Not connected
Not connected
Not connected
Trigger signal (not used)
VD synchronous signal GND
30
6.1.2 Block Diagram and Internal Configuration of
µµµµ
Vision Board
Camera 1
Camera 2
Selector
A/D LT
Animation
(camera image)
Selector
LT Overlay circuit
(superpose)
D/A
Image storage memory
(4 processed screens)
Static image
(image memory)
Drawn image
Monitor
Image processing circuit
CPU
Dedicated drawn image memory (2 screens)
Block Diagram of
µµµµ
Vision Board
The above figure illustrates the processing flow of the
µ
Vision board as a reference.
The actual circuit configuration is different from this diagram.
Camera selector
A/D
Monitor selector
LT
Overlay circuit
D/A
Image storage memory
Dedicated drawn image memory
Image processing circuit
CPU
Switches between camera 1 and 2.
Converts analog signals into digital signals (8-bit).
Selects whether to display the camera live image or static image on the monitor.
Converts 8-bit data values using the appropriate table.
Overlays a drawn image, which is stored in the dedicated drawn image memory, on the camera live image or static image (see the figure given on the next page).
Converts digital data into analog signals.
Stores camera live images. When outputted onto the monitor screen, those images will be handled as static images. Up to four screens can be stored on this board.
Stores drawn images of characters and figures. Those images can be displayed on the monitor screen via the overlay circuit. Up to two screens can be stored on this board.
Processes images.
Manages the entire system.
31
Camera and processed screen image (256 gradations)
X = 280
Y = 245
Overlaying
(superpose)
Camera and processed screen image (256 gradations)
Overlay Concept
X = 280
Y = 245
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
µ
Vision board
CS-8320B camera (back)
4-M2 depth 3 (tightening torque: 0.39 N
⋅ m)
Camera Dimensions and its Parts Names
Item
Manufacturer
Manufacturer’s model
Image pickup interline transfer system
Lens mount
Image output NTSC signal
Power source/Ambient temperature
Weight
Vibration-proof
Camera Specifications
Specifications
Tokyo Electronic Industry Co., Ltd.
CS8320B
CCD pixels: 768 (H)
×
493 (V)
C mount
1.0 Vp-p/75
Ω
Supplied from power adapter, 0 to +40
°
C
120 g
98 m/s, 10G
(10 to 50 Hz, 30 minutes in each of X, Y and Z directions)
Cable length
3 m
5 m
15 m
Cables (Option)
Camera cable model
CPC3440-03
CPC3440-05
CPC3440-15
33
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.
34
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 µ vision board monitor output connector
Monitor Dimensions and its Parts Names
Item
Manufacturer
Manufacturer’s model
Cathode-ray tube
Image input NTSC signal
Power supply
Power consumption
Ambient temperature
Humidity
Monitor Specifications
Specifications
Chuo Musen Co., Ltd.
TMP-233-03
9-inch, monochrome
0.7 Vp-p (straight polarity)
100 VAC, 50/60 Hz
Approx. 30 W
0 to 40
°
C
90% or less (without dew condensation)
Cable length
1 m
3 m
5 m
Cables (Option)
BNC coaxial cable type
3CV-PP (1)
3CV-PP (3)
3CV-PP (5)
Caution (1) NEVER disassemble the monitor.
(2) Be sure to set a ferrite core clamp (ZCAT1518) that comes with the BNC cable, to the monitor output connector side on the
µµµµ
Vision board.
35
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 RS-
232C 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.
Components
Ethernet board
Appearance
Ferrite clamp sleeve
(RFC-10 KITAGAWA
INDUSTRIES CO. , LTD.)
7.2 Ethernet board specifications
The specifications of the Ethernet board are shown in the figure below.
Item
Connection
Baud rate
Ethernet Board Specifications
Specifications
10BaseT (IEEE 802.3)
10 Mbits/sec.
36
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.
Link LED
Name
CRS LED
RJ-45 UTP connector
Ethernet Board Parts Names
LEDs and Connector on the Ethernet Board
Function
Lights if the UTP port detects a signal.
Lights if a carrier signal is detected. This LED will remain ON if no cable is connected to the UTP connector.
Used for 10BaseT connection.
7.4 Mounting the Ethernet Board
(1) Insert the Ethernet board in extension slot 1 (upper slot) or extension slot 2
(middle slot) on the controller. For installation procedure of the Ethernet board, refer to Chapter 11, "Mounting Extension Boards."
(2) Attach the ferrite clamp sleeve onto the cable and connect the cable to the controller as shown in the figure below.
Caution: Fix the cable not to stress onto the connector. The stress onto the connector may occur communication error.
Extension slot 1 or 2 Fix the cable not to stress onto the connector.
Ferrite clamp sleeve
(Fixing position:
Approximate 10 cm from the connector)
37
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.
8.1.1 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 slave board can be networked with
DeviceNet-compliant control devices of various domestic and foreign manufacturers since the communications specifications are open.
(3) Easy wiring and maintenance
The 5-core special cable and detachable connector of the DeviceNet slave board make it easy to install wiring between nodes (communications units) and disassembly/restructure the network. This will sharply reduce cost in wiring and maintenance, as well as making replacement of units easy at the time of failure.
(4) Sufficient number of I/Os
The controller is capable of handling a large quantity of I/O data as listed below.
Further, increase or decrease of the number of user-input I/Os is possible in units of 8 steps.
Transmission
Reception
Number of I/Os
Standard assignment mode
Compatible assignment mode
Standard assignment mode
Compatible assignment mode
24 to 224
24 to 224
24 to 216
40 to 232
8.1.2 Typical Network
The figure below illustrates a typical network.
PLC
(Programmable controller)
Control panel Field unit This controller FA computer
38
8.2 Product Specifications
The figure below shows the location of the LEDs, DIP switches, and DeviceNet connector on the DeviceNet slave board.
Viewed from
X
(A)
LEDs
(B)
DIP switch
(C)
DeviceNet connector
⇐
X
(C)
(A)
BR
39
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
MS
(Module
Status)
NS
(Network
Status)
Green
: ON
Red
−
Green
Red
−
State
: Flashing
Definition
Normal state
Setup not completed
Fatal error
Explanation
•
The unit works normally.
•
Reading the DIP switch settings.
• Hardware failure.
Recoverable error
No power supplied
Communications link established
Communications link not established
Fatal communications error
Recoverable communications error
Network power supply failure
•
Wrong DIP switch settings, etc.
•
No power is supplied to the DeviceNet module.
•
Resetting data.
•
Waiting for initialization.
The network is working normally. (The line is connected.)
The network is working normally, but the line is not connected yet.
The unit detects any error disabling communication on the network.
•
Node address double-assigned.
•
"Bus off" detected.
Communications error in some slaves.
•
Not connected to the master unit.
•
Communications line broken.
: OFF
40
(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. You may freely set any of 0 through 63 to a node address unless the address is double-assigned on the same network including the master and slaves. Double assignment will cause an address double-assignment error, disabling the network.
Node Address Setting by the DIP Switch
1
(32)
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2
(16)
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
0
0
DIP switch
3
(8)
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
1
4
(4)
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
1
1
1
1
0
0
0
5
(2)
0
0
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
1
1
0
0
1
1
0
6
(1)
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
Node address
0
1
14
15
16
17
10
11
12
13
8
9
6
7
4
5
2
3
18
19
20
21
22
23
24
1
(32)
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2
(16)
0
0
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
DIP switch
3
(8)
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
1
4
(4)
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
1
1
1
1
0
0
0
5
(2)
0
0
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
1
1
0
0
1
1
0
6
(1)
Node address
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
1
1
1
1
0
1
1
0
0
1
1
1
0
1
0
1
0
1
25
26
27
28
29
30
31
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
1
1
1
1
0
1
1
0
0
1
1
1
0
1
0
1
0
1
57
58
59
60
61
62
63
Note 1 : Selector OFF and ON are expressed by 0 and 1, respectively. (Before shipment from the factory, the node address is set to 0 by default.)
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
0
1
0
1
0
1
32
33
46
47
48
49
42
43
44
45
38
39
40
41
34
35
36
37
50
51
52
53
54
55
56
41
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
1
1
0
0
0
1
0
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.
Note 2: On the same network, set the same bit rate to all nodes (master and slaves).
Otherwise, slaves whose bit rate is different from that of the master cannot communicate only, but also they may cause a communications error between correctly set nodes.
(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.
1: V (Black)
2: CAN _ L (Blue)
3: Drain (Shield)
4: CAN _H (White)
5: V+ (Red)
1 2 3 4 5
It is recommended that either of the following crimp terminals be used for the communications cable.
No.
Crimp terminal
(1) AI series (Phoenix Contact)
(2) TC series (Nichifu)
For thin cables: TME TC-0.5
For thick cables: TME TC-2-11 (for power supply)
TME TC-1.25-11 (for communication)
Tools required
ZA3 (Phoenix Contact)
NH-32
42
8.2.2 General Specifications
The following tables list the controller environmental and communication specifications.
(1) Environmental requirements
Item
Power requirements
Operating temperature
Operating humidity
5 VDC (supplied via the controller ISA bus)
0 to 40
°
C
Specifications
90% RH or less (without condensation)
(2) DeviceNet communications specifications
Item
Communications protocol
Connection supported
Connection type
(Note 1)
Bit rate
Communications media
Communications cable length
DeviceNet-compliant
Specifications
Master/slave connection : Polling I/O function
Compliant with DeviceNet communications rules
Multi-drop type with possible combination of T-branch
(to trunk and branch lines)
500, 250, 125 kbps (selectable by switch)
Special cable consisting of 5 wires
(2 for signals, 2 for power supply and 1 as a shield wire)
Bit rate
500 kbps
Max. network length
100 m or less
(Note 2)
Branch length
6 m or less
Total branch length
39 m or less
250 kbps
125 kbps
250 m or less
(Note 2)
500 m or less
(Note 2)
6 m or less
6 m or less
78 m or less
156 m or less
Power supply for communication
Internal power consumption
Max. number of connectable nodes
External supply of 24 VDC ±10%
Communication power source: 30 mA max.
64 nodes (including configurator (converter) if connected)
Number of I/Os
Standard assignment mode:
40 points for system input
32 points for system output
24 points to 216 for user input
24 to 224 points for user output
The number of I/Os can be set in unit of 8 points.
Compatible assignment mode:
24 points for system input
32 points for system output
40 to 232 points for user input
24 to 224 points for user output
The number of I/Os can be set in unit of 8 points.
Error check CRC
(Note 1) Terminator resistors are needed at both ends of the trunk line.
(Note 2) These values may apply when a special thick cable is used as a trunk line. If a special fine cable is used, the max. network length is 100 m or less.
43
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. The controller, however, can handle the user input/output data using both parallel ports and DeviceNet.
Signals such as robot stop, enable auto, and CPU normal are transferred only through the parallel ports.
8.3.1 Standard Assignment Mode
No.
512
513
514
515
516
517
518
519
Content
Step stop (all tasks)
–
Halt (all tasks)
Strobe signal
Skip interrupt
–
–
Command data odd parity
(1) Input Data
No.
520
521
522
523
524
525
526
527
Content
Bit 0 in data area 1
Bit 1 in data area 1
Bit 2 in data area 1
Bit 3 in data area 1
Bit 4 in data area 1
Bit 5 in data area 1
Bit 6 in data area 1
Bit 7 in data area 1
No.
528
529
530
531
532
533
534
535
Content
Bit 0 in data area 2
Bit 1 in data area 2
Bit 2 in data area 2
Bit 3 in data area 2
Bit 4 in data area 2
Bit 5 in data area 2
Bit 6 in data area 2
Bit 7 in data area 2
No.
536
537
538
539
540
541
542
543
Content
Bit 8 in data area 2
Bit 9 in data area 2
Bit 10 in data area 2
Bit 11 in data area 2
Bit 12 in data area 2
Bit 13 in data area 2
Bit 14 in data area 2
Bit 15 in data area 2
No.
544
545
546
547
548
549
550
551
Content
Bit 0 in command area
Bit 1 in command area
Bit 2 in command area
Bit 3 in command area
–
–
–
–
No.
552
553
554
555
556
557
558
559
Content
INPUT 552
INPUT 553
INPUT 554
INPUT 555
INPUT 556
INPUT 557
INPUT 558
INPUT 559
No.
760
761
762
763
764
765
766
767
Content
INPUT 760
INPUT 761
INPUT 762
INPUT 763
INPUT 764
INPUT 765
INPUT 766
INPUT 767
Note 1: Numerals in the No. column denote the I/O port numbers of the controller.
Note 2: The input data is handled in bytes (8 points). The default is 64 points. Up to 256 points can be used.
44
No.
768
769
770
771
772
773
774
775
Content
(2) Output Data
Robot running
Robot alarm
Servo ON
Robot initialization finished
Auto mode
External mode
Battery warning
No.
776
777
778
779
780
781
782
783
Content
Robot warning
Continue start permitted
Reserved
Reserved
Reserved
Reserved
Command process finished
Status area odd parity
No.
784
785
786
787
788
789
790
791
Content
Bit 0 in status area
Bit 1 in data area
Bit 2 in status area
Bit 3 in status area
Bit 4 in status area
Bit 5 in status area
Bit 6 in status area
Bit 7 in status area
No.
792
793
794
795
796
797
798
799
Content
Bit 8 in status area
Bit 9 in status area
Bit 10 in status area
Bit 11 in status area
Bit 12 in status area
Bit 13 in status area
Bit 14 in status area
Bit 15 in status area
No.
800
801
802
803
804
805
806
807
Content
OUTPUT 800
OUTPUT 801
OUTPUT 802
OUTPUT 803
OUTPUT 804
OUTPUT 805
OUTPUT 806
OUTPUT 807
No.
808
809
810
811
812
813
814
815
Content
OUTPUT 808
OUTPUT 809
OUTPUT 810
OUTPUT 811
OUTPUT 812
OUTPUT 813
OUTPUT 814
OUTPUT 815
No.
1016
1017
1018
1019
1020
1021
1022
1023
Content
OUTPUT 1016
OUTPUT 1017
OUTPUT 1018
OUTPUT 1019
OUTPUT 1020
OUTPUT 1021
OUTPUT 1022
OUTPUT 1023
Note 1: Numerals in the No. column denote the I/O port numbers of the controller.
Note 2: The output data is handled in bytes (8 points). The default is 56 points. Up to
256 points can be used.
45
8.3.2 Compatible Assignment Mode
No.
512
513
514
515
516
517
518
519
(1) Input Data
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
Content
Program selection bit
Bit 1 for program selection
Bit 2 for program selection
Bit 3 for program selection
Bit 4 for program selection
Bit 5 for program selection
Bit 6 for program selection
Program selection parity
No.
528
529
530
531
532
533
534
535
Content
Motor power ON
CAL execution
–
SP100
Switching to external mode
Program reset
Robot alarm
–
No.
536
537
538
539
540
541
542
543
Content
INPUT 536
INPUT 537
INPUT 538
INPUT 539
INPUT 540
INPUT 541
INPUT 542
INPUT 543
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.
552
553
554
555
556
557
558
559
Content
INPUT 552
INPUT 553
INPUT 554
INPUT 555
INPUT 556
INPUT 557
INPUT 558
INPUT 559
No.
760
761
762
763
764
765
766
767
Content
INPUT 760
INPUT 761
INPUT 762
INPUT 763
INPUT 764
INPUT 765
INPUT 766
INPUT 767
Note 1: Numerals in the No. column denote the I/O port numbers of the controller.
Note 2: The input data is handled in bytes (8 points). The default value is 64 points. Up to 256 points can be used.
No.
768
769
770
771
772
773
774
775
(2) Output Data
Content
–
Robot running
Robot alarm
Auto mode
External mode
Program start reset
–
–
No.
776
777
778
779
780
781
782
783
Content
Robot power ON finished
Servo ON
CAL finished
Teaching
Single cycle end
Battery warning
Robot warning
Continue start permitted
No.
784
785
786
787
788
789
790
791
Content
Error code, unit, 2
0
Error code, unit, 2
1
Error code, unit, 2
2
Error code, unit, 2
3
Error code, tens, 2
1
Error code, tens, 2
2
Error code, tens, 2
3
Error code, tens, 2
4
No.
792
793
794
795
796
797
798
799
Content
Error code, hundreds, 2
0
Error code, hundreds, 2
1
Error code, hundreds, 2
2
Error code, hundreds, 2
3
–
–
–
–
No.
800
801
802
803
804
805
806
807
Content
OUTPUT 800
OUTPUT 801
OUTPUT 802
OUTPUT 803
OUTPUT 804
OUTPUT 805
OUTPUT 806
OUTPUT 807
No.
808
809
810
811
812
813
814
815
Content
OUTPUT 808
OUTPUT 809
OUTPUT 810
OUTPUT 811
OUTPUT 812
OUTPUT 813
OUTPUT 814
OUTPUT 815
No.
1016
1017
1018
1019
1020
1021
1022
1023
Content
OUTPUT 1016
OUTPUT 1017
OUTPUT 1018
OUTPUT 1019
OUTPUT 1020
OUTPUT 1021
OUTPUT 1022
OUTPUT 1023
Note 1: Numerals in the No. column denote the I/O port numbers of the controller.
Note 2: The output data is handled in bytes (8 points). The default is 56 points. Up to
256 points can be used.
46
8.4 Parameter Entry Procedure
8.4.1 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.
Step 2 Press [F6 Aux.] on the following screen.
F4
F6
47
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.
48
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.
49
DeviceNet
No. of input slots
20
21
22
23
16
17
18
19
12
13
14
15
8
9
10
11
28
29
30
31
24
25
26
27
32
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.
Max. number of user input points
In standard assignment mode
In compatible assignment mode
88
96
104
112
120
128
136
144
56
64
72
80
24
32
40
48
152
160
168
176
184
192
200
208
216
104
112
120
128
136
144
152
160
72
80
88
96
40
48
56
64
168
176
184
192
200
208
216
224
232
DeviceNet
No. of output slots
28
29
30
31
32
24
25
26
27
20
21
22
23
16
17
18
19
12
13
14
15
7
8
9
10
11
160
168
176
184
192
200
208
216
224
96
104
112
120
128
136
144
152
Max. number of user output points
In standard assignment mode
In compatible assignment mode
24 24
64
72
80
88
32
40
48
56
32
40
48
56
64
72
80
88
160
168
176
184
192
200
208
216
224
96
104
112
120
128
136
144
152
50
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.
The addition of this parameter disables the "8: DeviceNet Setup ErrDisplay" in the I/O
Hardware Settings window.
This parameter is set to "0" (EveryTime) by default for safe operation of the facilities.
Every time an I/O operation is carried out, an error will display if any.
To check program operations using dummy I/Os for setting up facilities where no connection to the network has been established, set this parameter to "1" (First
Time). Doing so will not display errors once detected, allowing you to check program operations.
NOTE: After completion of setting-up, be sure to set this parameter back to
"0."
n Changing the FieldNetwork ErrDisplay parameter
Access: [F4 I/O]—[F6 Aux.]—[F1 Set H/W]
Step 1 Press [F1 Set H/W] in the Auxiliary Function (I/O) window.
F1
51
Step 2 Select "10: FieldNetwork ErrDisplay" and press [F5 Change.].
Step 3 Enter "1" in this example and press [OK].
F5
Step 4 Check the newly entered value and press [OK].
52
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.
53
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.
Also if the robot controller RC5 equipped with DeviceNet master board is connected as a master with RC5 slaves, then the time required for establishing connections will vary depending upon differences between setting-up times of individual controllers.
If it takes long time to establish connection after the controller is turned on, then the controller system may interpret it as a network error. To prevent such a network error from occurring, Main Software Version 1.7 or later newly supports the network error detector suppression that suppresses the detector for the specified time after the controller is turned on.
You may set the suppression time length (from 0 to 65535 ms) to the "17: Insensitive time to network error (ms)" parameter in the I/O Hardware Settings window (Access:
[F4 I/O]—[F6 Aux.]—[F1 Set H/W]).
The initial value of the parameter is 8000, meaning that no network error will be detected for 8 seconds after completion of controller initialization.
If a network error occurs when the controller is turned on, then it will be detected 8 seconds later.
This parameter takes effect only immediately after the controller is turned on. After that, it does not influence network error detection so that any network error will be detected the moment it occurs.
n Changing the Network ErrDetection Suppression Time parameter
Access: [F4 I/O]—[F6 Aux.]—[F1 Set H/W]
Step 1 Press [F1 Set H/W] in the Auxiliary Function (I/O) window.
F1
54
Step 2 Select "17: Insensitive time to network error" and press [F5 Change.].
Step 3 Enter "4000" in this example and press [OK].
F5
Step 4 Check the newly entered value and press [OK].
55
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.
56
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."
DeviceNet Error Code Table
MS
LEDs
NS
Error code
1201
1202
1203
1204
1205
1210
1213
1215
1216
1217
What has happened: What to do:
Preparing for communications (link not established)
•
The DeviceNet module is working normally, but has not established link with the master device.
Preparing for communications (link not established)
•
The DeviceNet module is working normally and has established explicit link with the master device, but not established an I/O link.
Preparing for communications
(communications idling)
•
The DeviceNet module is working normally, but cannot receive data except empty data from the master device.
Establish the link from the master device.
Establish the I/O link from the master device.
Check the contents of I/O data that the master device sends.
Preparing for communications (I/O timeout)
•
The DeviceNet module is working normally, but cannot receive data from the master device within the specified time.
Check that the DeviceNet cable is not broken or its connector is firmly plugged in.
Check the DeviceNet cable length and that a terminator resistor is attached to each end of the trunk line.
Initial setting error in the communications processor
•
Failed to establish the initial link with the
DeviceNet communication processor.
Turn the controller power off and then on, and do the same operation again.
A DeviceNet internal communications error has occurred.
Turn the controller power off and then on, and do the same operation again.
The network is broken or "bus off."
•
The DeviceNet cable is broken or not connected.
Check whether the DeviceNet cable is connected with the robot controller.
If this error occurs after you change the DIP switch setting, check whether the bit rate setting made with the DIP switch matches the network's bit rate.
Check whether the bit rate setting made with the DIP switch matches the network's bit rate..
Preparing for communications (Initial setting error)
•
No initial settings have been received from the robot.
Data length setting error
•
DeviceNet INSLOT or OUTSLOT is not 32 or less.
Node address double-assign error
•
The same node address is double assigned to the robot controller and any other online node.
Turn the controller power off and then on. Then, set correct DeviceNet
INSLOT and OUTSLOT values.
Assign an exclusive node address to each node (including the robot controller) on the same DeviceNet.
G
G
G
G
−
−
G
G
R
G
G
G
G
R
−
−
R
R
: ON : Flashing : OFF – : Indefinite
57
Error code
1230
1232
1234
What has happened:
Retry error in the DPRAM built in the robot controller
Reset command received
•
The robot controller has received a reset command from the master device.
DeviceNet internal RAM error
1235
1236
1237
1238
Reserved for System
DeviceNet internal DPRAM error
DeviceNet EEPROM error
Retry error in the DeviceNet DPRAM
: ON : Flashing : OFF
What to do:
Turn the controller power off and then on, and do the same operation again.
Turn the controller power off and then on, and do the same operation again.
MS
LEDs
NS
− −
G G
Turn the controller power off and then on, and do the same operation again.
R
−
Turn the controller power off and then on, and do the same operation again.
Turn the controller power off and then on, and do the same operation again.
Turn the controller power off and then on, and do the same operation again.
R
R
R
R
– : Indefinite
58
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= 1.1;
[Device]
VendCode
ProdType
ProdCode
MajRev
MinRev
VendName
ProdTypeStr
ProdName
Catalog
= 171;
= 12;
= 1;
= 1;
$ Vendor Code
$ Product Type
$ Product Code
$ Major Rev
= 1; $ Minor Rev
= "Denso Corporation";
= "Communication Adapter";
= "RC5";
= "";
[IO_Info]
Default
PollInfo
= 0X0001;
= 0X0001,
1,
1;
$ Poll Only
$ Poll Only
$ Default Input = Input1
$ Default Output = Output1
$Input Connections
Input1 =
7,
0,
$ From 7 to 32 Bytes, Variability
$ All bits are significant
0x0001, $ Poll Only Connection
"Data", $ Name
6,
"20 07 24 02 30 04",
"Robot Output Data";
$ Path Length
$ Register Object Instance 2 Attribute 4
$ Help
$Output Connections
Output1 =
8,
0,
$ From 8 to 32 Bytes, Variability
$ All bits are significant
0x0001, $ Poll Only Connection
"Data", $ Name
6,
"20 07 24 01 30 04",
"Robot Input Data";
$ Path Length
$ Register Object Instance 1 Attribute 4
$ Help
59
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.
P a r r a l l l l e l l S y s t t e m D e v i i c e N e t t S y s t t e m
Relay Box
2
5
0
9
T
2
5
0
9
T
DeviceNet
2
509 -
509 -
T
T
509 -
T
509 -
T
509 -
T
509 -
T
Robot controller
DeviceNet master board
If the robot controller has a built-in DeviceNet master board and connects with slave units via DeviceNet cables, it can configure a
DeviceNet system.
DeviceNet cable
S l l a v e u n i i t s
60
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.
(3) Easy wiring and maintenance
The 5-core special cable and detachable connector of the DeviceNet master board make it easy to install wiring between nodes (communications units) and disassembly/restructure the network. This will sharply reduce cost in wiring and maintenance, as well as making replacement of units easy at the time of failure.
(4) Sufficient number of I/Os
This controller is capable of handling a large volume of transmitted and received data, with up to 1024 input contacts and 1024 output contacts.
With the teach pendant, you may scan the network without using a dedicated configurator so as to easily rearrange connected slave units.
61
9.1.2 System Configuration Sample
62
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. DeviceNet allows selection of 125, 250, or 500 Kbps. The factory default is 500 Kbps.
(Wrong speed setting will make communications impossible.)
(3) Set the addresses of the master and slave devices. In DeviceNet, as shown below, a total of 64 master and slave devices can be connected, and each device must be assigned any of ID addresses ranging from 0 to 63.
(Take care not to double-assign a same address on the same network.)
(4) After setting up the communications speeds and addresses, connect the communication power supply and then turn on the power of each device. This completes the hardware settings.
(5) Register the information about the connected slave devices to the master device. This registration information is called “scanlist.” According to the scanlist, the master device may control those slave devices.
For the procedure on how to create a scanlist, refer to Subsection 9.4.2.
(6) The creation of the scanlist will automatically determine I/O addresses for the connected slave devices. Accordingly, the I/O communication between the master and slave devices becomes possible. The input and output areas of the master device from/to slave devices are IO [1024] to [2047] and IO [2048] to
[3071], respectively.
(For details about I/O addresses, refer to Section 9.3.)
63
9.2 Product Specifications
The figure below shows the location of the LEDs, DIP switches, and DeviceNet connector on the DeviceNet master board.
9.2.1 Names and Functions of Master Board Components
Viewed from
X
MS NS
(A)
LEDs
"B"
DIP switch
BR NA
1 2 1 2 6 8 16 32
(C)
DeviceNet connector
SW1
⇐
X
(C)
(A)
64
(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
Green
MS
(Module
Status)
Red
−
NS
(Network
Status)
: ON
Color
Green
Red
−
Status
: Flashing
Status Definition
Normal state
Setup not completed
Fatal error
Recoverable error
No power supplied
Communications link established
Communications link not established
Fatal communications error
Recoverable communications error
Offline
Meaning (Main Errors)
• The device is working normally.
• The setting is incorrect and must be adjusted.
• A device hardware error has occurred.
• An error from which recovery is possible has occurred.
• Device power is not being supplied.
• The network is normal (communication has been established).
• The network is normal but communication with the slaves has not been established.
• Communication is not possible due to an error such as allocation of the same address to more than one node, or detection of
Busoff.
• Communication is not possible due to an error such as a slave size error.
• The online status cannot be established, e.g. because a CAN send timeout error has occurred.
: OFF
65
(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. You may freely set any of 0 through 63 to a node address unless the address is double-assigned on the same network including the master and slaves. Double assignment will cause an address double-assignment error, disabling the network.
DIP Switch
1
1
0
1
1
0
1
0
0
1
0
1
0
1
0
1
0
0
1
0
1
0
1
(continued on the following page)
2
0
1
1
1
0
0
1
0
1
0
0
1
1
0
0
1
1
1
0
0
0
0
4
0
0
0
1
0
1
1
1
0
1
0
0
1
0
1
1
0
0
0
0
1
1
8
0
0
0
1
0
1
1
0
1
1
1
1
0
1
0
0
0
0
0
0
0
0
16
1
1
1
0
1
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
1
32
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Node
Address
17
18
19
13
14
15
16
20
9
10
11
12
7
8
5
6
2
3
0
1
4
21
1
1
0
1
1
0
1
0
0
1
0
1
0
1
0
1
0
0
1
0
1
0
1
16
0
0
0
0
0
0
0
0
0
0
1
0
1
1
1
1
1
1
1
1
1
0
2
1
0
0
0
1
1
0
1
0
1
1
0
0
1
1
0
0
0
1
1
1
1
32
1
1
1
1
1
1
1
1
1
1
0
1
0
0
0
0
0
0
0
0
0
1
DIP Switch
4
1
0
0
1
1
0
1
0
0
0
1
0
1
1
0
1
0
0
1
1
0
0
8
0
1
1
0
0
0
0
1
0
0
1
0
1
1
1
1
1
1
0
0
1
1
Node
Address
39
40
41
35
36
37
38
42
31
32
33
34
27
28
29
30
22
23
24
25
26
43
66
1
0
1
0
0
1
0
1
1
0
1
2
0
0
1
1
1
0
0
1
0
0
DIP Switch
Node
Address
DIP Switch
Node
Address
4 8 16 32 1 2 4 8 16 32
0
0
0
1
1
1
1
0
1
1
0
0
0
1
1
1
1
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
1
1
1
48
49
50
44
45
46
47
51
52
53
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
1
1
1
0
0
1
0
0
1
1
1
1
1
1
1
0
0
0
1
1
0
1
1
0
1
0
0
1
0
1
1
0
1
0: OFF 1: ON
NOTE: The settings must be made with the controller power (including the network power supply) OFF. The factory default of the node address of the controller is “63.”
58
59
60
54
55
56
57
61
62
63
Setting the bit rate
To match the bit rate of the robot controller with that of the network, use selectors
(BR) of the DIP switch, referring to the table below:
BR
1 2
Viewed from top
Bit Rate Setting By DIP Switch
DIP Switch
Selector 1 Selector 2
0
1
0
1
1
1
0
0
Bit Rate
125 Kbps
250 Kbps
500 Kbps
500 Kbps
0: OFF 1: ON
NOTE: This setting must be made with the controller power (including the network power supply) OFF. The factory default of the communications speed is 500 Kbps.
Set the same communications speed at all nodes (master and slave) throughout the network.
If a slave has a different communications speed from the master, the slave will not be able to participate in communications and it will cause communication errors at nodes where the correct communications speed is set.
67
(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.
Solderless terminal Communications cable
Crimp the solderless terminal after inserting the communication cable into it.
- Solderless terminals: AI series from Phoenix Contact
- Dedicated tool: ZA3 from Phoenix Contact
Or alternatively:
- Solderless terminals: TC series from Nichifu
For thin cables: TME TC-0.5
For thick cables: TME TC-2-11 (for power supply)
TME TC-1.25-11 (for communications)
- Dedicated tool: NH-32
68
9.2.2 General Specifications
(1) Environmental requirements
Item
Power requirements
Operating temperature
Operating humidity
Specifications
5 VDC (supplied via the controller ISA bus)
0 to 40
°
C
90% RH or less (without condensation)
(2) DeviceNet communications specifications
Item
Communications protocol
Connection supported
Connection type (Note 1)
Bit rate
Communications media
Communications cable length
Specifications
DeviceNet–compliant
- Polling I/O function
- Bit strobe function
Compliant with DeviceNet communication rules
Multi-drop type with possible combination of T-branch
(to trunk and branch lines)
500, 250, 125 kbps (selectable by switch)
Special cable consisting of 5 wires
(2 for signals, 2 for power supply, and 1 as a shield wire)
Bit rate
500 kbps
Max. network length Branch length
Total branch length
100 m or less (Note 2) 6 m or less 39 m or less
250 kbps 250 m or less (Note 2) 6 m or less 78 m or less
Power supply for communication
Internal power consumption
125 kbps 500 m or less (Note 2) 6 m or less 156 m or less
External supply of 24 VDC
±10%
Communication power source: 30 mA max.
Max. number of connectable nodes
Number of I/Os
64
- Input 1024 points
- Output 1024 points
CRC Error check
(Note 1) Terminator resistors are needed at both ends of the trunk cable.
(Note 2) These values may apply when a special thick cable is used as a trunk line. If a special fine cable is used, the max.
network length is 100 m or less.
69
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.
Robot I/O Areas when a DeviceNet Master Board is Installed
I/O
Number
0
64
128
512 DeviceNet slave input area
768 DeviceNet slave output area
1024
DeviceNet master input area
User inputs
2048
3071
Main group
Parallel input area
Parallel output area
Internal I/O area
DeviceNet master output area
Sub group
User (dedicated) input
User inputs
Hand inputs
User (dedicated) outputs
User outputs
Hand outputs
User inputs
Not for user use
Not for user use
User outputs
Remarks
On shipment from the factory, this area is allocated as user input ports. It can be reallocated as a system input area with the teach pendant.
For details about parallel interface, see the
“RC5 CONTROLLER INTERFACE MANUAL."
On shipment from the factory, this area is allocated as user output ports.
Note that I/Os numbered 72 (“CPU normal”),
73 (“robot running”), and 74 (“robot error”) are reserved as system output areas.
The user output area can be reallocated as a system output area with the teach pendant.
For details about parallel interface, see the
“RC5 CONTROLLER INTERFACE MANUAL."
This is the internal data memory area for the robot controller. It is used for temporary data storage, for flags used during robot internal tasks, and so on. Note that the data will be lost when the power goes off.
This area is not allowed for users when a
DeviceNet master board is connected.
This area is not allowed for users when a
DeviceNet master board is connected.
Signals sent from the slaves connected in the
DeviceNet network will be inputted to this area.
Signals to be sent to the slaves connected in the DeviceNet network will be outputted to this area.
70
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.”
Input
Output
All user ports
0 System area
→
User area *
User area* 47
Hand*
Reserved.
64 Hand
55
71
System area
→
User area 103
User area 127
128
Internal I/O
Input
Output
DeviceNet slave system I/Os in compatible mode
0 System area
→
User area*20
User area* 47
Hand*
Reserved.
64 Hand
55
71
System area
→
User area 103
User area 127
128
Internal I/O
Input
Output
DeviceNet slave system I/Os in standard mode
0 System area
→
User area* 33
User area* 47
Hand*
Reserved.
64 Hand
55
71
System area
→
User area 103
User area 127
128
Internal I/O
Input
512
Not used.
Input
512
Not used.
Input
512
Not used.
Output
768
Not used.
Input
1024
User area*
Output
768
Not used.
Input
1024
User area*
Output
768
Not used.
Input
1024
User area*
Output
2048
User area Output
2048
User area Output
2048
User area
3071 3071
72:
73:
74:
Other system I/O areas will be used as user areas.
* Dummy I/O settings are only valid in user input and hand input areas.
3071
CPU normal
Robot running These are set by the system output and exist regardless of the mode.
Robot error
71
Input
Output
Input
Parallel system
I/Os in compatible mode
0 System area 20
User area* 47
Hand*
Reserved.
64 Hand
55
71
Input
System area 103 Output
User area 127
128
Internal I/O
512
Not used.
Input
Output
768
Not used.
Output
Input
1024
User area* Input
Parallel system
I/Os in standard mode
0 System area 33
User area* 47
Hand*
Reserved.
64 Hand
55
71
System area 103
User area 127
128
Internal I/O
512
Not used.
768
Not used.
1024
User area*
Output
2048
User area Output
2048
User area
3071 3071
NOTE: For information on signals in the system I/O areas, refer to the RC5
CONTROLLER INTERFACE MANUAL.
* Dummy I/O settings are only valid in the user input and hand input areas.
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9.4 Building Up a DeviceNet Network
9.4.1 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.
The trunk line and drop lines can be constructed using DeviceNet thick cables,
DeviceNet thin cables, or both.
Thick cables are used for long-distance trunk lines, strong trunk lines, and drop lines.
Thin cables are used for trunk lines and drop lines, and for easy termination processing.
Terminating resistors
Terminating resistors must be connected at both ends of the trunk line in a DeviceNet system. The specifications of the terminating resistors are listed below.
•
121
Ω
•
Metal film resistor with resistance error of less than 1%
•
1/4 W
Never connect a terminating resistor to a node. This may result in a failure.
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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.
74
Communications speed
125 Kbps
250 Kbps
500 Kbps
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).
Maximum cable length when only thin cables are used
Maximum cable length when only thick cables are used
500 m
250 m
100 m
100 m
Communications speed
125 Kbps
250 Kbps
500 Kbps
A DeviceNet network may be constructed with thick and thin cables together. In such a case, the permissible total lengths of thin and thick cables can be obtained according to the calculation formulae below.
Maximum network length
L (thick) + 5
×
L (thin)
≤
500 m
L (thick) + 2.5
×
L (thin)
≤
250 m
L (thick) + L (thin)
≤
100 m
“L (thick)” indicates the length of thick cables.
“L (thin)” indicates the length of thin cables.
Communications speed
125 Kbps
250 Kbps
500 Kbps
Drop line length
The drop line length is cable distance between the trunk line tap and the farthest node on the drop line. The permissible overall length of drop lines throughout the network (“total length”) depends on the communications speed, and must be within the lengths listed in the table below.
Drop line length
Maximum length
6 m
Overall length
156 m
78 m
39 m
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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.
The scanlist contains the following information:
- Slave I/O allocation information (which slaves have how many input points, and which node addresses they occupy)
- The communication parameter information (remote I/O communications status, communication cycle time setting)
When creating a scanlist with the robot controller, you may choose either of the fixed
I/O allocation mode (default) and free I/O allocation mode.
Scanlist creation procedure
Step 1 On the top screen of the teach pendant, press [F4 I/O].
76
F4
Step 2 On the following screen, press [F6 Aux.].
Step 3 Press [F9 SlaveMap].
F6
77
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.
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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 = 4.0 blocks
×
16 = 64 points
Since the number of I/O points increases in 8-point increments, the bar indications increase or decrease in 0.5-block units.
The left display shows the I/O number of the selected node.
By default, the information for node 0 is displayed.
To change the node, press the node number whose information you want to display.
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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.
80
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].
81
Step 5 The DeviceNet master changes the interface with the slave.
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.
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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].
83
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.
84
Step 5 The input area in the free I/O allocation mode will display.
Step 6 Press [F2 OutArea] to display the output area.
85
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.
The display above indicates that the following allocations have been made:
Output areas 2048 to 2055: Output to slave ID0
Output areas 2056 to 2063: Output to slave ID3
Output areas 2064 to 2071: Output to slave ID4
[Scan] and [Change] keys
The functions of these keys are equivalent to the fixed allocation mode.
[Scan] recreates the scanlist.
[Change] changes the slave settings.
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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.
What is “EPR” (Expected Packet Rate)?
This value is the basis for judging a “timeout” when the slaves communicate with the master (polling or bit strobe). If there is no access from the master during the set time, then the slave times out and an error status is established. For the master, this value is the setting for the disconnection detection time.
The relationship is: Detection time = EPR value
×
4 (ms)
Note that if a too small value is entered, the “No response from slave” error will occur even in normal status.
What is “ISD” (Inter Scan Delay)?
This is the interval between the scan cycles in which the master scans the slave devices.
Step 1 On the Auxiliary Function (I/O) screen, press [F8 MasterPrm].
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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].
88
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.
89
Step 7 After parameter writing is normally completed, the following screen will display.
NOTE: You may change the ISC value in the same procedure.
90
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.
91
Step 3 The next statuses will display.
Step 4 The following statuses will display.
Step 5 The last statuses will display.
92
Details of errors and the meanings of flags are given below.
0x31
0x32
0x33
0x34
0x35
0x36
0x37
0x41
Error No.
0x01
0x02
0x10
0x11
0x20
0x21
0x30
0x03
0x04
0x05
0x06
Configuration error
Error Details
I/O area duplicated
Out of I/O area
Unsupported slave detected
No registered slave
Collation error
Slave I/O size mismatch
Communication error (communication timeout)
Node address double-assigned
Busoff detected
Transmission error
Network power supply error
Transmission timeout
RAM error
Memory error
Flash ROM error
ROM error
DPRAM error
DPRAM retry error
Serial number error
EPR error
ISD error
Scanlist error
Robot setting bit error
Scanlist make failure:
Shows that an error has occurred during creation of a scanlist.
Scanlist/SerialNo operation failure:
Shows that there is an error in the scanlist/serial number data.
Scanlist preparation not finished:
Shows that the scanlist is still being created.
I/O Communication is up:
Shows that the master is normally communicating with the slaves.
Scanlist already set up:
Shows that a scanlist already exists in the memory of the master.
Serial No determined:
Shows that a serial number already exists in the memory of the master.
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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.
Master Software Version:
Shows the version of the software running on the master board.
94
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." Doing so will not display errors once detected, allowing you to check program operations.
NOTE: After completion of adjustment, be sure to set this parameter back to "0."
Changing the FieldNetwork ErrDisplay parameter
Access: [F4: I/O]—[F6 Aux.]—[F1 Set H/W]
Step 1 In the Auxiliary Function (I/O) window, press [F1 Set H/W].
Step 2 Select "10: FieldNetwork ErrDisplay" and press [F5 Change].
95
F5
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.
96
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.
Pattern A Pattern B
Master of the robot controller master
Master of the robot controller
Parallel connection
Master
DeviceNet connection
Master
DeviceNet DeviceNet
Extended-joints Extended-joints
The robot controller can be configured to the DeviceNet networks as shown above.
To configure the robot controller to any of those networks, you need to change the
I/O allocation according to the procedure given on the following pages.
97
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].
98
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.
99
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
10.1.1 Location of the PROFIBUS-DP Slave Board and Functions of its
Components
The PROFIBUS-DP slave board may be inserted into extension slot 1 or 2 of the robot controller.
Extension slot 1 or 2
PROFIBUS interface Status indicators (LEDs)
Status indicators
(LEDs)
Name
ERR
Explanation
Lights in red when an error occurs in the PROFIBUS-DP slave board.
STA Lights in yellow when the communications link is established.
RS485 connector (9-pin D-SUB female) PROFIBUS interface
For the function of each board component, refer to the instruction manual that comes with the PROFIBUS-DP slave board.
NOTE: Do not change the jumper settings made on the slave board. If you do so, the board will not function.
NOTE: The robot controller does not use the diagnostic interface, RDY LED, or RUN
LED mounted on the slave board.
100
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)."
Securing the Robot Controller to the Controller Mounting Panel
(1) The figure below shows the bottom view of the robot controller. Marked with " ¡," the M4-nut welded holes may be used for securing the robot controller to the mounting panel.
(2) Prepare a mounting panel large enough to mount the robot controller. While keeping the rubber feet attached to the robot controller, secure the controller to the mounting panel at six nut-welded holes marked with "
¡" shown in the figure below, using six M4 screws.
Caution (1) The controller mounting screws must not be more than the thickness of the mounting panel plus 13.5 mm in length. If they exceed 13.5 mm, the nut welded holes may be damaged.
(2) Fix the robot controller at all of the six nut-welded holes.
Bottom of the robot controller
Securing the Controller to the Mounting Panel, keeping the Rubber Feet Attached
101
10.1.3 Specifications
Item
Communications protocol PROFIBUS-DP–complient
Transmission speed
Interface connector
Communications media
Specifications
9.6K, 19.2K, 93.75K, 187.5K, 500K, 1.5M, 3M, 6M, and 12M bps, with automatic recognition
9-pin, D-sub connector
Communications distance
(when Type A interface cable is used)
RS-485 interface cable (Type A recommended)
Transmission speed (bps)
9.6 K to 93.75 K 187.5 K 500 K 1.5 M 3 M to 12 M
PROFIBUS address
Distance/segment 1200 m
1 to 125
1000 m 400 m 200 m 100 m
Max. number of stations
Number of I/Os
126 (when the repeater is used)
Standard assignment: 40 points for system input
32 points for system output
24 (default) to 216 points for user input
32 (default) to 224 points for user output
Compatible assignment: 24 points for system input
32 points for system output
40 (default) to 232 points for user input
32 (default) to 224 points for user output
Board model CIF30-DPS
10.2 Assignment of Serial I/O Data
Two types of serial I/O data assignment modes are available--standard assignment mode and compatible assignment mode.
The I/O data assignment is the same as that for the DeviceNet slave board. For the assignment, refer to Chapter 8, “DeviceNet Slave Board.”
The robot controller equipped with a PROFIBUS-DP slave board transfers system I/O data only through the PROFIBUS-DP slave board, disabling the parallel ports. The controller, however, can handle user I/O data using both the PROFIBUS-DP slave board and parallel ports.
Signals such as Robot stop, Enable auto, and CPU normal will be transferred only through the parallel ports.
102
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 input
64 points (8 bytes)
96 points (12 bytes)
128 points (16 bytes)
160 points (20 bytes)
256 points (32 bytes)
Points for User Input
Max. number of points in standard assignment mode
Max. number of points in compatible assignment mode
24 points (3 bytes)
56 points (7 bytes)
88 points (11 bytes)
120 points (15 bytes)
40 points (5 bytes)
72 points (9 bytes)
104 points (13 bytes)
136 points (17 bytes)
216 points (27 bytes) 232 points (29 bytes)
Display on the teach pendant
8byte Output con
12byte Output con
16byte Output con
20byte Output con
32byte Output con
Points for output
64 points (8 bytes)
96 points (12 bytes)
128 points (16 bytes)
160 points (20 bytes)
256 points (32 bytes)
Points for User Output
Max. number of points in standard or compatible assignment mode
32 points (4 bytes)
64 points (8 bytes)
96 points (12 bytes)
128 points (16 bytes)
224 points (28 bytes)
Display on the teach pendant
8byte Input con
12byte Input con
16byte Input con
20byte Input con
32byte Input con
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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.
Make the desired setting for each item by using the up- and down-arrow cursor keys or directly touching the target setting field.
Pressing [F5: NodeAdrs] will show the numeric keypad where you may enter the desired numeral.
After completion of setting, press [OK]. If you press [Cancel], the newly entered values will be discarded.
104
F5
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.gsd
You may also download the GSD file from the PROFIBUS website as shown below.
http://www.profibus.com
GSD Library
→
Company “Hilscher”
→
Device Type “General”
→
CIF30-DPS
→
Hil_7504.GSD
I/Os expressed in the PROFIBUS configurator are viewed from the master device.
Therefore, they are opposite of those viewed from the robot controller and are the same as viewed from the teach pendant, as listed in Subsection 10.3.1.
When configuring the robot controller on the PC with the PROFIBUS configurator, set the same module as one selected on the teach pendant screen. Slot 0 and Slot 1 should be equal to "n byte Output con" and "n byte Input con," respectively.
NOTE: The robot controller may use a coherent type of module only. The GSD file contains both programs for coherent and incoherent types, so be sure to choose the program exclusive to the coherent type. (The program name contains a "con" string.)
NOTE: Some master device programs use special functions when exchanging data with a coherent type of module. For details, refer to the instructions manuals prepared for master devices.
105
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.
<Front>
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
11.1 Recommended RS-232C Extension Board
Set up an RS-232C extension board specified below in your charge.
Model
Manufactured by
COM-2(PC)F
CONTEC
NOTE: To support an RS-232C extension board, the robot controller requires some special features to be built in at the factory. When placing an order for the robot controller, specify the RS-232C extension board support.
11.2 Installing the Extension Board
For the installation procedure, refer to Chapter 12, "Mounting Extension Boards."
106
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
Set selectors 1 and 3 to ON.
JP1
Set a jumper cap onto pin 14.
JP2
Set a jumper cap onto NC.
JP3
Seta a jumper cap onto NC.
SW1
ON
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
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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.]
CAUTION: COM3 and COM4 do not support data transmission with WINCAPSII.
Keep both of those ports "Disable" (Default).
108
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. Even at 19,200 bps, a communications failure may also occur due to electric noises or other interference.
In programming, therefore, you may need to use the com_state command for setting retry capabilities as shown in the coding sample below.
109
11.6 Coding Sample for Transmission Error Recovery
'!TITLE "<Title>"
PROGRAM sample
.
.
.
DEFPOS lp1(10)
DEFINT li1
,
.
.
li1 = 0
.
.
.
WHILE li1 < 10
.
.
.
INPUT #2,lp1(li1)
'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.
com_state #2,I280
IF I280 < 0 THEN
PRINT #2,"R"
ELSE
PRINT #2,"A" li1 = li1 + 1
END IF
.
.
.
.
WEND
End
'Output "normal receive".
'Repeat 10 times.
In the coding sample above,
It is assumed that " R " is a retry command that requires the external equipment to make retry operation and " A " is an acknowledge command for normal data reception.
11.7 Limited Warranty
DENSO WAVE provides the user with the communications function built in the controller for using the RS-232C extension board. It does not give you any warranty or technical support for the extension board itself.
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Chapter12 Mounting Extension Boards
This section describes how to mount the
µ
Vision 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.
111
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.
112
Step 5 Remove the panel fastening screw and then the panel hole blank cap.
To mount the
µ
Vision 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
µ
Vision 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
µ
Vision board, skip to Step 8.
Required only for the robot controller
(RC5-VM6A) designed for the VM-6070D.
113
Step 7 Fully insert the
µ
Vision 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.
114
Step 9 Using the removed panel hole blank cap, push up the panel of each extension board. Secure the extension board with the panel fastening screw.
Step 10 Secure the board support plate to the extension board strut.
Required only for the robot controller
(RC5-VM6A) designed for the VM-6070D.
115
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 Adjust the position of each board support plate with the screw so that each extension board will be supported firmly.
Required only for the robot controller
(RC5-VM6A) designed for the VM-6070D.
When installing more than one extension board, be sure to tighten screws starting on the lower board.
Tightening torque: 0.15 Nm ±20% for the lower slot
0.10 Nm ±20% for the middle slot
0.15 Nm ±20% for the higher slot
116
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.
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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.
Model
FB-9
FB-10
Applicable controllers (For RC5 type)
For VM-D and HM-E series
For extended-joints support controllers
For VS-D/-E, VC-E, HS-E, H*-D and XYC-D series
13.2 Components in Package
Check that the following components are contained in the package of the controller protective box.
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13.3 Names of the Components
The figure below shows the names of components.
Model Names of components
FB-9
FB-10
119
13.4 External Dimensions
External dimensions of the controller protective box are shown in the figure below.
FB-9 FB-10
120
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: 1.25 mm
2
x 3-core (outside diameter: 11 to 13 mm)
Note 1: Make the controller protective box share the same circuit breaker of the power supply (200 VAC) with the robot controller.
Note 2: Ground the controller protective box to prevent an electric shock.
Setting the robot controller into the protective box
(1) Remove the top cover from the controller protective box.
(2) For the VM-D controller protective box (FB-9), remove the wing bolt and take off the partition plate (A).
(3) Put the robot controller into the protective box so that its rubber feet will be fitted into the controller fixtures of the protective box.
(4) For the VM-D controller protective box (FB-9), secure the partition plate (A) with the wing bolt.
(5) Route the necessary cables through the ducts and connect them. As shown below, tie up each duct with an attached binding band.
Note: Tying up duct(s) not in use
Binding band
Binding band
Box Box
Note: Tie up the opening of each duct not in use with an attached binding band to prevent entry of dust, water, etc. into the controller protective box.
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13.6 Precautions
(1) The controller protective box is a dust-proof, splash-proof structure equivalent to
JIS IP53.
The controller protective box is not explosion-proof and must not be installed in the following environments and locations to ensure safety:
• in an environment full of combustible gas, flammable liquid, etc;
• in an environment full of acid or alkali corrosive gas;
• in a location close to electric noise sources, such as large inverters, highoutput high-frequency generators, large conductors and welders;
• in a location where the controller protective box will not be used outside the ambient temperature range from 0°C to 40°C;
• in a location where the controller protective box will be exposed to rain or dew;
• in an environment where the controller protective box will be exposed directly to water, oil or chips;
• in an environment where fine chips will be produced from cutting, etc;
• in an environment using oil not specified in this manual.
(YUSHIRON OIL No. 4 is specified.)
(2) Seal the mounting face and screws of the controller protective box when using it in an environment full of oil mist. Otherwise oil mist may accumulate on the fin, resulting in a collection of oil. Periodically clean the controller protective box.
(3) If oil mist, etc. collects in the controller protective box, remove the drain hole screw and drain off the oil.
(4) The controller protective box is not equipped with a power switch. Use external means to turn the controller on or off.
(5) The controller protective box must be installed horizontally. Vertical installation will cause accidents.
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symbols
µ
Vision Board ............................................................
A
Assignment of Serial I/O Data ...................................
C
Camera .......................................................................
Communications Cable ..............................................
Controller Protective Box ........................................
D
DeviceNet Error Code Table ......................................
DeviceNet Master Board............................................
DeviceNet Slave Board ..............................................
E
Ethernet Board ...........................................................
F
Field Network Error Indication (Version 1.5 or later)....
...................................................................................
Floppy Disk Drive......................................................
M
Mini-Pendant..............................................................
Monitor ......................................................................
Mounting and Connecting the Operating Panel .........
Index
Mounting Extension Boards .....................................
N
Network Error Detector Suppression
(Version 1.7 or later)...................................................
O
Operating Environment Required...............................
Operating Panel ............................................................
P
Pendantless State ..........................................................
Peripheral Devices......................................................
Q
Quick Reference Table for the Number of Input/Output
Slots............................................................................
R
RC5 EDS File.............................................................
T
Teach Pendant ..............................................................
W
WINCAPSII ...............................................................
WINCAPSII Light......................................................
**
-D/-E SERIES
OPTIONS MANUAL
First Edition February 2002
Second Edition June 2002
Third Edition August 2002
Fourth Edition September 2002
Fifth Edition 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.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual.
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