2.3 Types and General Information about I/O Signals. Denso RC5

2.3 Types and General Information about I/O Signals

This section describes the I/O signals for the Robot Controller.

The I/O signals are grouped into user I/O signals and system I/O signals.

User I/O signals are compatible with conventional signals, including the pin pattern, in compatible mode. Note that the connector pin meanings are different between standard mode and compatible mode. Some of the signal lines used for user I/O in compatible mode are used for system input in standard mode.

Additionally, part of the signal lines used for system I/O in compatible mode is used for command execution I/O signals in standard mode.

2.3.1 Standard Mode

In standard mode, 30 input points for command execution are used to direct program start and other instructions as I/O commands.

The table below lists the types of I/O signals used in standard mode.

Types of System I/O Signals Used in Standard Mode

Type

System input

System output

Input for command execution

Output for command execution

Fixed by system

No. of points

5

12

30

18

Function

Robot stop, Enable Auto, interrupt skip, instantaneous stop (all tasks), step stop (all tasks)

Robot initialization complete, automatic operation mode, external mode, servo ON, robot-in-operation, normal CPU, robot failure, robot warning, dead battery warning, continue start permitted, SS mode, emergency stop

Command (4 bits) data area 1 (8 bits), data area 2 (16 bits), odd parity bit, strobe signal

Command processing complete, status area (16 bits), odd parity bit

Controlled by user program

Type

No. of points

User input

User output

Hand input

Hand output

12

24

8

8

Function

Inputs to read the external I/O status with an IN command or IO [ ] variable.

Used for analysis condition identification, condition satisfaction wait, data input from the external device, etc.

Outputs to issue a signal to the external device during program execution with a SET command, RESET command, etc.

Inputs to read the external I/O status with an IN command or IO [ ] variable.

Used to confirm the end-effector check status, etc.

Outputs to issue a signal to the external device with a SET command,

RESET command, etc.

Used to control the opening and closing of the end-effector.

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2.3.2 Compatible Mode

In the compatible mode, the input and output points are arranged in disregard of compatibility with conventional VS series robots.

The table below lists the types of I/O signals used in compatible mode.

Types of I/O Signals Used in Compatible Mode

Fixed by system

Type

No. of points

Function

System input 22

Inputs to turn ON the power to the robot from the external device (PLC), start CAL or select and start a program instead of operations by the operating panel or teach pendant.

System output

Type

User input

User output

Hand input

Hand output

27

Outputs to inform the external device (PLC) of the robot status, such as robot-in-operation or occurrence of an error.

Controlled by user program

No. of points

25

24

8

8

Function

Inputs to read the external I/O status with an IN command or IO [ ] variable.

Used for analysis condition identification, condition satisfaction wait, data input from the external device, etc.

Outputs to issue a signal to the external device during program execution with a SET command, RESET command, etc.

Inputs to read the external I/O status with an IN command or IO [ ] variable.

Used to confirm the end-effector check status, etc.

Outputs to issue a signal to the external device (valve) with a SET command, RESET command, etc.

Used to control the opening and closing of the end-effector.

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