6.2 Robot Controller I/O Circuits (PNP type). Denso RC5

6.2 Robot Controller I/O Circuits (PNP type)

6.2.1 User-Input, System-Input and Hand-Input Circuits (PNP type)

The following two pages show examples of the user-input, system-input and hand-input circuit configurations and connections of the robot controller.

The maximum allowable capacity of the robot controller's internal power source is 1.3

A. Use the internal power source within this allowable range.

Caution Either an external power supply type or built-in power type Output card is available for the PLC. However, an external power supply type requires an additional power source (24V) to be installed. The power capacity is 15W or more.

When controlling two or more robots with a single PLC using the internal power source of the robot controller, set a PLC Output card for each robot.

Other than a PLC, a proximity switch, or a relay contact may be connected directly to the input terminal of the Robot Controller. In such a case, use the power input to pins 6 to 9 of the I/O power connector. A two-wire photoelectric switch or proximity switch can be connected if its leakage current is 1 mA or less.

Use a multi-core shielding cable for the purpose of protecting the robot controller from noise. Ground it to the robot controller.

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(When the internal power source is used)

(When an external power source is used)

User-Input and System-Input Circuits (PNP type)

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(When the internal power source is used)

(When an external power source is used)

Hand-Input Circuits (PNP type)

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6.2.2 Robot Stop and Enable Auto Input Circuits

The Robot Stop and Enable Auto signals are important for safety. The input circuit for these signals must have contacts as shown below.

Use the INPUT CN8 (pins 1 and 3) of the robot controller for the power source, irrespective of whether the power source to be used for other I/O signals is the internal power source or an external power source.

(Note: For the “Dual emergency stop type”, refer to Subsection 6.2.4.2.)

Robot Stop and Enable Auto Input Circuits

TIP: The configuration sample of an emergency stop output circuitry is shown in

Subsection 6.2.4 "Emergency Stop Circuit."

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6.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type)

The following two pages show an example of the configuration and connection of the

Robot Controller's user-input output, system-output and hand-output circuit.

Since the initial resistance of a lamp is small, the output circuit may be damaged by rush current that flows when the lamp lights.

When directly turning a lamp ON or OFF, use a lamp whose rating is 0.5W or less.

To reduce rush current, connect a resistor R that allows dark current 1/3 or less of the rated current to flow when the lamp goes OFF.

An example of connecting a lamp is shown on page 140.

(1) The User-Output, System-Output and Hand-Output Circuit are open collector output circuits.

(2) The maximum allowable sink current is 70 mA.

Keep the current consumption of a device to be connected to the Robot

Controller, such as a PLC and a relay coil, below the allowable current.

(3) Select an induction load, such as a relay coil, which has a built-in diode (for absorbing inverse electromotive force).

To use an induction load without a built-in diode, add a diode equivalent to the 1S1888 (Toshiba) in close vicinity to the coil.

Caution: When externally attaching a diode, connect it with correct polarity. Incorrect polarity may damage the Output circuit.

(4) Connecting a lamp requires a circuit through which dark current flows.

Caution: Since the initial resistance of a lamp is small, the output circuit may be damaged by rush current that flows when the lamp lights.

Refer to page 140.

(5) When using the internal power source, prepare a PLC input circuit unit that does not contain a power source.

Caution: Keep the total current capacity of the internal power source below 1.3A.

(6) Use a multi-core shielding cable for the purpose of protecting the devices from external noise. Ground it to the robot controller.

(7) 24V internal power source of the robot controller must not be grounded.

Caution: If the output terminal +24V of internal power source is grounded, there may be a case where the controller is damaged.

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(When the internal power source is used)

(When an external power source is used)

User-Output and System-Output Circuits (PNP type)

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(When the internal power source is used)

(When an external power source is used)

Hand-Output Circuits (PNP type)

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Supplied from the II/O power connector when the internal power source is used

Lamp

Transistor array

Controller

Example of Circuit with Lamp (PNP type)

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6.2.4 Emergency Stop Circuit

The following figures show the examples of configuration and connection of emergency stop circuit for the robot controller.

The red mushroom-shaped switch provided on the robot controller front panel, on the teach pendant, or on the operating panel can be used as a switch for stopping the equipment in case of emergency.

6.2.4.1 Standard type

Robot controller

Internal 24V

F1

Fuse (1.3A)

CN7

Internal 0V

F9

Fuse (0.3A)

Fuse (1.3A)

F2

Emergency

Stop +

CN10

Emergency

Stop +

Internal

24V F8

Fuse (1.3A)

Output

CN8

Emergency stop switch on the front panel of the controller

Input

Emergency stop circuit

(prepared by customers)

Robot stop switch circuit

(prepared by customers)

CN5

Teach pendant

Emergency stop switch on teach pendant

Internal 0V

(When the internal power source is used)

Robot controller

F9

Fuse (0.3A)

Emergency

Stop +

CN10

Emergency stop circuit

(prepared by customers)

External 24V

Emergency

Stop -

Internal

24V F8

Fuse (1.3A)

Output

CN8

External 0V

Robot stop switch circuit

(prepared by customers)

Emergency stop switch on the front panel of the controller

Input

CN5

Teach pendant

Emergency stop switch on teach pendant

Internal 0V

(When an external power source is used)

Emergency Stop Circuit (Standard type)

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6.2.4.2 Dual emergency stop type

Emergency Stop Circuit (“Dual emergency stop type”)

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6.2.5 I/O Power Connector (PNP type)

For the power source to communicate signals between the robot controller and the external device, the internal power source of the robot controller or an external power source is used.

The figure below shows an example of connecting I/O power connectors when the internal power source is used, and the figure on the next page shows an example of connecting I/O power connectors when an external power source is used.

I/O Power Connection Sample (When the internal power source is used) (PNP type)

Caution: To use the internal power source of the robot controller, connect the wiring so that the internal power source will be separate from the external power source. Improper wiring may damage the internal circuit.

The +24V internal power source of the robot controller must not be grounded.

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I/O Power Connection Sample (When an external power source is used) (PNP type)

Caution: Use a cable of 0.5 mm controller.

2 or more in size for the wiring between the external power source and the I/O power input connectors of the robot

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