Table Of Contents - Denso RC7M Manual

Table Of Contents

Chapter 1 General Information About Rc7M Controller21
Names Of The Controller Components24
Warning And Caution Labels25
Controller Specifications27
Controller System Configuration30
Typical Robot System Configuration31
Chapter 2 General Information About The Interface32
Types Of System I/O Signals (Global Type Of Controller)33
Usage Of User I/O Signals34
User Output Commands35
Chapter 3 System I/O Signals36
Usage Of System Output Signals37
Auto Mode (Output)38
Operation Preparation Completed (Output)39
Robot Running (Output)40
Cpu Normal (Output)41
Robot Error (Output)42
Battery Warning (Output)43
Emergency Stop Circuit Contact Outputs (Standard Type Of Controller)45
Safety Circuit Contact Outputs (Global Type Of Controller)48
Types And Functions Of System Input Signals51
Usage Of System Input Signals52
External Emergency Stop (Input)53
Enable Auto (Input) (Standard Type Of Controller)54
Enable Auto (Input) (Global Type Of Controller)55
Protective Stop (Input): Global Type Of Controller56
Command Execution I/O Signals57
Processing I/O Commands58
I/O Commands Details61
Example Of Using System I/O Signals64
Connector Pin Assignment (Npn Type)68
Hand I/O (Cn9)69
Mini I/O (Cn5): User- Or System-I/O Connector70
Safety I/O (Cn10)：System-I/O Connecter (Global Type Of Controller)72
Robot Controller I/O Circuits (Npn Type)73
User-Input, System-Input And Hand-Input Circuits (Npn Type)74
User-Output, System-Output, And Hand-Output Circuits (Npn Type)76
Configuration Of Emergency Stop Circuitry (Standard Type Of Controller)79
Configuration Of Safety Circuit (Global Type Of Controller)81
Wiring Notes For Controller I/O Connectors (Npn Type)83
Connector Pin Assignment (Pnp Type)85
Robot Controller I/O Circuits (Pnp Type)90
User-Input, System-Input And Hand-Input Circuits (Pnp Type)91
User-Output, System-Output, And Hand-Output Circuits (Pnp Type)93
Wiring Notes For Controller I/O Connectors (Pnp Type)100
Chapter 6 Installation And Maintenance Of The Rc7M Controller102
Mounting The Robot Controller103
I/O And Ac Input Wiring105
Wiring Of Primary Power Source106
Disconnecting The Robot From The Power Source108
Cleaning The Air Intake Filters109
Replacing The Memory Backup Battery111
Setting The Next Battery Replacement Date114
Replacing Fuses And Output Ics115
Replacing Procedures117
Replacing Ipm Boards120
Replacing The Ipm Board121
Combination Of I/O Extension Boards And Allocation Modes123
I/O Allocation In Individual Allocation Modes124
Hand I/O (Cn9): Common To All Allocation Modes125
I/O Allocation Tables For Individual Allocation Modes126
Mini I/O Board (Cn5 On Global Type Of Controller) In Mini I/O Dedicated Mode127
Mini I/O Board (Cn5 On Standard Type Of Controller) In Compatible Standard And All User I/O Modes128
Mini I/O Board (Cn5 On Global Type Of Controller) In Compatible, Standard And All User I/O Modes129
Parallel I/O Board In Compatible Mode130
Parallel I/O Board In Standard Mode131
Parallel I/O Board (1St) In All User I/O Mode132
Parallel I/O Board (2Nd) In All User I/O Mode133
Devicenet Slave Board In Compatible Mode134
Devicenet Slave Board In Standard Mode135
Devicenet Slave Board In All User I/O Mode136
Cc-Link Board (2 Stations Occupied) In Compatible Mode137
Cc-Link Board (3 Stations Occupied) In Compatible Mode138
Cc-Link Board (4 Stations Occupied) In Compatible Mode139
Cc-Link Board (2 Stations Occupied) In Standard Mode140
Cc-Link Board (3 Stations Occupied) In Standard Mode141
Cc-Link Board (4 Stations Occupied) In Standard Mode142
Cc-Link Board (2 Stations Occupied) In All User I/O Mode143
Cc-Link Board (3 Stations Occupied) In All User I/O Mode144
Cc-Link Board (4 Stations Occupied) In All User I/O Mode145
Profibus-Dp Slave Board In Compatible Mode146
Profibus-Dp Slave Board In Standard Mode147
Profibus-Dp Slave Board In All User I/O Mode148
Devicenet Master Board In All User I/O Mode149
S-Link V Master Board In All User I/O Mode150
I/O Allocation Modes With I/O Conversion Box Mounted151
Allocation Common To All Allocation Modes153
Input (Cn8) In I/O-Box Compatible Mode155
Output (Cn10) In I/O-Box Standard Mode156
Input (Cn8) In I/O-Box Standard Mode157
Output (Cn10) In I/O-Box All User I/O Mode158
Input (Cn8) In I/O-Box All User I/O Mode159
Devicenet Slave Board In I/O-Box Compatible Mode160
Devicenet Slave Board In I/O-Box Standard Mode161
Cc-Link Board (2 Stations Occupied) In I/O-Box Compatible Mode162
Cc-Link Board (3 Stations Occupied) In I/O-Box Compatible Mode163
Cc-Link Board (4 Stations Occupied) In I/O-Box Compatible Mode164
Cc-Link Board (2 Stations Occupied) In I/O-Box Standard Mode165
Cc-Link Board (3 Stations Occupied) In I/O-Box Standard Mode166
Cc-Link Board (4 Stations Occupied) In I/O-Box Standard Mode167
Profibus-Dp Slave Board In I/O-Box Compatible Mode168
Profibus-Dp Slave Board In I/O-Box Standard Mode169
Parallel I/O Board In I/O-Box Al User I/O Mode170
Devicenet Master Board In I/O-Box All User I/O Mode171
S-Link V Master Board In I/O-Box All User I/O Mode172