Denso RC7M Manual page 18

3.5 Command Execution I/O Signals .......................................................................................................................... 37
3.5.1 General Information about Commands .................................................................................................... 37
3.5.2 Processing I/O Commands....................................................................................................................... 38
3.5.3 I/O Commands Details............................................................................................................................. 41
3.6 Example of Using System I/O Signals .................................................................................................................. 44
Chapter 4 Connector Pin Assignment and I/O Circuits (NPN type) .......................................................................... 48
4.1 Connector Pin Assignment (NPN type) ................................................................................................................. 48
4.1.1 RS-232C (CN1): RS-232C connector...................................................................................................... 48
4.1.2 HAND I/O (CN9) .................................................................................................................................... 49
4.1.3 Mini I/O (CN5): User- or System-I/O connector ..................................................................................... 50
4.1.4 Safety I/O (CN10)：System-I/O connecter (Global type of controller) .................................................. 52
4.2 Robot Controller I/O Circuits (NPN type)............................................................................................................. 53
4.2.1 Setting up Mini I/O Power Supply........................................................................................................... 53
4.2.2 User-Input, System-Input and Hand-Input Circuits (NPN type).............................................................. 54
4.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type) ..................................................... 56
4.2.4 Configuration of Emergency Stop Circuitry (Standard type of controller) ............................................. 59
4.2.5 Configuration of Safety Circuit (Global type of controller)..................................................................... 61
4.3 Wiring Notes for Controller I/O Connectors (NPN type)...................................................................................... 63
Chapter 5 Connector Pin Assignment and I/O Circuits (PNP type)........................................................................... 65
5.1 Connector Pin Assignment (PNP type).................................................................................................................. 65
5.1.1 RS-232C (CN1): RS-232C connector...................................................................................................... 65
5.1.2 HAND I/O (CN9) .................................................................................................................................... 66
5.1.3 Mini I/O (CN5): User- or System-I/O connector ..................................................................................... 67
5.1.4 Safety I/O (CN10)：System-I/O connecter (Global type of controller) .................................................. 69
5.2 Robot Controller I/O Circuits (PNP type) ............................................................................................................. 70
5.2.1 Setting up Mini I/O Power Supply........................................................................................................... 70
5.2.2 User-Input, System-Input and Hand-Input Circuits (PNP type)............................................................... 71
5.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type)...................................................... 73
5.2.4 Configuration of Emergency Stop Circuitry (Standard type of controller) ............................................. 76
5.2.5 Configuration of Safety Circuit (Global type of controller)..................................................................... 78
5.3 Wiring Notes for Controller I/O Connectors (PNP type)....................................................................................... 80
Chapter 6 Installation and Maintenance of the RC7M Controller ............................................................................ 82
6.1 Supplies for the Controller .................................................................................................................................... 82
6.2 Mounting the Controller ........................................................................................................................................ 82
6.2.1 Installation Requirements for the Controller............................................................................................ 82
6.2.2 Mounting the Robot Controller................................................................................................................ 83
6.3 I/O and AC Input Wiring ....................................................................................................................................... 85
6.3.1 Multi-core Cables with Connectors ......................................................................................................... 85
6.3.2 Wiring of Primary Power Source ............................................................................................................. 86
6.3.3 Disconnecting the Robot from the Power Source .................................................................................... 88
6.4 Cleaning the Air Intake Filters............................................................................................................................... 89
6.5 Replacing the Memory Backup Battery ................................................................................................................ 91
6.5.1 Replacing procedures............................................................................................................................... 91
6.5.2 Setting the Next Battery Replacement Date............................................................................................. 94