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Denso RC7M Manual

Denso RC7M Manual

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RC7M
CONTROLLER MANUAL

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  • Page 1 ROBOT RC7M CONTROLLER MANUAL...
  • Page 2 Copyright © DENSO WAVE INCORPORATED, 2005-2008 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...
  • Page 3 Thank you for purchasing this high-speed, high-accuracy assembly robot. This manual describes the RC7M controller configured in the ** -G robot system. It also covers interfacing required when you integrate your robot system into your facilities, as well as providing the maintenance &...
  • Page 4 & inspection procedures. STARTUP HANDBOOK Introduces you to the DENSO robot system and guides you through connecting the robot unit and controller with each other, running the robot with the teach pendant, and making and verifying a program. This manual is a comprehensive guide to starting up your robot system.
  • Page 5 Chapter 1 Outline of the RC7M Controller Provides an outline of the RC7M controller. The robot controller is available in several models that will differ in detailed specifications to match robot models to be connected.
  • Page 7 The maximum distance that the robot, end-effector, and workpiece can travel after the software motion limits are set defines the boundaries of the motion space of the robot. (The "motion space" is DENSO WAVE-proprietary terminology.) Operating space: Refers to the portion of the restricted space that is actually used while performing all motions commanded by the task program.
  • Page 8 1. Introduction This section provides safety precautions to be observed for the robot system. The installation shall be made by qualified personal and should confirm to all national and local codes. 2. Warning Labels The robot unit and controller have warning labels. These labels alert the user to the danger of the areas on which they are pasted.
  • Page 9 SAFETY PRECAUTIONS 3. Installation Precautions 3.1 Insuring the proper installation environment The standard and cleanroom type have not been designed to For standard type and withstand explosions, dust-proof, nor is it splash-proof. cleanroom type Therefore, it should not be installed in any environment where: (1) there are flammable gases or liquids, (2) there are any shavings from metal processing or other conductive material flying about,...
  • Page 10 3.3 Control devices The robot controller, teach pendant and mini-pendant should be installed outside the robot's restricted space and in a place where outside the robot's you can observe all of the robot’s movements and operate the restricted space robot easily. Pressure gauges, oil pressure gauges and other gauges should 3.4 Positioning of gauges be installed in an easy-to-check location.
  • Page 11 SAFETY PRECAUTIONS A safety fence should be set up so that no one can easily enter 3.9 Setting-up a safety the robot's restricted space. fence (1) The fence should be constructed so that it cannot be easily moved or removed. (2) The fence should be constructed so that it cannot be easily damaged or deformed through external force.
  • Page 12 3.11 No robot modification Never modify the robot unit, robot controller, teach pendant or other devices. allowed If your robot uses welding guns, paint spray nozzles, or other 3.12 Cleaning of tools end-effectors requiring cleaning, it is recommended that the cleaning process be carried out automatically.
  • Page 13 SAFETY PRECAUTIONS 4. Precautions Touching the robot while it is in while Robot is operation can lead to serious Warning Running injury. Please ensure the fol- lowing conditions maintained that cautions listed from Section 4.1 and onwards are followed when any work is being performed.
  • Page 14 4) Implementation of measures for noise prevention 5) Signaling methods for workers of related equipment 6) Types of malfunctions and how to distinguish them Please ensure "working regulations" are appropriate to the robot type, the place of installation and to the content of the work. Be sure to consult the opinions of related workers, engineers at the equipment manufacturer and that of a labor safety consultant when creating these "working regulations".
  • Page 15 SAFETY PRECAUTIONS Before disassembling or replacing pneumatic parts, first release 4.5 Release of residual air any residual air pressure in the drive cylinder. pressure Whenever possible, have the worker stay outside of the robot's 4.6 Precautions for test restricted space when performing test runs. runs 4.7 Precautions for (1) At start-up...
  • Page 16 Industrial Robots and Robot Systems--General Safety Requirements ISO10218-1: 2006 Robots for industrial environments--Safety requirements--Part 1: Robot NFPA 79: 2002 Electrical Standard for Industrial Machinery 8. Battery Recycling DENSO Robot uses lithium batteries. Discard batteries according to your local and national recycling law.
  • Page 17 Contents Preface ....................................i How the documentation set is organized ........................ii SAFETY PRECAUTIONS Chapter 1 General Information about RC7M Controller..................... 1 Controller Model Name on Nameplate........................1 Names of the Controller Components ........................4 1.2.1 Controller Components ..........................4 1.2.2 Warning and Caution Labels........................
  • Page 18 Configuration of Safety Circuit (Global type of controller)..............78 Wiring Notes for Controller I/O Connectors (PNP type)..................80 Chapter 6 Installation and Maintenance of the RC7M Controller ................82 Supplies for the Controller ............................ 82 Mounting the Controller ............................82 6.2.1...
  • Page 19 Replacing Fuses and Output ICs ........................... 95 6.6.1 Positions of Fuses and Output ICs ......................95 6.6.2 Replacing procedures..........................97 Replacing IPM Boards ............................100 6.7.1 Location of IPM Boards......................... 100 6.7.2 Replacing the IPM board ........................101 Chapter 7 I/O Allocation for I/O Extension Board(s) ....................103 Combination of I/O Extension Boards and Allocation Modes ................
  • Page 20 I/O Allocation Tables for Individual Allocation Modes..................134 8.5.1 OUTPUT (CN10) in I/O-Box Compatible Mode................... 134 8.5.2 INPUT (CN8) in I/O-Box Compatible Mode ..................135 8.5.3 OUTPUT (CN10) in I/O-Box Standard Mode ..................136 8.5.4 INPUT (CN8) in I/O-Box Standard Mode..................... 137 8.5.5 OUTPUT (CN10) in I/O-Box All User I/O Mode .................

  • Page 21: Chapter 1 General Information About Rc7M Controller

    Chapter 1 General Information about RC7M Controller The RC7M controller is available in several models which differ in detailed specifications to match robot models. Controller Model Name on Nameplate The model name of the controller is printed on the nameplate attached to the rear side of the controller as shown below.
  • Page 22 Differences between Global and Standard Types of Robot Controllers The global type of the robot controller has either a safety board or safety box which the standard type has not. Described below are the functional differences between the global and standard types. [ 1 ] Deadman switch function (Enable switch function) The global type controls the deadman switch provided on the teach pendant or mini-pendant in a partially different way than the standard type does.
  • Page 23 [ 2 ] "Single point of control" function The global type of the robot controller supports the "single point of control" function, while other types do not. (1) Single point of control The "single point of control" function, which is one of the robot safety functions, limits the robot control sources (command sources) to only one.

  • Page 24: Names Of The Controller Components

    PENDANT Teach pendant connector Ethernet connector Mini I/O User/system I/O connector INPUT AC Power supply connector MOTOR Motor/encoder connector HAND I/O Hand I/O connector CN10 SAFETY I/O Safety I/O connector (only on the global type) Names of RC7M Robot Controller...

  • Page 25: Warning And Caution Labels

    1.2.2 Warning and Caution Labels The robot unit has warning and caution labels pasted as shown below. They alert the user to the dangers of the areas on which they are pasted. Be sure to observe the instructions printed on those labels. Location of Labels on the Controller...
  • Page 26 Warning and Caution Labels on the Robot Controller Warning and caution labels on the controller Contents Warning label 1 (For maintenance of the controller) Risk of electrical shock. Never open the controller cover when the power is ON. Never touch the inside of the controller for at least 3 minutes even after turning the power OFF and disconnecting the power cable.

  • Page 27: Controller Specifications

    Control system PTP, CP 3-dimensional linear, 3-dimensional circular Drive system All axes: Full-digital AC servo Language used DENSO robot language (conforming to SLIM) Memory capacity 3.25 MB (equivalent to 10,000 steps, 30,000 points) 1) Direct teaching 1) Remote teaching 1) Remote teaching...
  • Page 28 Item Specifications Environmental conditions Temperature: 0 to 40°C (in operation) Humidity: 90% RH or less (no condensation allowed) Altitude: 1,000m or less VM-G series Three-phase, 200 VAC -15% to 230 VAC +10%, 50/60 Hz, 3.3 kVA Three-phase, 200 VAC -15% to 230 VAC +10%, 50/60 Hz, 1.85 kVA VS-G series Single-phase, 230 VAC -10% to 230 VAC +10%, 50/60 Hz, 1.85 kVA Three-phase, 200 VAC -15% to 230 VAC +10%, 50/60 Hz, 1 kVA...
  • Page 29 [ 2 ] Outer Dimensions The outer dimensions of the robot controller are shown below. Outer Dimensions of RC7M Robot Controller...

  • Page 30: Controller System Configuration

    Controller System Configuration 1.4.1 Internal Circuits of the Controller (Typical configuration) The block diagram below shows the internal circuits of the RC7M controller designed for a 6-joint robot. Block Diagram of the RC7M Controller...

  • Page 31: Typical Robot System Configuration

    1.4.2 Typical Robot System Configuration The block diagram below shows a typical robot system configuration. Robot System Configuration...

  • Page 32: Chapter 2 General Information About The Interface

    Chapter 2 General Information about the Interface 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. Note: For the interface to apply when an I/O extension board or I/O conversion box is mounted, refer to Chapter 7 or 8 in this manual, respectively, and the OPTIONS MANUAL.

  • Page 33: Types Of System I/O Signals (Global Type Of Controller)

    2.1.2 Types of System I/O Signals (Global type of controller) The global type of the controller concentrates emergency stop related system I/Os on the safety I/O (CN10), so it does not use the Mini I/O (CN5). (Refer to Sections 4.1.3, 4.1.4, 5.1.3, and 5.1.4.) It issues PROGRAM START commands as I/O commands by using seven command execution inputs.

  • Page 34: Usage Of User I/O Signals

    Usage of User I/O Signals User I/O signals are used as I/O type variables. Access the user I/O by writing it to the I/O type variables or reading it. 2.2.1 I/O Type Variable Declaration I/O type variables are classified into I/O type global variables that are available without any declaration, and I/O type local variables that are not available without a declaration.

  • Page 35: User Output Commands

    2.2.5 User Output Commands There are three types of user output commands, SET, RESET and OUT. The SET and RESET commands turn ON and OFF all user outputs specified by I/O type variables. The OUT command outputs data to a specified user output. •...

  • Page 36: Chapter 3 System I/O Signals

    Chapter 3 System I/O Signals 3.1 Types and Functions of System Output Signals The table below lists the system output signals. Types and Functions of System Output Signals Application Output signal name Function Outputs to the external device that the Robot Initialized OPERATION PREPARATION command is executable.

  • Page 37: Usage Of System Output Signals

    Usage of System Output Signals The usage of each system output signal is described below: 3.2.1 Robot Initialized (output) (1) Function This signal tells the external device that the OPERATION PREPARATION command is ready to execute. (2) Terminal number #48 on connector CN5 (3) Usage With this signal and Auto Mode output signal being ON, the OPERATION PREPARATION command must be executed.

  • Page 38: Auto Mode (Output)

    3.2.2 Auto Mode (output) (1) Function This signal tells the external device that the robot is in Auto mode. (2) Terminal number #49 on connector CN5 (3) Usage With this signal being ON, the OPERATION PREPARATION or PROGRAM START command must be executed. (4) ON condition This signal will be turned ON when the robot controller enters Auto mode by turning the mode selector switch on the teach pendant or mini-pendant to...

  • Page 39: Operation Preparation Completed (Output)

    3.2.3 Operation Preparation Completed (output) (1) Function This signal tells that the motor power is ON and the robot is in External auto mode. (2) Terminal number #50 on connector CN5 (3) Usage With this signal being ON, the robot must be in External auto mode and the motor power must be ON to run the robot from the external device.

  • Page 40: Robot Running (Output)

    Operation Preparation Completed Output 3.2.4 Robot Running (output) (1) Function This signal tells the external device that the robot is in operation (that is, one or more tasks are being executed). (2) Terminal number #46 on connector CN5 (3) Usage This signal is used to light the robot operating indicator lamp of an external operating panel.

  • Page 41: Cpu Normal (Output)

    3.2.5 CPU Normal (output) (1) Function This signal tells the external device that the CPU of the robot controller is normal. (2) Terminal number #45 on connector CN5 (3) Usage (a) This signal is used to light the robot controller error indicator lamp on the external operating panel.

  • Page 42: Robot Error (Output)

    3.2.6 Robot Error (output) (1) Function This signal tells the external device that a servo error, program error, or any other serious error has occurred in the robot. (2) Terminal number #47 on connector CN5 (3) Usage (a) This signal is used to light the robot error indicator lamp on the external operating panel.

  • Page 43: Battery Warning (Output)

    3.2.7 Battery Warning (output) (1) Function This signal tells the external device that the voltage of the encoder or memory backup battery has dropped below the specified level. (2) Terminal number #51 on connector CN5 (3) Usage This signal is used to check the timing for battery replacement (to check when the battery voltage drops below the specified lower level).
  • Page 44 3.2.8 Continue Start Permission (output) Selectable by I/O hardware setting Terminal #53 on CN5 (port 24) is assigned a user output by factory default. It can be assigned the Continue Start Permission output signal with the I/O hardware setting. When the "Continue Start Permission" is set: (1) Function The controller will output this signal when Continue Start is permitted.

  • Page 45: Emergency Stop Circuit Contact Outputs (Standard Type Of Controller)

    3.2.9 Emergency Stop Circuit Contact Outputs (Standard type of controller) 3.2.9.1 Emergency Stop (output) (Standard type of controller) (1) Function This signal outputs the emergency stop status (dual line). (2) Terminal number Signal name Terminal number Emergency Stop 1 #6 and #40 on CN5 Emergency Stop 2 #7 and #41 on CN5 (3) Usage...
  • Page 46 3.2.9.2 Pendant Emergency Stop Output (Standard type of controller) (1) Function This signal outputs the status of the emergency stop button on the teach pendant or mini-pendant (dual line). (2) Terminal number Signal name Terminal number Pendant Emergency Stop 1 #28 and #62 on CN5 Pendant Emergency Stop 2 #29 and #63 on CN5...
  • Page 47 3.2.9.3 Deadman SW [Enable SW] (output) (Standard type of controller) (1) Function This signal outputs the status of the deadman switch (enable switch) on the teach pendant or mini-pendant (dual line). (2) Terminal number Signal name Terminal number Deadman SW 1 [Enable SW 1] #8 and #42 on CN5 Deadman SW 2 [Enable SW 2] #9 and #43 on CN5...

  • Page 48: Safety Circuit Contact Outputs (Global Type Of Controller)

    3.2.10 Safety Circuit Contact Outputs (Global type of controller) 3.2.10.1 Pendant Emergency Stop (output) (Global type of controller) (1) Function This signal outputs the status of the emergency stop button on the teach pendant or mini-pendant (dual line). (2) Terminal number Signal name Terminal number Pendant Emergency Stop 1...
  • Page 49 3.2.10.2 Deadman SW [Enable SW] (output) (Global type of controller) (1) Function This signal outputs the status of the deadman switch (enable switch) on the teach pendant or mini-pendant (dual line). (2) Terminal number Signal name Terminal number Deadman SW 1 [Enable SW 1] #15 and #33 on CN10 Deadman SW 2 [Enable SW 2] #16 and #34 on CN10...
  • Page 50 3.2.10.3 Contactor Contact Monitor (output) (Global type of controller) (1) Function This signal outputs the status of the auxiliary contact of the motor contactor in the robot controller. The contact output signal comes on when the motor is turned on; it comes off when the motor is turned off. (2) Terminal number #17 and #35 on CN10 (3) Usage...

  • Page 51: Types And Functions Of System Input Signals

    Types and Functions of System Input Signals The table below lists the system input signals. Types and Functions of System Input Signals Applicable Use to: Signal name Function controller type Stop Any type Releasing the signal step-stops all programs Step Stop (All tasks) being executed.

  • Page 52: Usage Of System Input Signals

    Usage of System Input Signals The usage of each system input signal is described below. 3.4.1 Step Stop (All tasks) (input) (1) Function This signal allows the external device to step-stop all tasks being executed, except supervisory tasks. (2) Terminal #11 on connector CN5 (3) Input conditions and operation (a) Turning (opening) this signal OFF stops all tasks upon completion of the...

  • Page 53: External Emergency Stop (Input)

    3.4.2 External Emergency Stop (input) (1) Function This signal allows the external device to emergency-stop the robot. (2) Terminal number Controller type Signal name Terminal number External Emergency Stop 1 #2 and #36 on CN5 Standard type External Emergency Stop 2 #3 and #37 on CN5 External Emergency Stop 1 #1 and #19 on CN10...

  • Page 54: Enable Auto (Input) (Standard Type Of Controller)

    3.4.3 Enable Auto (input) (Standard type of controller) (1) Function (a) Turning this signal ON (shorting) enables switching to Auto mode. (b) Turning this signal OFF (opening) enables switching to Manual or Teach check mode. (2) Terminal number #1 and #35 on connector CN5 (3) Usage This signal is used to connect the Auto/Teaching selector switch of an external operating panel.

  • Page 55: Enable Auto (Input) (Global Type Of Controller)

    3.4.4 Enable Auto (input) (Global type of controller) (1) Function (a) Turning this signal ON (shorting) enables switching to Auto mode. (Dual line) Note: The Enable Auto and Protective Stop input signal circuits are connected in series in the controller and those signals are used as an automatic operation permission signal when turned ON (closed).

  • Page 56: Protective Stop (Input): Global Type Of Controller

    Caution: In the pendantless state, Auto mode is valid even if the Enable Auto input is open. (The External mode cannot be switched and the program cannot begin execution.) Perform the following when operating the robot in the pendantless state: (a) Set the robot so that it will not start to operate when the Enable Auto input is open.

  • Page 57: Command Execution I/O Signals

    Command Execution I/O Signals The I/O commands can be executed using command execution I/O signals. I/O commands execute the following. ⋅ Start/stop each task program. ⋅ Enable running the robot from the external device. ⋅ Clear robot errors. 3.5.1 General Information about Commands The table below shows the I/O commands functions.

  • Page 58: Processing I/O Commands

    3.5.2 Processing I/O Commands 3.5.2.1 General Information about Processing I/O commands to be executed are processed as shown below. Outline of I/O Command Processing (1) Set a command area and a data area (if necessary) for the command execution I/O signal from the external device to the robot controller. Note: The data to be set must be defined at least 1 ms before the Strobe Signal is turned ON (2) After completion of setting, turn the Strobe Signal ON.
  • Page 59 (3) The controller reads the command area and the data area according to the input of Strobe Signal. (4) The controller starts processing based on the command read. (5) After completion of command processing, the controller turns ON the Command Processing Completed signal. If an error has occurred during processing, a Robot Error signal will be outputted together with the Command Processing Completed signal.
  • Page 60 [ 2 ] Strobe Signal (input) (1) Function This signal informs the Robot Controller that the command area and data area have been set. Additionally it directs the start of command processing. Caution: Perform command (Except Clear Robot Error (001)) input with a Strobe Signal after the system output signal "Robot Initialized"...

  • Page 61: I/O Commands Details

    3.5.3 I/O Commands Details 3.5.3.1 List of I/O Commands The table below lists I/O commands. List of I/O Commands Command area Data area 001 Motor Power ON, CAL Execution 010 External speed 100 100 External Mode switching Operation Preparation 111 Execution of all above (Motor Power ON→CAL→SP100→External) ⎯...
  • Page 62 3.5.3.3 CLEAR ROBOT ERROR (001) (1) Function This command clears a robot error that has been caused. (2) Format Command area (3 bits, input) Data area (3 bits, input): Nothing will be input. (3) Description If a robot error occurs, this command clears it. When there is no failure, no processing will take place When an error is displayed, the same processing as when the OK or Cancel key of the teach pendant or the mini-pendant is operated will be performed.
  • Page 63 3.5.3.5 CONTINUE START (011) (1) Function This command starts Continue Start. (2) Format Command area (3 bits, input) Data area (3 bits, input): Nothing will be input. (3) Description This command is executable only in External mode. An error will occur in other modes.

  • Page 64: Example Of Using System I/O Signals

    3.5.3.7 ALL PROGRAMS RESET (101) (1) Function This command immediately stops all programs and also initializes them. (2) Format Command area (3 bits, input) Data area (3 bits, input): Nothing will be input. (3) Description This command can reset all programs. One of the following operations takes place according to the operating status of the program.
  • Page 65 Function Example of External Equipment Operating Panel Classification Part Application Display Displays messages, such as ROBOT PREPARATION OK. Display (1) Automatic operation - Lights during automatic operation. indicator - Turned OFF when the robot is not in automatic operation. - Lights when the Operation Preparation Completed signal (2) Robot external is ON.
  • Page 66 Start and Stop Procedure and System I/O Signals-1 Worker’s operation and display on Step PLC processing Robot operation equipment’s operation panel Equipment power ON Setting operation/adjustment (Internal processing) Enable Auto ON selector switch to operation Operation OK indicator Setting Mode selector switch of the teach pendant or the mini-pendant to AUTO...
  • Page 67 (Continued from preceding page) Start and Stop Procedure and System I/O Signals-2 Worker’s operation and display on Step PLC processing Robot operation equipment’s operation panel Equipment’s Automatic Data area input ON Start Button ON Program Number selection Automatic Operation Executing Program Program start indicator ON Operation Command...

  • Page 68: Connector Pin Assignment (Npn Type)

    Chapter 4 Connector Pin Assignment and I/O Circuits (NPN type) This chapter explains the connector pin assignment and circuits of NPN type (source input and sink output) on an I/O board. I/O boards designed for the use in Japan are of an NPN type.

  • Page 69: Hand I/O (Cn9)

    4.1.2 HAND I/O (CN9) HAND I/O (CN9) Pin Assignment (NPN type) View from the cable side Wire color Wire color Port Port Terminal Terminal Name Name Standard Reinforced Standard Reinforced Hand output Black Blue Hand input Pink White Hand output Brown Yellow Hand input...

  • Page 70: Mini I/O (Cn5): User- Or System-I/O Connector

    4.1.3 Mini I/O (CN5): User- or System-I/O connector [ 1 ] Standard type of controller Mini I/O (CN5) Pin Assignment (For standard type of controller) View from the cable side Terminal Port Wire Terminal Port Wire Signal name Signal name color color ⎯...
  • Page 71 [ 2 ] Global type of controller (with safety board or safety box) The global type of the controller handles stop-related I/Os by using the safety I/O (CN10) given on the next page. Mini I/O (CN5) Pin Assignment (For global type of controller) View from the cable side Terminal Port...

  • Page 72: Safety I/O (Cn10)：System-I/O Connecter (Global Type Of Controller)

    4.1.4 Safety I/O (CN10)：System-I/O connecter (Global type of controller) Safety I/O (CN10) Pin Assignment View from the cable side Terminal Port Wire Terminal Port Wire Signal name Signal name color color External Emergency Stop 1, b-1 (input) Black External Emergency Stop 1, b-2 (input) Pink External Emergency Stop 2, b-1 (input) Brown...

  • Page 73: Robot Controller I/O Circuits (Npn Type)

    Robot Controller I/O Circuits (NPN type) 4.2.1 Setting up Mini I/O Power Supply The power supply (+24 VDC) for the Mini I/O can be switched between internal and external power sources by changing the jumper switch setting as listed below. The factory default is external power source setting.

  • Page 74: User-Input, System-Input And Hand-Input Circuits (Npn Type)

    4.2.2 User-Input, System-Input and Hand-Input Circuits (NPN type) The figure below shows examples of the user-input, system-input and hand-input circuit configurations and connections of the robot controller. Notes (1) In addition to PLCs, proximity switches and relay contacts can be directly connected to the input terminals of the robot controller.
  • Page 75 (When the internal power source is used) User-Input, System-Input and Hand-Input Circuits (NPN type)

  • Page 76: User-Output, System-Output, And Hand-Output Circuits (Npn Type)

    4.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type) The following pages show examples of the configuration and connection of the robot controller's user-output, system-output and hand-output circuits. (1) The User-Output, System-Output and Hand-Output Circuits are open collector output circuits. (2) The maximum allowable source 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.
  • Page 77 (When the external power source is used) User-Output, System-Output and Hand-Output Circuits (NPN type)
  • Page 78 (When the internal power source is used) User-Output, System-Output and Hand-Output Circuits (NPN type) Example of Circuit with Lamp (NPN type)

  • Page 79: Configuration Of Emergency Stop Circuitry (Standard Type Of Controller)

    4.2.4 Configuration of Emergency Stop Circuitry (Standard type of controller) 4.2.4.1 External Emergency Stop and Enable Auto Input Circuits (Standard type of controller) The External Emergency Stop and Enable Auto input signals are important for safety. Be sure to configure their circuits with contacts as shown below. Note: For the overall configuration sample of an emergency stop circuit, refer to Section 4.2.4.2 "Emergency Stop Circuit."...
  • Page 80 Emergency Stop Circuit (Standard type of controller) The following figure shows the example of configuration and connection of emergency stop circuit on the standard type of the controller. In the RC7M controller, the emergency stop circuit consists of dual safety circuits.

  • Page 81: Configuration Of Safety Circuit (Global Type Of Controller)

    4.2.5 Configuration of Safety Circuit (Global type of controller) 4.2.5.1 Input Circuit to the Safety Circuit Input signals to the safety circuit are important for safety. Be sure to configure their circuits with contacts as shown below, observing the notes given below. Note: For the overall configuration sample of a safety circuitry, refer to Section 4.2.5.2 "Safety Circuit."...
  • Page 82 The actual safety circuit is configured with safety relays and others. Safety Circuit in the RC7M Controller (Global type of controller) Note: Different stop states resulting from emergency stop input, Protective Stop, and Enable Auto (OFF)

  • Page 83: Wiring Notes For Controller I/O Connectors (Npn Type)

    Wiring Notes for Controller I/O Connectors (NPN type) After the wiring of the controller's I/O connectors is completed, check the following before turning ON the power: Check point (1) Using a circuit tester, check across the "+24V terminal" and "0V terminal" of each connector and across the "E24V terminal"...
  • Page 84 Mini I/O connector (CN5) View from the cable side Terminal Number Name Meaning Check point 1 to 3 +24V internal power source terminal +24V internal power output 45 to 60 Signal output terminal 0V (GND) at output 32 to 34 External power +24 VDC power source input 24 VDC power input...

  • Page 85: Connector Pin Assignment (Pnp Type)

    Chapter 5 Connector Pin Assignment and I/O Circuits (PNP type) This chapter explains the connector pin assignment and circuits of PNP type (sink input and source output) on an I/O board. For an NPN type (source input and sink output), refer to Chapter 4, "Connector Pin Assignment and I/O Circuits (NPN type)."...

  • Page 86: Hand I/O (Cn9)

    5.1.2 HAND I/O (CN9) HAND I/O (CN9) Pin Assignment (PNP type) View from the cable side Wire color Wire color Terminal Port Terminal Port Name Name Standard Reinforced Standard Reinforced Hand output Black Blue Hand input Pink White Hand output Brown Yellow Hand input...

  • Page 87: Mini I/O (Cn5): User- Or System-I/O Connector

    5.1.3 Mini I/O (CN5): User- or System-I/O connector [ 1 ] Standard type of controller Mini I/O (CN5) Pin Assignment (For standard type of controller) View from the cable side Terminal Port Wire Terminal Port Wire Signal name Signal name color color ⎯...
  • Page 88 [ 2 ] Global type of controller (with safety board or safety box) The global type of the controller handles stop-related I/Os by using the safety I/O (CN10) given on the next page. Mini I/O (CN5) Pin Assignment (For global type of controller) View from the cable side Terminal Port...

  • Page 89: Safety I/O (Cn10)：System-I/O Connecter (Global Type Of Controller)

    5.1.4 Safety I/O (CN10)：System-I/O connecter (Global type of controller) Safety I/O (CN10) Pin Assignment View from the cable side Terminal Port Wire Terminal Port Wire Signal name Signal name color color External Emergency Stop 1, b-1 (input) Black External Emergency Stop 1, b-2 (input) Pink External Emergency Stop 2, b-1 (input) Brown...

  • Page 90: Robot Controller I/O Circuits (Pnp Type)

    Robot Controller I/O Circuits (PNP type) 5.2.1 Setting up Mini I/O Power Supply The power supply (+24 VDC) for the Mini I/O can be switched between internal and external power sources by changing the jumper switch setting as listed below. The factory default is external power source setting.

  • Page 91: User-Input, System-Input And Hand-Input Circuits (Pnp Type)

    5.2.2 User-Input, System-Input and Hand-Input Circuits (PNP type) The figure below shows examples of the user-input, system-input and hand-input circuit configurations and connections of the robot controller. Notes (1) In addition to PLCs, proximity switches and relay contacts can be directly connected to the input terminals of the robot controller.
  • Page 92 (When the internal power source is used) User-Input, System-Input and Hand-Input Circuits (PNP type)

  • Page 93: User-Output, System-Output, And Hand-Output Circuits (Pnp Type)

    5.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type) The following pages show examples of the configuration and connection of the robot controller's user-output, system-output and hand-output circuit. (1) The User-Output, System-Output and Hand-Output Circuits are open collector output circuits. (2) The maximum allowable source 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.
  • Page 94 (When the external power source is used) User-Output, System-Output and Hand-Output Circuits (PNP type)
  • Page 95 (When the internal power source is used) User-Output, System-Output and Hand-Output Circuits (PNP type) Example of Circuit with Lamp (PNP type)

  • Page 96: Configuration Of Emergency Stop Circuitry (Standard Type Of Controller)

    5.2.4 Configuration of Emergency Stop Circuitry (Standard type of controller) 5.2.4.1 External Emergency Stop and Enable Auto Input Circuits (Standard type of controller) The External Emergency Stop and Enable Auto input signals are important for safety. Be sure to configure their circuits with contacts as shown below. TIP: For the overall configuration sample of an emergency stop circuitry, refer to Section 5.2.4.2 "Emergency Stop Circuit."...
  • Page 97 Emergency Stop Circuit (Standard type of controller) The following figure shows the example of configuration and connection of emergency stop circuit on the standard type of the controller. In the RC7M controller, the emergency stop circuit consists of dual safety circuits.

  • Page 98: Configuration Of Safety Circuit (Global Type Of Controller)

    5.2.5 Configuration of Safety Circuit (Global type of controller) 5.2.5.1 Input Circuit to the Safety Circuit Input signals to the safety circuit are important for safety. Be sure to configure their circuits with contacts as shown below, observing the notes given below. Note: For the overall configuration sample of a safety circuitry, refer to Section 5.2.5.2 "Safety Circuit."...
  • Page 99 The actual safety circuit is configured with safety relays and others. Safety Circuit in the RC7M Controller (Global type of controller) Note: Different stop states resulting from emergency stop input, Protective Stop, and Enable Auto (OFF)

  • Page 100: Wiring Notes For Controller I/O Connectors (Pnp Type)

    Wiring Notes for Controller I/O Connectors (PNP type) After the wiring of the controller's I/O connectors is completed, check the following before turning ON the power: Check point (1) Using a circuit tester, check across the "+24V terminal" and "0V terminal" of each connector and across the "E24V terminal"...
  • Page 101 Mini I/O connector (CN5) View from the cable side Terminal Number Name Meaning Check point 1 to 3 +24V internal power source terminal +24V internal power output 45 to 60 Signal output terminal 24 V at output 32 to 34 External power +24 VDC power source input 24 VDC power input...

  • Page 102: Chapter 6 Installation And Maintenance Of The Rc7M Controller

    410077-0020 IC (M54564P) for controller output Mounting the Controller 6.2.1 Installation Requirements for the Controller The table below lists the installation requirements for the RC7M controller. Installation Requirements for the RC7M Controller Item Environmental Requirements Installation type Stand-alone and Wall-mount Ambient temperature In operation: 0 to 40°C...

  • Page 103: Mounting The Robot Controller

    6.2.2 Mounting the Robot Controller Before mounting the robot controller to the target position, you need to secure the robot controller to the controller mounting panel. The robot controller supported by the mounting panel may be either stand-alone or wall-mounted. Caution When using the robot controller in any environment where there is mist, put the controller in an optional robot controller protective box.
  • Page 104 [ 2 ] Installing the Robot Controller The robot controller can be installed stand-alone or on the wall. Set up the robot controller as shown in the figure below. Caution Do not place anything within 200 mm from the air inlet and outlet of the robot controller.

  • Page 105: I/O And Ac Input Wiring

    I/O and AC Input Wiring 6.3.1 Multi-core Cables with Connectors Multi-core cables with connectors to be used for the I/O wiring of the Robot Controller are options. Select an appropriate cable from the table given below if necessary. I/O Cables (Options) Name Part Number Remarks...

  • Page 106: Wiring Of Primary Power Source

    6.3.2 Wiring of Primary Power Source Observe the following precautions when wiring the primary power source of the robot controller: (1) Connect the robot power cable to a power source separate from the welder power source. (2) Ground the grounding wire (green) of the robot power cable. (3) Ground the grounding terminal of the robot controller using a wire of 1.25 mm more in size.
  • Page 107 (7) Prepare wires of an appropriate capacity for the 200/100 VAC main line and other cables according to the tables given below. Robot Controller Power Supply Specifications Pin assignment on power connector (CN6) Item Specifications (View from the pin face of cable) Three-phase, Three-phase, 200 VAC -15% to 230 VAC 200 VAC,...

  • Page 108: Disconnecting The Robot From The Power Source

    6.3.3 Disconnecting the Robot from the Power Source If you need to cut off the power supply from the robot unit for maintenance or transportation purpose, follow the steps below for safety. Step 1 Turn OFF the power switch of the robot controller. Step 2 Check that the motor ON lamp is OFF.

  • Page 109: Cleaning The Air Intake Filters

    Cleaning the Air Intake Filters The robot controller has three air intake filters. If those filters are clogged, the robot controller becomes insufficiently ventilated so that the internal electronic devices may be damaged due to heat. If a power module error appears, it may be caused by clogged filter, so clean the filter. <Cleaning Procedures>...
  • Page 110 Step 3 Blow compressed air to the filter in the direction opposite to the regular air- flow. Note: Use dehumidified, oil-free, pure compressed air for cleaning. If the filter is excessively dirty, wash it with water or warm water (40°C or lower). A neutral detergent is most effective.

  • Page 111: Replacing The Memory Backup Battery

    Replacing the Memory Backup Battery Programs, parameters, CAL data, etc. are stored in the internal memory of the robot controller. The memory backup battery retains the above data while the power to the robot controller is turned OFF. However, the battery has a limited lifetime and must, therefore, be replaced regularly.
  • Page 112 Step 4 Remove two screws from the battery cover and pull them out together with the backup battery. Step 5 Disconnect the backup battery harness. Caution Complete Steps 5 through 7 within three minutes. Taking more time will lose the memory data.
  • Page 113 Step 6 Set the new memory backup battery ready for use in Step 2 on the battery cover. Connect the backup battery harness to the controller. Step 7 Mount the battery cover with the new backup battery into the controller and secure Step 8 the cover with the screw.

  • Page 114: Setting The Next Battery Replacement Date

    6.5.2 Setting the Next Battery Replacement Date After replacing the memory backup battery, set the next battery replacement date from the teach pendant, according to the following procedure. Note: Check that the system clock of the robot controller shows the correct date beforehand.

  • Page 115: Replacing Fuses And Output Ics

    Replacing Fuses and Output ICs 6.6.1 Positions of Fuses and Output ICs The robot controller is equipped with fuses to protect it from external wiring shorted. If any fuse is blown, replace it according to the following procedure. If an output signal error persists even after replacement of the output fuse, the related output IC needs to be replaced.
  • Page 116 The table below lists the output ICs and fuses for the Mini I/O (CN5) and HAND I/O (CN9). If an output signal error occurs, check the corresponding fuse. Note: The Emergency Stop and Deadman output circuits use PolySwitches (resettable fuses) that trip in an overcurrent condition to open the circuits. If a PolySwitch trips, turn the power off and check the related circuit.

  • Page 117: Replacing Procedures

    6.6.2 Replacing procedures Replace fuses and output ICs according to the following procedure: Warning Do not touch the inside of controller before turning off the power switch and waiting 3 minutes or more, or you can easily receive an electric shock. Caution (1) Wear a wristband and connect its terminal to a grounded portion before starting work.
  • Page 118 Step 3 Pull out the fuse to check. Step 4 Using a circuit tester, check the removed fuse for continuity. Step 5 If no continuity is observed with the fuse in Step 4: (1) Check the wiring of the corresponding output connector and remove the cause of the blown fuse.
  • Page 119 Proceed to the following steps when replacing output ICs Step 7 If an output signal error persists even after replacement of the output fuse, the related output IC needs to be replaced. Caution (1) When replacing a damaged output IC, fix the cause that damages the IC before replacement.

  • Page 120: Replacing Ipm Boards

    Replacing IPM Boards 6.7.1 Location of IPM Boards The IPM boards are located in the robot controller as shown below. SLOT Robot SLOT 6 SLOT 5 SLOT 4 SLOT 3 SLOT 2 SLOT 1 series VM-G Joint # IPM model Motor capacity (W) 1500 VS-G...

  • Page 121: Replacing The Ipm Board

    6.7.2 Replacing the IPM board Replace the IPM board with the procedure below. Step 1 Turn the controller power OFF. Remove the eight screws and take off the top cover of the controller. Step 2 Warning Do not touch the inside of controller before turning off the power switch and waiting 3 minutes or more, or you can easily receive an electric shock.
  • Page 122 Remove the two screws from the IPM board to be replaced. Disconnect the board Step 3 from its two connectors and connect a new one. Step 4 Secure the top cover of the controller with eight screws. Tightening torque: 1.35 to 1.45 Nm...

  • Page 123: Combination Of I/O Extension Boards And Allocation Modes

    Board(s) This chapter lists the I/O allocation tables to apply when I/O extension boards are mounted on the controller. For details about I/O extension boards, refer to the RC7M CONTROLLER OPTIONS MANUAL. Combination of I/O Extension Boards and Allocation Modes The table below lists the permitted combination of I/O extension boards and selectable allocation modes.

  • Page 124: I/O Allocation In Individual Allocation Modes

    24 V power supply (internal or external). The factory default is external power supply. For details about the mini I/O board, see Section 4.2.1 or 5.2.1. For details about the parallel I/O board, refer to the RC7M Controller OPTIONS MANUAL, Section 5.2.2.

  • Page 125: Hand I/O (Cn9): Common To All Allocation Modes

    Hand I/O (CN9): Common to All Allocation Modes The RC7M controller supports hand I/O signals (CN9) as standard. This hand I/O is common to all allocation modes. HAND I/O (CN9): NPN type Terminal Terminal Signal name Port No. Signal name Port No.

  • Page 126: I/O Allocation Tables For Individual Allocation Modes

    I/O Allocation Tables for Individual Allocation Modes 7.5.1 Mini I/O Board (CN5 on standard type of controller) in Mini I/O Dedicated Mode Terminal Terminal Signal Name Port No. Signal Name Port No. ⎯ ⎯ Enable Auto (input) Enable Auto (Internal +24V) (input) External Emergency Stop 1, b-1 External Emergency Stop 1, b-2...

  • Page 127: Mini I/O Board (Cn5 On Global Type Of Controller) In Mini I/O Dedicated Mode

    7.5.2 Mini I/O Board (CN5 on global type of controller) in Mini I/O Dedicated Mode Terminal Terminal Signal Name Port No. Signal Name Port No. ⎯ ⎯ Reserved. Reserved. ⎯ ⎯ Reserved. Reserved. ⎯ ⎯ Reserved. Reserved. ⎯ ⎯ Reserved. Reserved.

  • Page 128: Mini I/O Board (Cn5 On Standard Type Of Controller) In Compatible Standard And All User I/O Modes

    7.5.3 Mini I/O Board (CN5 on standard type of controller) in Compatible, Standard and All User I/O Modes Terminal Terminal Signal Name Port No. Signal Name Port No. ⎯ Enable Auto (input) ⎯ Enable Auto (Internal +24V) (input) External Emergency Stop 1, b-1 External Emergency Stop 1, b-2 ⎯...

  • Page 129: Mini I/O Board (Cn5 On Global Type Of Controller) In Compatible, Standard And All User I/O Modes

    7.5.4 Mini I/O Board (CN5 on global type of controller) in Compatible, Standard, and All User I/O Modes Terminal Terminal Signal Name Port No. Signal Name Port No. ⎯ ⎯ Reserved. Reserved. ⎯ ⎯ Reserved. Reserved. ⎯ ⎯ Reserved. Reserved. ⎯...

  • Page 130: Parallel I/O Board In Compatible Mode

    7.5.5 Parallel I/O Board in Compatible Mode Terminal Terminal Port Port Signal Name Signal Name Direction Direction Error in the hundreds place, Reserved. 3840 3864 bit 0 Error in the hundreds place, Robot Running 3841 3865 bit 1 Error in the hundreds place, Robot Error 3842 3866...

  • Page 131: Parallel I/O Board In Standard Mode

    7.5.6 Parallel I/O Board in Standard Mode Terminal Terminal Port Port Signal Name Signal Name Direction Direction Reserved. 3840 Status area bit 8 3864 Robot Running 3841 Status area bit 9 3865 Robot Error 3842 Status area bit 10 3866 Servo ON 3843 Status area bit 11...

  • Page 132: Parallel I/O Board (1St) In All User I/O Mode

    7.5.7 Parallel I/O Board (1st) in All User I/O Mode Terminal Terminal Port Port Signal Name Signal Name Direction Direction 3840 3864 3841 3865 3842 3866 3843 3867 3844 3868 3845 3869 3846 3870 3847 3871 3848 3872 3849 3873 3850 3874 3851...

  • Page 133: Parallel I/O Board (2Nd) In All User I/O Mode

    7.5.8 Parallel I/O Board (2nd) in All User I/O Mode Terminal Terminal Port Port Signal Name Signal Name Direction Direction 3888 3912 3889 3913 3890 3914 3891 3915 3892 3916 3893 3917 3894 3918 3895 3919 3896 3920 3897 3921 3898 3922 3899...

  • Page 134: Devicenet Slave Board In Compatible Mode

    7.5.9 DeviceNet Slave Board in Compatible Mode Note: The table below applies also to the allocation of the slave area on the DeviceNet master/slave board. Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved.

  • Page 135: Devicenet Slave Board In Standard Mode

    7.5.10 DeviceNet Slave Board in Standard Mode Note: The table below applies also to the allocation of the slave area on the DeviceNet master/slave board. Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved.

  • Page 136: Devicenet Slave Board In All User I/O Mode

    7.5.11 DeviceNet Slave Board in All User I/O Mode Note: The table below applies also to the allocation of the slave area on the DeviceNet master/slave board. Input data Output data Port No. Signal name Port No. Signal name INPUT 512 OUTPUT 768 OUTPUT 769 INPUT 513...

  • Page 137: Cc-Link Board (2 Stations Occupied) In Compatible Mode

    7.5.12 CC-Link Board (2 stations occupied) in Compatible Mode Input data Output data Remote Remote Port Port output input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Continue Start RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error...

  • Page 138: Cc-Link Board (3 Stations Occupied) In Compatible Mode

    7.5.13 CC-Link Board (3 stations occupied) in Compatible Mode Input data Output data Remote Remote Port Port output input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Continue Start Robot Running RYn1 RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error...

  • Page 139: Cc-Link Board (4 Stations Occupied) In Compatible Mode

    7.5.14 CC-Link Board (4 stations occupied) in Compatible Mode Input data Output data Remote Remote Port Port output input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Continue Start RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error...

  • Page 140: Cc-Link Board (2 Stations Occupied) In Standard Mode

    7.5.15 CC-Link Board (2 stations occupied) in Standard Mode Input data Output data Remote Remote Port Port output input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error RXn2...

  • Page 141: Cc-Link Board (3 Stations Occupied) In Standard Mode

    7.5.16 CC-Link Board (3 stations occupied) in Standard Mode Input data Output data Remote Remote Port Port output. input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error RXn2...

  • Page 142: Cc-Link Board (4 Stations Occupied) In Standard Mode

    7.5.17 CC-Link Board (4 stations occupied) in Standard Mode Input data Output data Remote Remote Port Port output. input Signal name Signal name (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) RYn2 Robot Error RXn2...

  • Page 143: Cc-Link Board (2 Stations Occupied) In All User I/O Mode

    7.5.18 CC-Link Board (2 stations occupied) in All User I/O Mode Input data Output data Remote Remote Port Port output. input Signal name Signal name (Note 1) (Note 1) INPUT 512 RYn0 OUTPUT 768 RXn0 INPUT 513 RYn1 OUTPUT 769 RXn1 INPUT 514 RYn2...

  • Page 144: Cc-Link Board (3 Stations Occupied) In All User I/O Mode

    7.5.19 CC-Link Board (3 stations occupied) in All User I/O Mode Input data Output data Remote Remote Port Port output. input Signal name Signal name (Note 1) (Note 1) INPUT 512 RYn0 OUTPUT 768 RXn0 INPUT 513 RYn1 OUTPUT 769 RXn1 INPUT 514 RYn2...

  • Page 145: Cc-Link Board (4 Stations Occupied) In All User I/O Mode

    7.5.20 CC-Link Board (4 stations occupied) in All User I/O Mode Input data Output data Remote Remote Port Port output. input Signal name Signal name (Note 1) (Note 1) INPUT 512 RYn0 OUTPUT 768 RXn0 INPUT 513 RYn1 OUTPUT 769 RXn1 INPUT 514 RYn2...

  • Page 146: Profibus-Dp Slave Board In Compatible Mode

    7.5.21 PROFIBUS-DP Slave Board in Compatible Mode Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved. Continue Start Robot Running Instantaneous Stop (All tasks) [Halt] Robot Error Operation Preparation Start Auto Mode Interruption Skip External Mode Program Start...

  • Page 147: Profibus-Dp Slave Board In Standard Mode

    7.5.22 PROFIBUS-DP Slave Board in Standard Mode Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved. Robot Running Reserved. Instantaneous Stop (All tasks) [Halt] Robot Error Strobe Signal Servo ON Interruption Skip Robot Initialized ⎯...

  • Page 148: Profibus-Dp Slave Board In All User I/O Mode

    7.5.23 PROFIBUS-DP Slave Board in All User I/O Mode Input data Output data Port No. Signal name Port No. Signal name INPUT 512 OUTPUT 768 INPUT 513 OUTPUT 769 INPUT 514 OUTPUT 770 INPUT 515 OUTPUT 771 INPUT 516 OUTPUT 772 INPUT 517 OUTPUT 773 INPUT 518...

  • Page 149: Devicenet Master Board In All User I/O Mode

    7.5.24 DeviceNet Master Board in All User I/O Mode Note: The table below applies also to the allocation of the master area on the DeviceNet master/slave board. Input data Output data Port No. Signal name Port No. Signal name 1024 INPUT 1024 2048 OUTPUT 2048...

  • Page 150: S-Link V Master Board In All User I/O Mode

    7.5.25 S-Link V Master Board in All User I/O Mode Input data Output data Port No. Signal name Port No. Signal name 3072 INPUT 3072 3328 OUTPUT 3328 3073 INPUT 3073 3329 OUTPUT 3329 3074 INPUT 3074 3330 OUTPUT 3330 3075 INPUT 3075 3331...

  • Page 151: I/O Allocation Modes With I/O Conversion Box Mounted

    Note: The I/O conversion box cannot be used for the global type of the controller. For details about the I/O conversion box, refer to the RC7M Controller OPTIONS MANUAL, Chapter 4, Section 4.7 "I/O Conversion Box."...

  • Page 152: I/O Allocation In Individual Allocation Modes

    I/O board to match the power supply setting on I/O POWER (CN7). The factory default is external power supply. For details about the mini I/O board, see Section 4.2.1 or 5.2.1. For details about the parallel I/O board, refer to the RC7M Controller OPTIONS MANUAL, Section 5.2.2.

  • Page 153: Allocation Common To All Allocation Modes

    Allocation Common to All Allocation Modes The RC7M controller supports hand I/O signals (CN9) as standard. This hand I/O and I/O POWER (CN7) are common to all allocation modes. 8.4.1 I/O POWER (CN9): Common to All Modes NPN type I/O...

  • Page 154: I/O Allocation Tables For Individual Allocation Modes

    I/O Allocation Tables for Individual Allocation Modes 8.5.1 OUTPUT (CN10) in I/O-Box Compatible Mode Terminal Terminal Port Port Signal Name Signal Name CPU Normal (No monitor allowed) User output Robot Running User output Robot Error User output Auto Mode User output External Mode User output Program Start Reset...

  • Page 155: Input (Cn8) In I/O-Box Compatible Mode

    8.5.2 INPUT (CN8) in I/O-Box Compatible Mode Terminal Port Terminal Port Signal Name Signal Name Power supply for Robot Stop ⎯ User input (Internal +24V) ⎯ Robot Stop User input Power supply for Enable Auto ⎯ User input (Internal +24V) ⎯...

  • Page 156: Output (Cn10) In I/O-Box Standard Mode

    8.5.3 OUTPUT (CN10) in I/O-Box Standard Mode Terminal Port Terminal Port Signal Name Signal Name CPU Normal (No monitor allowed) User output Robot Running User output Robot Error User output Servo ON User output Robot Initialized User output Auto Mode User output External Mode User output...

  • Page 157: Input (Cn8) In I/O-Box Standard Mode

    8.5.4 INPUT (CN8) in I/O-Box Standard Mode Terminal Port Terminal Port Signal Name Signal Name Power supply for Robot Stop ⎯ Data area 2 bit 7 (Internal +24V) ⎯ Robot Stop Data area 2 bit 8 Power supply for Enable Auto ⎯...

  • Page 158: Output (Cn10) In I/O-Box All User I/O Mode

    8.5.5 OUTPUT (CN10) in I/O-Box All User I/O Mode Terminal Port Terminal Port Signal Name Signal Name CPU Normal (No monitor allowed) User output Robot Running User output Robot Error User output User output User output User output User output User output User output User output...

  • Page 159: Input (Cn8) In I/O-Box All User I/O Mode

    8.5.6 INPUT (CN8) in I/O-Box All User I/O Mode Terminal Port Terminal Port Signal Name Signal Name Power supply for Robot stop ⎯ User input (Internal +24V) ⎯ Robot stop User input Power supply for Enable Auto ⎯ User input (Internal +24V) ⎯...

  • Page 160: Devicenet Slave Board In I/O-Box Compatible Mode

    8.5.7 DeviceNet Slave Board in I/O-Box Compatible Mode Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved. Continue Start Robot Running Instantaneous Stop (All tasks) [Halt] Robot Error Operation Preparation Start Auto Mode Interruption Skip External Mode Program Start...

  • Page 161: Devicenet Slave Board In I/O-Box Standard Mode

    8.5.8 DeviceNet Slave Board in I/O-Box Standard Mode Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved. Reserved. Robot Running Instantaneous Stop (All tasks) [Halt] Robot Error Strobe Signal Servo ON Interruption Skip Robot Initialized Not used.

  • Page 162: Cc-Link Board (2 Stations Occupied) In I/O-Box Compatible Mode

    8.5.9 CC-Link Board (2 stations occupied) in I/O-Box Compatible Mode Input data Output data Remote Remote input Port No. Signal name Port No. Signal name output. (Note 1) (Note 1) ⎯ Step Stop (All tasks) RYn0 RXn0 Continue Start RYn1 Robot Running RXn1 Instantaneous Stop (All tasks)

  • Page 163: Cc-Link Board (3 Stations Occupied) In I/O-Box Compatible Mode

    8.5.10 CC-Link Board (3 stations occupied) in I/O-Box Compatible Mode Input data Output data Remote Remote input. Port No. Signal name output. Port No. Signal name (Note 1) (Note 1) ⎯ Step Stop (All tasks) RYn0 RXn0 Continue Start RYn1 Robot Running RXn1 Instantaneous Stop (All tasks)

  • Page 164: Cc-Link Board (4 Stations Occupied) In I/O-Box Compatible Mode

    8.5.11 CC-Link Board (4 stations occupied) in I/O-Box Compatible Mode Input data Output data Remote I/O port I/O port Remote input. Signal number Signal number output. number number (Note 1) (Note 1) ⎯ Step Stop (All tasks) RYn0 RXn0 Continue Start RYn1 Robot Running RXn1...

  • Page 165: Cc-Link Board (2 Stations Occupied) In I/O-Box Standard Mode

    8.5.12 CC-Link Board (2 stations occupied) in I/O-Box Standard Mode Input data Output data Remote Remote input Port No. Signal name Port No. Signal name output. (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) Robot Error...

  • Page 166: Cc-Link Board (3 Stations Occupied) In I/O-Box Standard Mode

    8.5.13 CC-Link Board (3 stations occupied) in I/O-Box Standard Mode Input data Output data Remote Remote Port No. Signal name Port No. Signal name output output (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) Robot Error...

  • Page 167: Cc-Link Board (4 Stations Occupied) In I/O-Box Standard Mode

    8.5.14 CC-Link Board (4 stations occupied) in I/O-Box Standard Mode Input data Output data Remote Remote input Port No. Signal name Port No. Signal name output. (Note 1) (Note 1) Step Stop (All tasks) RYn0 Reserved. RXn0 Reserved. RYn1 Robot Running RXn1 Instantaneous Stop (All tasks) Robot Error...

  • Page 168: Profibus-Dp Slave Board In I/O-Box Compatible Mode

    8.5.15 PROFIBUS-DP Slave Board in I/O-Box Compatible Mode Input data Output data Port No. Signal name Port No. Signal name ⎯ Step Stop (All tasks) Continue Start Robot Running Instantaneous Stop (All tasks) [Halt] Robot Error Operation Preparation Start Auto Mode Interruption Skip External Mode Program Start...

  • Page 169: Profibus-Dp Slave Board In I/O-Box Standard Mode

    8.5.16 PROFIBUS-DP Slave Board in I/O-Box Standard Mode Input data Output data Port No. Signal name Port No. Signal name Step Stop (All tasks) Reserved. Robot Running Reserved. Instantaneous Stop (All tasks) [Halt] Robot Error Strobe Signal Servo ON Interruption Skip Robot Initialized ⎯...

  • Page 170: Parallel I/O Board In I/O-Box Al User I/O Mode

    8.5.17 Parallel I/O Board in I/O-Box Al User I/O Mode Terminal Terminal Signal name Port No. Direction Signal name Port No. Direction 3840 3864 3841 3865 3842 3866 3843 3867 3844 3868 3845 3869 3846 3870 3847 3871 3848 3872 3849 3873 3850...

  • Page 171: Devicenet Master Board In I/O-Box All User I/O Mode

    8.5.18 DeviceNet Master Board in I/O-Box All User I/O Mode Note: The table below applies also to the allocation of the master area on the DeviceNet master/slave board. Input data Output data Port No. Signal name Port No. Signal name 1024 INPUT 1024 2048...

  • Page 172: S-Link V Master Board In I/O-Box All User I/O Mode

    8.5.19 S-Link V Master Board in I/O-Box All User I/O Mode Input data Output data Port No. Signal name Port No. Signal name 3072 INPUT 3072 3328 OUTPUT 3328 3073 INPUT 3073 3329 OUTPUT 3329 3074 INPUT 3074 3330 OUTPUT 3330 3075 INPUT 3075 3331...
  • Page 173 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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