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Nitto Seiko NITOMAN RC5500 User Manual

General-purpose robot controller
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ADVANCED POSITIONING ROBOT
RC5500
GENERAL-PURPOSE ROBOT CONTROLLER
USER'S MANUAL
Ver 1.34
(General-purpose type 3)

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  • Page 1 ADVANCED POSITIONING ROBOT RC5500 GENERAL-PURPOSE ROBOT CONTROLLER USER’S MANUAL Ver 1.34 (General-purpose type 3)
  • Page 2 （1）All rights reserved. No part of or whole of this may be reproduced, stored in a retrieval system, or transmitted in any form or by any means without the prior written permission of Nitto Seiko Co., Ltd. （2）By provision of operating manual recorded on CD-ROM, you shall be deemed to have agreed to the Terms and Conditions written in “readme.txt”...
  • Page 3 Safety precautions Before using this machine, fully read the safety precautions shown below for correct use. ◆ To secure safety of the robot, refer to JIS B 8433 (Manipulating industrial robots−Safety). ◆ This machine is designed and manufactured for the purpose of use for general industrial machinery. ◆...
  • Page 4 WARNING [Installation] Be sure to provide grounding cables. Otherwise, you may suffer electric shocks. DO NOT use this machine near combustibles, inflammables, and explosive substances, or in the corrosive or flammable atmosphere. Otherwise, combustion, inflammation, or explosion may occur. DO NOT use this machine where the robot and the controller may be splashed with water or oil.
  • Page 5 WARNING [Installation] DO NOT damage cables. NEVER damage, forcibly bend or pull, wind, pinch them, nor put heavy objects on them. Otherwise, fires, electric shocks, or malfunctions due to earth leakage or disconnection may be caused. Correctly carry out wiring, referring to “Operation Manual”. ！...
  • Page 6 WARNING [Operation] When you find any heating, fume, or odor, immediately turn off the power switch, and disconnect the power plug. Otherwise, the machine may be damaged, or fires may occur. Make sure that the machine is in the “SERVO OFF” mode (operated by the teaching pendant) before operating the moving parts of the robot by the direct teaching.
  • Page 7 CAUTION [Installation] Completely provide electric shielding measures before using this machine in the locations shown below. Otherwise, malfunctions may occur. 1. Where there are high tension current or great magnetic field ！ 2. Where welding is being performed and arc discharge may occur 3.

  • Page 8: Table Of Contents

    Table of contents Table of contents Preface ............................... 8 Outline of system ........................... 8 Product structure ..........................9 Installation ............................10 Names and functions of components .................... 10 Specifications ..........................14 2.2.1 Specifications of robot controller ....................14 2.2.2 Specifications of external I/O..................... 15 System setup ..........................

  • Page 9: Preface

    1. Preface 1. Preface Thank you for your purchase of our product. Fully read this manual for correct use. After reading it, keep it for later reference by users. Be sure to hand it to the end user. Outline of system Advanced Positioning Robot MT565 aims to improve the functions of our conventional model MT560, based on the basic system configuration equivalent to that of the conventional model.

  • Page 10: Product Structure

    1. Preface 2. Applicable equipment RC5500 RC5000 MP2310 MP930 (Yaskawa Electric Corp.) ΣV series ΣII series Servo motor (Yaskawa Electric Corp.) ΣV series ΣII series Servo amplifier (Yaskawa Electric Corp.) Teaching pendant GT2505HS F940GOT (Mitsubishi Electric Corp.) Product structure Our model number of the positioning robot controller should be indicated as shown below. RC5500 Ver.*.** Model Accessories...

  • Page 11: Installation

    2. Installation 2. Installation Names and functions of components Front of robot controller [1] Power switch When the “I” side of the robot controller power switch is pressed, power is supplied. When the “O” side is pressed, power is shut off.
  • Page 12 2. Installation Back of robot controller [1] CN52A (Servo power supply connector “A” side) This connector is used for servo motor output. For control of a single robot with one to four axes, only “A” side should be connected. Three or four motor axes can be controlled. [Controller side model: D/MS3102A22-14S (DDK)] [2] CN53A (Encoder connector “A”...
  • Page 13 2. Installation [9] CN58A (Standard I/O-1B connector) A connector for the standard I/O-1B (IB105-10C and OB105-10C) input and output signals. The 24 VDC power supply for I/O is output via this connector. Be careful not to short-circuit the connector during wiring. [Controller side model: XM8F-2422-12 (OMRON)] [10] TB0 (External emergency stop, external start signal input terminal block)
  • Page 14 2. Installation Teaching pendant [1] Ready button When this button is pressed while power is supplied to the robot controller, the CPU works correctly, and emergency status is completely reset (short-circuited), the ready lamp [3] lights up, power is supplied to the servo motor, power of 24 VDC is supplied to between the P and N of the I/O signal power supply, and the machine is ready for operation.

  • Page 15: Specifications

    2. Installation Specifications 2.2.1 Specifications of robot controller General−purpose robot controller RC5500 Items Model: RC5500 Power supply voltage Single phase, from 200 VAC to 230 VAC, 50/60 Hz Number of axes to be controlled Maximally (4-axes x 1) or (3-axes x 2.) Positioning system Absolute value encoder system Position detecting system...

  • Page 16: Specifications Of External I/O

    2. Installation 2.2.2 Specifications of external I/O General purpose signal input unit Items Specifications Expansion user port: External 64 ports Number of input points Standard user port: Internal 28 ports (Optional) 24 VDC 20% (+19.2 to +28.8 V) Input voltage 24 VDC (+20.4 to +28.8 V) Input current 4.1 mA/input...
  • Page 17 2. Installation General purpose signal output unit Items Specifications Expansion user port: External 64 ports Number of output points Standard user port: Internal 28 ports (Optional) 24 VDC 20% (+19.2 to +28.8 V) Rated load voltage 24 VDC (+20.4 to +28.8 V) Max.
  • Page 18 2. Installation External signal connection terminal block TB0 外部非常停止スイッチ External emergency switch 有接点を使用してください Use contact EMER STOP 外部スタートスイッチ External start switch START IB104 外部スタート信号にオープンコレクタ出力を接続する場合 When connecting open collector output to external start signal IB104 * EM1 and EM2 are also connected in parallel with CN59.

  • Page 19: System Setup

    2. Installation System setup 2.3.1 Connecting robot controller RC5500 with robot General connection drawing of positioning robot (MT565F1) Encoder cable Servo power cable CN53-CBO3A CN52-CBO3A Robot Robot relay box I/O cable MT565F1 *Refer to below Motor encoder extension cable for each axis Ethernet cable for host / Tool PC...

  • Page 20: I/O Connection Diagram

    2. Installation 2.3.2 I/O connection diagram Standard I/O *1: Input from IB105 to 10C and output from OB105 to 10C can be taken out from the connector CN58A on the back of the RC5500 or the terminal block on the PCB PI-50-01 in the RC5500. *2: Input from IB10D to 114 and output from OB10D to 114 can be taken out from the connector CN58B on the back of the RC5500 or the terminal block on the PCB PI-50-01 in the RC5500.
  • Page 21 2. Installation Controller external expansion I/O-1 (Optional: Remote I/O unit can be externally added to the controller) *1: Located in the controller external expansion box. *2: All I/Os in blank fields, including standard I/Os, can be used as general-purpose I/Os.
  • Page 22 2. Installation Controller external expansion I/O-2 (Optional: Remote I/O unit can be externally added to the controller) *1: Located in the controller external expansion box. *2: All I/Os in blank fields, including standard I/Os, can be used as general-purpose I/Os.

  • Page 23: Interface List

    2. Installation 2.3.3 Interface list Standard I/O connectors CN58A, CN58B connection list (Cable is optional) [CN58A] [CN58B] CN58A CN58B CN58A CN58B Connection Cable Signal Connection Cable Signal Pin No. Pin No. cable No. cable No. Orange (1 point, red) 24 VDC+ Orange (1 point, red) 24 VDC+ Gray (1 point, red)
  • Page 24 2. Installation Terminal block TB0 Wire No. 線番 外部非常停止信号入力 External emergency stop signal input b-contact (contact) ｂ接点（有接点） EMER STOP Short-circuit when not used* 使用しないときは、短絡してください External cycle start signal input 外部サイクルスタート信号入力 START IB104 * EM1 and EM2 are also connected in parallel with CN59. TB0 Model ML-1600-4P (Sato Parts) 9 mm 配線時推奨剥き線長　9mm...

  • Page 25: Connector Pins Assignment

    2. Installation 2.3.4 Connector pins assignment CN51 (Power supply connector) CN51 Wire No. Signals Pin No. 200 VAC 200 VAC Grounding Controller side connector model: NJC-24-3-RM (UL) (Nanaboshi) CN52A (Servo power supply connector “A” side) [When 3-axis control type is selected] [When 4-axis control type is selected] CN52A Wire...
  • Page 26 2. Installation CN53A (Encoder connector “A” side) [When 3-axis control type is selected] [When 4-axis control type is selected] CN53A CN53A Wire No. Signal Wire No. Signal Pin No. Pin No. PG11 Motor (1) Encoder +5 V PG11 Motor (1) Encoder +5 V PG12 Motor (1) Encoder 0 V PG12...
  • Page 27 2. Installation CN53B (Encoder connector “B” side) CN53B Wire No. Signal Pin No. PG41 Motor (4) Encoder +5 V PG42 Motor (4) Encoder 0 V Motor (4) shield PG43 Motor (4) Encoder serial PS PG44 Motor (4) Encoder serial/PS PG51 Motor (5) Encoder +5 V PG52 Motor (5) Encoder 0 V...

  • Page 28: Outside Dimensions

    2. Installation 2.3.5 Outside dimensions Robot controller RC5500 [Motor output: 400 W or [Motor output: Less than more] (Special) 400 W] (Standard) Teaching pendant RC5500T...

  • Page 29: Robot Controller Inside Parts Location

    2. Installation 2.3.6 Robot controller inside parts location Internal layout [1] MC unit (Machine controller) Model: JEPMC-MP2310（-E） (Yaskawa Electric Corp.) The MC unit incorporates the following units: Communication module Model: JAPMC-CM2310 217IF-01 (Yaskawa Electric Corp.) I/O module Model: JEPMC-IO2303 LIO-04 (Yaskawa Electric Corp.) [2] Power supply Model: PBA100F-24-J (Cosel)
  • Page 30 2. Installation [10] Terminal block TB4 Terminal block layout [11] Terminal block TB2 Terminal block layout...

  • Page 31: Pi-50-01 Layout Of Terminal Block On Pcb

    2. Installation 2.3.7 PI-50-01 Layout of terminal block on PCB PI-50-01 PCB [1] TB1 [2] TB2 (Standard I/O-1 input (Standard I/O-1 output terminal block) terminal block) Terminal block layout Terminal block layout [3] TB3 [4] TB4 (Standard I/O-2 input (Standard I/O-2 output terminal block) terminal block) Terminal block layout...
  • Page 32 2. Installation TB5, TB6, TB7, TB8: Model ML800S1V-**P (Sato Parts) Standard unsheathed wire length: 11 mm Applicable wire: Stranded wire, 0.3 mm (AWG22) to 1.25 mm (AWG16) [9] SW1 (RB1 Motor holding brake compulsory release switch) This switch is used to forcedly reset the robot (1) motor holding brake. Even if the CPU is stopped and the teaching pendant cannot be used, the motor holding brake can be released while this switch is being pressed.

  • Page 33: Cn-50-01 Pcb Short-Circuit Pin

    2. Installation 2.3.8 CN-50-01 PCB short-circuit pin CN-50-01 PCB CN59 CN58B CN58A [1] SP1 (24 VDC external output setting) 1−2: “P” (internal 24 VDC) external output is enabled. 2−3: “P” (internal 24 VDC) external output is disabled. (Standard) [2] SP2 (24 VDC external output setting) 1−2: “P0”...
  • Page 34 2. Installation [4] SP8 to SP12 (Output signal assignment setting) Setting Short-circuit I/O No. Remarks pin No. 1−2 2−3 OB110 OB111 CN58B CN59 Between 2 and 3, as SP10 OB112 (Used for standard (Used for standard I/O-2 standard setting I/O-1B connector) side connector) SP11 OB113...

  • Page 35: Maintenance And Inspection

    2. Installation Maintenance and inspection Be sure to disconnect the power cable of the robot controller before maintenance and inspection. Check points → Should be within the specified range, or within the  Check the voltage supplied to the controller. range between 200 VAC to 230 VAC.

  • Page 36: Appendix

    3. Appendix 3. Appendix Replacing battery MC unit battery The MC unit incorporates a replaceable battery. This battery is intended for backup of the programs and data stored into the MC unit to prevent them from being lost when power supplied to the MC unit is shut off (due to power failure).
  • Page 37 3. Appendix Ensure that the “RDY” LED on the MC unit to the upper right on the robot controller right side is lit up. RDY LED BAT LED Battery cover MC unit Open the battery cover on the lower side of the MC unit. Disconnect the connector at the end of the lead wire of the battery from the connector of the MC unit, and remove the battery from the battery holder.
  • Page 38 3. Appendix Absolute value encoder battery In the robot controlled by the robot controller RC5500 Series, the absolute value encoder is used for detection of position. In the relay box of the robot, absolute encoder batteries are provided for each of the equipped axes of the robot.
  • Page 39 3. Appendix Remove the screws of the robot relay box, disconnect the battery connector connected to the encoder battery connecting PCB “EC-01-02”, and remove all the old batteries from the battery holder. First, prepare a new battery, and securely plug the connector at the end of the lead wire of the battery to the battery connector (BA1 to BA4) on the PCB EC-01-02.
  • Page 40 3. Appendix  Replacing battery (In the case of the servo pack is externally installed and the battery is loaded in the servo pack) Supply power to the robot controller, and turn on the power switch. Press the emergency stop switch of the teaching pendant or the same connected to the outside to enter the emergency stop status.
  • Page 41 3. Appendix Battery for teaching pendant The teaching pendant is equipped with the battery to store clock data, alarm history and recipe data. The battery service life is approx. 5 years. However, it may vary depending on operating conditions (ambient temperature, etc.). ...

  • Page 42: Encoder Reset (Initialization) Procedure

    3. Appendix Encoder reset (initialization) procedure In the robot controlled by the robot controller RC5500 Series, the absolute value encoder is used for detection of position. Thus, even when power is turned on, calibration of origin is unnecessary, leading to drastic reduction in the time required for startup of the machine.
  • Page 43 3. Appendix  Encoder reset procedure (For details of the teaching pendant operating procedure, refer to “Advanced Positioning Robot nitoman RC5500T Teaching Pendant Operation Manual”.) Check if the teaching pendant is connected to the robot controller. If the teaching pendant is not connected, connect it to the robot controller.
  • Page 44 3. Appendix The SETUP MENU screen opens. Touch the [ADVANCED MODE DISABLE] display field at the bottom of the screen ([2] in the figure below) three times. Then, [ADVANCED MODE ENABLE] is displayed. At the same time, the [ADVANCED MODE] selector switch on the right side ([3] in the figure below) lights up in light blue.
  • Page 45 3. Appendix Touch the [RESET IMPOSSIBLE] switch ([6] in the figure below) three times, to change the indication to [RESET POSSIBLE]. ROBOT (1) ENCODER RESET screen 10) Press the [RESET] switch ([7] in the figure below). ROBOT (1) ENCODER RESET screen 11) A confirmation window opens again, asking if you intend to reset the encoder.
  • Page 46 3. Appendix 12) If you press [YES] ([8] in the previous figure), the “ENCODER IS BEING RESET” message appears at the center of the confirmation window. Then, the window automatically closes, and RC5500-T completes the encoder reset processing. In this status, the indication on the axis name switch changes from [RESET INCOMPLETE] to [RESET COMPLETE].

  • Page 47: Origin Setup

    3. Appendix Origin setup In the robot controlled by the robot controller RC5500 Series, the absolute value encoder is used for detection of position. Thus, even when power is supplied to the machine, calibration of origin is unnecessary, leading to drastic reduction in the time required for startup of the machine.
  • Page 48 3. Appendix  Origin setup procedures (For details of operating procedures of the teaching pendant, refer to the “Operation Manual for Advanced Positioning Robot Nitoman RC5500T Teaching Pendant”.) Before pushing the robot arm with hands to move to the origin for origin setup, select the “SERVO OFF” on the “JOG”...
  • Page 49 3. Appendix Origin of MT565 type robot *Note : There is a case of the composition which differs from the following with machine specification, and a origin position. X1 axis [Axis name: X1] X1-axis Y1 axis [Axis name: Y1] Y1-axis Y1-axis Type B Type C...
  • Page 50 3. Appendix iii) Z1 axis [Axis name: Z1] Release of holding brake is required Z1軸 Z1-axis Type D Z1軸 Z1-axis Z1軸 Z1-axis Type F1 Type F2...
  • Page 51 3. Appendix iv) Special form robot [Y-type] Y1軸 Y1-axis A1軸 A1-axis Special form robot [DB-type] Y1-axis X1-axis B1-axis A1-axis...
  • Page 52 3. Appendix Open the INIT screen of the teaching pendant, and then press the "setup" switch of the robot of the side to set up([1] in the figure below). *In the following examples, a description is in case of robot (1). INIT screen The SETUP MENU screen opens.
  • Page 53 3. Appendix Select an axis subject to origin setup processing among the axis name indication switches(At an example, it is X1, Y1, Z1, and A1.) ([5] in the figure below). The switch for the selected axis lights up in green. * Origin setup processing will not be executed for the axis that has not been selected in this step.
  • Page 54 3. Appendix 12) Field indicating message “SETS UP THE ORIGIN. ARE YOU SURE?” appears in the lower part of the screen to confirm the setup. If you want to setup the origin, touch the “YES” switch ([8] shown in the figure below).

  • Page 55: Releasing Holding Brake

    3. Appendix Releasing holding brake For the robot equipped with the vertical motion axis, the holding brake is provided to prevent dropping when power is shut off. In normal operation, release/actuation of the holding brake is automatically controlled interlocking with the ON/OFF status of the servo motor. However, the holding brake should be released compulsorily in the cases shown below.
  • Page 56 3. Appendix Insert the teaching selector key switch into the specified position of the teaching pendant, and set it to the “TEACH ON” position. Even if the key switch of the teaching pendant is turned to the “ON” position, the machine will not enter the teaching mode unless the teaching permission input signal from the upper equipment is set to the “ON”...
  • Page 57 3. Appendix When releasing or applying the brake, Press the “BRAKE OPERATION” switch in the lower right part for 3 seconds. If the brake is being applied, message “BRAKE OPERATION” indicated on the switch is highlighted in green in the lower right part of the screen. If the brake is released, message “BRAKE RELEASED”...
  • Page 58 3. Appendix Using compulsory release switch on PCB PI-50-01 in robot controller This method enables compulsory release of the holding brake regardless of the display on the teaching menu screen. Use it to release the holding brake in case of emergency, such as failure in operation of the CPU. Supply power to the robot controller, and turn on the power switch.

  • Page 59: Robot Coordinate System

    3. Appendix Robot coordinate system Coordinate system of MT565 (Ex: MT565F1) *Note : There is a case of the coordinate system which differs from the following with machine specification. Y1軸 Y1-axis X1軸 X1-axis Z1軸 Z1-axis...

  • Page 60: Ready Circuit

    3. Appendix Ready circuit Ready circuit in robot controller RC5500 P0 - N0 : DC24V (N0=0V , P0=24V)

  • Page 61: Precautions

    3. Appendix Precautions Precautions for withstand voltage test Because the robot controller RC5500 Series incorporates the indirect lightning stroke surge protector, the surge protector is tripped during withstand voltage (700 VAC or more) test against the controller, leading to impossibility of precise measurement. Before conducting withstand voltage test for the RC5500 series, be sure to disconnect the wire from the ET terminal on the TB4 terminal block inside the robot controller.

  • Page 62: Guarantee Period And Coverage

    3. Appendix Guarantee period and coverage Guaranteed coverage If any malfunction occurs to our products during the guaranteed period due to faults in materials or workmanship responsible for us, we will repair them free of charge. Guarantee period The shortest period among the periods shown below will be applied as the guaranteed period. Within one year from date of shipment Within 2500 operation hours from date of shipment Limitations...

  • Page 63: [Revision Record]

    [Revision record] May. 2010, first edition, RC5500 Ver.1.00 Mar. 2014, revised, RC5500 Ver.1.30 Jan. 2017, revised, RC5500 Ver.1.31 Feb.2018, revised, RC5500 Ver.1.32 Jun.2019, revised, RC5500 Ver.1.33 Jan.2020, revised, RC5500 Ver.1.34...

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