Denso RC7M - Page 17

Contents
Preface ................................................................................................................................................................................i
How the documentation set is organized ........................................................................................................................ii
SAFETY PRECAUTIONS
Chapter 1 General Information about RC7M Controller............................................................................................. 1
1.1 Controller Model Name on Nameplate.................................................................................................................... 1
1.2 Names of the Controller Components ..................................................................................................................... 4
1.2.1 Controller Components.............................................................................................................................. 4
1.2.2 Warning and Caution Labels...................................................................................................................... 5
1.3 Controller Specifications......................................................................................................................................... 7
1.4 Controller System Configuration........................................................................................................................... 10
1.4.1 Internal Circuits of the Controller (Typical configuration) ...................................................................... 10
1.4.2 Typical Robot System Configuration....................................................................................................... 11
Chapter 2 General Information about the Interface ................................................................................................... 12
2.1 Types and General Information about I/O Signals ................................................................................................ 12
2.1.1 Types of System I/O Signals (Standard type of controller)...................................................................... 12
2.1.2 Types of System I/O Signals (Global type of controller)......................................................................... 13
2.2 Usage of User I/O Signals ..................................................................................................................................... 14
2.2.1 I/O Type Variable Declaration.................................................................................................................. 14
2.2.2 I/O Type Global Variables........................................................................................................................ 14
2.2.3 I/O Type Local Variables ......................................................................................................................... 14
2.2.4 User Input Commands ............................................................................................................................. 14
2.2.5 User Output Commands........................................................................................................................... 15
Chapter 3 System I/O Signals ........................................................................................................................................ 16
3.1 Types and Functions of System Output Signals .................................................................................................... 16
3.2 Usage of System Output Signals ........................................................................................................................... 17
3.2.1 Robot Initialized (output) ......................................................................................................................... 17
3.2.2 Auto Mode (output).................................................................................................................................. 18
3.2.3 Operation Preparation Completed (output)............................................................................................. 19
3.2.4 Robot Running (output)............................................................................................................................ 20
3.2.5 CPU Normal (output) .............................................................................................................................. 21
3.2.6 Robot Error (output) ................................................................................................................................ 22
3.2.7 Battery Warning (output) ......................................................................................................................... 23
3.2.8 Continue Start Permission (output): Selectable by I/O hardware setting...................................... 24
3.2.9 Emergency Stop Circuit Contact Outputs (Standard type of controller).................................................. 25
3.2.10 Safety Circuit Contact Outputs (Global type of controller) ..................................................................... 28
3.3 Types and Functions of System Input Signals....................................................................................................... 31
3.4 Usage of System Input Signals.............................................................................................................................. 32
3.4.1 Step Stop (All tasks) (input)...................................................................................................................... 32
3.4.2 External Emergency Stop (input) ............................................................................................................. 33
3.4.3 Enable Auto (input) (Standard type of controller).................................................................................... 34
3.4.4 Enable Auto (input) (Global type of controller)....................................................................................... 35
3.4.5 Protective Stop (input): Global type of controller ............................................................................ 36