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RC7M
Denso RC7M User Manual
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Copyright
© DENSO
WA
VE INCO
RPORA
TED,
2005-2008
All right
s reserv
ed. No p
art of this pub
lication may b
e reproduced in any
f
orm
or by any mean
s without
permissi
on in writ
ing from
the publis
her
.
S
pecifications ar
e subject to change w
ithout prior no
tice.
All product
s and company names
mentioned are trad
emarks or registered trademar
ks of their respective
holders.
1
3
Table of Contents
Chapter 1 General Information about RC7M Controller
21
Names of the Controller Components
24
Warning and Caution Labels
25
Controller Specifications
27
Controller System Configuration
30
Typical Robot System Configuration
31
Chapter 2 General Information about the Interface
32
Types of System I/O Signals (Global Type of Controller)
33
Usage of User I/O Signals
34
User Output Commands
35
Chapter 3 System I/O Signals
36
Usage of System Output Signals
37
Auto Mode (Output)
38
Operation Preparation Completed (Output)
39
Robot Running (Output)
40
CPU Normal (Output)
41
Robot Error (Output)
42
Battery Warning (Output)
43
Emergency Stop Circuit Contact Outputs (Standard Type of Controller)
45
Safety Circuit Contact Outputs (Global Type of Controller)
48
Types and Functions of System Input Signals
51
Usage of System Input Signals
52
External Emergency Stop (Input)
53
Enable Auto (Input) (Standard Type of Controller)
54
Enable Auto (Input) (Global Type of Controller)
55
Protective Stop (Input): Global Type of Controller
56
Command Execution I/O Signals
57
Processing I/O Commands
58
I/O Commands Details
61
Example of Using System I/O Signals
64
Connector Pin Assignment (NPN Type)
68
Hand I/O (Cn9)
69
Mini I/O (CN5): User- or System-I/O Connector
70
Safety I/O (Cn10)：System-I/O Connecter (Global Type of Controller)
72
Robot Controller I/O Circuits (NPN Type)
73
User-Input, System-Input and Hand-Input Circuits (NPN Type)
74
User-Output, System-Output, and Hand-Output Circuits (NPN Type)
76
Configuration of Emergency Stop Circuitry (Standard Type of Controller)
79
Configuration of Safety Circuit (Global Type of Controller)
81
Wiring Notes for Controller I/O Connectors (NPN Type)
83
Connector Pin Assignment (PNP Type)
85
Hand I/O (Cn9)
86
Mini I/O (CN5): User- or System-I/O Connector
87
Safety I/O (Cn10)：System-I/O Connecter (Global Type of Controller)
89
Robot Controller I/O Circuits (PNP Type)
90
User-Input, System-Input and Hand-Input Circuits (PNP Type)
91
User-Output, System-Output, and Hand-Output Circuits (PNP Type)
93
Configuration of Emergency Stop Circuitry (Standard Type of Controller)
96
Configuration of Safety Circuit (Global Type of Controller)
98
Wiring Notes for Controller I/O Connectors (PNP Type)
100
Chapter 6 Installation and Maintenance of the RC7M Controller
102
Mounting the Robot Controller
103
I/O and AC Input Wiring
105
Wiring of Primary Power Source
106
Disconnecting the Robot from the Power Source
108
Cleaning the Air Intake Filters
109
Replacing the Memory Backup Battery
111
Setting the Next Battery Replacement Date
114
Replacing Fuses and Output Ics
115
Replacing Procedures
117
Replacing IPM Boards
120
Replacing the IPM Board
121
Combination of I/O Extension Boards and Allocation Modes
123
I/O Allocation in Individual Allocation Modes
124
Hand I/O (CN9): Common to All Allocation Modes
125
I/O Allocation Tables for Individual Allocation Modes
126
Mini I/O Board (CN5 on Global Type of Controller) in Mini I/O Dedicated Mode
127
Mini I/O Board (CN5 on Standard Type of Controller) in Compatible Standard and All User I/O Modes
128
Mini I/O Board (CN5 on Global Type of Controller) in Compatible, Standard and All User I/O Modes
129
Parallel I/O Board in Compatible Mode
130
Parallel I/O Board in Standard Mode
131
Parallel I/O Board (1St) in All User I/O Mode
132
Parallel I/O Board (2Nd) in All User I/O Mode
133
Devicenet Slave Board in Compatible Mode
134
Devicenet Slave Board in Standard Mode
135
Devicenet Slave Board in All User I/O Mode
136
CC-Link Board (2 Stations Occupied) in Compatible Mode
137
CC-Link Board (3 Stations Occupied) in Compatible Mode
138
CC-Link Board (4 Stations Occupied) in Compatible Mode
139
CC-Link Board (2 Stations Occupied) in Standard Mode
140
CC-Link Board (3 Stations Occupied) in Standard Mode
141
CC-Link Board (4 Stations Occupied) in Standard Mode
142
CC-Link Board (2 Stations Occupied) in All User I/O Mode
143
CC-Link Board (3 Stations Occupied) in All User I/O Mode
144
CC-Link Board (4 Stations Occupied) in All User I/O Mode
145
PROFIBUS-DP Slave Board in Compatible Mode
146
PROFIBUS-DP Slave Board in Standard Mode
147
PROFIBUS-DP Slave Board in All User I/O Mode
148
Devicenet Master Board in All User I/O Mode
149
S-Link V Master Board in All User I/O Mode
150
I/O Allocation Modes with I/O Conversion Box Mounted
151
I/O Allocation in Individual Allocation Modes
152
Allocation Common to All Allocation Modes
153
I/O Allocation Tables for Individual Allocation Modes
154
INPUT (CN8) in I/O-Box Compatible Mode
155
OUTPUT (CN10) in I/O-Box Standard Mode
156
INPUT (CN8) in I/O-Box Standard Mode
157
OUTPUT (CN10) in I/O-Box All User I/O Mode
158
INPUT (CN8) in I/O-Box All User I/O Mode
159
Devicenet Slave Board in I/O-Box Compatible Mode
160
Devicenet Slave Board in I/O-Box Standard Mode
161
CC-Link Board (2 Stations Occupied) in I/O-Box Compatible Mode
162
CC-Link Board (3 Stations Occupied) in I/O-Box Compatible Mode
163
CC-Link Board (4 Stations Occupied) in I/O-Box Compatible Mode
164
CC-Link Board (2 Stations Occupied) in I/O-Box Standard Mode
165
CC-Link Board (3 Stations Occupied) in I/O-Box Standard Mode
166
CC-Link Board (4 Stations Occupied) in I/O-Box Standard Mode
167
PROFIBUS-DP Slave Board in I/O-Box Compatible Mode
168
PROFIBUS-DP Slave Board in I/O-Box Standard Mode
169
Parallel I/O Board in I/O-Box al User I/O Mode
170
Devicenet Master Board in I/O-Box All User I/O Mode
171
S-Link V Master Board in I/O-Box All User I/O Mode
172
4
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Denso RC7M Specifications
General
Brand
Denso
Model
RC7M
Category
Controller
Language
English
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