Denso RC5 Spécifications Page 158
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
138
Chapter 6
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 5, "Connector Pin
Assignment and I/O Circuits (NPN type)."
6.1 Connector Pin Assignment (PNP type)
This section describes the pin assignment of connectors on the robot controller. The
signals and pin assignments of output connector CN10 and input connector CN8 are
differently defined in standard mode and compatible mode. As for other connectors,
the definitions of pins are common to standard mode and compatible mode.
6.1.1 Connector Pin Assignment Common to Both Modes (PNP type)
(1) HAND I/O CN9: Connector for end-effector I/O (common to both
modes)
CN9 Pin Assignment, common to both modes (PNP type)
View from the cable side
Wire color Wire color
Terminal
No.
Name
Port
number
Standard
High
strength
Terminal
No.
Name
Port
number
Standard
High
strength
1
Hand output
64 Black Blue 11
Hand Input
50 Pink White
2
Hand output
65 Brown Yellow 12
Hand Input
51 Pink White
3
Hand output
66 Black Green 13
Hand Input
52 White White
4
Hand output
67 Brown Red 14
Hand Input
53 White White
5
Hand output
68 Red Violet 15
Hand Input
54 White White
6
Hand output
69 Orange Blue 16
Hand Input
55 White Brown
7
Hand output
70 Yellow Yellow 17
Power E0V for Hand
⎯
White Brown
8
Hand output
71 Green Green 18
Power E24V for Hand
⎯ White Brown
9
Hand input
48 Blue Red 19
Not connected
⎯
White Brown
10
Hand input
49 Violet Violet
20
Not connected
⎯
White Brown
NOTE: The optional I/O cable for the above connector consists of twisted pair wires--pairs of #1 and #11, #2
and #12,…#10 and #20.
- INTERFACE MANUAL 1
- Preface 3
- How this book is organized 5
- 3. Installation Precautions 9
- SAFETY PRECAUTIONS 11
- Warning 13
- Contents 17
- RC5 - VSE 6 B A - P 21
- 2.3 Setting the parameter 23
- /HM-E series 24
- <Front> 25
- [ 1 ] Specifications 27
- [ 2 ] Outer Dimensions 29
- Location of IPM boards 30
- (VM-D, VS-E, HS-E, and HM-E) 32
- (VS-D, VC-E, H 33
- -D, and XYC-D) 33
- 2.2 Switching between Modes 34
- 2.3.1 Standard Mode 42
- 2.3.2 Compatible Mode 43
- 2.4.4 User Input Commands 44
- 2.4.5 User Output Commands 45
- Chapter 3 46
- (5) OFF condition 47
- 3.2.2 Auto Mode (Output) 48
- 3.2.4 Servo ON (Output) 50
- 3.2.6 Normal CPU (Output) 52
- (4) ON condition 54
- 3.2.11 SS mode (Output) 56
- 3.4.1 Enable Auto (Input) 59
- 3.4.2 Robot Stop (Input) 60
- (2) Terminal 61
- Halt OFF (open) 62
- Dedicated to Standard Mode 65
- [ 2 ] Strobe Signal (Input) 69
- [ 4 ] Status Area 71
- 3.5.3 I/O Commands Details 72
- (2) Format 73
- (3) Description 73
- 3.5.3.4 Error Read (0100) 77
- Type I Variable Read (0110) 79
- 3.5.3.9 I/O Write (1001) 83
- 3.5.3.10 I/O Read (1010) 84
- (1) Equipment setup example 85
- Chapter 4 89
- 4.2.2 Auto Mode (Output) 91
- 4.2.3 Servo ON (Output) 92
- ⋅ CAL EXECUTION and OPERATION 93
- 4.2.6 Teaching (Output) 95
- 4.2.10 Normal CPU (Output) 99
- (1) Function 100
- (2) Terminal number 100
- (3) Usage 100
- (4) ON conditions 100
- (5) OFF conditions 100
- (1) Function 101
- 4.2.14 Error No. (Output) 103
- 4.2.16 SS mode (Output) 104
- (4) Contact 105
- (Compatible Mode) 106
- 4.4.1 Enable Auto (Input) 107
- The mode is switched to 109
- external mode 109
- (2) Terminal numbers 110
- 4.4.4 Program Start (Input) 112
- 1-cycle Operation 112
- Program Start Operation-2 113
- Program Start Operation-3 114
- 1→T2→T3 in the figure 116
- 4.4.5 Program Reset (Input) 118
- 4.4.6 Robot Stop (Input) 120
- ON (shorted) 122
- 50 ms. or more required 122
- Instantaneous 122
- (e.g., conveyor) 126
- (2) Outline of procedure 127
- Operation start area check 128
- Operation position 1 ON 128
- Automatic operation 129
- Operation end 129
- Executing single-cycle 129
- [ 1 ] From the teach pendant 131
- [ 2 ] In WINCAPSII 132
- Parameter details 134
- User I/O signal lines 137
- Chapter 5 138
- 5.2.4.1 Standard type 152
- Check point (2) 156
- Chapter 6 158
- 6.2.4.1 Standard type 172
- Check point (1) 176
- Chapter 7 I/O Wiring 178
- : 230 VAC, phase R 180
- B: 230 VAC, phase S 180
- C: Not used 180
- D: Ground 180
- RC5 CONTROLLER 181
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