Manuale UtenteSommarioPreface3How the documentation set is organized4How this book is organized5SAFETY PRECAUTIONS7Contents17Chapter 1 General Information about RC5 Controller21Controller Model Name on Nameplate21Names of the Robot Controller Components24Robot Controller Specifications27Controller System Configuration31Internal Circuits of the Controller (Typical configuration)31Typical Robot System Configurations32Chapter 2 General Information about the Interface34Standard Mode and Compatible Mode34Switching between Modes34Types and General Information about I/O Signals42Standard Mode42Compatible Mode43Using User I/O Signals (common to both modes)44I/O Type Variable Declaration44I/O Type Global Variables44I/O Type Local Variables44User Input Commands44User Output Commands45Chapter 3 System I/O Signals Standard Mode46Types and Functions of System Output Signals (Standard Mode)46Usage of System Output Signals (Standard Mode)47Robot Initialization Complete (Output)47Auto Mode (Output)48External Mode (Output)49Servo ON (Output)50Robot-in-operation (Output)51Normal CPU (Output)52Robot Failure (Output)53Robot Warning (Output)54Dead Battery Warning (Output)55Continue Start Permitted (Output)56SS mode (Output)56Emergency Stop (Output from a contact)57Types and Functions of System Input Signals (Standard Mode)58Usage of System Input Signals (Standard Mode)59Enable Auto (Input)59Robot Stop (Input)60Step Stop (All Tasks) (Input)61Instantaneous Stop (All Tasks) (Input)62Interrupt Skip (Input)63Command Execution I/O Signals Dedicated to Standard Mode65General Information about Commands65Processing I/O Commands66I/O Commands Details72Example of Using System I/O Signals in Standard Mode85Chapter 4 System I/O Signals Compatible Mode89Types and Functions of System Output Signals (Compatible Mode)89Usage of System Output Signals in the Compatible Mode90Robot Power ON Complete90Auto Mode (Output)91Servo ON (Output)92CAL Complete (Output)93External Mode (Output)94Teaching (Output)95Program Start Reset (Output)96Robot-in-operation (Output)97Single-Cycle End (Output)98Normal CPU (Output)99Robot Failure (Output)100Robot Warning (Output)101Dead Battery Warning (Output)102Error No. (Output)103Continue Start Permitted (Output)104SS mode (Output)104Emergency Stop (Output from a contact)105Types and Functions of System Input Signals (Compatible Mode)106Usage of System Input Signals in Compatible Mode107Enable Auto (Input)107Operation Preparation Start (Input)108Program No. Select (Input)110Program Start (Input)112Program Reset (Input)118Robot Stop (Input)120Step Stop (All Tasks) (Input)121Instantaneous Stop (All Tasks) (Input)122Clear Robot Failure (Input)123Interrupt Skip (Input)124Continue Start (Input)125Example of Using System I/O Signals in Compatible Mode126Chapter 5 Connector Pin Assignment and I/O Circuits (NPN type)130Connector Pin Assignment (NPN type)130Connector Pin Assignment Common to Both Modes (NPN type)130Connector Pin Assignment in Standard Mode132Connector Pin Assignment in Compatible Mode134Robot Controller I/O Circuits (NPN type)136User-Input, System-Input and Hand-Input Circuits (NPN type)136Robot Stop and Enable Auto Input Circuits139User-Output, System-Output, and Hand-Output Circuits (NPN type)140Emergency Stop Circuit144I/O Power Connector (NPN type)146Wiring Notes for Robot Controller I/O Connectors (NPN type)148Chapter 6 Connector Pin Assignment and I/O Circuits (PNP type)150Connector Pin Assignment (PNP type)150Connector Pin Assignment Common to Both Modes (PNP type)150Connector Pin Assignment in Standard Mode152Connector Pin Assignment in Compatible Mode154Robot Controller I/O Circuits (PNP type)156User-Input, System-Input and Hand-Input Circuits (PNP type)156Robot Stop and Enable Auto Input Circuits159User-Output, System-Output, and Hand-Output Circuits (PNP type)160Emergency Stop Circuit164I/O Power Connector (PNP type)166Wiring Notes for Robot Controller I/O Connectors (PNP type)168Chapter 7 I/O Wiring170Multi-core Cables with Connectors170Wiring of Primary Power Source172Index173Dimensioni: 3,8 MBPagine: 176Language: EnglishApri il manuale