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<Notes for Robot System “ Type A”>
1 Modified Deadman Switch Functions in Robot System "Type A"
In Robot System "Type A" designed for the RC5 controller, the functions of the
deadman switches provided on the optional devices have been partially modified
regarding the motor power ON/OFF control. Accordingly, the description given in the
instruction manuals that come with "Type A" is different from the actual functions.
When reading the deadman switch related sections, be careful with the following
modification.
1.1 Deadman switches on optional devices
(Teach pendant, operating panel, and mini-pendant)
Deadman switches are located as shown below.
Teach pendant
Operating panel
Mini-pendant
1.2 Modified deadman switch functions
When you operate the teach pendant, operating panel, or mini-pendant in Manual
mode or Teach check mode, the deadman switch controls the motor power ON/OFF
function in Robot System "Type A," while it does not in the description given in the
instruction manuals.
Robot System "Type A" Description given in the instruction manuals
(1) Unless the deadman switch is held down,
you may neither
operate the robot nor turn
the motor power ON.
(1) Unless the deadman switch is held down,
you may not operate the robot, but you may
turn the motor power ON.
(2) When the robot is in operation, releasing the
deadman switch will stop not only the robot
but also turn the motor power OFF.
(2) When the robot is in operation, releasing the
deadman switch will stop the robot but not
turn the motor power OFF (servo lock).
How to identify your robot system as "Type A"
Check the controller model on the nameplate located on the side of the robot controller or the robot
model shown on the status bar of the teach pendant screen. The model name of "Type A" contains
letter "A" as shown below.
Robot controller example: RC5-H4A-A
N
Robot example: HM-40702D A
Symbol denoting "Type A"
Deadman switches
Deadman switch
Deadman
switch
- 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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