Denso RC5 Dokumentacja Pobierz pdf (Strona 48)

Chapter 4

Specifications of the Robot Controller

4.1 Specifications

The table below lists the specifications of the robot controller.

RC7M Controller Specifications (1) (HS-G series)

Item Specifications

Applicable robot Small-sized, horizontal articulated type (HS-G)

model RC7M-HSG4BA-**

Control system PTP, CP 3-dimensional linear, 3-dimensional circular

No. of controllable axes Up to four axes simultaneously

Drive system All axes: Full-digital AC servo

Language used DENSO robot language (conforming to SLIM)

Memory capacity 3.25 MB (equivalent to 10,000 steps, 30,000 points)

Teaching system 1) Remote teaching 2) Numerical input (MDI)

Mini I/O

Input signals: 8 user open points + 11 fixed system points

Output signals: 8 user open points + 14 fixed system points

Note: In global type, some fixed system points are not used.

Standard I/O

HAND I/O

Input signals: 8 user open points

Output signals: 8 user open points

SAFETY I/O

(Only for Global type)

Input signals: 6 fixed system points

Output signals: 5 fixed system points

2 boards

Input signals: Additional 80 user open points

Output signals: Additional 96 user open points

Parallel I/O

board

(Option)

1 board

Input signals: Additional 40 user open points

Output signals: Additional 48 user open points

Master & slave

Input signals: 1024 points (Master) + 256 points (Slave)

Output signals: 1024 points (Master) + 256 points (Slave)

Master

Input signals: 1024 points

Output signals: 1024 points

DeviceNet

board

(Option)

Slave

Input signals: 256 points

Output signals: 256 points

External

signals

(I/O)

CC-Link

board

(option)

Slave

Input signals: 384 points

Output signals: 384 points

(including remote registers RWw and RWr)

External

communication

RS-232C: 1 line

Ethernet: 1 line

USB: 2 lines

Extension slot 3 (For an optional board)

Self-diagnosis function Overrun, servo error, memory error, input error, etc.

Timer function 0.02 to 10 sec. (in units of 1/60 sec.)

Error display

Error codes will be outputted on the external I/O.

Error messages will be displayed in English on the teach pendant (option).

Error codes will be displayed on the mini pendant (option).

Motor & encoder cable

(option)

2 m, 4 m, 6 m, 12 m, 20 m

(Standard / Splash-proof)

I/O cable

(option)

8 m, 15 m

(For Mini I/O, HAND I/O, Optional board for parallel I/O and SAFETY I/O)

Cables

Power cable 5 m

1 2 ... 43 44 45 46 47 48 49 50 51 52 53 54 55 56

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