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General Contents
Chapter 1
OVERVIEW ........................................................................................................... 1-1
1-1
Features of the DRCX Series Controller ................................................................................. 1-2
1-2
Setting Up for Operation ....................................................................................................... 1-3
1-3
External View and Part Names ............................................................................................... 1-4
1-3-1
DRCX controller ............................................................................................................................................ 1-4
1-3-2
TPB ................................................................................................................................................................ 1-6
1-4
System Configuration ............................................................................................................. 1-7
1-4-1
System configuration ..................................................................................................................................... 1-7
1-5
Accessories and Options ........................................................................................................ 1-8
1-5-1
Accessories .................................................................................................................................................... 1-8
1-5-2
Peripheral options ......................................................................................................................................... 1-8
Chapter 2
INSTALLATION AND CONNECTION .................................................................. 2-1
2-1
Installing the DRCX Controller .............................................................................................. 2-2
2-1-1
Installation method ....................................................................................................................................... 2-2
2-1-2
Installation location ....................................................................................................................................... 2-2
2-2
Connecting the Power Supply ................................................................................................ 2-3
2-2-1
Power supply ................................................................................................................................................. 2-3
2-2-2
Connecting the power supply ........................................................................................................................ 2-4
2-2-3
Installing an external leakage breaker ........................................................................................................... 2-4
2-2-4
Installing a circuit protector .......................................................................................................................... 2-5
2-2-5
Installing current control switches ................................................................................................................ 2-5
2-2-6
Insulation resistance and voltage breakdown tests ........................................................................................ 2-5
2-3
Grounding .............................................................................................................................. 2-6
2-4
Connecting the DRCX to the Control Unit ............................................................................. 2-6
2-5
Connecting to the Robot ........................................................................................................ 2-7
2-5-1
Robot I/O connector and signal table ........................................................................................................... 2-7
2-5-2
Motor connector and signal table .................................................................................................................. 2-7
2-6
Connecting to the I/O Connector .......................................................................................... 2-8
2-7
Connecting to the Regenerative Unit ..................................................................................... 2-9
2-8
Connecting the Absolute Battery.......................................................................................... 2-10
Chapter 3
I/O INTERFACE .................................................................................................... 3-1
3-1
I/O Signals ............................................................................................................................. 3-2
3-2
Input Signal Description ........................................................................................................ 3-3
3-2-1
Dedicated command input ............................................................................................................................ 3-3
3-2-2
General-purpose input (DI0 to DI15) ............................................................................................................ 3-6
3-2-3
SERVICE mode input (SVCE) .......................................................................................................................... 3-7
3-2-4
Interlock (LOCK) ........................................................................................................................................... 3-7
3-2-5
Emergency stop inputs 1, 2 (EMG1, EMG2) ................................................................................................... 3-7
3-3
Output Signal Description ..................................................................................................... 3-8
3-3-1
Dedicated output .......................................................................................................................................... 3-8
3-3-2
General-purpose output (DO0 to DO12) ...................................................................................................... 3-9
3-4
I/O Circuits ............................................................................................................................3-9
3-4-1
I/O circuit specifications ............................................................................................................................... 3-9
3-4-2
I/O circuit and connection example ............................................................................................................ 3-10
3-5
I/O Connection Diagram ..................................................................................................... 3-12
3-5-1
General connections for internal 24V power supply ................................................................................... 3-12
3-5-2
Connection to PLC output unit using external 24V power supply ............................................................... 3-13
3-5-3
Connection to PLC input unit using external 24V power supply .................................................................. 3-14
3-6
I/O Control Timing Charts ...................................................................................................3-15
3-6-1
When turning the power on ........................................................................................................................ 3-15
3-6-2
When executing a dedicated input command .............................................................................................. 3-16
3-6-3
When interlock signal is input ..................................................................................................................... 3-20
3-6-4
When emergency stop is input .................................................................................................................... 3-21
3-6-5
When alarm is issued ................................................................................................................................... 3-21
3-6-6
When executing a point movement command ............................................................................................ 3-22
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