ID : 1076

Changes from RC7M

The following table shows changes from RC7M.

Hardware

No Change Reason Measure Note
1 Motor and encoder cable is for RC8 exclusive use Space-saving Purchase newly  
2 Power cable is for RC8 exclusive use Space-saving Purchase newly  
3 RC7M Global spec. is equivalent to Standard spec. of RC8. Globalization For details, refer to manuals  
4 Safety I/O connector is integrated into Mini I/O connector Enhance Usability For details, refer to manuals No change of I/O assignment
5 Add Protective stop (2 systems) Enhance Usability For details, refer to manuals  
6 Mini I/O's internal/external power supply method change is performed by TP Enhance Usability For details, refer to manuals Short socket for changing power supply is not shipped with RC8 since it is not used.
7 Include one PCI board.(RC7 has three boards) Space-saving For details, refer to manuals A piece of PCI express is added
8 Protect external wiring of I/O with self recovery fuse Enhance Usability   If short-circuit is likely to occur, shunt by self recovery fuse and display the short point on the pendant screen.
Fuse and other IC for output are not shipped because the circuit is back to normal condition without parts replacement when short-circuit resolved.
9 Field network board is RC8 exclusive use. (DeviceNet, CCLink, PROFIBUS, EtherNet/IP) Globalization Purchase newly  
(DeviceNet, CC-Link, PROFIBUS, EtherNet/IP)
10 One driver board controls two axis Space-saving   Driver board replacement is for two axis each
11 Free of controller's memory backup battery replacement Easy of maintenance   RC7M requires to replace the memory backup battery every two years.
RC8 requires the internal clock battery replacement only once every ten years.

Software

No Change Reason Measure Note
1 TP display Enhance Usability For details, refer to manuals Basic menu compositions are not changed.
(layout, color, icon, etc.)
2 (RC7) Program PRO1 ... End VBA-compliance For details, refer to manuals When starting up programs from I/O, file name is used.
(RC8) Sub Main ... End Sub
3 The number of elements of J-type variable becomes 8 Enhance the External axis usability For details, refer to manuals  
4 Integrate 4-axis robot's coordinate system into 6-axis robot's coordinate Dissolve the inconsistent between 4-axis and 6-axis For details, refer to manuals Pay attention to T-axis motion of SCARA robot.

Precision of FIG switching boundaries improved
(Approach direction of tool coordinate is downwards from flange)
5 Integrate internal auto mode and external auto mode into one. ISO-compliance For details, refer to manuals Internal/External mode of RC7 and before was Denso-proprietary specification
6 Turning motor ON/OFF by deadman switch ISO-compliance For details, refer to manuals Able to change by setting
7 To call other programs, "#Include" is required. Enhance Usability For details, refer to manuals This makes it easier to modularization of programme
(Localization of local variables)
8 Change folder variables to static variables. VBA-compliance For details, refer to manuals  
9 PAC command names and specifications are changed Enhance Usability, VBA-compliance For details, refer to "RC7 command correspondence table"  
(e.g.; True is "-1", casting in I-type variables)
10 Cannot use WINCAPSIII in RS-232C connection   Please connect with ethernet.  
11 IO command I-type variables writing command. Enhance Usability For details, refer to manuals Able to operate by TP control, manual mode.
12 Input/output from commercially available board Function improvement For details, refer to manuals Able to access to commercially available board from PacScript
13 Control log Enhance Usability For details, refer to manuals Able to acquire values and other data when simulation.
Current values of each axis differ depending on the controller.
RC8: A value compared with the rated value
RC7M: A value compared with the overcurrent error detection level
14 Servo control log (Servo single-axis log) Enhance Usability For details, refer to manuals Change to multiple-axis and increase the number of acquirable data type
15 GetSrvData/GetSrvJntData Enhance Usability For details, refer to manuals Integrate to SI unit
16 Without S-Link support Function arrangement    
17 Error number Enhance Usability For details, refer to manuals Adjust to the error system
18 TP operation function Enhance Usability For details, refer to manuals Improve display and expression
19 Integrate J4Fig(Single, Double) of 4-axis robot to 6-axis robot Dissolve the inconsistent between 4-axis and 6-axis For details, refer to manuals  
20 Add J1Fig(single,Double) to 4-axis robot Dissolve the inconsistent between 4-axis and 6-axis For details, refer to manuals  
21 Change the trajectory of continue-start from instantaneous stop during Pass motion   For details, refer to manuals  
22 Deadman switch is not necessary when switching on/off of IO by teach pendant. Enhance Usability For details, refer to manuals In RC7M global specification's case, deadman switch is required.
23 A line opened by one task cannot be used by other tasks for data communication.   For details, refer to manuals Setting a program parameter [34: Permission for a line sharing for multiple tasks] to [1: Enabled] will allow other tasks using the opened line for data communication.
24 (RC7) #Ifdef SCARA_ROBOT or VERTICAL_ROBOT
(RC8) #If SCARA_ROBOT or VERTICAL_ROBOT		 Function improvement For details, refer to manuals
(Embedded Macro)		 Pre-processor commands are expanded
25 Area is always checked. Function improvement   In RC7, Area is checked only when Motor is ON-state, Machine-Lock is ON-state, or robot is in direct mode.
26 Change an I/O command which parity is calculated. Function　arrangement For details, refer to manuals Parity is calculated on all I/O commands in RC7, and on I/O commands dealing with status area in RC8.
27 When a value is entered in I-type variable, the value is rounded down to the whole number in RC7. In RC8, the value is rounded to the units. Function arrangement For details, refer to manuals. In RC8, to round down a value to the whole number, use FIX command.

ID : 1076