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ID : 2339

Robot Controller

General Info.

Q A
What types of option boards are available? Are there boards listed in RC8 manual? There are variety of boards. For details, please refer to ID 987 of DENSO ROBOT USER MANUAL.
Where can we buy DENSO robots? How much it? You can purchase our robots from our dealers. For details, please contact our sales office.
How long is the warranty period of RC8? Warranty period should be a period of 24 months from the shipment of the product. However, within the said period, the warranty is valid either; for a period of 18 months from the start of use, or up to 6,000 hours of operation (running) time.
For details, please refer to ID 6085 of DENSO ROBOT USER MANUALS.
Where should we contact in case of failure? We will inform the contact addresses of service representatives.
Please contact the nearest support office.
Contact addresses are listed in ID 1078 of DENSO ROBOT SERVICE MANUAL as well. 
What is the safety category of RC8 standard type? Safety category is 4.
Can we choose the length of Motor & Encoder cable that connects RC8 to a robot unit? Yes.
Are there any types of Motor and Encoder cable other than the straight type? Yes. We offer an angle type as well.
Does RC8 have global specification? Yes. RC8 standard type is a global specification because it equips the safety IO box.
RC7M standard type is not a global specification because it does not equip the safety IO box.
For RC8, is it possible to use a teach pendant that we've used in RC7M? Yes.
Are there any devices that we have to prepare for UL specification? Prepare a teach pendant or a mini-pendant.
If your robot is VS-050, -060, -068, or -087, you also need to prepare a brake release unit.
How many extension boards can be installed in RC8? Up to 2 boards (one PCI board and one PCIexpress board) can be added.
Are RC8 expansion boards common to RC8 and RC7M? All expansion boards are designed to respective controllers.
(Expansion board for RC7M cannot be used for RC8.)

Installation/Maintenance

Q A
How long is the RC8 power cable? Five meters
What is the purpose of Functional grounding that is mentioned in the installation condition of RC8? The purpose of functional grounding is to prevent noise emission as well as to protect RC8 from noise. Whereas, the purpose of protective grounding is to prevent electric shock. 
Please tell us the power supply specification of the RC8 controller protective box. Power supply specifications are as follows;
Three-phase: 185 to 253VAC (200VAC-7% to 230VAC＋10%)
Single-phase : 207 to 253VAC (230VAC±10%)
For details, please refer to ID 5489 of DENSO ROBOT USER MANUALS.
What is the IP code of RC8? IP20
What is the power supply capacity? Power supply capacity differs depending on the robot type (specifications).
For details, please refer to ID 1333 of DENSO ROBOT USER MANUALS.
What is the RC8 IO conversion box? RC8 I/O conversion box allows you to use RC5 INPUT connector (CN8), OUTPUT connector (CN10), and I/O Power (CN7) as-is. To use RC8 I/O conversion box, you need to install a Parallel IO board (option board) into RC8 (Safety I/O less specification).
We would like to know the installation direction of RC8. There are three types of setting ways; Stand-alone, Fixing- or Wall-mount, and Upright setting.
For details, please refer to ID 1331 of DENSO ROBOT USER MANUALS.
We would like to know the installation environment for RC8. Please refer to ID 1330 of DENSO ROBOT USER MANUALS.
What is the weight of RC8 standard type? Approximately 12 kilograms.
Are there any connectors and jumper pins that sets internal/external power supply of IO power supply? In RC8, you can change the external/internal power supply with a teach pendant (Factory default setting is External power supply.).
* RC5 does not have I/O power connectors. RC7M does not have jumper pins.
Do we have to lay wires after purchasing a robot? At least, you need to prepare a power cable, Motor-and-Encoder cable, and Mini-I/O wiring.
Mini I/O requires wirings for Enable auto, External emergency stop, and Protective stop.
How often do we have to replace the internal batery of RC8? RC8 includes a battery to maintain the time and date of clock. The lifetime of this battery is 10 years. After the the years has passed, please contact our service or sales representative for replacement.
Are the Motor and Encoder cable common to RC8 and RC7M?  No. This is RC8-dedicated cable.
(To save the connector wiring space.)
Are the power cable common to RC8 and RC7M?  No. This is RC8-dedicated cable.
Does RC8 equip a safety I/O-dedicated connector? No. Safety I/O connector is integrated into Mini I/O connector.
Does RC8 equip a fuse for input circuit protection? No. RC8 uses resettable fuses so that users will have no trouble of replacing them.
Is it possible to add extended joints after controller installation? Please consult with the nearest sales office.
On RC8, where are the connection ports of encoder cable and motor cable? On the right front side of RC8.
One connector of a motor cable consists of two motor axes. Four-axis robot has two connection ports and Six-axis robot has three connection ports.
From the leftmost side, SLOT1 for J1&J2, SLOT2 for J3&J4, and SLOT3 for J5&J6.
Encoder cable is located immediate below the controller power switch. Encoder cables of all axes are bundled in one connector.
We want to share a teach pendant another RC8. Is it possible to run RC8 in Auto mode without connecting a teach pendant? Yes.
Automatic operation without teach pendant is achieved by mounting a pendantless dummy connector, which is shipped with an RC8 as a standard part. However, for the manual operation, you need to prepare a teach pendat or mini pendant,

Operation/Function

Q A
How can we check the version of RC8? You can check the RC8 version with a teach pendant.
From the top screen, press [F6: Setting] - [F2: System Info].
Please tell us passwords of Programmer and Maintainer. For Programmer ; 5596045
For Maintainer ; 5596060
To change the login status, from the main menu, press [F6 : Setting] - [F1 : Login]
How can we configure the program expansion? Use a teach pendant.
From the main menu, press [F6: Setting] - [F8 : Option] - [F1: Extension].
When are we likely to use an RS-232C connector? Use the connector when you connect to external devices, such as a camera. Please note that RS-232C is not available for RC8 to communicate with WINCAPSIII, although it is available in RC7M.
When are we likely to use a USB connector? Use this connector to connect to a USB camera, to read/write data via USB memory (backup, log, etc.), and to upgrade RC8 software.
If we purchase an expansion board solely, does the RC8 controller recognizes it automatically as the RC7M does? No.
You need to set an allocation mode by using WINCAPSIII, and then send IO parameters to RC8.
To add an expansion board, what do we have to prepare? Prepare licenses for an expansion board and the function expansion.
Is it possible to back up data with USB memory? Yes.
For details, please refer to ID 1787 of DENSO ROBOT MANUAL.
Setting items written in the RC8 manual are not displayed in the teach pendant. Some setting items are not displayed in the teach pendant depending on the user level. Logging in the teach pendant with higher user level may enable to display these items. For details, please refer to ID 1772 of DENSO ROBOT USER MANUALS. 
Is it possible to connect RC8 to WINCAPSIII via RS232C? No.
Only Ethernet connection is available.
Are error codes of RC8 and RC7M the same? No.
Error codes of RC8 are 8-digit number.
Is it possible to output 8-digit error codes of RC8? Yes.
From the I/O parameter, set User output start port.
To set a start port, with a teach pendant, from the top screen, press [F4:I/O] -[F6: Aux] - [F5 : I/O parameters] - [445 : 32bit Error Code Output IO No].
This occupies 32 ports (including the start port).
When we use RC8 in Auto mode, can we set the external speed with a teach pendant? Yes.
RC7M has External/Internal mode. When External mode is selected, RC7M can stop operation only.
However, in RC8, because External and Internal modes are integrated, operations other than the program start are available.
What is the difference between a teach pendant and Mini pendant? Mini pendant is an input and operation devices that executes robot manual operation, program start, and teaching.
This is not capable of programming. By combining WINCAPSIII or WINCAPSIII Light with a pendant, you can program efficiently.
How can we keep the TOOL number that is used immediately before the shutdown. It is impossible to maintain the tool number after rebooting.
Specify Operation mode (Joint, XY, TOOL), TOOL number (0 to 63), WORK number (0 to 7) at the controller start-up. If not, Joint mode, TOOL0, and WORK0 are selected automatically.
To check the robot motion during machine-lock state, do we need a PC (WINCAPSIII)? If you have a teach pendant, you can see the robot motion from [F2: Arm] window only when the machine-lock is selected.
What is an executable token? Executable token is a control authority that is given to devices to allow execution of robot program and motor power-on.
There are four types of control.
- Any : All devices
- TP : Teach pendant or Mini pendant
- IO : Computer or PLC
- Ethernet : Computer or PLC
Factory default is [I/O].
How can we change executable token? With a teach pendant, select [F6: Setting] - [F5: Communication and Token] - [F1 : Executable Token]
Do we have to set motor power ON when obtaining robot position into a variable? You can obtain the robot position even if the motor power is OFF.
How do we switch Motor ON/OFF? When in manual mode or teach check mode, motor power turns ON when deadman switches is gripped.
In Auto mode, motor power turns on by pressing MOTOR directly.
In a teach pendant, is Smart display available for I/O? Yes.
From the IO window, select Smart checkbox of desired IO number, and then select a checkbox of [F4 : Dummy / Smart]. Press [Smart] on the bottom left of the window to display the Smart view.
In a teach pendant, is Smart display available for variables? Yes.
From the variable window, select Smart checkbox of desired variable number, and then select a checkbox of [F5 : Edit]. Press [Smart] on the bottom left of the window to display the Smart view.
Can we change the way of Motor ON/OFF to conventional way? Yes.
From the teach pendant, press [F6 Setting] - [F3 Pendant and Panel] - [F7 DSW interlock] and then set the Deadman switch linkage function to OFF.

Robot Unit

Q A
If a robot is communication interface flange-A type, is it possible to supply electric power via PoE? Yes.
Communication interface flange-A type equips 1000BASE-T (CAT5e) -standard cables.
What is the difference among VS-A1,VS-A2, VS-A3, and VS-A4? These notations have different combinations of robot unit and robot controller.
VS-A1 : VS050/VS060 + RC7M controller
VS-A2 : VS068/VS087 + RC7M controller
VS-A3 : VS050/VS060 + RC8 controller
VS-A4 : VS068/VS087 + RC8 controller

Electrical Circuit

Q A
How can we "Continue-start" a robot that has been stopped by "Emergency stop"?  With a teach pendant, on the Program parameter list, change the setting of [13: Program stop state of emergency stop].
"Continue stop" means the program-stop state that occurs when (1) Emergency stop button on the teach pendant is pressed, or, (2) External emergency stop signal is issued.
For details, refer to ID 1639 of DENSO ROBOT MANUAL.
How can we get an EDS file? EDS file has been installed in RC8 beforehand. To obtain the file, connect the controller to a computer. For details, please refer to ID 1468 of DENSO ROBOT MANUAL.
You can also download it from our website (field network-related).
When we try to control RC8 from PLC through an expansion board, an error occurs. How can we avoid that? [Step stop] and [Instantaneous stop] signals of System input turn OFF in short-circuit state.
The robot stops when at least one of these signals opens.
For details, please refer to ID 1002 and 1003 of DENSO ROBOT USER MANUALS.
What is odd parity? Odd parity is a mechanism that prevents wrong detection of IO command. This mechanism adjusts the sum of command bits to odd number at any time. When the sum of command bits is even number, it is deemed as an error.
If we control RC8 from a PLC, do we have to use a command that selects external auto mode? Not necessary.
In RC8, internal auto mode and external auto mode are integrated.
When we move a robot in Manual mode, do we need to set Enable auto signal OFF? No you don't.
In RC8, you can move a robot in Manual mode or Teach check mode, even if Enable auto signal is ON.
Are the protective stop of RC8 and that of RC7M the same? No.
In RC7M, protective stop and Enable auto are connected in series, whereas protective stop of RC8 is independent. In RC8, protective stop is effective only in the Auto mode.
What is Mini I/O? Mini-IO is a parallel IO that is offered as a standard component. Number of IO is as follows;
<Standard controller (global specification)>
Input : User IO 8 ports + System IO 14 ports.
Output : User IO 8 ports + System IO 16 ports
What is Hand I/O? Hand IO is a parallel IO that is offered as a standard component. This IO is mainly used to control the robot hand-embedded valve or the automatic switch.
Number of IO is as follows;
Input : User IO 8 ports + System IO 14 ports.
Output : User IO 8 ports + System IO 16 ports
How can we add I/O port? We prepare many types of IO expansion boards as option. RC8 has two expansion slots. Up to two IO expansion boards can be mounted simultaneously.
What types of signals does Mini I/O equip?

The following signals are provided:

  • System input (7 ports) : External emergency stop input 1 and 2, Enable Auto input 1 and 2, Step stop (all task), Protective stop input 1 and 2
  • System output (11 ports) : Auto Mode, Robot Initialized, Robot Running, CPU Normal, Robot Error, Operation Preparation Completed, Battery Warning, Pendant Emergency Stop 1and 2, Deadman SW 1and 2
  • Input for command execution (7 ports) : Command and data area, Strobe signal
  • Output for command execution (1 port) : Command processing completed
  • User input (8 ports)
  • User output (8 ports)
What is the difference between Standard mode and Compatible mode?

If an expansion board is mounted, the following four modes are available.

  • Mini-IO dedicated mode : Robot motion is specified by the combination of bits. Compare to the standard allocation, functions are limited.
  • Compatible mode: Functions (such as program execution) are allocated to respective bits. Raising a bit issues a designated motion.
  • Standard mode : Use a combination of bits (IO command) to execute a program. This allocation has the functions most.
  • All User IO mode : All ports in IO expansion board are user ports.

Programming

Q A
Can we use RC7M program for RC8? No.
* Programs for RC7M are "*.pac" format, and programs for RC8 are "*.pcs" format.
Can RC8 call other programs? Yes.
In the setting area, you need to invoke a Call-program by writing "Include".
Are the local variables of RC7M and that of RC8 the same? No.
RC7M keeps setting values after power-off (values are initialized by compiling).
RC8 deletes (invalidate) local variables when programs end.
Is RC8 capable of saving local variables? Yes.
You can keep values after power-off by using Static variables.
Does RC8 have folder variables? No.
To refer variables from other tasks, use Public variables.
Are robot languages of RC8 and that of RC7M the same? No.
RC8 uses PacScript which is VBA-compliance (some robot motion commands are SLIM-compliance).
* RC7M uses PAC which is SLIM-compliance language.
Regarding commands, is there any compatibility between RC8 and RC7M? Most of motion commands have compatibility.
Programming and conditional branching are changed due to VBA-compliance.
For details, please refer to ID 513 of DENSO ROBOT USER MANUALS.
Does RC8 have ProgramLibrary? No. In RC8, programs in RC7M ProgramLibrary are converted to commands. For details, please refer to ID 513 of DENSO ROBOT USER MANUALS.
Can RC8 use RC7M ProgramLibrary? No. In RC8, programs in RC7M ProgramLibrary are converted to commands. For details, please refer to ID 513 of DENSO ROBOT USER MANUALS. 

Others

Q A
In what format is the RC8 manual offered? HTML format.
The manual DVD is shipped with the product when you purchase an RC8. You can also download the RC8 CONTROLLER MANUAL from DENSO WAVE homepage after logon.

ID : 2339

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