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3. SETTING UP THE HANDLING SYSTEM

3.1

I/O
Input/output signals (I/O) are electric signals that allow the controller to communicate with the robot, end effector, external equipment, and other peripheral equipment of the system. The signals are divided into two group s: general-purpose I/O and specialized I/O.

General-purpose I/O
The user can define the general-purpose I/O as required. This group includes the following signals: Digital I/O: DI[i]/DO[i] Group I/O: GI[i]/GO[i] Analog I/O: AI[i]/AO[i] [i] represents the logic number of each I/O signal and group signal.

Specialized I/O
The use of the specialized I/O has already been defined. This group includes the following signals: Peripheral (UOP) I/O: UI[i]/UO[i] Operators panel (SOP) I/O: SI[i]/SO[i] Robot I/O: RI[i]/RO[i] [i] represents the logic number of each I/O signal and group signal. For Digital, Group, Analog, and Peripheral I/O, the logic ports can be mapped to the physical ports. They can be redefined. The physical numbers of the robot I/O are always the same as the logic numbers. They cannot be redefined.

Configuring I/O
An I/O module consists of the following hardware components. For details, refer to the Maintenance Manual.

Rack
The rack indicates the kind of hardware which composes I/O module. 0 = Process I/O PC board 1 to 16 = I/O Unit-MODEL A / B 32 = I/O Link slave 48 = Peripheral device interface (CRMA15, CRMA16)

SLOT
The slot indicates numbers of I/O module parts which compose the rack. When the process I/O PC board is used, the first connected board is SLOT 1, the second is SLOT 2 and others are numbered sequentially as this. When the I/O Unit-MODEL A or B is used, SLOT is the number identifying the connected module. For I/O link slaves or peripheral device interfaces (CRMA15 and CRMA16), the number is always 1.

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Peripheral Device Control Interfaces (CRMA15 and CRMA16)

The R-30iA Mate controller is equipped with peripheral device control interfaces, which have 28 input points and 24 output points in total. By default, the signals of the peripheral device control interfaces are allocated to DI[101-120], DO[101-120], DI[81-88], and DO[81-84]. In the LR handling tool, the peripheral device control interfaces are allocated to peripheral I/O signals.
Fig. 3-1 Peripheral device control interfaces
R-30iA Mate Controller CRMA15 CRMA16
Peripheral device A1 Peripheral device A2

Peripheral device control interfaceA1 CRMA15 A B 01 +24F +24F 02 +24F +24F 03 SDICOM1 SDICOM2 04 0V 0V 05 in 1 in 2 06 in 3 in 4 07 in 5 in 6 08 in 7 in 8 09 in 9 in 10 10 in 11 in 12 11 in 13 in 14 12 in 15 in 16 13 in 17 in 18 14 in 19 in 20 15 out 1 out 2 16 out 3 out 4 17 out 5 out 6 18 out 7 out 8 19 0V 0V 20 DOSRC1 DOSRC1

Peripheral device control interface A2 CRMA16 A B 01 +24F +24F 02 +24F +24F 03 SDICOM3 04 0V 0V 05 in 21 in 22 06 in 23 in 24 07 in 25 in 26 08 in 27 in28 09 10 out 9 out 10 11 out 11 out 12 12 out 13 out 14 13 out 15 out 16 14 out 17 out 18 15 out 19 out 20 16 out 21 out 22 17 out 23 out 24 18 19 0V 0V 20 DOSRC2 DOSRC2

Optional peripheral device cable interface 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 0V 0V Peripheral device A1 33 19 SDICOM1 34 20 SDICOM2 35 21 36 22 in 17 37 23 in 18 38 24 in 19 39 25 in 20 40 26 41 27 42 28 43 29 0V 44 30 0V 45 31 DOSRC1 46 32 DOSRC1 47 48 49 50 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 Peripheral device A2 33 19 SDICOM3 34 20 35 21 out 20 36 22 37 23 38 24 39 25 40 26 out 17 41 27 out 18 42 28 out 19 43 29 0V 44 30 0V 45 31 DOSRC2 46 32 DOSRC2 47 48 49 50 out 21 out 22 out 23 out 24

+24F +24F

0V 0V

out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 +24F +24F

I/O link (master/slave)

The R-30iA Mate controller has two modes: I/O link master mode and I/O link slave mode. I/O link slave mode The robot control device operates as an I/O link slave device and connects to an I/O link master device such as the CNC. I/O link master mode The robot control device operates as an I/O link master device and connects to an I/O link slave device. During shipment, the LR tool is set to the slave mode and the LR handling tool is set to the master mode. To switch between the I/O link modes, change system variable $IOMASTER and turn the power of the robot controller off and back on again. $IOMASTER=0: Slave mode
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3. SETTING UP THE HANDLING SYSTEM

$IOMASTER=1: Master mode When UOP automatic allocation is set to "Full (Slave)" or "Simple(Slave)", the slave mode is automatically set. In other settings, the master mode is set.

I/O allocation
Signals for general I/O (DI/O, GI/O, etc.) and special I/O (UI/O, RI/O, etc.) are called logical signals. In the robot controller, logical signals are subjected to signal processing. On the other hand, signals of actual I/O devices are called physical signals. Physical signals specify a device using a rack and slot and specify each signal using its signal number in the device. To control the signals of I/O devices in the robot controller, establish an association between physical signals and logical signals. The association is called I/O allocation. Generally, I/O allocation is performed automatically.

Standard I/O allocation

When I/O allocation is deleted and the power of the robot controller is turned on, the connected I/O devices are recognized and proper I/O allocation is automatically performed. The I/O allocation is called the standard I/O allocation. There are seven types of I/O allocation as shown below and each type has different allocation of peripheral I/O signals (UOP).
Name None Full Full (Slave) Full (CRMA16) Simple Simple (Slave) Simple (CRMA16) UOP allocation type No allocation All allocation All allocation All allocation Simple allocation Simple allocation Simple allocation I/O device to which UOP is allocated None I/O link master interface I/O link slave interface Peripheral device control interface (CRMA15 and CRMA16) I/O link master interface I/O link slave interface Peripheral device control interface (CRMA16)

During shipment, the LR tool is set to "Simple (Slave)" and the LR handling tool is set to "Simple (CRMA16)". Fig. 3-10 shows the interfaces to which each type of standard allocation is performed. To perform standard allocation, set " Automatic UOP allocation" as described below.

Procedure for setting automatic UOP allocation

CAUTION This operation deletes all I/O allocation settings.
1 2 Press the screen selection key to display the screen menu. Select "0 NEXT--" and then select "6 SYSTEM".
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3 4 5

Press F1 "TYPE" to display the screen switching menu. Select "Config". Move the cursor to the "UOP auto assignment" line. 44 UOP auto assignment: Simple(CRMA16) [ TYPE ] [ CHOICE ]

6 1 2 3 4

Press F4 "CHOICE" to display choices. None Full Full (Slave) Full (CRMA16) 5 Simple 6 Simple (Slave) 7 Simple (CRMA16) 8

44 UOP auto assignment: Simple(CRMA16) [ TYPE ] 7 [ CHOICE ]

8 9

Select the type of the standard I/O allocation. (When "Full (Slave)" or "Simple (Slave)" is selected, I/O link is set to the slave mode ($IOMASTER=0). When another type is selected, it is set to the master mode ($IOMASTER=1).) When "Clear ALL I/O assignment to apply this?" appears, press F4 "YES". When "Cycle power to apply new UOP assinment" appears, turn the power of the robot controller off and back on again.

UOP allocation types

There are the following two types of peripheral I/O signal (UOP) allocation. All allocation All peripheral I/O signals can be used. Eighteen input physical signals and 20 output physical signals are allocated to peripheral I/O signals. Simple allocation The peripheral I/O signals compatible with simple allocation of the R-J3iB Mate controller can be used. Eight input physical signals and four output physical signals are allocated to peripheral I/O signals. In simple allocation, the number of signals that can be used for general digital I/O is increased because the number of peripheral I/O signals is decreased, but the functions of peripheral I/O signals are restricted as shown in the table below.

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UI[1] UI[2] UI[3] UI[4] UI[5] UI[6] UI[7] UI[8] UI[9] UI[10] UI[11] UI[12] UI[13] UI[14] UI[15] UI[16] UI[17] UI[18]

IMSTP HOLD SFSPD CSTOPI RESET START HOME ENBL RSR1/PNS1 RSR2/PNS2 RSR3/PNS3 RSR4/PNS4 RSR5/PNS5 RSR6/PNS6 RSR7/PNS7 RSR8/PNS8 PNSTROBE PROD_START

Always ON Operable Always ON Allocated to the same signal as in RESET *1 Operable Operable No allocation Operable Operable as PNS1 *3 Operable as PNS2 *3 Operable as PNS3 *3 Operable as PNS4 *3 No allocation No allocation No allocation No allocation Allocated to the same signal as in START *2 No allocation

UO[1] UO[2] UO[3] UO[4] UO[5] UO[6] UO[7] UO[8] UO[9] UO[10] UO[11] UO[12] UO[13] UO[14] UO[15] UO[16] UO[17] UO[18] UO[19] UO[20]

CMDENBL SYSRDY PROGRUN PAUSED HELD FAULT ATPERCH TPENBL BATALM BUSY ACK1/SNO1 ACK2/SNO2 ACK3/SNO3 ACK4/SNO4 ACK5/SNO5 ACK6/SNO6 ACK7/SNO7 ACK8/SNO8 SNACK RESERVE

Operable No allocation No allocation No allocation No allocation Operable No allocation No allocation Operable Operable No allocation No allocation No allocation No allocation No allocation No allocation No allocation No allocation No allocation No allocation

*1 Since CSTOPI and RESET are allocated to the same signal, reset input can forcibly terminate the program if " CSTOPI for ABORT" is enabled. *2 Since PNSTROBE and START are allocated to the same signal, the program is selected at the leading edge (OFFON) of the START signal and the program is started at the trailing edge (ONOFF) of the START signal. *3 RSR cannot be used in simple allocation. Even if RSR is selected on the Prog Select screen, PNS is automatically selected during power-on.

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Fig. 3-10 Allocation of peripheral device control interfaces

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R-30iA Mate Controller CRMA15 CRMA16

Peripheral device A1 Peripheral device A2

Peripheral device control interface A1 CRMA15 A B 01 +24F +24F 02 +24F +24F 03 SDICOM1 SDICOM2 04 0V 0V 05 in 1 in 2 06 in 3 in 4 07 in 5 in 6 08 in 7 in 8 09 in 9 in 10 10 in 11 in 12 11 in 13 in 14 12 in 15 in 16 13 in 17 in 18 14 in 19 in 20 15 out 1 out 2 16 out 3 out 4 17 out 5 out 6 18 out 7 out 8 19 0V 0V 20 DOSRC1 DOSRC1

Peripheral device control interface A2 CRMA16 A B 01 +24F +24F 02 +24F +24F 03 SDICOM3 04 0V 0V 05 in 21 in 22 06 in 23 in 24 07 in 25 in 26 08 in 27 in28 09 10 out 9 out 10 11 out 11 out 12 12 out 13 out 14 13 out 15 out 16 14 out 17 out 18 15 out 19 out 20 16 out 21 out 22 17 out 23 out 24 18 19 0V 0V 20 DOSRC2 DOSRC2

interface Peripheral device A1 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 0V 0V 33 19 SDICOM1 34 20 SDICOM2 35 21 36 22 in 17 37 23 in 18 38 24 in 19 39 25 in 20 40 26 41 27 42 28 43 29 0V 44 30 0V 45 31 DOSRC1 46 32 DOSRC1 47 48 49 50 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 Peripheral device A2 33 19 SDICOM3 34 20 35 21 out 20 36 22 37 23 38 24 39 25 40 26 out 17 41 27 out 18 42 28 out 19 43 29 0V 44 30 0V 45 31 DOSRC2 46 32 DOSRC2 47 48 49 50 out 21 out 22 out 23 out 24

+24F +24F

0V 0V

out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 +24F +24F

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Fig. 3-10 Allocation of peripheral device control interfaces

Standard allocation of peripheral device control interfaces

Automatic UOP allocation: Simple (CRMA16) in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 in 17 in 18 in 19 in 20 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 out 21 out 22 out 23 out 24 DI[101] DI[102] DI[103] DI[104] DI[105] DI[106] DI[107] DI[108] DI[109] DI[110] DI[111] DI[112] DI[113] DI[114] DI[115] DI[116] DI[117] DI[118] DI[119] DI[120] UI[2] UI[5] UI[6] UI[8] UI[9] UI[10] UI[11] UI[12] DO[101] DO[102] DO[103] DO[104] DO[105] DO[106] DO[107] DO[108] DO[109] DO[110] DO[111] DO[112] DO[113] DO[114] DO[115] DO[116] DO[117] DO[118] DO[119] DO[120] UO[1] UO[6] UO[9] UO[10] Automatic UOP allocation: All (CRMA16) in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 in 17 in 18 in 19 in 20 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 out 21 out 22 out 23 out 24 UI[1] *IMSTP UI[2] *HOLD UI[3] *SFSPD UI[4] CSTOPI UI[5] RESET UI[6] START UI[7] HOME UI[8] ENBL UI[9] RSR1/PNS1 UI[10] RSR2/PNS2 UI[11] RSR3/PNS3 UI[12] RSR4/PNS4 UI[13] RSR5/PNS5 UI[14] RSR6/PNS6 UI[15] RSR7/PNS7 UI[16] RSR8/PNS8 UI[17] PNSTROBE UI[18] PROD_START DI[119] DI[120] DI[81] DI[82] DI[83] DI[84] DI[85] DI[86] DI[87] DI[88] UO[1] UO[2] UO[3] UO[4] UO[5] UO[6] UO[7] UO[8] UO[9] UO[10] UO[11] UO[12] UO[13] UO[14] UO[15] UO[16] UO[17] UO[18] UO[19] UO[20] DO[81] DO[82] DO[83] DO[84] CMDENBL SYSRDY PROGRUN PAUSED HELD FAULT ATPERCH TPENBL BATALM BUSY ACK1/SNO1 ACK2/SNO2 ACK3/SNO3 ACK4/SNO4 ACK5/SNO5 ACK6/SNO6 ACK7/SNO7 ACK8 ACJ8/SNO8 SNACK Reserve

Automatic Automatic Automatic Automatic Automatic in 1 in 2 in 3 in 4 in 5 in 6 in 7 in 8 in 9 in 10 in 11 in 12 in 13 in 14 in 15 in 16 in 17 in 18 in 19 in 20 in 21 in 22 in 23 in 24 in 25 in 26 in 27 in 28 out 1 out 2 out 3 out 4 out 5 out 6 out 7 out 8 out 9 out 10 out 11 out 12 out 13 out 14 out 15 out 16 out 17 out 18 out 19 out 20 out 21 out 22 out 23 out 24

UOP UOP UOP UOP UOP

allocation: allocation: allocation: allocation: allocation:

None All Simple All (slave) Simple (slave)

*HOLD RESET *1 START *2 ENBL PNS1 PNS2 PNS3 PNS4

DI[101] DI[102] DI[103] DI[104] DI[105] DI[106] DI[107] DI[108] DI[109] DI[110] DI[111] DI[112] DI[113] DI[114] DI[115] DI[116] DI[117] DI[118] DI[119] DI[120] DI[81] DI[82] DI[83] DI[84] DI[85] DI[86] DI[87] DI[88] DO[101] DO[102] DO[103] DO[104] DO[105] DO[106] DO[107] DO[108] DO[109] DO[110] DO[111] DO[112] DO[113] DO[114] DO[115] DO[116] DO[117] DO[118] DO[119] DO[120] DO[81] DO[82] DO[83] DO[84]

CRMA15 Peripheral device A1

CRMA16 Peripheral device A2

CRMA15 Peripheral device A1

CRMA16 Peripheral device A2

CMDENBL FAULT BATALM BUSY

*1: The physical number "in 22" is also allocated to UI[4](CSTOPI). *2: The physical number "in 23" is also allocated to UI[17](PNSTROBE).

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CONNECTIONS

4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES

4.2

I/O SIGNALS OF MAIN BOARD

There are 28 data inputs (DI) and 24 data outputs (DO) on main board. Table 4.2 shows I/O signals of main board.

Table 4.2 I/O Signals of main board Connector number Signal name (DI signals) CRMA15-A5 CRMA15-B5 CRMA15-A6 CRMA15-B6 CRMA15-A7 CRMA15-B7 CRMA15-A8 CRMA15-B8 CRMA15-A9 CRMA15-B9 CRMA15-A10 CRMA15-B10 CRMA15-A11 CRMA15-B11 CRMA15-A12 CRMA15-B12 CRMA15-A13 CRMA15-B13 CRMA15-A14 CRMA15-B14 CRMA16-A5 CRMA16-B5 CRMA16-A6 CRMA16-B6 CRMA16-A7 CRMA16-B7 CRMA16-A8 CRMA16-B8 DI101 DI102 DI103 DI104 DI105 DI106 DI107 DI108 DI109 DI110 DI111 DI112 DI113 DI114 DI115 DI116 DI117 DI118 DI119 DI120 *HOLD FAULT RESET START ENBL PNS1 PNS2 PNS3 PNS4

Description Peripheral device status

Remarks General signal

Temporary stop External reset Start Operation enabled Robot service request

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CONNECTIONS

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Connector number (DO signals) CRMA15-A15 CRMA15-B15 CRMA15-A16 CRMA15-B16 CRMA15-A17 CRMA15-B17 CRMA15-A18 CRMA15-B18 CRMA16-A10 CRMA16-B10 CRMA16-A11 CRMA16-B11 CRMA16-A12 CRMA16-B12 CRMA16-A13 CRMA16-B13 CRMA16-A14 CRMA16-B14 CRMA16-A15 CRMA16-B15 CRMA16-A16 CRMA16-B16 CRMA16-A17 CRMA16-B17

Signal name DO101 DO102 DO103 DO104 DO105 DO106 DO107 DO108 DO109 DO110 DO111 DO112 DO113 DO114 DO115 DO116 DO117 DO118 DO119 DO120 CMDENBL FAULT BATALM BUSY

Description Peripheral device control signal

Remarks General signal

During automatic operation Alarm Battery voltage drop During operation

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