ORiN 2 - Robot Controller Setup (RC8 / RC8A / COBOTTA)

Modified on Fri, 11 Jun 2021 at 02:08 PM

**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM. 


The best way to obtain the latest documentation regarding the ORiN and how to communicate with your DENSO robot equipment is to download the latest version of the ORiN SDK. The following sections would reference documents that you would find on your system after you install the SDK.

Tools and Parts needed

  • Compatible robot controller
  • Full size or mini teach pendant
  • RC8_ProvGuide_en PDF document of the SDK install (C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Doc)

Controller Setup

Set Executable Token to Ethernet

Section - Setup using the teach pendant

Operation Path: 

[F6 Setting] >> [F5 Communication and Token] >> [F1 Executable Token]

Select Ethernet as the executable token and input your PC (the one that will be sending commands to the controller) IP address by pressing [F5 Edit]. Remember that both PC and RC should be in the same network.

You will need the executable token set properly if you intend to turn the Motor ON/OF  or start a program from your PC application. This is not necessary if you intend to read and write to global variables only.

Set the network IP address on the RC

Section - Setup using the teach pendant

Operation Path: 

[F6 Setting] >> [F5 Communication and Token] >> [F2 Network and Permission]

Select the IP field and press [F5 Edit] to set an IP address that is in the same network as your PC. 

Changing Mini I/O to all general option

If your PC application intends to execute programs, then signals like "Step Stop (All tasks)" and "Instantaneous stop signal" need to be set to enable.

In the RC8, RC8A, and COBOTTA it is possible to reconfigure the Signal inputs and avoid wiring the Step Stop signal by changing the mini I/O to All General.

[Operation Path]

[F4 I/O] >> [F6 Aux] >> [F5 I/O Parameters]

Select parameter No. 147: Mini I/O All general. Set the value to 1 by pressing [F5 Edit].

Note 1: 
By activating mini I/O all-general option, a special I/O input assignment of step stop signal is nullified, and the robot cannot be step-stopped by the I/O input.

Note 2: 
By activating mini I/O all-general option, step stop wiring becomes not necessary. However, wiring for auto enable input and emergency stop input are still necessary even if the option is activated.

You might need to restart the controller for this change to take effect

Next Steps:

  • ORiN2 - Overview
  • RC8 Provider User's Guide - Chapter 2.3: Operation check using CaoTester
  • CaoTester User's Guide (C:\ORiN2\CAO\Tools\CaoTester\Doc\CaoTester_UsersGuide_en.pdf)
  • RC8 (VRC) Code Samples (C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples)

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