DENSO RC8/A Analog IO

DENSO's RC8/A controller allows the use of analog signals. This guide details what is required and how to set up this function.

Required Items:

 RC8 Controller w/ Contec Motion Control Board

Provider enabled

 RC8 mini IO connector (safety I/O connections)

 RC8 power cable

 Optional: RC8 teaching pendant

 Contec AIO‐121601M‐PCI card 12‐bit analog card

 EPD‐96 screw terminal

 PCB96PS‐1.5P cable

Instructions

1. Input AIO board license key into RC8 extensions menu.

This license is free and can be generated from Denso Wave’s website.

    https://www.denso‐wave.com/en/robot/

2. Refer to Denso RC8 Owners Manual set for how to input provider license keys

Installing the AIO Card

1. Remove RC8 top cover

2. Remove screws mounting the PCI slot holder. The screws in the front are circled in black on the controller.

3. Remove holder and install AIO board. Secure board to holder with the screw that was used for the dust cover.

4. Reinstall holder and board into RC8 controller

Wiring

1. Connect PCB96P5‐1.5P cable between the AIO board and EPD‐96 screw terminal unit

2. Short all unwanted analog inputs to ground. Failing to do so will cause all the inputs to read from the other analog ports

3. Wire in your analog sensor to desired analog input port.

4. For this case, we used analog input AI0. Please see EPD‐96 pinout.

5. We also wired a volt meter to the analog output to test the analog output voltage.

Sample Panel

#include <PanelMain.h> raw

Dim g_ctrl as Object 'For CaoController object

Dim g_varAO0 As Object 'For variable object used to access the AIO board

Dim g_varAI0 as Object 'For variable input

Dim g_varAI1 as Object 'For variable input

Dim g_varAI2 as Object 'For variable input

Dim g_varAI3 as Object 'For variable input

Dim g_varAI4 as Object 'For variable input

Dim g_varAI5 as Object 'For variable input

Dim g_varAI6 as Object 'For variable input

Dim g_varAI7 as Object 'For variable input

Dim g_varAI8 as Object 'For variable input

Dim g_varAI9 as Object 'For variable input

Dim g_varAI10 as Object 'For variable input

Dim g_varAI11 as Object 'For variable input

Dim g_varAI12 as Object 'For variable input

Dim g_varAI13 as Object 'For variable input

Dim g_varAI14 as Object 'For variable input

Dim g_varAI15 as Object 'For variable input

Sub Panel_INITIALIZE()

On Error Goto ErrorProc

'Establish (open) connection

g_ctrl = cao.AddController("AIO", "CaoProv.CONTEC.AIO","","DeviceName=AIO000")

'Acquire device name

DeviceName.Caption = g_ctrl.AddVariable("@DeviceName").Value

'Create variable object(Specify data size(8bit))

g_varAO0 = g_ctrl.AddVariable("AO0")

g_varAI0 = g_ctrl.AddVariable("AI0", "")

g_varAI1 = g_ctrl.AddVariable("AI1")

g_varAI2 = g_ctrl.AddVariable("AI2")

g_varAI3 = g_ctrl.AddVariable("AI3")

g_varAI4 = g_ctrl.AddVariable("AI4")

g_varAI5 = g_ctrl.AddVariable("AI5")

g_varAI6 = g_ctrl.AddVariable("AI6")

g_varAI7 = g_ctrl.AddVariable("AI7")

g_varAI8 = g_ctrl.AddVariable("AI8")

g_varAI9 = g_ctrl.AddVariable("AI9")

g_varAI10 = g_ctrl.AddVariable("AI10")

g_varAI11 = g_ctrl.AddVariable("AI11")

g_varAI12 = g_ctrl.AddVariable("AI12")

g_varAI13 = g_ctrl.AddVariable("AI13")

g_varAI14 = g_ctrl.AddVariable("AI14")

g_varAI15 = g_ctrl.AddVariable("AI15")

Exit Sub

ErrorProc:

End Sub

Sub Panel_TERMINATE()

cao.Controllers.Remove g_ctrl.Index

g_ctrl = Nothing

End Sub

Sub Output_CLICKED()

'Output specified voltage value

g_varAO0.value = DC.Value

F0 = DC.value

End Sub

Sub Timer1_TIMER()

NB1.value = g_varA0.value

F2 = g_varAI0.value

NB2.value = g_varAI1.value

F3 = g_varAI1.value

NB3.value = g_varAI2.value

F4 = g_varAI2.value

NB4.value = g_varAI3.value

F5 = g_varAI3.value

NB5.value = g_varAI4.value

F6 = g_varAI4.value

NB6.value = g_varAI5.value

F7 = g_varAI5.value

NB7.value = g_varAI6.value

F8 = g_varAI6.value

NB8.value = g_varAI7.value

F9 = g_varAI7.value

NB9.value = g_varAI8.value

F10 = g_varAI8.value

NB10.value = g_varAI9.value

F10 = g_varAI9.value

NB11.value = g_varAI10.value

F11 = g_varAI10.value

NB12.value = g_varAI11.value

F12 = g_varAI11.value

NB13.value = g_varAI12.value

F13 = g_varAI12.value

NB14.value = g_varAI13.value

F14 = g_varAI13.value

NB15.value = g_varAI14.value

F15 = g_varAI14.value

NB16.value = g_varAI15.value

F16 = g_varAI15.value

End Sub

Sub FK1_CLICKED()

page_change main

End Sub

Additional Notes

• 16 analog input channels

• 1 analog output

• Input voltage range +/‐ 10V

• Output voltage range +/‐ 10V