Denso RC8 User manual

DENSO ROBOT
RC8 CONTROLLER
ELECTRIC GRIPPER
CONTROL BOARD
USER'S MANUAL

Copyright © DENSO WAVE INCORPORATED, 2013-2016
All rights reserved. No part of this publication may be reproduced in any form or by any
means without permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of
their respective holders.

1. Preface................................................................................................................................... 1
2. FOR SAFE USE..................................................................................................................... 2
2.1. CAUTION ....................................................................................................................... 3
2.1.1. General ................................................................................................................... 3
2.1.2. Design..................................................................................................................... 3
2.1.3. Operating Environment........................................................................................... 4
2.1.4. Installation............................................................................................................... 4
2.1.5. Operation ................................................................................................................ 4
2.1.6. Maintenance and Inspection................................................................................... 5
2.2. WARNING ...................................................................................................................... 5
2.2.1. Operating Environment........................................................................................... 5
2.2.2. Installation............................................................................................................... 6
2.2.3. Operation ................................................................................................................ 6
2.2.4. Maintenance and Inspection................................................................................... 7
2.2.5. Disposal .................................................................................................................. 7
2.3. CAUTION ....................................................................................................................... 7
2.3.1. General ................................................................................................................... 7
2.3.2. Working Environment ............................................................................................. 7
2.3.3. Fixing the Product................................................................................................... 8
2.3.4. Operation ................................................................................................................ 8
2.3.5. Maintenance and Inspection................................................................................... 8
2.3.6. Storage Environment .............................................................................................. 9
2.3.7. Disposal .................................................................................................................. 9
3. Overview .............................................................................................................................. 10
3.1. Outline .......................................................................................................................... 10
3.2. Features ....................................................................................................................... 10
3.3. System Configuration................................................................................................... 11
3.4. Names and Functions of Connectors and LEDs.......................................................... 12
4. Handling Procedures and Cautions ..................................................................................... 13
4.1. Installation and Connection with External Equipment.................................................. 13
4.1.1. Handling the Packed Controller............................................................................ 14
4.1.2. Handling the Unpacked Control board ................................................................. 14
4.1.3. Installation and Operation Environment ............................................................... 14
4.1.4. Storage Environment ............................................................................................ 15

4.1.5. Installation............................................................................................................. 15
4.1.6. Electric Gripper and Wiring to Control Board ....................................................... 16
4.1.7. Connecting to Power Supply ................................................................................ 20
4.1.8. Grounding Work.................................................................................................... 21
4.1.9. Emergency Stop wiring Connection ..................................................................... 21
4.1.10. Prevention of Malfunction by Noise .................................................................. 22
4.1.11. Other Notice on Wiring ..................................................................................... 24
4.2. Troubleshooting............................................................................................................ 25
4.2.1. If You Have a Problem with the Controller ........................................................... 25
4.2.2. Remedies and Preventive Measures ................................................................... 25
5. Specifications ....................................................................................................................... 27

1
1.
Preface
Thank you for purchasing our DRH-ESG1 Series Electric Gripper.
This operation manual contains information necessary to use the DRH-ESG1 Series. Be
sure to read the respective operation/instruction manuals for the electric gripper, electric
gripper control board, and electric gripper command to gain a firm understanding of their
content before use. Be sure to store the manual in a readily accessible location after reading
in order that it may referenced at any time.

2
2.
FOR SAFE USE
Cautionary descriptions given here are for correct use of the products and for prevention of
hazard on you and other people in vicinity and damage with equipment. These descriptions
are divided into three items of “DANGER”, “WARNING” and “CAUTION” depending on the
severity of hazard or damage and level of imminence. All bear important descriptions
pertaining to safety. Strictly observe the instructions in addition to those of ISO 10218-2*1)
and other safety rules.
DANGER
Indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING Indicates a potentially hazardous situation which could result in
death or serious injury, if the equipment is operated wrongly.
CAUTION
Indicates a potentially hazardous situation which may result in
injury and machine damage, if the equipment is operated
wrongly.
1) ISO 10218-2: Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot
systems and integration
•This product is designed and manufactured as a component for use in general
industrial machinery.
•If the electric gripper is used integrated into a system (machine, robot, etc.), the
system must satisfy regulations and standards for safety measures. First check
whether the system satisfies the relevant regulations and standards, and if so, handle
the product properly in accordance with the regulations and standards. The electric
gripper is an end effector for the robot system. When you design and/or assemble an
electric gripper, be sure to satisfy all requirements and conditions written in ISO
10218-2.
•When you design and/or assemble an electric gripper, you must comply with the
stipulation of ISO 10218-2 "End-effectors shall be designed and constructed so that
the loss or change of energy supply (e.g. electrical, hydraulic, pneumatic, vacuum
supply) does not cause release of the load that would result in a hazardous condition.
When practicable, power can be supplied to end-effectors for troubleshooting without
applying motive energy to the robot actuator(s)."
•Devices must be selected and handled by a system designer, personnel in charge of
the actual operation using the product or similar individual with sufficient knowledge
and experience.
•Be sure to read the catalogue and operation manual before handling the product.

3
Mishandling of the product poses a risk. Please read the respective
operation/instruction manuals for the electric gripper, electric gripper control board,
and electric gripper command.
•It is the user’s responsibility to verify and determine the compatibility of this product
with the user’s system, and to use them properly.
•After reading the catalog, operation manual and other materials, be sure to keep
them in a convenient place easily accessible to the personnel using this product.
•The danger, warning and caution directions in this “Safety Precautions” do not cover
every possible case. Please read the catalog and operation manual for the given
device, particularly for descriptions unique to it, to ensure its safe and proper
handling.
•Do not use the product for the following applications:
1. Medical equipment used to maintain, control or otherwise affect human life or
physical health
2. Mechanisms and machinery designed for the purpose of moving or
transporting people
3. Important safety parts of machinery
This product has not been planned or designed for applications requiring high levels of
safety. Use of this product in such applications may jeopardize the safety of human life.
2.1.
CAUTION
2.1.1. General
Do not use the product outside the specifications. Using the product outside the
specifications may cause it to fail, stop functioning or sustain damage. It may also
significantly reduce the service life of the product.
2.1.2. Design
•If the machine will stop in the case of system (machine, robot, etc.) problem such as
emergency stop or power failure, design a safety circuit or other device that will
prevent equipment damage or injury.
•This product cannot maintain the gripping force in the event of electrical power-loss.
To avoid any danger for human due to falling or scattering of workpieces, be sure to
take any safety precautions such as
- Using hook-shaped tool end that prevents falling or scattering of workpiece
- Using UPS-equipped electrical circuit to prepare for the power-loss.

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We can provide a specially designed gripper which mechanism maintains gripping
force in the event of power-loss, as a special specification. Please contact our sales
representatives if you would like to order a such gripper.
2.1.3. Operating Environment
•Do not use this product in a place exposed to ignitable, inflammable or explosive
substances. The product has not been designed with explosion protection. The
product may explode or ignite, resulting in product damage or injury.
•Do not use the product in a place where it may be exposed to water or oil droplets.
2.1.4. Installation
Wire the product correctly by referring to the operation manual. Securely connect the cables
and connectors so that they will not be disconnected or come loose. Failure to do so may
cause the product to malfunction or cause fire.
2.1.5. Operation
•When operating or adjusting the gripper after it was mounted to the system (machine,
robot, etc.), be sure to observe safety measures for the system. Failure to do so may
result in serious injury.
•Before supplying power to and operating the product, always check the operation
area of the equipment to ensure safety. Supplying power to the product carelessly
may cause electric shock or injury due to contact with the moving parts.
•Do not touch the connectors or other parts power being supplied to the product. It
may result in electric shock or malfunction.
•If you are using a pace maker or other mechanical implant, do not come within one
meter of the product. The strong magnetic field generated by the product may cause
the pace maker, etc., to malfunction. Keep pacemaker wearers one meter away from
the product. The pacemaker may not work properly due to strong magnetic affection.
•Do not pour water onto the product. Spraying water over the product, washing it with
water or using it in water may cause the product to malfunction, resulting in injury,
electric shock, fire, etc.
•When conducting operation checks or performing operation, increase the robot
speed gradually to check whether the electric gripper gripping force can be sustained
relative to the robot speed. If not, there is a possibility of danger such as flying
workpieces.

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2.1.6. Maintenance and Inspection
•If the electric gripper is used integrated into a system (machine, robot, etc.), ensure
that regulations and standards for safety measures are strictly observed, and use the
product properly and safely.
•Do not disassemble and reassemble the components relating to the basic structure
of the product or its performance and function. Doing so may result in injury, electric
shock, fire, etc.
•Never cut and/or reconnect the cables supplied with the product for the purpose of
extending or shortening the cable length. Doing so may result in fire.
2.2.
WARNING
2.2.1. Operating Environment
•Do not use the product under direct sunlight or ultraviolet ray.
•Do not expose the product to radiant heat generated from a heat source.
•Use the product within the ambient temperature range of 0℃to 40℃.
•Use the product in the place having humidity range of 35% to 85% (without dew
condensation).
•Do not use the product in an atmosphere of corrosive gases (sulfuric acid or
hydrochloric acid). Rust may form and reduce the structural strength of the product.
•Do not use the product in a place exposed to dust, iron powder. If dust enters the
product through small openings and gaps, the product may suffer damage.
•Do not use the product in a place where it may come in contact with water droplets,
cutting oil, cleansing liquid, organic solvent, and operating oil. If expected, sufficiently
protect the product with a cover or panel. Since the product has not been designed
with waterproof, water droplets or other liquid may enter the product, resulting in
product damage.
•Do not install the product in a place subject to large vibration or impact (9.8 m/s2).
Doing so may result in the malfunctioning of the product.
•Do not use the product in the place where high magnetic field may cause
electromagnetic interference. Failure to do so may result in malfunction.
•Do not use the product in the places where large current or high magnetic field is
present, welding or other operations are performed that cause arc discharge, subject
to electrostatic noise, and with potential exposure to radiation. Failure to do so may
result in malfunction.

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2.2.2. Installation
•Provide an emergency-stop device in a readily accessible position so the device can
be actuated immediately upon occurrence of a dangerous situation during operation.
Lack of such device in an appropriate position may result in injury.
•When installing the product including fingers, be sure to securely support and mount
them. Failure to do so may cause the product or workpiece to tip over, drop or
malfunction, resulting in injury.
•Provide sufficient maintenance space when installing the product. Routine
inspection and maintenance cannot be performed without sufficient space, which will
eventually cause the equipment to stop or the product to sustain damage.
•Before installing or adjusting the product or performing other operations on the
product, display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON
POWER.” If the power is turned on inadvertently, injury may result due to electric
shock or sudden activation of the controller.
•Do not hold the moving parts of the product or its cables during installation. It may
result in injury.
2.2.3. Operation
•Keep your fingers away from the product to prevent you from being caught into the
other devices.
•Do not touch the connectors or exposed terminals of the electric gripper control
board. Doing so may result in electric shock.
•Turn off the power to the product in the event of power failure. Failure to do so may
cause the product to suddenly start moving when the power is restored, thus resulting
in injury or product damage.
•When moving electric gripper finger by hand for the purpose of manual positioning,
etc., confirm that the motor is turned off beforehand. Failure to do so may result in
injury.
•If the product is generating heat, smoke or a strange smell, turn off the power
immediately. Continuing to use the product may result in product damage or fire.
•If any of the internal protective devices (alarms) of the product has actuated, turn off
the power immediately. Continuing to use the product may result in product damage
or injury due to malfunction. Once the power supply is cut off, investigate and remove
the cause and then turn on the power again.

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2.2.4. Maintenance and Inspection
•Before conducting maintenance/inspection, parts replacement, or other operations
on the product, completely shut down the power supply. At this time, take the
following measures:
1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON
POWER” at a conspicuous place, in order to prevent a person other than the
operator from accidentally turning on the power while the operation is working.
2. When two or more operators are to perform maintenance/inspection together,
always call out every time the power is turned on/off or a moving part is moved
in order to ensure safety.
•Perform inspection or maintenance work with a thorough understanding of the
specific tasks. Insufficient maintenance/inspection by the user may result in reduction
of service life of the moving parts and malfunction. If any abnormalities are detected,
stop the operation immediately.
2.2.5. Disposal
Do not throw the product into fire. The product may burst or generate toxic gases.
2.3.
CAUTION
2.3.1. General
•If you are planning to use the product under a condition or environment not specified
in the catalogs or operation manual, or in an application requiring strict safety such as
aircraft facility, combustion system, entertainment machine, clean room, safety
device, or other equipment having significant impact on human life or property,
design operating ranges with ample margins from the ratings and design
specifications, or provide sufficient safety measures such as fail-safes. Whatever you
do, always consult us.
•Always use the cable supplied with the product for connection between the electric
gripper and electric gripper control board.
•Use DENSO WAVE genuine products for main components such as electric gripper,
electric gripper control board.
2.3.2. Working Environment
•Provide sufficient space when performing maintenance and inspection safely.

8
•Do not bring a floppy disk or other magnetic media within one meter of the product.
The magnetic field generated by the magnet may destroy the data in the floppy disk,
etc.
2.3.3. Fixing the Product
•When handling the product, wear protective gloves, protective goggles, safety shoes,
or other necessary gear to ensure safety.
•Protect the product from excessive impact load such as bumping or throwing.
•Do not step onto the package or place on the package a heavy object that allows the
load concentrate.
•After unpacking the product, do not carry by holding cables or connectors.
•The electric gripper connection cables supplied with the product are flexible, but do
not store the cables in a movable cable duct (cable bearer, etc.) that bends more than
the specified bending radius.
•Do not scratch the electric gripper connection cable. Scratching, forcible bending,
straining, winding, and pinching may cause short circuit and insulation failure, which
results in electric shock and malfunction.
•The workpiece gripping force will be lost if an emergency stop condition or power
failure occurs. Take measures to prevent workpieces from dropping at such times.
2.3.4. Operation
•Turn on the power to individual equipment one by one, starting from the equipment
at the highest level in the system hierarchy. Failure to do so may cause the product
to start suddenly, resulting in injury or product damage
•Do not insert a finger or object in the openings in the product. It may cause fire,
electric shock, or injury.
•The motor incorporated into the product generates a large amount of heat during
operation, and the product surface temperature is high. Take care not to affect the
workpiece or other objects around the gripper.
2.3.5. Maintenance and Inspection
Never touch terminals while performing insulation resistance test. Doing so may result
in electric shock. (Do not perform dielectric strength test, because DC power is supplied
with the product.)

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2.3.6. Storage Environment
The environment in which the gripper is stored must be:
•Not exposed to direct sunlight and moisture
•Be dark cool and 30 cm higher or more than the floor surface to prevent occurrence
of dew condensation
•Be free from large vibration and impact
2.3.7. Disposal
When the product no longer becomes usable or necessary, dispose of it properly as an
industrial waste.

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3.
Overview
3.1. Outline
Electric gripper control board is a high-performance product designed to build application
systems for the assembly and transfer of workpieces by increasing and decreasing the
gripping speed in combination with the electric gripper.
3.2. Features
•Robot controller (RC8) integration
Surplus wiring between the gripper controller and robot controller has been
eliminated by integrating the electric gripper control board into the robot controller
(RC8).
Control is made easy using the electric gripper command.
•Broad-based compatibility
The electric gripper control board is compatible with all DRH-ESG1 Series electric
grippers.
•Easy gripping force control has been realized by using in combination with the
electric gripper.

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3.3. System Configuration
Teaching pendant (option)
24 VDC power supply (prepared by customer)
Electric gripper
Robot
Emergency stop circuit (prepared by customer)
Electric gripper
control board
Robot controller (Ver.1.1.2 or later)
C connection (0.2 m)
Note 1
B connection (1 m)
A connection (4 m, 6 m)
B, C connection (4 m, 6 m)
Note 2
Notes:
1. Support is only possible for VS-∗∗∗
Series robots. A communication
cable flange spec. – A option is
required.
2. For VS-*** Series robots,
when B connection is used, "Signal
Lines and Air Piping"(option) is
required, when C connection is used,
"Communication interface
flange-A"(option) is required.
Electric gripper connection cable

12
3.4. Names and Functions of Connectors and LEDs
①
②
③
④
⑤
⑥
⑦
No
Name
Connector/LED
Function
1
POW
LED
Lights up (green) when the electric gripper power is ON.
2 RDY LED
Lights up (yellow) when the electric gripper control board is
functioning normally.
3
ALM
LED
Lights up (red) when an alarm occurs.
4
RUN
LED
Lights up (yellow) when the electric gripper is operating.
5
ACT
Connector
This connector is used for connection to the electric gripper.
6
POWER
Connector
This connector is used to supply power to the electric gripper.
7
EMG
Connector
This connection is used to connect emergency stop wiring.

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4.
Handling Procedures and Cautions
4.1. Installation and Connection with External Equipment
Refer to the basic flowchart showing the process that contains identification, installation,
wiring, trial operation, and actual operation of the purchased product. In this chapter, the
procedure flow from identification to installation and wiring of the product is described.
Flow from wiring procedure to operation
Product check
Stop
Electric gripper installation
Wire the electric gripper and electric control board (via
robot or directly) with the electric gripper connection
cable.
Wire the DC power supply to the electric gripper power
terminal.
Note: Wire with the DC power supply turned OFF.
Always connect the electric gripper control board FG to
the robot controller front panel with the ground wire
provided.
Perform an operation check and teaching with the
electric gripper library.
Operate
If the electric gripper control board is purchased
individually, install it to the robot controller.
License registration of the electric gripper
Set the actuator type (set the gripper model) with the
electric gripper command
Activate the electric gripper on the electric gripper
screen

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4.1.1. Handling the Packed Controller
CAUTION
•Do not apply excessive impact on the package by dropping or hitting.
•When setting down the package, keep it horizontal
•Do not step onto the package.
•Do not place a heavy object that can deform the package on the package or article of
a shape that allows the load to concentrate.
4.1.2. Handling the Unpacked Control board
CAUTION
•When transporting the controller, take care not to hit it against other object.
•Avoid applying excessive force to any part of the electric gripper control board.
•Never directly touch the power terminals and signal terminals.
•Take due care not to drop the control board when unpacking. Failure to observe this
may result in damage to the electric gripper control board or injury.
•Should you find any part of the control board damaged or missing during
transportation, please contact us immediately.
4.1.3. Installation and Operation Environment
CAUTION
Install the controller in an environment meeting the conditions listed below.
No.
The environment in which the controller is used must
1
Not expose the product to direct sunlight.
2
Be free from radiant heat coming from equipment that generates a large amount of
heat, such as a heat treatment furnace.
3
Have ambient temperature of 0ºC to 40ºC
4
Humidity of 85% or below (without dew condensation).
5
Be free from corrosive gas or flammable gas.
6
Be suitable for normal assembly work and free from excessive dust.
7
Be free from oil mist or cutting fluid.
8
Be free from vibrations exceeding 1.0G.
9
Be free from strong electromagnetic wave, ultraviolet light, radiation.
10
Chemical resistance is not considered in the design of the product. Be free from
chemical vapors and gases.

15
4.1.4. Storage Environment
CAUTION
The storage environment should basically conform to the installation environment. If the
controller is to be stored for an extended period of time, provide appropriate measures to
prevent dew condensation. The controller is not packed with desiccating agent, until
otherwise specified by the user. If the controller is to be stored in an environment where dew
condensation may occur, take appropriate measure to protect the entire package, or the
controller itself after unpacking it, from detrimental effects of dew condensation. The
controller can withstand an ambient temperature of up to 60ºC for a short period. If the
controller is to be stored for over one month, keep the ambient temperature at 50 ºC or
below.
4.1.5. Installation
If the electric gripper control board is purchased individually, the customer is responsible for
installing it in the robot controller. Refer to “Expansion Board Attachment” in the “RC8
Controller Optional Device Operation Manual” for details of the installation method.
CAUTION
•Avoid applying any impact or load to the electric gripper control board connectors.
Failure to observe this may result in damage to the baseboard inside the electric
gripper control board.
•Avoid applying an excessive force to the connectors by forcibly pulling the cables.
•Avoid installing the electric gripper control board in locations where it may be
exposed to oil or water.
•Install in a stable location. Avoid installing in places subject to frequent vibrations.
•Avoid installing the controller in the locations where ambient temperature could be
high.

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4.1.6. Electric Gripper and Wiring to Control Board
Use the electric gripper connection cables provided to wire the electric gripper and electric
gripper control board. The wiring will differ depending on the robot controller connection
type.
WARNING
•Do not turn on the power while wiring the controller.
•Wire the controller by referring to the wiring diagram and check for proper wiring.
CAUSE
•Special care should be taken not to bend or pull the cable with a strong force when
wiring the controller.
•A shielded cable is employed to the encoder cable, but avoid laying the encoder
cable that may cause malfunction together with a large current cable. Failure to do so
may result in malfunction.
A connection
Connect as shown in the diagram below.
Electric gripper
Electric gripper
control board
Robot controller
Electric gripper connector
Control board connector
Ferrite core (large)
Electric gripper connection cable FG wire
If the noise environment is poor or if CE conformity is
required, attach the ferrite core (large) provided near the the
electric gripper control board. Refer to “Prevention of
Malfunction by Noise” for details.
Secure the FG wire to the robot controller front
panel with a screw. Refer to “Electric gripper
connection cable FG connection” for details
Electric gripper connection cable (A connection)
Motor cable
Encoder cable