Denso Controller Configuration

Notes

Password for Service level: 5593563

When turning robot off, there is a note on the controller that says to please wait 6 seconds to turn it back on. Given an electrical issue we have had with the robot, we encourage you to follow that guidance.

Physical Configuration

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Connect ethernet cable from the RC8 controller to the RTR controller.

Using a Philips head, undo screws below electrical input socket and plug in the power cable ground and clamp it with the screws. You may need to setup an electrical socket for your particular configuration to connect to the wall.

The Mini I/O connector breakout board which is attached to the RC8 controller will require connecting 2 external emergency e-stops or shorting the connections at the following points:

Once completed, the red dot illuminating an enabled estop will go empty or green.

There is also one estop on the controller which must be released before any movement of the robot.

To allow the robot to be commanded through the computer, the teach pendant must be set to [AUTO] on the upper left hand side of the controller, as shown below.

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Network Configuration

Once the robot is physically connected; the process to set up the network configuration is done by configuring a few settings in the menu.

To set the IPv4 address of the robot and get it on the same subnet address as our computer. From the top menu: [F6, Settings], [F5, Communication Settings], [F2 Network and Permission].

From there, click on and set IP address and subnet mask on the right using the touchpad.

Also we will need to give permission to the computer to communicate with the controller. From the top menu: [F6 Settings], [F5 Communication and Token], [F1 Executable Token]. Select [Any] on the left and press [OK].

If it is configured properly, you should now be able to ping the robot.

Settings Configuration

You will need a b-Cap Slave license by acquiring the 24-character hyphen-delimited code on the Denso website similar to this video. Once the code is acquired, follow the touchscreen on the Denso controller to the following location. From the top menu: [F6 Settings], [F8 Option], [F1 Extension]. Scroll in the list using the scroll wheel on the upper right side of the controller to b-Cap Slave. The entry should be empty. Type in the values of the code in. If properly completed, the left side should change to “Enabled”.

Realtime Controller Configuration

Once you have a robot project enabled, the only thing you will need is the IPv4 address that was set for the robot during the network configuration. The RC8 controller will then communicate over port 5007 using TCP to the RTR controller.