Epson RC700-D Manual Download Page 125

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Functions 9. EMERGENCY

RC700-D Rev.2

109

9. EMERGENCY

The details of safety requirements for this section are described in the

User’s Guide

2. Safety

. Please refer to them to keep the robot system safe.

CAUTION



Make sure that the emergency stop and safety door work properly before using

the system, not only when setting up the system, but also when the use

environment is changed.

Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY

connector for safety.

When nothing is connected to the EMERGENCY connector, the robot system does not

operate normally.

CAUTION

Before connecting the connector, make sure that the pins are not bent.

Connecting with the pins bent may damage the connector and result in malfunction

of the robot system.

EMERGENCY Connector



NOTE

Summary of Contents for RC700-D

Page 1: ...Control Unit RC700 D Original instructions Rev 2 EM221C5146F ROBOT CONTROLLER RC700 D Manual ...

Page 2: ...ROBOT CONTROLLER RC700 D Manual Rev 2 ...

Page 4: ...tions on this manual to use our robot system safety and correctly TRADEMARKS Microsoft Windows and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Other brand and product names are trademarks or registered trademarks of the respective holders TRADEMARK NOTATION IN THIS MANUAL Microsoft Windows 8 Operating system Micro...

Page 5: ...f the chemical symbols Pb Cd or Hg indicates if these metals are used in the battery This information only applies to customers in the European Union according to DIRECTIVE 2006 66 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91 157 EEC and legislation transposing and implementing it ...

Page 6: ... Hardware Wizard appears If this wizard appears click the Cancel button Concerning the security support for the network connection The network connecting function Ethernet on our products assumes the use in the local network such as the factory LAN network Do not connect to the external network such as Internet In addition please take security measure such as for the virus from the network connect...

Page 7: ... This manual describes the specifications and functions of the Manipulator The manual is primarily intended for people who design robot systems Technical information functions specifications etc required for the Manipulator installation and design Daily inspection of the Manipulator Status Code Error Code List PDF This manual contains a list of code numbers displayed on the controller and messages...

Page 8: ...vi RC700 D Rev 2 ...

Page 9: ...t Installation 15 2 5 1 Environment 15 2 5 2 Installation 16 2 5 3 Wall Mounting Option 18 2 6 Designing a Safe Robot System 19 2 6 1 Environmental Conditions 19 2 6 2 System Layout 19 2 6 3 Disabling Power to the System using lock out tag out 20 2 6 4 End Effector Design 20 2 6 5 Peripheral Equipment Design 20 2 6 6 Remote Control 20 2 6 7 Emergency Stop 21 2 6 8 Safeguard 22 2 6 9 Presence Sensi...

Page 10: ...oller 42 4 2 6 Moving the Robot to Initial Position 42 4 3 Writing your first program 47 4 4 Firmware Update 52 4 4 1 Updating Firmware 52 4 4 2 Firmware Upgrade Procedure 52 4 4 3 Controller Recovery 55 4 4 4 Firmware Initialization Procedure 56 4 4 5 Adding Confirmation Steps by Strengthening Security of EtherNet Connection 58 5 Second Step 62 5 1 Connection with External Equipment 62 5 1 1 Remo...

Page 11: ... 2 Environmental Requirements 79 3 2 1 Environment 79 3 2 2 Installation 80 3 2 3 Wall Mounting Option 83 3 3 Power Supply 84 3 3 1 Specifications 84 3 3 2 AC Power Cable 85 3 4 Cable Connection 86 3 4 1 Typical Cable Connection 87 3 4 2 Connecting Manipulator to Controller 89 3 5 Noise Countermeasures 90 4 Operation Mode TEACH AUTO TEST 92 4 1 Overview 92 4 2 Switch Operation Mode 93 4 3 Program ...

Page 12: ...ith Trigger Button 101 6 3 2 Load Data with EPSON RC 7 0 101 6 3 3 Transfer with E mail 101 6 4 Details of Data 102 7 LAN Ethernet Communication Port 103 7 1 About the LAN Ethernet Communication Port 103 7 2 IP Address 103 7 3 Changing Controller IP Address 104 7 4 Connection of Development PC and Controller with Ethernet 105 7 5 Disconnection of Development PC and Controller with Ethernet 106 8 T...

Page 13: ...Typical Input Circuit Application 2 120 11 2 Output Circuit 121 11 2 1 Typical Output Circuit Application 1 Sink Type NPN 122 11 2 2 Typical Output Circuit Application 2 Source Type PNP 122 11 3 Pin Assignments 123 12 I O Remote Settings 124 12 1 I O Signal Description 125 12 1 1 Remote Input Signals 125 12 1 2 Remote Output Signals 129 12 2 Timing Specifications 132 12 2 1 Design Notes for Remote...

Page 14: ... 14 6 2 Board Configuration Analog I O Board 153 14 6 3 Confirmation with EPSON RC Analog I O Board 156 14 6 4 Input Circuit Analog I O Board 157 14 6 5 Output Circuit Analog I O Board 157 14 6 6 Pin Assignments Analog I O Board 158 14 7 Force Sensor I F Board 159 14 7 1 About Force Sensor I F Board 159 14 7 2 Board Configuration Force Sensor I F Board 159 14 7 3 Confirmation with EPSON RC Force S...

Page 15: ...ckup and Restore 176 2 1 What is the Backup Controller Function 176 2 2 Backup Data Types 176 2 3 Backup 177 2 4 Restore 178 3 Alarm 181 3 1 Maintenance 181 3 2 How to View the Maintenance Information 182 3 3 How to Edit the Maintenance Information 184 3 4 Alarm Notifying Method 185 3 5 How to Cancel the Alarm 185 Appendix Appendix A Option Parts List 189 Appendix B Open Source Software License 19...

Page 16: ...Table of Contents xiv RC700 D Rev 2 ...

Page 17: ...Installation This section describes outline from unpacking to operation of Robot System and design of Robot System ...

Page 18: ......

Page 19: ...ut the manual by the following symbols Be sure to read the descriptions shown with each symbol WARNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly WARNING This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly C...

Page 20: ... Ethernet TP2 Option Standard I O Remote I O Ethernet RS 232C Requires preparation by uses PLC Sequencer Option Standard Pulse Output Board GX series 2 TP3 Option 3 Analog I O Board Force Sensor I F Board EUROMAP67 Board 1 EPSON RC 7 0 supports the following OS Windows 8 1 Pro EPSON RC 7 0 Ver 7 1 0 or later Windows 10 Pro EPSON RC 7 0 Ver 7 2 0 or later 2 Any one of the Teach pendant can be contr...

Page 21: ...ers and should conform to all national and local codes Please read Safety Manual and check safety considerations before installing the robot system or before connecting cables During unpacking and relocation avoid applying external force to the arms and motors of the Manipulator When transporting the Manipulator for a long distance secure it to the delivery equipment so that the Manipulator cannot...

Page 22: ...ough the eyebolts and hoist it with your hands Where to hold Under the arm 1 and bottom of the base shade part When hold bottom of the base be careful not caught your hands or fingers Minimum number of people 2 people Do not hold Table Top Mounting Wall Mounting Ceiling Mounting ...

Page 23: ...eep away from direct sunlight Keep away from dust oily smoke salinity metal powder or other contaminants Keep away from flammable or corrosive solvents and gases Keep away from water Keep away from shocks or vibrations Keep away from sources of electric noise Keep away from explosive area Keep away from a large quantity of radiation When the product is used in a low temperature environment around ...

Page 24: ...se level due to manipulator operation refer to the following manual Manipulator manual Appendix A Specifications Table 2 4 4 Base Table A base table for anchoring the Manipulator is not supplied Please make or obtain the base table for your Manipulator The shape and size of the base table differs depending on the use of the robot system For your reference we list some Manipulator table requirement...

Page 25: ...g cables through the holes on the base table see the figures below unit mm M C Cable Power Connector Signal Connector M C Cable Hood 54 35 49 11 82 44 Power Connector Straight Signal Connector 83 76 Power Connector L Shaped 35 When using the Manipulator in the cleanroom follow the steps below before the installation 1 Unpack the Manipulator outside of the cleanroom 2 Secure the Manipulator to deli...

Page 26: ...the Manipulator GX4 A251 approx 15 kg 33 lbs GX4 A301 approx 15 kg 33 lbs GX4 A351 approx 16 kg 35 lbs Standard Specification 1 With the arm extended take the Manipulator from the packing box Be careful not to fall the Manipulator as the Manipulator is not secured when you take it from the packing box The joints can be rotated by the Manipulator own weight Be careful not to get hands or fingers ca...

Page 27: ...s installed does not interfere with the cables and conduit tubes that connect to the manipulator The recommended installation patterns are as follows Side Wall Mounting Ceiling Ceiling Mounting The recommended installation patterns for wall mounting are as follows Standard Specification 1 Unpack the Manipulator from the box with the Manipulator extends its arms Be careful not to fall the Manipulat...

Page 28: ... specifications conforming to ISO898 1 Property Class 10 9 or 12 9 Tightening torque M8 32 0 N m 326 kgf cm M10 58 0 N m 626 kgf cm 4 M8 40 Spring washer Plane washer Screw hole depth 20 mm or more 20mm 2 Using nippers cut off the wire tie binding the shaft and arm retaining bracket on the base Washer M6 Bolt M4 35 Sheet Bolt M8 20 Washer M12 Wire tie 3 Remove the bolts securing the wire ties remo...

Page 29: ...cure the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard Specification 1 With the arm extended take the Manipulator from the packing box The joints can be rotated by the Manipulator own weight Be careful not to get hands or fingers caught 2 Secure the base to the wall with four bolts Make sure to...

Page 30: ...the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard Specification 1 With the arm extended take the Manipulator from the packing box The joints can be rotated by the Manipulator own weight Be careful not to get hands or fingers caught 2 Secure the base to the ceiling with four bolts Make sure to u...

Page 31: ...st transient burst noise 2 kV or less Power supply wire 1 kV or less Signal wire Electrostatic noise 4 kV or less Base table Use a base table that is at least 100 mm off the floor Placing the Controller directly on the floor could allow dust penetration leading to malfunction Installation face Inclination 0 5 or less When installing vertically the control unit may fall over if you touch them Altit...

Page 32: ...tion shown in A to C A Flat mounting B Upright mounting The rubber foot needs to be replaced Attach the rubber foot with the flat side facing the controller Remove the screws that interfere the rubber foot C Rack mounting A plate for rack mounting is required For Controller installation to the Controller box or the base table process screw hole drilling as follows NOTE ...

Page 33: ...m Excluding the installation side such as base table Air flow of the fan 50 mm 50 mm 50 mm Figure Flat mounting B Upright mounting 100 mm 200 mm Excluding the installation side such as base table Air flow of the fan 50 mm 50 mm 50 mm Hot air with higher temperature than the ambient temperature about 10 C comes out from the Controller Make sure that heat sensitive devices are not placed near the ou...

Page 34: ... of the mounting holes for the wall 424 4 405 227 61 7 18 3 76 1 7 79 9 57 2 57 2 380 4 22 170 4 3 9 7 Unit mm Ensure the air flow around the supply and exhaust ports and install the Controller while leaving space from other equipment or walls as below Keep the space about 200 mm or more on the top to maintenance Wall mounting with the front side down 100 mm 200 mm 50 mm 50 mm 50 mm Wall mounting ...

Page 35: ...een robots and peripheral equipment Emergency stops require particular attention since a robot will stop after following a path that is different from its normal movement path The layout design should provide enough margins for safety Refer to the manuals for each robot and ensure that the layout secures ample space for maintenance and inspection work When designing a robot system to restrict the ...

Page 36: ...removes and supplies parts and materials to the robot system ensure that the design provides the operator with sufficient safety If there is a need to remove and supply materials without stopping the robot install a shuttle device or take other measures to ensure that the operator does not need to enter a potentially dangerous zone Ensure that an interruption to the power supply power shutoff of p...

Page 37: ...all external components that must be turned off during an emergency Do not assume that the robot controller will turn off all outputs if configured to For example if an I O card is faulty the controller cannot turn off a component connected to an output The emergency stop on the controller is hardwired to remove motor power from the robot but not external power supplies However do not press emerge...

Page 38: ...ms refer to the following manuals Manipulator Manual Inspection Point 1 1 2 Inspection Item Free running distance in emergency The Manipulator in operation cannot stop immediately after the Emergency Stop switch is pressed Also time angle and distance of the free running vary by following factors Hand weight WEIGHT Setting ACCEL Setting Workpiece weight SPEED Setting Posture etc For approximate ti...

Page 39: ...eleased EMERGENCY connector of the Controller has latch release input to release latch of safeguard interlock Install a switch to release latch of safeguard interlock outside of the safety door and wire to latch release input WARNING It is dangerous to allow someone else to release the safeguard interlock by mistake while the operator is working inside the safeguarded area To protect the operator ...

Page 40: ...be noted Design the system so that when the presence sensing device is not activated or a dangerous situation still exists that no personnel can go inside the safeguard area or place their hands inside it Design the presence sensing device so that regardless of the situation the system operates safely If the robot stops operating when the presence sensing device is activated it is necessary to ens...

Page 41: ...ergency Stop switch to the EMERGENCY connector of the Controller for safety When nothing is connected to the EMERGENCY connector Controller does not operate normally CAUTION Before connecting the connector make sure that the pins are not bent Connecting with the pins bent may damage the connector and result in malfunction of the robot system EMERGENCY connector Safety Door Switch and Latch Release...

Page 42: ...g the Safety Door switch and the Safety Door For the Safety Door switch select a switch that opens as the Safety Door opens and not by the spring of the switch itself The signal from the Safety Door Safety Door input is designed to input to two redundant signals If the signals at the two inputs differ by two seconds or more the system regards it as a critical error Therefore make sure that the Saf...

Page 43: ...tch release switch does not latch the condition that the safety door is open The latch release input also functions to acknowledge the change of TEACH mode In order to change the latched condition of the TEACH mode turn the mode selector key switch on the Teach Pendant to Auto Then close the latch release input Emergency Stop Switch If it is desired to create an external Emergency Stop switch in a...

Page 44: ...o make sure that the switch functions properly 1 Turn ON the Controller to boot the Controller software while pressing the Emergency Stop switch 2 Make sure that the seven segment LED on the Controller displays 3 Make sure that EStop is displayed on the EPSON RC 7 0 status bar 4 Release the Emergency Stop Switch 5 Select EPSON RC 7 0 Tools Robot Manager Control Panel and click the Reset button to ...

Page 45: ...m the Safety Door 1 and Safety Door 2 are different for two or more seconds They must be connected to the same switch with two sets of contacts 3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and Emergency Stop switch contact 2 are different for two or more seconds They must be connected the same switch with two sets of contacts 4 Do not apply reverse voltage...

Page 46: ...E 24V GND 5V GND Main Circuit Control Motor Driver AC Input Emergency Stop detection IF circuit Safety Door input 1 Safety Door input 2 Latch release input External 24V GND External Latch release input Close Latch off Open Latch on Be careful of the direction of voltage application External Emergency Stop switches IF circuit IF circuit IF circuit IF circuit Emergency Stop detection ...

Page 47: ...etection IF Circuit Emergency Stop detection Safety Door input 1 Safety Door input 2 Latch Release input External 24V GND External Latch release input Close Latch off Open Latch on Fuse External External External 24V External 24V GND External safety relay simplified IF Circuit IF Circuit IF Circuit IF Circuit To protect Emergency Stop Circuit use the fuse that is 0 4A or under and matches amount o...

Page 48: ... load of the Manipulator For approximate power consumption of each model refer to the following values GX4 6 0 A GX8 12 0 A Short circuit current rating 5 kA Maximum Supply Source Impedance 0 32Ω Peak Current When power is turned ON Approx 85 A 2 ms When motor is ON Approx 75 A 2 ms Leakage Current Less than 3 5 mA Ground Resistance TN Ground 100 Ω or less Install an earth leakage circuit breaker ...

Page 49: ... plug or a disconnecting device for power connecting cable Never connect the Controller directly to the factory power supply Select the plug or a disconnecting device which conform safety standards for nations When connecting the plug of the AC power cable to the Controller insert until it clicks as shown in the figure below Following shows specification of power connection side Mount to the plug ...

Page 50: ...he Controller make sure that the serial numbers on each equipment match Improper connection between the Manipulator and Controller may not only cause improper function of the robot system but also safety problems The serial number of supported Manipulator is labeled on the controller Wiring Only authorized or certified personnel should be allowed to perform wiring Wiring by unauthorized or uncerti...

Page 51: ...in equipment damage to the Manipulator Power activation Anchor the Manipulator before turning ON the power to or operating the Manipulator Turning ON the power to or operating the Manipulator that is not anchored is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system as the Manipulator may fall down Initial operation Be sure to check at lo...

Page 52: ...ug to the TP port of the Robot Controller 5 Connect the AC power cable to the power supply socket 6 Turn ON the POWER switch of the Controller 7 The seven segment LED blinks as approximately 30 seconds after Controller starts up normally If an error is displayed check connection in step 1 to 5 and turn ON the power again If an error is displayed after checking the connection contact the supplier i...

Page 53: ...re that the Robot system is installed safely by following the description in Safety and Installation Then operate the Robot system in the following procedures 4 1 Installing EPSON RC 7 0 Software The EPSON RC 7 0 software needs to be installed on your development PC 1 Insert the EPSON RC 7 0 Setup DVD in the DVD drive 2 The following dialog box will be displayed Click Next 3 Enter your user name a...

Page 54: ...Next The installation directory is called EpsonRC70 This cannot be changed 5 The dialog box for selecting the options to be installed will be displayed Check the options you want to install and click Next 6 The dialog box to review the settings will be displayed If you are satisfied with the settings click Next ...

Page 55: ...y occur If the error occurs uninstall RC once and execute Microsoft VC151719 exe in the DVD and re install RC 4 2 Development PC and Controller Connection Connect the development PC and the USB port for connection USB B series connector The USB port of development PC for connection USB B series connector For other details of development PC and Controller connection refer to EPSON RC 7 0 User s Gui...

Page 56: ...ment PC and the Controller are ON is available However the Manipulator stops when the USB cable is removed while the Controller and the development PC are connected 4 2 2 Precaution When connecting the development PC and the Controller make sure of the following Connect the development PC and the Controller with 5 m or shorter USB cable Do not use the USB hub or extension cable Make sure that no o...

Page 57: ...ON the Controller 4 Start the software EPSON RC 7 0 5 Select the EPSON RC 7 0 menu Setup PC to Controller Communications to display the PC to Controller Communications dialog box 6 Select the No 1 USB and click the Connect button 7 After development PC and the Controller connection is completed Connected is displayed in the Connection status Make sure that Connected is displayed and click the Clos...

Page 58: ...able can be removed If the USB cable is removed while the Controller and the development PC are connected the Manipulator stops Be sure to click the Disconnect button in the PC to Controller Communications dialog box before removing the USB cable 4 2 6 Moving the Robot to Initial Position Robot can be operated by the following methods other than creating and executing the program Manual operation ...

Page 59: ...ing may result in hands or fingers being caught and or equipment damage to or malfunction of the Manipulator Before releasing the brake be sure to keep the Emergency Stop switch handy so that you can immediately press the Emergency Stop switch Otherwise you cannot immediately stop the arm falling due to an erroneous operation The arm falling may cause equipment damage to and or malfunction of the ...

Page 60: ... joints to the 0 pulse positions by specifying the pulse for each joint 1 Start EPSON RC 7 0 Double click the EPSON RC 7 0 icon on the desktop 2 Open the command window EPSON RC 7 0 menu Tools Command Window 3 Execute the following command in Command Window Motor On Go Pulse 0 0 0 0 For position and posture of Manipulator at 0 pulse position refer to Motion Range in the Manipulator manuals ...

Page 61: ...he EPSON RC 7 0 icon on the desktop 2 Create a new project 1 EPSON RC 7 0 menu Project New Project New Project dialog box will be displayed 2 Enter the project name in Project Name box Ex FirstApp 3 Click the OK button and create the new project 3 Open the robot manager EPSON RC 7 0 menu Tools Robot Manager 4 Turn ON the motors Check that the Control Panel tab is open Click the MOTOR ON button ...

Page 62: ... Rev 2 5 Move the Manipulator with Jog motion 1 Select Jog Teach tab 2 Select Joint in Jogging Mode 3 Move the Manipulator by joint by clicking J1 J4 jog keys Manipulator can be moved by setting to other modes or setting the jog distance ...

Page 63: ...n the desktop 2 Create a new project 1 Select New from the Project Menu The New Project dialog box will be displayed 2 Type a project name in the New Project Name box e g FirstApp 3 Click OK to create the new project When the new project is created a program called Main prg is created The window titled Main prg will be displayed with a cursor flashing in the upper left corner Now you are ready to ...

Page 64: ...ing project build your program is compiled and linked Then communications are established with the Controller and project files are sent to the Controller If there are no errors during build the Run window will appear 3 Click the Start button on the Run window to run the program 4 The texts like the following will be displayed in the status window 19 32 45 Task main started 19 32 45 All tasks stop...

Page 65: ...obot motors You will be prompted to confirm the operation 3 Click Yes to continue 4 Click the Jog Teach tab 5 Click the Teach button in the lower right corner to teach point P0 You will be prompted for a point label and description 6 Click the Y jog button to jog the robot in Y direction Hold the button down to keep jogging Move the robot until it reaches the middle of the work envelope 7 Click th...

Page 66: ...ts into the Main prg program as shown below Function main Print This is my first program Go P1 Go P2 Go P0 Fend 2 Press F5 to display the Run window 3 Click the Start button to execute the program The robot will move to the points you taught 7 Modify the program to change speed of robot motion commands 1 Insert the Power Speed and Accel commands as shown in the program below Function main Print Th...

Page 67: ...our applications on an external media such as a USB memory key Follow the steps below to back up the project and system configuration 1 Select the EPSON RC 7 0 menu Project Copy 2 Change the Destination Drive to an arbitrary drive 3 Click OK The project will be copied to the external media 4 Select the EPSON RC 7 0 menu Tools Controller 5 Click on the Backup Controller button 6 Select the arbitrar...

Page 68: ...n You must use a PC running EPSON RC 7 0 connected to a Controller with USB to update the Controller firmware Firmware cannot be updated with an Ethernet connection When installing the firmware Ver 7 5 0 x or later be sure to use the PC which EPSON RC 7 0 Ver 7 5 0 or later is installed 4 4 2 Firmware Upgrade Procedure The firmware upgrade procedure is described as follows 1 Connect the developmen...

Page 69: ...and Click the Next button 7 Check the current firmware version and the new firmware version and click the Install button 8 The firmware upgrade starts It takes several minutes to complete Do not disconnect the USB cable during transfer or turn OFF the Controller or the development PC 9 Continuous data file transfer starts NOTE ...

Page 70: ...troller 11 The following dialog appears after the Controller reboot Click the Finish button The firmware upgrade is complete When you install the firmware Ver 7 4 0 2 or later on the Controller which the firmware before Ver 7 4 0 2 has been installed the following message is displayed When the message is displayed re install the firmware NOTE ...

Page 71: ...t PC though the Controller does not operate properly Condition B The LED of TEACH AUTO and PROGRAM do not blink Cannot communicate with the Controller using the development PC Countermeasure for the error status is as follows Condition A Follow 4 4 4 Firmware Initialization Procedure to initialize the firmware Condition B Execute the following steps 1 Turn OFF the Controller 2 Push the trigger but...

Page 72: ...rnet connection 2 Turn ON the Controller Do not start the development software EPSON RC 7 0 until firmware initialization is complete 3 Insert the firmware CD ROM in the development PC CD ROM drive 4 Execute Ctrlsetup exe 5 Select the Initialize option button and click the Next button 6 Make sure that the development PC is connected to the Controller with a USB cable and Click the Next button 7 Ch...

Page 73: ... the Controller 9 The following dialog appears after the Controller reboot Click the Finish button The firmware upgrade is completed Start EPSON RC 7 0 and restore the Controller settings For details of restoring the operating system refer to Regular Inspection 2 Backup and Restore When you install the firmware Ver 7 4 0 2 or later on the Controller which the firmware before Ver 7 4 0 2 has been i...

Page 74: ...EPSON RC 7 0 is Ver 7 4 7 or before When the Controller firmware is updated under the following conditions additional steps to confirm whether to continue the firmware update may be execute depending on the configuration settings of the Controller step 3 or later shown below Controller IP address is set to global IP address Firmware version to be installed is 7 4 8 x or later The following describ...

Page 75: ...indow and install the firmware 5 2 When the steps to confirm whether to continue the firmware update is executed The following window is displayed When the I understand the contents button is selected the OK button will be enabled When the OK button is clicked Step3 window is displayed Go to the step 6 When the Cancel button is clicked Step3 window is displayed The Disable connection password chec...

Page 76: ...tall button is clicked the confirmation window is displayed When the Disable connection password checkbox is selected When the Disable connection password checkbox is not selected When the OK button is clicked Step 4 window is displayed Go to the step 7 When the Cancel button is clicked the window is closed 7 Firmware installation starts When the firmware is installed click the Next button Reboot ...

Page 77: ...Installation 4 First Step RC700 D Rev 2 61 8 When the Controller is rebooted the following window is displayed Confirm that the firmware is installed Click the Finish button ...

Page 78: ... I O Setup Functions 11 I O Connector 14 2 Expansion I O Board Fieldbus I O Option Robot Controller Option Fieldbus I O Board 5 1 2 Ethernet EPSON RC 7 0 User s Guide 1 9 Security for Controller Ethernet Connection 1 10 Security for Compact Vision CV2 A Ethernet Connection 1 11 Security for Feeder Ethernet Connection 4 3 3 Ethernet Communication Function 7 LAN Ethernet Communication Port 5 1 3 RS ...

Page 79: ... for Compact Vision CV2 A Ethernet Connection 1 11 Security for Feeder Ethernet Connection 4 3 3 Ethernet Communication Function 7 LAN Ethernet Communication Port 5 3 Connection of Teach Pendant Option Function 8 TP Port Robot Controller Option Teach Pendant TP2 manual Functions Installation Installation Robot Controller Option Teach Pendant TP3 manual Functions Installation Installation ...

Page 80: ...Installation 5 Second Step 64 RC700 D Rev 2 ...

Page 81: ...Functions required for designing This section contains information for setup and operation of the Robot Controller ...

Page 82: ......

Page 83: ...r Ethernet TP2 Option Standard I O Remote I O Ethernet RS 232C Requires preparation by uses PLC Sequencer Option Standard Pulse Output Board GX series 2 TP3 Option 3 Analog I O Board Force Sensor I F Board EUROMAP67 Board 1 EPSON RC 7 0 supports the following OS Windows 8 1 Pro EPSON RC 7 0 Ver 7 1 0 or later Windows 10 Pro EPSON RC 7 0 Ver 7 2 0 or later 2 Any one of the Teach pendant can be cont...

Page 84: ... capacity Maximum Object Size 4 MB Point data area 1000 points per file Backup variable area Max 100 KB Includes the memory area for the management table Approx 1000 variables Depends on the size of array variables Teaching method Remote Direct MDI Manual Data Input External input output signals standard Standard I O Input 24 Output 16 Including 8 inputs 8 outputs with remote function assigned Ass...

Page 85: ...ion Over voltage detection AC power supply voltage reduction detection Temperature error detection Fan error detection Power Source 200 VAC to 240 VAC Single phase 50 60 Hz Maximum Rated Capacity 2 5 kVA Depending on the Manipulator model Max load current 12 0A Depending on the Manipulator model Short circuit current rating 5 kA Maximum Supply Source Impedance 0 32Ω Insulation Resistance 100 MΩ or...

Page 86: ...Functions 1 Specifications 70 RC700 D Rev 2 Use this product under the condition of overvoltage category 2 degree of stain category 2 NOTE ...

Page 87: ...Functions 1 Specifications RC700 D Rev 2 71 1 3 Outer Dimensions Unit mm ...

Page 88: ...t LED 4 M C POWER connector A connector for the Manipulator power source Connect the dedicated power cable attached to the Manipulator 5 Fan Filter A protective filter is installed in front of the fan to filter out dust Check the condition of the filter regularly and clean it when necessary A dirty filter may result in malfunction of the robot system due to temperature rise of the Drive Unit For i...

Page 89: ...232C communication with external devices For details refer to 10 Standard RS 232C Port 13 Encoder Voltage Adjustment Switch Use this switch to adjust voltage according to length of M C cable adjusted as a factory default Wrong setting may result in Robot system malfunction Switch M C Cable Length 1 3 m 2 5 m 3 10 m 4 15 20 m 14 M C SIGNAL connector This connector is used for signals such as the Ma...

Page 90: ...ort connects the Controller and the Development PC using an Ethernet cable 100BASE TX 10BASE T communication is available For details refer to 7 LAN Ethernet communication Port 21 I O connector This connector is used for input output device There are 24 inputs and 16 outputs For details refer to Setup Operation 11 I O Connector 22 AC IN The connector for 200VAC power input For details refer to 3 3...

Page 91: ...curred at one time the status indicated earlier on the following table is displayed For an example when both Emergency Stop and Safeguard statuses occurred at one time is displayed Controller status Display of seven segment Execute Controller status storage function to the USB memory Displays and repeatedly Complete Controller status storage to USB memory Displays for 2 seconds Failure of Controll...

Page 92: ... robot system will enter the Emergency Stop condition Use the emergency switch which has safety function more than PLd The safety function of Emergency Stop Input Category 3 PLd reference ISO13849 1 2015 Stop category of Emergency Stop input Category 1 reference IEC60204 1 2016 Safety Door Input In order to activate this feature make sure that the Safety Door Input switch is connected to the EMERG...

Page 93: ...ction The dynamic brake circuit is activated when the system detects the overload status of the motor Irregular Motor Torque out of control Manipulator Detection The dynamic brake circuit is activated when irregular motor torque motor output is detected Motor Speed Error Detection The dynamic brake circuit is activated when the system detects that the motor is running at incorrect speed Positionin...

Page 94: ...e circuit is activated when relay deposition junction error or open fault is detected Over Voltage Detection The dynamic brake circuit is activated when the voltage of the Drive Unit is above the normal limit AC Power Supply Voltage Drop Detection The dynamic brake circuit is activated when the drop of the power supply voltage is detected Temperature Anomaly Detection The temperature anomaly is de...

Page 95: ...ems 3 2 1 Environment In order to optimize the robot system s performance for safety the Controller must be placed in an environment that satisfies the following conditions The Controller is not designed for clean room specification If it must be installed in a clean room be sure to install it in a proper enclosure with adequate ventilation and cooling Install Controller in a location that allows ...

Page 96: ...er or other contaminants Keep away from water Keep away from shocks or vibrations Keep away from sources of electronic noise Keep away from strong electric or magnetic fields 3 2 2 Installation Install the Controller on a flat surface such as wall floor and Controller box in the direction shown from A to C A Flat Mounting B Upright Mounting The rubber foot needs to be replaced Attach the rubber fo...

Page 97: ...on RC700 D Rev 2 81 Ensure the air flow around the supply and exhaust ports and install the Controller while leaving space from other equipment or walls as below Keep the space about 200 mm or more on the top to maintenance ...

Page 98: ...mounting B Upright mounting 100 mm 200 mm Excluding the installation side such as base table Air flow of the fan 50 mm 50 mm 50 mm Hot air with higher temperature than the ambient temperature about 10 C comes out from the Controller Make sure that heat sensitive devices are not placed near the outlet Arrange the cables in front of the Controller so that you can pull the Controller forward ...

Page 99: ...f the mounting holes for the wall 424 4 405 227 61 7 18 3 76 1 7 79 9 57 2 57 2 380 4 22 170 4 3 9 7 Unit mm Ensure the air flow around the supply and exhaust ports and install the Controller while leaving space from other equipment or walls as below Keep the space about 200 mm or more on the top to maintenance Wall mounting with the front side down 100 mm 200 mm 50 mm 50 mm 50 mm Wall mounting wi...

Page 100: ... model motion and load of the Manipulator For approximate power consumption of each model refer to the following values GX4 6 0 A GX8 12 0 A Short circuit current rating 5 kA Maximum Supply Source Impedance 0 32Ω Peak Current When power is turned ON approximately 85 A 2 ms When motor is ON approximately 75 A 2 ms Leakage Current Less than 3 5 mA Ground Resistance TN Ground 100 Ω or less Install an...

Page 101: ...er plug or a disconnecting device for power connecting cable Never connect the Controller directly to the factory power supply Select the plug or a disconnecting device which conform safety standards for nations When connecting the plug of the AC power cable to the Controller insert until it clicks as shown in the figure below Following shows specification of power connection side Mount to the plu...

Page 102: ...rcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the system CAUTION The serial number of the Manipulator that should be connected is indicated on the Connection Check Label on the Controller Connect th...

Page 103: ...67 Force Sensor I F Board Detachable connector Cable attached at shipping Cable prepared by users 11 R I O Connector 1 AC Power Connector for 200VAC power input to the Controller 2 M C Power The cable with connector on the Controller side Connect the Manipulator and the M C POWER connector on the Controller Insert the connectors until you hear a click 3 M C Signal The cable with connector on the C...

Page 104: ...tput devices use this connector There are I O cable option and terminal block option for the I O connector For details refer to the 11 I O Connector 9 TP Connect the option Teach Pendant For details refer to the 8 TP Port 10 Standard RS 232C port This port is used for the RS 232C communication with external devices For details refer to 10 Standard RS 232C Port 11 R I O Connector This connector is ...

Page 105: ...hock and or improper function of the system CAUTION The serial number of the Manipulator that should be connected is indicated on the Connection Check Label on the Controller Connect the Controller and the Manipulator correctly Improper connection between the Controller and the Manipulator may cause not only improper function of the robot system but also safety problems When connecting the Manipul...

Page 106: ...ller power line as far as possible from the sensor or valve I O lines and do not bundle both sets of wiring with the same cable tie If more than one duct cable must cross each other they should cross perpendicularly The preferable example is shown in the right figure AC Line duct DC Line duct As far as possible Wire as short as possible to the I O connector and EMERGENCY connector Use a shielded c...

Page 107: ...ng EMC countermeasure for the Fieldbus I O cable as necessary Put together the cable shield side Remove the outer cover and fix with the FG clamp Secure the clamps to the Controller with screws to ground the shield Mount Ferrite core to the cable Ferrite core ...

Page 108: ...open TEST mode T1 RC700 A RC700 D option TP3 only This mode enables program verification while the Enable Switch is held down and the safeguard is open This is a low speed program verification function T1 manual deceleration mode which is defined in Safety Standards This mode can operate the specified Function with multi task single task multi Manipulator single Manipulator at low speed T2 RC700 A...

Page 109: ...r TEACH mode Tap the Test tab to change the mode to T1 T2 Turn the mode selector key switch to TEACH T2 for TEACH mode Tap the Test tab to change the mode to T2 WARNING If you switch the mode from TEACH to AUTO Teach Pendant displays Workers must leave the safeguard area message Please ensure safety when working The TEACH mode status is latched by software To switch the mode from TEACH to AUTO rel...

Page 110: ...maintenance of the Robot system Follow the procedures below to switch to the Program mode 4 3 2 Setup from EPSON RC Switch the mode to Program mode from the EPSON RC 1 Select EPSON RC menu Setup System Configuration to display the System Configuration dialog 2 5 3 4 2 Select Startup Start mode 3 Select Program button 4 Click the Apply button 5 Click the Close button ...

Page 111: ...o and start the EPSON RC Refer to 4 4 2 Setup from EPSON RC B Offline the EPSON RC Execute and stop the program from the control device specified by the EPSON RC Refer to 4 4 3 Setup Control Device 4 4 2 Setup from EPSON RC Switch the mode to Auto mode AUTO from the EPSON RC 1 Select EPSON RC menu Setup System Configuration to display the System Configuration dialog 2 5 3 4 2 Select Startup Start ...

Page 112: ...ce from EPSON RC 1 Select EPSON RC menu Setup System Configuration to display the System Configuration dialog 2 5 3 4 2 Select Controller Configuration 3 Select Setup Controller Control Device to select the control device from the following two types PC Remote I O 4 Click the Apply button 5 Click the Close button ...

Page 113: ...If this wizard appears click the Cancel button 5 1 About Development PC Connection USB Port The development PC connection port supports the following USB types USB2 0 HighSpeed FullSpeed Speed auto selection or FullSpeed mode USB1 1 FullSpeed Interface Standard USB specification Ver 2 0 compliant USB Ver 1 1 upward compatible Connect the Controller and development PC by a USB cable to develop the ...

Page 114: ...on the cable When the development PC and the Controller are connected do not insert or remove other USB devices from the development PC Connection with the Controller may be lost 5 3 PC and Controller Connection Using Development PC Connection USB Port Connection of the development PC and the Controller is indicated 1 Make sure that software EPSON RC 7 0 is installed to the Controller connected to...

Page 115: ...PC to Controller Communications to display the PC to Controller Communications dialog 2 Click the Disconnect button Communication between the Controller and the development PC is disconnected and the USB cable can be removed If the USB cable is removed when the Controller and the development PC are connected the Robot will stop Be sure to click the Disconnect button in the PC to Controller Communi...

Page 116: ...Also this function influences the robot cycle time and the communication with EPSON RC 7 0 Other than only when it is necessary do not execute this function when operating the robot Make sure that the USB port is used only for USB memory even though the port on the Controller is a universal USB port Insert the USB memory directly into the Controller memory port Connection with cables or hubs betwe...

Page 117: ...g on the amount of data such as the project size 5 When the storage has been completed is displayed on the seven segment for two seconds When the storage has failed is displayed on the seven segment for two seconds 6 Remove the USB memory from the Controller USB memory with LED is recommended to check the status changes in procedure 2 When storage is executed during Motor ON status it may fail to ...

Page 118: ... information of connected robot SrcmcStat txt Hardware information Saves installation information of hardware ProjectName obj OBJ file Result of project build Prg file is not included GlobalPreserves dat Global Preserve variables Saves values of Global Preserve variables MCSRAM bin MCSYSTEMIO bin MCTABLE bin MDATA bin SERVOSRAM bin VXDWORK bin Inner information of Robot operation WorkQueues dat Wo...

Page 119: ...connection of the Controller and the development PC Equivalent operation is available to connect between the Controller and the development PC with the development PC connection port Refer to 7 Development PC Connection USB Port Connection with other Controller or PC The LAN Ethernet communication port can be used as an Ethernet TCP IP communication port to communicate between multiple controllers...

Page 120: ...he configuration of the Controller at delivery IP Address 192 168 0 1 IP Mask 255 255 255 0 IP Gateway 0 0 0 0 Set separate IP addresses in the same subnet for PC and the Controller PC 192 168 0 10 Controller 192 168 0 1 7 3 Changing Controller IP Address This section describes the procedure to change the Controller IP address 1 Connect between the development PC and the Controller using the USB c...

Page 121: ...d the Controller using the Ethernet cable 2 Turn ON the Controller 3 Start EPSON RC 7 0 4 Display the PC to Controller Communication dialog from Setup in EPSON RC 7 0 menu 5 Click the Add button 6 Connection No 2 is added Set the following and click the Apply button Name Valid value to identify the Controller to connect IP Address IP address for Controller to connect 7 Name and IP Address specifie...

Page 122: ...d via an Ethernet connection from EPSON RC 7 0 7 5 Disconnection of Development PC and Controller with Ethernet Disconnection of the development PC and the Controller is shown below 1 Display PC Controller Connection dialog from Setup in EPSON RC 7 0 menu 2 Click the Disconnect button Communication between the Controller and the development PC is disconnected and the Ethernet cable can be removed ...

Page 123: ...ency Stop status occurs in the Controller When the Teach Pendant is not connected connect the TP bypass plug Save the removed TP in place so that it can be distinguished from the TP connected to the controller Do not connect the following devices to the TP port of RC700 D Connecting these devices may result in malfunction of the device since the pin assignments are different OPTIONAL DEVICE dummy ...

Page 124: ...each Pendant connector is removed from the Controller with the mode selector key switch of the Teach Pendant in the Teach position the operation mode will remain in the TEACH mode The operation mode cannot be switched to AUTO mode Be sure to remove the Teach Pendant after switching the operation mode to Auto mode Manager control taking off or storage of the Teach Pendant Do not touch it unless the...

Page 125: ... system not only when setting up the system but also when the use environment is changed Connect a safeguard switch or Emergency Stop switch to the Controller EMERGENCY connector for safety When nothing is connected to the EMERGENCY connector the robot system does not operate normally CAUTION Before connecting the connector make sure that the pins are not bent Connecting with the pins bent may dam...

Page 126: ...Manipulator The safeguard must have an interlock switch at the entrance to the working zone The Safety Door that is described in this manual is one of the safeguards and an interlock of the Safety Door is called a Safety Door switch Connect the Safety Door switch to the Safety Door input terminal on the EMERGENCY connector The Safety Door switch has safety features such as temporary hold up of the...

Page 127: ...nector be sure to check the switch operation for safety by following the procedures described below before operating the Manipulator 1 Turn ON the Controller while the safety door is open in order to boot the Controller software 2 Make sure that Safety is displayed on the main window status bar 3 Close the safety door and turn ON the switch connecting to the latch release input Make sure that the ...

Page 128: ...specified pins on the EMERGENCY connector at the Controller Refer to the 9 4 Circuit Diagrams Make sure to give the emergency stop function to all the places where have the activation control 9 2 2 Checking Emergency Stop Switch Operation Once the Emergency Stop switch is connected to the EMERGENCY connector continue the following procedure to make sure that the switch functions properly For the s...

Page 129: ... the Safety Door 1 and Safety Door 2 are different for two or more seconds They must be connected to the same switch with two sets of contacts 3 A critical error occurs if the input values from the Emergency Stop switch contact 1 and Emergency Stop switch contact 2 are different for two or more seconds They must be connected the same switch with two sets of contacts 4 Do not apply reverse voltage ...

Page 130: ...4V GND 5V GND Main Circuit Control Motor Driver AC Input Emergency stop detection IF Circuit IF Circuit IF Circuit IF Circuit IF Circuit Emergency stop detection Safety Door input 1 Safety Door input 2 Latch release input External 24V GND External Latch release input Close Latch off Open Latch on Be careful of the direction of voltage application External Emergency Stop switches ...

Page 131: ...detection IF Circuit IF Circuit IF Circuit IF Circuit IF Circuit Emergency Stop detection Safety Door input 1 Safety Door input 2 Latch Release input External 24V GND External Latch release input Close Latch off Open Latch on Fuse External External External 24V External 24V GND External safety relay Simplified To protect Emergency Stop Circuit use the fuse that is 0 4A or under and matches amount ...

Page 132: ...upported hardware 1 Standard RS 232C connector 2 First expansion RS 232C board CH1 3 First expansion RS 232C board CH2 4 Second expansion RS 232C board CH1 5 Second expansion RS 232C board CH2 10 2 Confirmation with EPSON RC 7 0 RS 232C When an RS 232C board is mounted in as option unit the Controller software automatically identifies the RS 232C board Therefore no software configuration is needed...

Page 133: ...n from the Robot application 10 4 Communication Cable RS 232C Prepare a communication cable as described in this section Connector Standard RS 232C Connector Controller side D sub 9 male pin Screwlock 4 40 Use twisted pair cable for shielded wire Clamp the shield to the hood for noise prevention Pin assign of the RS 232C connector is as follows Pin No Signal Function Signal Direction 1 DCD Data ca...

Page 134: ...le wiring refer to the 3 5 Noise Countermeasures in order to prevent noise The remote function is initially assigned to the input 0 to 7 and output 0 to 8 For further details refer to 12 I O Remote Settings 11 1 Input Circuit Input Voltage Range 12 to 24 V 10 ON Voltage 10 8 V min OFF Voltage 5 V max Input Current 10 mA TYP at 24 V input Two types of wiring are available for use with the two way p...

Page 135: ...1 Input No 0 7 common 2 Input No 0 3 Input No 1 4 Input No 2 5 Input No 3 6 Input No 4 7 Input No 5 8 Input No 6 9 Input No 7 I O 1 same same GND DC 18 Input No 8 15 common 19 Input No 8 20 Input No 9 34 Input No 16 23 common same 26 Input No 15 42 Input No 23 35 Input No 16 36 Input No 17 ...

Page 136: ...1 Input No 0 7 common 2 Input No 0 3 Input No 1 4 Input No 2 5 Input No 3 6 Input No 4 7 Input No 5 8 Input No 6 9 Input No 7 I O 2 Same Same GND DC 18 Input No 8 15 common 19 Input No 8 20 Input No 9 34 Input No 16 23 common Same 26 Input No 15 42 Input No 23 35 Input No 16 36 Input No 17 ...

Page 137: ...e for use with the nonpolar PhotoMOS relay in the output circuit CAUTION Use Plus Common PNP to prevent the load from operating unintentionally if the wiring between the controller and the load is grounded fault This conforms to European Machinery Directives L Output No 0 I O Connector same DC Output common DC Load GND Ground Fault occurred If there is ground fault it does not flow to the load and...

Page 138: ... output No 4 15 output No 5 27 output No 6 28 output No 7 17 output No 0 7 common GND Load GND 33 output No 8 15 common GND 11 2 2 Typical Output Circuit Application 2 Source Type PNP L L 10 output No 0 I O 2 same same DC 29 output No 8 30 output No 9 11 output No 1 12 output No 2 13 output No 3 14 output No 4 15 output No 5 27 output No 6 28 output No 7 17 output No 0 7 common DC Load GND 33 outp...

Page 139: ... Input No 23 10 Output No 0 Ready 27 Output No 6 SError 43 Output No 11 11 Output No 1 Running 28 Output No 7 Warning 44 Output No 12 12 Output No 2 Paused 29 Output No 8 EstopOff 45 Output No 13 13 Output No 3 Error 30 Output No 9 46 Output No 14 14 Not used 31 Output No 10 47 Output No 15 15 Output No 5 SafeguardOn 32 Not Used 48 Not Used 16 Not Used 33 Output common No 8 to 15 49 Not Used 17 Ou...

Page 140: ...der unsatisfactory conditions may cause malfunction of the system and or safety problems This signal is not safe signal Do not use this for as a safety function Assign remote functions to inputs outputs correctly and wire correctly when setting up remote I O signals Make sure that the functions correspond to the correct input output signals before turning ON the system When verifying the robot sys...

Page 141: ...er remote input commands can be executed Use the Error output and Reset input to monitor the error status and clear error conditions from the remote device Name Default Description Input Acceptance Condition 1 Start 0 Execute function selected at SelProg 2 Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON Pause input OFF Stop input OFF SelProg1 1 Specify...

Page 142: ...PowerLow input OFF SetPowerLow Not Set Set the robot power mode to Low 5 Ready output ON Home Not Set Move the Robot Arm to the home position defined by the user Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON MotorsOn output ON Pause input OFF Stop input OFF MCal Not Set Execute MCal 5 7 Ready output ON Error output OFF EStopOn output OFF SafeguardOn ...

Page 143: ...For details refer to EPSON RC 7 0 Online Help or Pause in SPEL Language Reference 4 Turns OFF the I O output and initializes the robot parameter For details refer to EPSON RC 7 0 Online Help or Reset in SPEL Language Reference 5 When multiple robots are connected to the controller the values specified by SelRobot1 2 4 8 and 16 correspond to the robot numbers Robot number SelRobot1 SelRobot2 SelRob...

Page 144: ...ulator manual 11 The specified alarm can be canceled by selecting the conditions using SelAlarm1 SelAlarm8 and setting this signal 12 Operation of all tasks and commands power mode of the robot and PowerHigh command are executed by the setting value of the controller preferences Preferences 1 Motor power low when ForcePowerLow signal OFF Preferences 2 ForcePowerLow signal change pauses all tasks F...

Page 145: ...wever be sure to eliminate the cause of the warning as soon as possible EStopOff 8 Turns ON other than at Emergency Stop Turns OFF at Emergency Stop Turns ON at controller power OFF MotorsOn Not set Turns ON when the robot motor is ON 5 AtHome Not set Turns ON when the robot is in the home position 5 PowerHigh Not set Turns ON when the robot s power mode is High 5 MCalReqd Not set Turns ON when th...

Page 146: ... when a battery alarm of the robot connected to DU3 is occurring 12 Alarm9 Not set Turns ON when a grease alarm of the robot connected to DU3 is occurring 10 12 PositionX Not set Outputs current X coordinate in the World coordinate system 6 7 PositionY Not set Outputs current Y coordinate in the World coordinate system 6 7 PositionZ Not set Outputs current Z coordinate in the World coordinate syst...

Page 147: ... 1 1 1 1 1 1 0 OFF 1 ON 2 Remote function is available in the followings conditions The setting is Auto mode and the control device is remote The setting is Program mode and Remote I O is enabled 3 For details refer to EPSON RC 7 0 Online Help or Box in SPEL Language Reference 4 For details refer to EPSON RC 7 0 Online Help or Plane in SPEL Language Reference 5 Manipulator status is output as foll...

Page 148: ...ay be output up to 5 minutes after the controller alarm occurs 12 2 Timing Specifications 12 2 1 Design Notes for Remote Input Signals The following charts indicate the timing sequences for the primary operations of the Controller The indicated time lapses time durations should be referred to only as reference values since the actual timing values vary depending on the number of tasks running as w...

Page 149: ... Sequence 17 17 13 107 107 16 15 162 Ready Output CurrProg1 Output Running Output Paused Output SelProg1 Input Start Input Pause Input Continue Input Stop Input 162 The duration varies depending on the Quick Pause QP setting and the program s operating status at the time of Pause input Unit msec ...

Page 150: ...lain the timing of internal processing of the controller For details about input signals name and operating conditions refer to the 9 3 Pin Assignments 12 2 5 Timing Diagram for Emergency Stop Sequence 920 7 5 Running Output MotorsOn Output EStopOff Output ESW Signal 1 Reset Signal Input 7 Unit msec 1 A logical signal to explain the timing of internal processing of the controller For details about...

Page 151: ...e an application of parts pickup alignment and assembly by robots without stopping For details refer to EPSON RC 7 0 Users Guide 20 Real time I O 13 1 Input Circuit Input Voltage Range 24 V 10 Input Current 10 mA TYP at 24 V input The following two types of wiring are available in the input circuit for Control Unit Typical Input Circuit Application 1 R I O INPUT No 24 1 INPUT No 24 2 INPUT No 25 1...

Page 152: ...s Use a shielded cable and route the cables as far from the surrounding noise sources as possible For details refer to 3 5 Noise Countermeasures Make sure to check the cable routing before turning ON the power supply Pin No Signal Name 9 INPUT No24 1 10 INPUT No24 2 11 INPUT No25 1 12 INPUT No25 2 1 to 8 13 to 15 Not Used For the pins 1 to 8 and 13 to 15 do not connect anything Connector Standard ...

Page 153: ... Board 14 8 EUROMAP67 Board 14 2 Expansion I O Board 14 2 1 Expansion I O Board Each additional expansion I O board provides 24 inputs and 16 outputs You can install up to four expansion I O boards in the Controller The input and output bit numbers are assigned as follows Bit number is assigned from CN1 Input Bit Output Bit Applicable Hardware 0 to 23 0 to 15 STANDARD I O 64 to 87 64 to 79 The 1st...

Page 154: ...W2 SW1 DSW2 ON 1 2 3 4 SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 1 2 3 4 5 6 7 8 ON DSW1 CN3 1 2 9 10 14 2 3 Confirmation with EPSON RC 7 0 Expansion I O Board When an expansion I O board is mounted to the option unit the Controller software automatically identifies the expansion I O board Therefore no software configuration is needed Correct identification can be confirmed from EPSON RC 7 0 1 Select the EP...

Page 155: ...available for use with the two way photo coupler in the input circuit Protected Expansion I O Board Typical Input Circuit Application 1 1 Input No 64 to 71 common 2 Input No 64 3 Input No 65 4 Input No 66 5 Input No 67 6 Input No 68 7 Input No 69 8 Input No 70 9 Input No 71 Expansion I O board 1 Same Omit GND DC 18 Input No 72 to 79 common 19 Input No 72 20 Input No 73 Same Same Same Same Same Sam...

Page 156: ...ircuit Application 2 1 Input No 64 to 71 common 2 Input No 64 3 Input No 65 4 Input No 66 5 Input No 67 6 Input No 68 7 Input No 69 8 Input No 70 9 Input No 71 Expansion I O board 1 Same Omit GND DC 18 Input No 72 to 79 common 19 Input No 72 20 Input No 73 Same Same Same Same Same Same Same ...

Page 157: ...troller conforms to the external connection devices If you route the cables with wrong output type the parts on the board will be broken and the robot system won t operate normally Use the wiring diagram of 2 Source Type for CE conformance Be sure to wire correctly Improper wiring may cause safety problems as it may make the Manipulator move unusually Be sure to wire the output circuit properly be...

Page 158: ...plication 1 Sink Type NPN 10 Output No 64 12 Output No 66 11 Output No 65 13 Output No 67 29 Output No 72 17 Output No 64 to 71 Common GND 30 Output No 73 L L GND DC L Omit 14 Output No 68 15 Output No 69 27 Output No 70 28 Output No 71 Same Same Same Same Same Same Same ...

Page 159: ...urce Type PNP 17 Output No 64 to 71 Common 11 Output No 65 10 Output No 64 12 Output No 66 13 Output No 67 L L GND DC 33 Output No 72 to 79 Common L Omit 29 Output No 72 14 Output No 68 15 Output No 69 27 Output No 70 30 Output No 73 Same Same Same Same Same Same Same 28 Output No 71 ...

Page 160: ... No 76 39 Input No 84 7 Input No 69 24 Input No 77 40 Input No 85 8 Input No 70 25 Input No 78 41 Input No 86 9 Input No 71 26 Input No 79 42 Input No 87 10 Output No 64 27 Output No 70 43 Output No 75 11 Output No 65 28 Output No 71 44 Output No 76 12 Output No 66 29 Output No 72 45 Output No 77 13 Output No 67 30 Output No 73 46 Output No 78 14 Output No 68 31 Output No 74 47 Output No 79 15 Out...

Page 161: ...put No 101 24 Input No 109 40 Input No 117 8 Input No 102 25 Input No 110 41 Input No 118 9 Input No 103 26 Input No 111 42 Input No 119 10 Output No 96 27 Output No 102 43 Output No 107 11 Output No 97 28 Output No 103 44 Output No 108 12 Output No 98 29 Output No 104 45 Output No 109 13 Output No 99 30 Output No 105 46 Output No 110 14 Output No 100 31 Output No 106 47 Output No 111 15 Output No...

Page 162: ...put No 133 24 Input No 141 40 Input No 149 8 Input No 134 25 Input No 142 41 Input No 150 9 Input No 135 26 Input No 143 42 Input No 151 10 Output No 128 27 Output No 134 43 Output No 139 11 Output No 129 28 Output No 135 44 Output No 140 12 Output No 130 29 Output No 136 45 Output No 141 13 Output No 131 30 Output No 137 46 Output No 142 14 Output No 132 31 Output No 138 47 Output No 143 15 Outpu...

Page 163: ...put No 165 24 Input No 173 40 Input No 181 8 Input No 166 25 Input No 174 41 Input No 182 9 Input No 167 26 Input No 175 42 Input No 183 10 Output No 160 27 Output No 166 43 Output No 171 11 Output No 161 28 Output No 167 44 Output No 172 12 Output No 162 29 Output No 168 45 Output No 173 13 Output No 163 30 Output No 169 46 Output No 174 14 Output No 164 31 Output No 170 47 Output No 175 15 Outpu...

Page 164: ...ieldbus I O supports the following models DeviceNet PROFIBUS DP PROFINET CC LINK EtherNet IP EtherCAT Modbus This is not optional but a standard feature Refer to the following manuals Robot Controller option Fieldbus I O EPSON RC 7 0 User s Guide 11 7 Fieldbus Slave I O ...

Page 165: ...sor I F board a maximum of one board two ports expansion is available for RS 232C board Port Number Port numbers are assigned as follows Port No Supported hardware 2 3 First RS 232C board 4 5 Second RS 232C board 14 4 2 Board Setup RS 232C Board Appearance Switch and Jumper Configuration CN1 CN5 2 or 4 CN4 3 or 5 JMP1 DSW2 DSW1 CN3 Set DSW1 DSW2 and JMP1 CN3 is all open 1st board 2nd board SW1 SW2...

Page 166: ...the EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog 2 Select the RS232 CU 14 4 4 RS 232C Software Communication Setup RS 232C Available communication settings are as follows Item Specification Baud Rates 110 300 600 1200 2400 4800 9600 14400 19200 38400 57600 115200 Data bit length 7 8 Stop bit length 1 2 Parity Odd even NA Terminator CR LF CRLF Refer to EPS...

Page 167: ...0 Use twisted pair cable for shielded wire Clamp the shield to the hood for noise prevention Pin assign of the RS 232C connector is as follows Pin No Signal Function Signal Direction 1 DCD Data carrier detect Input 2 RXD Receive data Input 3 TXD Send data Output 4 DTR Terminal ready Output 5 GND Signal ground 6 DSR Data set ready Input 7 RTS Request to send Output 8 CTS Clear to send Input 9 RI Ri...

Page 168: ...ilable when mounting analog I O board to the option slot You can install a maximum of four analog I O boards in the option slot Analog I O Board 1CH DAC 1ch is available for one board Analog I O Board 4CH DAC 2ch ADC 2ch is available for one board DAC Analog signal output voltage current ADC Analog signal input voltage current Connection Example of Analog I O Board 4CH External equipment 1 Externa...

Page 169: ...Functions 14 Option Slots RC700 D Rev 2 153 Overview of Analog I O Board Circuit Rv Voltage Input Terminating Resistance 100kΩ 14 6 2 Board Configuration Analog I O Board ...

Page 170: ... Current Switching Switch SWD1 Voltage current output Range Switching Switch SWD2 Output range Channel Output Mode Range Configuration SWD1 voltage current switching SWD2 range switching S1 S2 S3 S4 S1 S2 S3 S4 DAC 1ch Voltage output mode 5V On Not Use Not Use Not Use On On Not Use Not Use 10V On On Off 0 5V On Off On 0 10V On Off Off Current output mode 0 20mA Off On On 4 20mA Off Off Off DAC 2ch...

Page 171: ...24V On 1 2 short Current Input Mode 0 to 24mA Off 2 3 short ADC 2ch Voltage Input Mode 5 12V Not Use Not Use Not Use On Not Use 1 2 short 10 24V On 1 2 short 0 to 5 12V On 1 2 short 0 to 10 24V On 1 2 short Current Input Mode 0 to 24mA Off 2 3 short Channel Input Mode Range Configuration SWD3 range switching SWD4 S1 S2 S3 S4 ADC 1ch Voltage Input Mode 5 12V On On Not Use Not Use Off 10 24V On Off ...

Page 172: ... the robot Controller Channel Configuration CN4 CN5 CN6 CN7 DAC1ch FG Shield 1 2 short Not Use Not Use Not Use UG Shield 2 3 short DAC2ch FG Shield Not Use 1 2 short Not Use Not Use UG Shield 2 3 short ADC1ch FG Shield Not Use Not Use 1 2 short Not Use UG Shield 2 3 short ADC2ch FG Shield Not Use Not Use Not Use 1 2 short UG Shield 2 3 short Default 14 6 3 Confirmation with EPSON RC Analog I O Boa...

Page 173: ...e of output pins 11V Load resistance capacity voltage output 1kΩ or more 5nF or less Load resistance inductance voltage output 300kΩ or more 50mH or less Insulation specification insulation between channels bus insulation CAUTION Analog input output may not function properly if performing improper wiring or configuration Operating under external noise may affect to the analog input output Make sur...

Page 174: ... Not Used 15 Not Used 34 Not Used 16 Not Used 35 Not Used 17 Not Used 36 Not Used 18 Not Used 37 Not Used 19 Not Used 4CH Specifications Signal Signal Signal Signal 1 VOUT DAC 1ch 20 Shield DAC 1ch 2 COM DAC 1ch 21 IOUT DAC 1ch 3 Shield DAC 1ch 22 COM DAC 1ch 4 Not Used 23 Not Used 5 Not Used 24 Not Used 6 Not Used 25 Not Used 7 VIN ADC 1ch 26 Shield ADC 1ch 8 COM ADC 1ch 27 Not Used 9 Not Used 28...

Page 175: ...r and only one board is available When using the Force Sensor I F board one board expansion is available for RS 232C board Force Sensor can connect to all S250 series 14 7 2 Board Configuration Force Sensor I F Board Board Appearance Switch and Jumper Configuration CN1 CN5 Sensor1 JMP1 DSW2 DSW1 CN3 CN3 is all open Do not change the following DSW1 DSW2 and JMP1 configurations SW1 SW2 SW3 SW4 DSW1 ...

Page 176: ...ptional slot of the Controller Correct identification can be confirmed from EPSON RC 1 Select the EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog 2 Select Force Sensing Force Sensor I F Unit For the setting method of the Force Sensor I F unit refer to the following EPSON RC 7 0 Online Help EPSON RC 7 0 Option Force Guide 7 0 Manual Software 1 1 Configuring t...

Page 177: ...789 EUROMAP67Emergency Connector Plug For emergency stop switch wiring Soldering plug CN3 2194882 EUROMAP67Emergency Connector Shell For emergency stop switch wiring Shell kit CN3 Wire the emergency stop switch wiring connector CN3 Reference 9 EMERGENCY The connector signal placement is described below Reference 14 8 11 Emergency stop connecter Pin Assignments List of connectors used Connecter No ...

Page 178: ...Functions 14 Option Slots 162 RC700 D Rev 2 Connection outline IMM Injection Molding Machine One EUROMAP67 board Two EUROMAP67 boards ...

Page 179: ...channel1 ZA4 ZC4 Safety devices of machine channel2 ZA5 Reject I O Input 1 ZA6 Mold closed I O Input 1 ZA7 Mold open position I O Input 1 ZA8 Intermediate mold opening position I O Input 1 ZA9 Supply from handling device robot 24V DC Robot IMM ZB2 Enable operation with handing device robot I O Input 1 ZB3 Ejector back position I O Input 1 ZB4 Ejector forward position I O Input 1 ZB5 Core pullers 1...

Page 180: ...ion 2 I O Input 1 B7 Enable movement of core pullers 2 to position 1 I O Input 1 B8 Enable movement of core pullers 2 to position 2 I O Input 1 C5 Not fixed by EUROMAP manufacturer dependent I O Input 1 C6 Reserved for future use by EUROMAP I O Input 1 C7 Reserved for future use by EUROMAP I O Input 1 C8 Not fixed by EUROMAP manufacturer dependent I O Input 1 C9 Supply from IMM 0V IMM Robot 1 DO N...

Page 181: ... EPSON RC 7 0 menu Setup System Configuration to display the System Configuration dialog box 2 Select Controller Input Output 3 Check that the Installed is Yes The EUROMAP67 board has been recognized by the Controller software You can now select the compatible inputs and outputs to use 14 8 5 Sample Project EUROMAP67 Board You can use a sample project of EUROMAP 67 board The following describes pr...

Page 182: ...Functions 14 Option Slots 166 RC700 D Rev 2 14 8 6 Circuit Overview EUROMAP67 Board EUROMAP67 Board System diagram ...

Page 183: ...ROMAP67 board input output circuit overview CAUTION Input output circuits do not have a built in protection circuit to prevent short circuits or reverse connections Take care to avoid wiring mistakes Wiring mistakes may damage board parts and prevent the robot system from functioning properly Do not use a higher than rated voltage or current Doing so may damage board parts and prevent the robot sy...

Page 184: ...on function is also provided When deposition is detected the robot Controller will set the emergency stop instruction communicated to the IMM to OPEN When an emergency stop occurs on the IMM side A function is used to communicate the emergency stop instruction to the robot Controller When the safety door has been opened on the IMM side A function is used to communicate the open safeguard instructi...

Page 185: ... 13 ZC8 1 Output No 192 41 A6 1 Output No 193 7 A7 1 Output No 194 8 A8 1 Output No 195 24 B2 1 Output No 196 25 B3 1 Output No 197 42 B4 1 Output No 198 43 B5 1 Output No 199 9 B6 1 Output No 200 10 B7 1 Output No 201 26 B8 1 Output No 202 27 C6 1 Output No 203 11 C7 1 Output No 204 4 3 A3 C3 ModuleArea ModuleArea Output No 205 Not Used 37 36 A4 C4 Not Used Output No 206 12 C8 1 Output No 207 40 ...

Page 186: ...4 41 A6 1 Output No 225 7 A7 1 Output No 226 8 A8 1 Output No 227 24 B2 1 Output No 228 25 B3 1 Output No 229 42 B4 1 Output No 230 43 B5 1 Output No 231 9 B6 1 Output No 232 10 B7 1 Output No 233 26 B8 1 Output No 234 27 C6 1 Output No 235 11 C7 1 Output No 236 4 3 A3 C3 ModuleArea ModuleArea Output No 237 Not Used 37 36 A4 C4 Not Used Output No 238 12 C8 1 Output No 239 40 A5 1 Output No 240 44 ...

Page 187: ...ncy Stop circuit 1 5 Not Used 6 Not Used 7 SD11 Safety Door input 1 8 SD12 Safety Door input 1 9 24V 24V output 10 24V 24V output 11 24VGND 24VGND output 12 24VGND 24VGND output 13 Not Used 14 ESW21 Emergency Stop switch contact 15 ESW22 Emergency Stop switch contact 16 ESTOP2 Emergency Stop circuit 2 17 ESTOP2 Emergency Stop circuit 2 18 SDLATCH1 Safety Door Latch Release 19 SDLATCH2 Safety Door ...

Page 188: ... 1 9 24V 24V output 10 24V 24V output 11 24VGND 24VGND output 12 24VGND 24VGND output 13 Not Used 14 ESW21 Emergency Stop switch contact 15 ESW22 Emergency Stop switch contact 16 ESTOP2 Emergency Stop circuit 2 17 ESTOP2 Emergency Stop circuit 2 18 SDLATCH1 Safety Door Latch Release 19 SDLATCH2 Safety Door Latch Release 20 SD21 Safety Door input 2 21 SD22 Safety Door input 2 22 24V 24V output 23 2...

Page 189: ...173 Regular Inspection Performing inspection properly is essential to prevent trouble and ensure safety This volume describes the inspection schedule and contents Inspect according to the schedule ...

Page 190: ......

Page 191: ...ction Point Frequency Method Check Item Controller 12 months Turn ON OFF motor and Restart Activates without any error Emergency Stop Button 12 months When the motor turned on activate the emergency stop button Turns off the motor Safeguard 12 months When the motor turned on turn on the safeguard Turns off the motor Fan Filter 1 months Visual inspection and cleaning No stain Fan Front 1 months Che...

Page 192: ...ntroller Status Storage are as follows A Controller backup to the USB memory For details refer to Functions 6 Memory Port B Export Controller backup function in EPSON RC 7 0 For details refer to EPSON RC 7 0 User s Guide 5 9 10 Import Command Project Menu 2 2 Backup Data Types The table below shows the files created with Backup Controller File Name Overview Backup txt Information file for restore ...

Page 193: ...roller button to display the Browse For Folder dialog 3 Specify the folder to save the backup data Create a new folder if desired 4 Click the OK button A folder is created in the specified folder containing the backup data with a name in the following format B_Controller type_serial number_date CAUTION Do not edit the backup files Otherwise operation of the robot system after data restoration to t...

Page 194: ... system after data restoration to the Controller is not assured 1 Select the EPSON RC 7 0 menu Tools Controller to display the Controller Tools dialog 2 Click the Restore Controller button to display the Browse For Folder dialog 3 Specify the folder that contains the backup data Backup data folders are named using the following format B_Controller type_serial number_date Data saved to the USB memo...

Page 195: ...data is not applied if the box is not checked So be careful Project This checkbox allows you to restore the files related to projects The default is unchecked When a project is restored the values of Global Preserve variables are loaded For details about Global Preserve variable backup refer to EPSON RC 7 0 User s Guide 5 10 10 Display Variables Command Run Menu Vision hardware configuration This ...

Page 196: ...This is not selected by the default setting 5 Click the OK button to restore the system information Restore the system configuration saved using Backup Controller only for the same system When different system information is restored the following warning message appears Click the No button do not restore data except for special situations such as Controller replacement When restoring the backup i...

Page 197: ...tly The maintenance cannot function properly with improper date and time setting If the CPU board or CF is replaced the maintenance information may be lost When you replaced these parts confirm the date and time of the Controller and the maintenance information Maintenance is enabled at shipment If enabled the maintenance information for the battery timing belts motors reduction gear units ball sc...

Page 198: ...The following shows the procedure to check the configured maintenance information 1 Select the EPSON RC 7 0 menu Tools Maintenance to display the Controller Tools dialog box 2 To check the Controller maintenance information click the Maintenance button and display the Maintenance dialog box ...

Page 199: ...rease up The replacement time may be shorter or longer depending on usage condition such the load applied on the robot The recommended replacement time for the parts timing belts motors reduction gear units and ball screw spline unit is when it reaches the L10 life time until 10 failure probability In the dialog window the L10 life is displayed as 100 Remaining months is calculated based on the pa...

Page 200: ...ment date of the battery Date of grease up Purchase or replacement date of the timing belt Purchase or replacement date of the motor Purchase or replacement date of the reduction gear unit Purchase or replacement date of the ball screw spline unit 6 Click the OK button and change the specified alarm information The offset can be set for the consumption rate of already installed parts Follow the st...

Page 201: ...s the warning state if an alarm occurs Set Alarm1 to Alarm 9 in Output bit of remote I O is checking of warning occurrence in every 5 minutes The output timing is different from the alarm occurrence of the controller It may be output to the remote I O up to 5 minutes after the alarm is occurred on the controller 3 5 How to Cancel the Alarm An alarm occurs when the consumption rate of the parts rea...

Page 202: ...Regular Inspection 3 Alarm 186 RC700 D Rev 2 ...

Page 203: ...187 Appendix ...

Page 204: ......

Page 205: ...ted on the Fieldbus Board CC Link Board R12NZ9004J R12B040730 CC Link module is mounted on the Fieldbus Board PROFINET Board R12NZ900A6 R12N747051 PROFINET module is mounted on the Fieldbus Board EtherNet IP Board R12NZ900A7 R12N747061 EtherNet IP module is mounted on the Fieldbus Board EtherCAT Board R12NZ900CL EtherCAT module is mounted on the Fieldbus Board PG Board R12NZ900A8 R12N748011 Analog...

Page 206: ...TABILITY AND FITNESS FOR A PARTICULAR PURPOSE See the license agreements of each open source software program for more details which are described below 4 OpenSSL toolkit The T series product includes software developed by the OpenSSL project for use in the OpenSSL Toolkit http www openssl org This product includes cryptographic software written by Eric Young eay cryptsoft com 5 cJSON This library...

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